利用旋转双目立体相机的桩体倾斜度测量方法

Pile inclination measurement using a rotating binocular stereo camera

桩体倾斜度监测在沉桩作业中至关重要,现有方法普遍存在安置过程复杂、工作耗时长等典型问题。针对以上问题,以双目立体设备研制为基础,提出了一种基于双目立体视觉的桩体倾斜度测量方法。首先,该方法通过旋转码盘与相机的高精度标定实现利用码盘旋转角度读数来高效计算相机在任意旋转角度的位姿信息。其次,在双目影像同步采集以及高频倾斜角度测量条件下,设计了一种新的利用提取桩体边线几何的方法来拟合桩体中心轴线方向向量,从而快速计算柱体的倾斜度。实验结果表明,该方法可准确计算相机相对位姿以及柱体倾斜度,倾斜度测量精度可达到优于0.1°,且单次自动测量效率优于10 s,相较于常用的全站仪测量方法,其效率可提高6倍以上,能够满足连续高效且高精度的桩体倾斜度测量需求。

Pile inclination monitoring is crucial in pile sinking operation,and the existing methods generally have typical problems such as complicated placement process and long time-consuming work.Aiming at the above problems,based on the development of binocular stereo equipment,this paper proposes a pile inclination measurement method based on binocular stereo vision.First,the method is realized by rotating the code disk and the camera's high-precision calibration to use the code disk rotation angle readings to efficiently calculate the camera's position information at any rotation angle.Second,under the conditions of simultaneous binocular image acquisition and high-frequency tilt angle measurement,a new method using the extraction of pile body edge geometry is designed to fit the direction vector of the center axis of the pile body,so as to quickly calculate the tilt of the column.The experimental results show that the method can accurately calculate the relative position of the camera and the tilt of the column,and the accuracy of the tilt measurement can reach better than 0.1°,and the efficiency of the single automatic measurement is better than 10 seconds,which is more than 6 times higher than the efficiency of the commonly used total station measurement method,and it can meet the demand for continuous,efficient,and high-precision measurement of the tilt of the pile body.