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CN112461152B - Large-scale industrial structure deformation monitoring and analyzing method - Google Patents

Large-scale industrial structure deformation monitoring and analyzing method Download PDF

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CN112461152B
CN112461152B CN202011338217.5A CN202011338217A CN112461152B CN 112461152 B CN112461152 B CN 112461152B CN 202011338217 A CN202011338217 A CN 202011338217A CN 112461152 B CN112461152 B CN 112461152B
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industrial structure
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CN112461152A (en
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周志杰
唐帅文
胡昌华
曹友
宁鹏云
张超丽
王杰
陈雷雨
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Rocket Force University of Engineering of PLA
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    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract

A deformation monitoring and analyzing method for a large industrial structure belongs to the field of deformation monitoring of large industrial structures and is characterized in that: building a measuring platform and a space rectangular coordinate system of the built measuring platform; a motion platform is arranged in the measuring platform; a camera is arranged on the motion platform; the camera comprises a measuring camera and a transmitting camera; solving the motion change parameters of the measuring platform; solving external parameters of the measuring camera; solving the coordinate of the point to be measured and determining the deformation of the large-scale industrial structure; and finally, carrying out safety evaluation on the large-scale industrial structure. The method can realize lower measurement cost by fewer measuring cameras; meanwhile, the safety evaluation method based on evidence reasoning can realize the transparence of the evaluation process and can ensure that the evaluation result has interpretability.

Description

Large-scale industrial structure deformation monitoring and analyzing method
Technical Field
The invention belongs to the field of deformation monitoring of large industrial structures, and particularly relates to a deformation monitoring and analyzing method of a large industrial structure.
Background
At present, the exploration pace of outer space is accelerated in various countries, and large industrial structures such as carrier rockets, space shuttles, space stations, artificial satellites and the like are continuously emerging. For example, large liquid carrier rockets are receiving increasing attention as important carriers for deep space exploration, and the frequency of launching rockets in various countries is also increasing year by year. However, as emerging technologies develop, accidents occurring in the aerospace field have increased. The lack of reliable safety monitoring is one of the important causes of accidents. As one of the important indexes of safety monitoring, structural deformation occurs frequently in large industrial structures, and mainly comes from the extrusion of materials inside the structures and the vibration of the external environment.
From the current research situation of large industrial structure deformation monitoring technology, the main methods at present are as follows: acoustic emission based methods, ultrasound image processing based methods, fiber grating sensing based methods, and camera/scene measurement based methods. The acoustic emission-based method can effectively position deformation, but cannot identify the size and degree of the deformation; the method based on ultrasonic image processing can effectively identify the size and degree of deformation, but has the defects of low efficiency and the like when the deformation is positioned; the position and degree of deformation can be effectively obtained based on the fiber grating sensing method, but the embedded sensor can affect the mechanical characteristics and the like of the structure; the method based on optical camera shooting/scene measurement has the advantages of non-contact type, high-precision online measurement, convenience in operation and the like.
After the deformation quantity is acquired, further safety evaluation of the large industrial structure is required. However, due to the complexity of the large-scale industrial structure and the diversity of internal instruments and devices, and a certain electromagnetic interference and coupling effect exist between different devices, the safety evaluation method based on the analytic model is difficult to realize accurate mechanism analysis, and cannot meet the requirement of accurate modeling. In addition, although the traditional data-driven neural network method can avoid the complex problems brought by modeling, the evaluation process of the traditional data-driven neural network method has no interpretability and traceability, the physical significance of mechanism analysis and partial monitoring parameters is lost, and the result is difficult to convince.
Disclosure of Invention
The invention aims to solve the problems and provides a deformation monitoring and analyzing method for a large industrial structure, which can accurately position and identify the deformation of the large industrial structure, can meet the requirements of high reliability and high precision on structural deformation monitoring, and can meet the requirements of effective and interpretable safety evaluation.
