CN-122015639-A - Method and system for dynamically monitoring vertical rotation of arch bridge based on camera measurement

CN122015639ACN 122015639 ACN122015639 ACN 122015639ACN-122015639-A

Abstract

The invention relates to the technical field of bridge construction monitoring and computer vision measurement, and particularly discloses an arch bridge vertical rotation dynamic monitoring method and system based on camera shooting measurement. The method and the device can acquire the image of the target arch rib in the vertical rotation process through the camera equipment, calculate the spatial position data of the measuring point, provide a data basis for dynamic process analysis, intuitively and globally display the actual line shape of the arch rib and compare the actual line shape with the target arch rib by converting the current spatial data of the measuring point into the parameterized curve of the current arch rib, and simultaneously, timely find out abnormal deflection in the vertical rotation process through the deviation estimation of the arch rib.

Inventors

GUO XIAO
Mo Jiekai
YIN YIHE
HE JUNHUI
Xie Junqian
LIU XIAOLIN
Lv Jiachen

Assignees

广西大学
深圳大学
平陆运河集团有限公司

Dates

Publication Date: 20260512
Application Date: 20251204

Claims (8)

1. The method for dynamically monitoring the vertical rotation of the arch bridge based on the camera shooting measurement is characterized by comprising the following steps of: Acquiring an image of the arch rib in the vertical rotation process through camera equipment, wherein the image comprises targets arranged at preset positions of the arch rib; Calculating the spatial position of a preset measuring point in the target by using the pixel coordinates of the target in the image; performing curve fitting by using the spatial positions of preset measuring points to obtain a parameterized curve of the arch rib; And according to the parameterized curve, carrying out deviation estimation by combining a model curve of the arch rib target state.
2. The method for dynamically monitoring the vertical rotation of an arch bridge based on camera shooting measurement according to claim 1, wherein the preset positions comprise key points and fixed reference points of the arch rib, and the fixed reference points are at least 4.
3. The method for dynamically monitoring the vertical rotation of the arch bridge based on camera shooting measurement according to claim 2, wherein the method for dynamically monitoring the vertical rotation of the arch bridge based on camera shooting measurement is characterized by calculating the spatial position of a preset measuring point in a target, and specifically comprises the following steps: Performing internal parameter calibration on the camera equipment through targets with fixed datum points, calculating distortion parameters, acquiring external parameters of the camera equipment relative to a global coordinate system, acquiring a first frame image, and storing pixel templates of targets in the first frame image; Extracting sub-pixel image coordinates of a target in an image, and carrying out normalization processing on the sub-pixel image coordinates by utilizing the distortion parameters; Based on pose estimation of a target plane and combining the external parameters, solving pose transformation of a target local coordinate system relative to a global coordinate system; According to the pose change, the coordinates of the preset measuring point on the target under the global coordinate system are obtained, and according to the pixel template, the three-dimensional displacement of the preset measuring point relative to the initial moment is obtained, so that the spatial position of the preset measuring point is obtained; and then, carrying out rigid body constraint correction on the space position by utilizing a target of the fixed datum point.
4. The method for dynamically monitoring the vertical rotation of an arch bridge based on camera shooting measurement according to claim 2, wherein the key points comprise the arch feet, the hanging points and the arch tops of the target arch ribs.
5. The method for dynamically monitoring the vertical rotation of the arch bridge based on the camera measurement according to claim 2, wherein the camera equipment adopts a collecting mode of stage segmentation relay under the condition that a single camera equipment is adopted and the field of view is insufficient to cover a vertical rotation path of an arch rib, so that adjacent fields of view are overlapped and comprise a common fixed datum point and a common target, and the continuous consistency of a cross-machine displacement result is maintained.
6. The method for dynamic monitoring of arch bridge vertical rotation based on camera measurement according to claim 5, wherein at least 1/6 of images acquired by a plurality of said camera devices overlap, and wherein the images acquired by a plurality of said camera devices are fused based on a mass weighting.
7. A method of dynamic monitoring of arch bridge vertical rotation based on photogrammetry as claimed in claim 1, wherein the deviation estimation comprises: calculating the included angle between the parameterized curve and the tangent vector of the model curve to obtain linear deviation; calculating the height component difference between the parameterized curve and each preset measuring point in the model curve to obtain elevation deviation; And calculating the difference between the parameterized curve and the three-dimensional space position of the model curve at the closure end to obtain a closure end residual error.
8. An arch bridge vertical rotation dynamic monitoring system based on camera measurement, which is characterized by comprising: the target is attached to a preset position of the target arch rib; The image pickup equipment is arranged at two sides of the target arch rib and is used for acquiring an image of the target arch rib; The control device is used for adopting the arch bridge vertical rotation closure dynamic monitoring method based on the camera shooting measurement according to any one of claims 1 to 7, controlling the camera shooting device to collect images in the process of vertical rotation of the target arch rib, outputting deviation estimation, and judging the situation of vertical rotation of the arch rib in place based on the result of the deviation estimation.