The invention relates to a deformation monitoring and analyzing method of a large-scale industrial structure, which comprises the steps of building a measuring platform and building a space rectangular coordinate system of the built measuring platform; a motion platform is arranged in the measuring platform; a camera is arranged on the motion platform; the camera comprises a measuring camera and a transmitting camera; solving the motion change parameters of the measuring platform; solving external parameters of the measuring camera; solving the coordinate of the point to be measured and determining the deformation of the large-scale industrial structure; and finally, carrying out safety evaluation on the large-scale industrial structure.
Preferably, the method for monitoring and analyzing deformation of a large industrial structure according to the present invention, the building of the measurement platform and the building of the spatial rectangular coordinate system of the built measurement platform, includes:
selecting a motion platform, fixing a measuring camera and a transmitting camera on the selected operation platform in sequence, and enabling the motion platform to move around the surface of the large industrial structure to be monitored;
Selecting a space origin, establishing a world coordinate system O-XYZ, and simultaneously measuring at different moments t according to a measuring cameraiAnd ti+1Establishing two sets of moving coordinate systems O of the measuring cameraD,i-XD,iYD,iZD,iAnd OD,i+1-XD,i+1YD,i+1ZD,i+1And establishing a transformator coordinate system OT-XTYTZTAnd the motion platform coordinate system OP-XPYPZP。
Preferably, the method for monitoring and analyzing deformation of a large-scale industrial structure according to the present invention, the solving of the motion change parameter of the measurement platform includes:
selecting a measuring point S (X, Y, Z) and a corresponding image point coordinate Si(xi,yi)、si+1(xi+1,yi+1) Establishing a measurement point S and an image point Si、si+1Corresponding homogeneous coordinate relation;
respectively establishing P in an O-XYZ system and OP-XPYPZPThe relationship between systems, and their presence in OP-XPYPZPIs linked with OT-XTYTZTThe relation between the systems is further established between the O-XYZ system and the OT-XTYTZTThe relationship between the lines;
shooting the artificial mark point in real time by a transmission camera, and converting the O-XYZ system into O according to the relation between the mark point and the corresponding image pointT-XTYTZTA rotation matrix and a translation vector under the system;
establishing tiAnd ti+1Time O-XYZ system and OT-XTYTZTThe transformation relation of the system, and then the solution platform at tiAnd ti+1The motion between the moments varies a parameter.
Preferably, the method for monitoring and analyzing deformation of a large industrial structure according to the present invention, the solving external parameters of a measuring camera includes: respectively establishing tiAnd ti+1Time O P-XPYPZPIs with OD,i-XD,iYD,iZD,iSystem, OD,i+1-XD,i+1YD,i+1ZD,i+1Homogeneous coordinate relationship of the system;
establishing O-XYZ system and O at different timeD,i-XD,iYD,iZD,iThe relationship between the lines;
coordinate system O of surveying camera at selected initial momentD，0-XD，0YD，0ZD，0Obtaining an arbitrary time O by iterationD，i-XD， iYD，iZD，iThe external parameters of the camera are measured relative to the position and attitude relationship of the O-XYZ system.
Preferably, the method for monitoring and analyzing deformation of a large industrial structure according to the present invention, the solving of the coordinates of the points to be measured and the determination of the deformation of the large industrial structure, includes: establishing a measurement point S at tiA position equation of time; establishing a position equation of the measuring camera at the initial moment so as to obtain a world coordinate of the measuring point S; repeating the measuring steps to obtain world coordinates of the monitoring points at different positions at different moments; and solving the corresponding deformation quantity according to the measurement position of the monitoring point and the actual position of the identification point.
Preferably, the method for monitoring and analyzing deformation of a large industrial structure according to the present invention, the evaluating safety of the large industrial structure, includes: determining a deformation weight based on a coefficient of variation method; calculating reliability based on the deformation of the distance; the security of large industrial structures is assessed based on evidence reasoning.
The deformation monitoring and analyzing method for the large industrial structure can realize non-contact and high-precision measurement of the deformation of the large industrial structure; the external parameters of the transmitting camera are calibrated once only at the initial moment in the mobile shooting measurement process, and all measurement results can be converted into the same coordinate system. The method is suitable for monitoring the deformation of a large-area on the surface of a large-scale industrial structure, and can realize lower measurement cost by using fewer measuring cameras; meanwhile, the safety evaluation method based on evidence reasoning can realize the transparence of the evaluation process and can ensure that the evaluation result has interpretability.
Drawings
FIG. 1 is a schematic view of a mobile camera measurement according to the present invention;
FIG. 2 is a schematic view of a mobile photogrammetry system under a transformator according to the present invention;
FIG. 3 is a block diagram of a safety assessment framework for a large industrial structure according to the present invention.
Fig. 4 is an experimental diagram of the mobile camera measurement according to the present invention.
Fig. 5 is a diagram of the position of the mobile camera measurement mark point according to the present invention.
FIG. 6 is a schematic diagram of the measurement error of the present invention.
Fig. 7 is a diagram illustrating the result of deformation measurement of a large industrial structure according to the present invention.
FIG. 8 is a diagram of a large industrial structure security confidence profile in accordance with the present invention.
FIG. 9 is a chart of the safety level effect of the large industrial structure according to the present invention;
wherein 1-measuring camera, 2-transmitting camera, 3-track, 4-marker.
Detailed Description
The deformation monitoring and analyzing method for the large-scale industrial structure is described in detail below with reference to the accompanying drawings and embodiments.
In the embodiment of the present disclosure, a large industrial structure is taken as an object, fig. 1 is a schematic diagram of a mobile camera measurement, and the left and right sides of the mobile camera are respectively at tiAnd ti+1Of time of dayThe coordinate systems of the two camera groups corresponding to the position are O respectivelyD,i-XD,iYD,iZD,iAnd OD,i+1-XD,i+1YD,i+1ZD,i+1The coordinate system of the relay camera 2 is OT-XTYTZTCoordinate system of motion platform is O P-XPYPZPAnd the world coordinate system is O-XYZ.
The rotation matrix and the translation vector of the camera coordinate system relative to the world coordinate system are respectively Mi,ViAnd Mi+1,Vi+1(ii) a The rotation matrix and the translation vector between the camera coordinate systems at two adjacent moments are respectively expressed as Mi,i+1,Vi,i+1. The target points collected by the camera, namely the deformation monitoring points of the large-scale industrial structure are S (X, Y and Z), and the image coordinate points at the corresponding moments are respectively Si(xi,yi)、si+1(xi+1,yi+1) The homogeneous coordinate relations corresponding to the three points are respectively expressed as S,
Figure GDA0002872310990000041
And
Figure GDA0002872310990000042
measuring point S and image point S according to the imaging geometric relation of the camerai、si+The relationship of 1 can be expressed as:
Figure GDA0002872310990000043
in formula (1), γiAnd gammai+1Is the scale factor and Q is the parameter matrix in the camera. A camera at different positions at adjacent times may be equivalent to a binocular photogrammetry system.
Fig. 2 shows a mobile photogrammetry scheme under a camera 2, which includes a camera 1, a camera 2, a track 3 and a marker 4 plane. The whole measuring process comprises the following five steps:
step 1: the measuring camera 1 and the transferring camera 2 are each fixedly connected to a platform which moves around the surface of the structure.
Step 2: and shooting the artificial cooperation identification points which are pasted on the ground and have accurately known coordinates in real time by using the image relay camera 2, and obtaining real-time external parameters of the image relay camera 2 according to the relation between the identification points and the corresponding image points.
And 3, step 3: and calculating the state conversion relation between the adjacent moments of the motion platform according to the external parameters of the transfer camera 2 by using the relative fixed position relation among the transfer camera 2, the motion platform and the measuring camera 1.