Description

Method and system for dynamically monitoring vertical rotation of arch bridge based on camera measurement Technical Field The invention relates to the technical field of bridge construction monitoring and computer vision measurement, in particular to an arch bridge vertical rotation closure dynamic monitoring method and system based on camera shooting measurement. Background Along with the rapid promotion of traffic engineering construction, the bridge span is continuously increased, and the large-span arch bridge is increasingly widely applied to high-speed and railway engineering. The continuous rising of traffic in developed areas increases the frequency of the structure subjected to variable load obviously, and meanwhile, the construction is accelerated to extend to areas with large height difference, complex geology and frequent extreme climate. The vertical rotation of the arch rib from horizontal to vertical belongs to a key high-risk process, but the arch rib occupies less space, has low dependence on temporary supports and short overhead operation time of a closure section, has better safety and economy when meeting the space and organization conditions, and provides dynamic, continuous and traceable monitoring requirements for the spatial displacement of an arch axis, a vertical corner and key measuring points so as to ensure the hoisting synchronization, limit control and the safety of surrounding structures. The monitoring means widely adopted at present mainly depend on traditional optical measuring instruments such as total stations and the like. The method generally adopts a point-by-point measurement mode, namely, periodic or triggered measurement is carried out on a few discrete measuring points which are pre-arranged on the arch rib, but the complete deformation track and dynamic response of the arch rib in the continuous vertical rotation process cannot be captured, the measured data are discrete and discontinuous, and the abnormal deformation of a key transient state can be omitted. In addition, the measurement process needs manual aiming and tracking, the automation degree is low, and particularly in the key stage of closure, high-frequency real-time data feedback cannot be provided. Also in the night, foggy days or in the presence of vibration disturbances, the measurement accuracy and reliability may be significantly reduced. Therefore, a dynamic monitoring method capable of realizing full process, automation, high precision and sensing the overall posture is needed to ensure the safety, accuracy and high efficiency of the arch bridge vertical rotation construction. Disclosure of Invention In order to overcome the technical problems in the existing arch bridge vertical rotation construction monitoring, the invention provides an arch bridge vertical rotation dynamic monitoring method and system based on camera shooting measurement. In a first aspect, the invention provides a dynamic monitoring method for arch bridge vertical rotation closure based on camera measurement, comprising the following steps: Acquiring an image of the arch rib in the vertical rotation process through camera equipment, wherein the image comprises targets arranged at preset positions of the arch rib; Calculating the spatial position of a preset measuring point in the target by using the pixel coordinates of the target in the image; performing curve fitting by using the spatial positions of preset measuring points to obtain a parameterized curve of the arch rib; And according to the parameterized curve, carrying out deviation estimation by combining a model curve of the arch rib target state. According to a specific embodiment, in the dynamic monitoring method, the preset positions include key points and fixed reference points of the arch rib, and the fixed reference points are at least 4. According to a specific embodiment, in the dynamic monitoring method, calculating a spatial position of a preset measurement point in a target specifically includes: Performing internal parameter calibration on the camera equipment through targets with fixed datum points, calculating distortion parameters, acquiring external parameters of the camera equipment relative to a global coordinate system, acquiring a first frame image, and storing pixel templates of targets in the first frame image; Extracting sub-pixel image coordinates of a target in an image, and carrying out normalization processing on the sub-pixel image coordinates by utilizing the distortion parameters; Based on pose estimation of a target plane and combining the external parameters, solving pose transformation of a target local coordinate system relative to a global coordinate system; According to the pose change, the coordinates of the preset measuring point on the target under the global coordinate system are obtained, and according to the pixel template, the three-dimensional displacement of the preset measuring point relative to the initial moment is obtai