Suppose STAnd SPRespectively, the measurement points S (X, Y, Z) are at OT-XTYTZTAnd OP-XPYPZPHomogeneous coordinate in coordinate system, that is, S is in O-XYZ and OP-XPYPZPRelation of coordinate system and OP-XPYPZPAnd OT-XTYTZTThe relationship of the coordinate system can be expressed as:
Figure GDA0002872310990000051
wherein M isWP,VWPRespectively representing the conversion of O-XYZ coordinate system to OP-XPYPZPA rotation matrix and a translation vector under a coordinate system; mPT,VPTEach represents OP-XPYPZPConversion of coordinate system to OT-XTYTZTThe rotation matrix and the translation vector in the coordinate system can be obtained by step 2. O-XYZ coordinate system and OT-XTYTZTThe relationship between the coordinate systems can be expressed as:
ST＝MWTS+VWT (3)
wherein:
Figure GDA0002872310990000052
in formula (4), MWT,VWTRespectively representing the conversion of O-XYZ coordinate system to OT-XTYTZTThe rotation matrix and the translation vector under the coordinate system can be obtained by means of manual identification point solution.
Suppose that the measurement point S is at tiAnd tjThe homogeneous coordinates under the motion platform coordinate system at the moment are respectively SPiAnd SPjThen the two satisfy the relation:
SPj＝MijSPi+Vij (5)
in formula (5), MijAnd VijRespectively represent by tiO of time of dayP-XPYPZPConversion of the coordinate system to tjO of timeP-XPYPZPA rotation matrix and a translation vector of a coordinate system. Suppose S is at tiAnd tjO of time T-XTYTZTHomogeneous coordinates in the coordinate system are respectively STiAnd STjThen, there are:
Figure GDA0002872310990000061
in formula (6), MWTi、VWTiAnd MWTj、VWTjRespectively representing the conversion of O-XYZ coordinate system to tiAnd tjO of timeP-XPYPZPA rotation matrix and a translation vector in a coordinate system.
From equations (2) and (6), one can obtain:
Figure GDA0002872310990000062
then, tiAnd tjO of timeP-XPYPZPThe relative extrinsic parameters between the coordinate systems are shown in the following formula:
Figure GDA0002872310990000063
and 4, step 4: and solving the external parameters of the measuring camera.
In establishing the coordinate system O of the measuring camera 1C-XCYCZCUnder the condition, the homogeneous coordinate relationship between the coordinate system of the motion platform and the coordinate system of the measuring camera 1 is respectively as follows:
SC＝MPCSP+VPC (9)
in formula (9), MPC,VPCEach represents OP-XPYPZPConversion of coordinate system to OT-XTYTZTThe rotation matrix and the translation vector under the coordinate system can be obtained through calibration. Similarly, the coordinate system of the motion platform and the coordinate system t of the measuring camera 1iAnd tjThe time exists the relation:
Figure GDA0002872310990000064
according to the equations (5) and (10), the world coordinate system and the coordinate system of the surveying camera 1 at different times satisfy the following relations:
Figure GDA0002872310990000065
by iterating (11), the external parameters of the measuring camera 1 can be obtained.
And 5: and solving the position coordinates of the measuring points in real time according to the state conversion relation between the adjacent moments of the motion platform and the external parameters of the measuring camera 1.
According to formula (1), point S is at tiThe time meets the following conditions:
Figure GDA0002872310990000071
wherein the initial camera position satisfies:
Figure GDA0002872310990000072
The measuring point S under different monitoring moments can be obtained by repeating the stepsiThe world coordinates of (a). Comparing the positions of the measuring points and the identification points, and solving the deformation quantity delta x of each measuring point along the directions of x, y and zi,Δyi,ΔziAnd obtaining a comprehensive deformation quantity corresponding to each measurement result by simple weighting, wherein the comprehensive deformation quantity is represented by formula (14):
Figure GDA0002872310990000073
as shown in fig. 3, which is a framework diagram for evaluating the safety of a large-scale industrial structure, the whole evaluation process mainly includes the following three steps:
step 1: repeating L-round measurement with each round of measurement period of T time points by adopting the camera shooting measurement method, and acquiring deformation data delta according to the formula (14)1,…,δLAnd calculating the weight corresponding to each group of measurement data by using a coefficient of variation method. Assuming that the deformation data measured in the ith round can be expressed as:
δi(t)＝[δi(t-T),δi(t-T+1),…,δi(t-1)]
corresponding mean value
Figure GDA0002872310990000074
And the mean square error can be expressed as:
Figure GDA0002872310990000075
Figure GDA0002872310990000076
the weight corresponding to the result of the ith round of measurement is as follows:
Figure GDA0002872310990000077
wherein,
Figure GDA0002872310990000078
the normalization factor can represent the relative change of the measurement result of the ith round, and further reflect the fluctuation of the deformation data of the round of test. Therefore, the temperature of the molten metal is controlled,
Figure GDA0002872310990000081
the larger, wiThe larger (T) is.
Step 2: and according to the deformation quantity test data, adopting a distance-based method to obtain the reliability corresponding to each group of measurement data. Delta i(t) and
Figure GDA0002872310990000082
the distance of (d) can be expressed as:
Figure GDA0002872310990000083
the average distance of the deformation data measured in the ith round in the T time points is:
Figure GDA0002872310990000084
the reliability corresponding to the result of the ith round of measurement is as follows:
Figure GDA0002872310990000085
and step 3: and converting the deformation quantity into a confidence distribution form, namely an initial evidence, by adopting an input information conversion method based on the utility according to the deformation quantity test data. Assume that the amount of deformation can be divided into N security scoresEstimate the rank, i.e. { H }1,…,Hn,…,HNWith a reference value of { h }1,…,hn,…,hN}. If the grade Hn+1Better than class HnIf and only if hn+1＞hnWherein N, N +1 ∈ [1, N ]]. Let hNAnd h1The maximum and minimum reference values, respectively, the deformation quantity deltaiCan be converted to a confidence distribution as shown below:
S(δi)＝{(Hn,βn,i),n＝1,2,…,N,i＝1,2,…,L} (21)
wherein
Figure GDA0002872310990000086
The information is fused by adopting an evidence reasoning method, and the analytical expression is as follows:
Figure GDA0002872310990000091
Figure GDA0002872310990000092
wi＝wi/(1+wi-ri) (25)
wherein, betanIndicates assignment to evaluation level HnConfidence of, wiAnd riAre given by formula (17) and formula (20), respectively. At this time, the safety evaluation result g (t) of the structure can be expressed as:
G(T)＝{(Hn,βn(t)),n＝1,2,…,N} (26)
according to the safety evaluation result given by the formula (26), the safety state of the large-scale industrial structure can be effectively judged, and further reasonable maintenance measures are taken.
The present invention has devised a mobile photogrammetry experiment as shown in figure 4 to illustrate the effectiveness of the invention. In the measurement experiment, a transmission camera 2 and a measurement camera 1 are respectively fixed on a platform rail 3, 15 points are pasted on the surface of a large industrial structure model to be used as points to be measured, and a plurality of manual identification points with known coordinates are attached to one side of a parallel rail 3. In the experiment, the resolution of the transfer camera 2 and the resolution of the measurement camera 1 are both 1536 pixels multiplied by 1024 pixels, the frame frequency is both 3 frames/s, and the moving speed of the platform track 3 is 20 mm/s. According to the measurement process, the positions of 15 points to be measured are obtained, and the result is shown in fig. 5, and the position of the preset mark point on the structure surface can be intuitively reflected by the result. Obviously, in the experiment, with the aid of the transmission camera 2, the mobile camera can complete dynamic measurement, and the position of the identification point on the surface of the structure is obtained in real time, so that the defect that the mobile camera cannot obtain external parameters is overcome. Through distance calculation, errors between the 15 points to be measured and the actual positions of the points to be measured are obtained, as shown in fig. 6. The root mean square error was solved for the data of fig. 6, and the result was 0.0432mm, indicating that the present invention can meet the dynamic measurement requirements for structural deformation.
According to the same method, 20 identification points at the bottom, the middle and the top of the structure are respectively subjected to image measurement, and the three positions are used as three indexes, so that the deformation measurement result is shown in fig. 7. The size of the structural deformation is divided into three levels of "small", "medium" and "large", and the corresponding reference values are shown in table 1:
TABLE 1 reference value for deformation of measurement point (unit: mm)
Semantic values Small In Big (a)
Bottom part 0 3 6
Middle part 0 2 4
Top part 0 1 2
The security of the structure is divided into three levels of "high", "medium" and "low", and the corresponding quantization utility values are shown in table 2:
TABLE 2 structural safety reference values
Semantic value Height of In Is low in
Reference value 1 0.5 0
Respectively solving the weights and the indexes of the three indexes according to the coefficient of variation method and the distance-based methodReliability, result is w1＝0.7764，w2＝0.7824，w3＝0.8993，r1＝0.4088，r2＝0.4604，r30.5588. The security of the structure is evaluated by adopting an evidence reasoning method, and the security confidence distribution form obtained by the evaluation is shown in fig. 8. The confidence distribution is then translated into a security utility, the result of which is shown in figure 9.
According to fig. 9, the safety of the structure decreases gradually with the increase of the number of measurements, which coincides with the trend of increasing wear and deformation of the surface during the operation of large industrial structures. Thus, the present invention is effective.

Claims (4)

1. A deformation monitoring and analyzing method for a large industrial structure is characterized by comprising the following steps: the method for building the measuring platform and the space rectangular coordinate system of the built measuring platform comprises the following steps: selecting a motion platform, fixing a measuring camera and a transmitting camera on the selected operation platform in sequence, and enabling the motion platform to move around the surface of the large industrial structure to be monitored; selecting a space origin, establishing a world coordinate system O-XYZ, and simultaneously measuring at different moments t according to a measuring cameraiAnd ti+1Establishing two sets of moving coordinate systems O of the measuring cameraD，i-XD，iYD，iZD，iAnd OD,i+1-XD,i+1YD,i+1ZD,i+1And establishing a transformator coordinate system OT-XTYTZTAnd the motion platform coordinate system OP-XPYPZP(ii) a A motion platform is arranged in the measuring platform; a camera is arranged on the motion platform; the camera comprises a measuring camera and a transmitting camera;
solving the motion change parameters of the measuring platform, comprising: selecting a measuring point S (X, Y, Z) and a corresponding image point coordinate Si(xi,yi)、si+1(xi+1,yi+1) Establishing a measurement point S and an image point Si、si+1Corresponding homogeneous coordinate relation;
respectively establishing P in an O-XYZ system and OP-XPYPZPThe relationship between systems, and their presence in OP-XPYPZPIs linked with OT-XTYTZTThe relation between the systems is further established between the O-XYZ system and the OT-XTYTZTThe relationship between the lines;
shooting the artificial mark point in real time by a transmission camera, and converting the O-XYZ system into O according to the relation between the mark point and the corresponding image point T-XTYTZTA rotation matrix and a translation vector under the system;
establishing tiAnd ti+1Time O-XYZ system and OT-XTYTZTThe transformation relation of the system, and then the solution platform at tiAnd ti+1Motion variation parameters between moments;
solving external parameters of the measuring camera; solving the coordinate of the point to be measured and determining the deformation of the large-scale industrial structure; and finally, carrying out safety evaluation on the large-scale industrial structure.
2. The method for monitoring and analyzing deformation of large industrial structure according to claim 1, wherein the solving of external parameters of a measuring camera comprises: respectively establishing tiAnd ti+1Time OP-XPYPZPIs linked with OD，i-XD，iYD，iZD，iSystem, OD,i+1-XD,i+ 1YD,i+1ZD,i+1Homogeneous coordinate relationship of the system;
establishing O-XYZ system and O at different timeD，i-XD，iYD，iZD，iThe relationship between the lines;
coordinate system O of surveying camera at selected initial momentD,0-XD,0YD,0ZD,0Obtaining an arbitrary time O by iterationD，i-XD，iYD，iZD，iThe external parameters of the camera are measured relative to the position and attitude relationship of the O-XYZ system.
3. The method for monitoring and analyzing the deformation of the large-scale industrial structure according to claim 2, wherein the solving of the coordinates of the points to be measured and the determination of the deformation of the large-scale industrial structure comprises:
establishing a measurement point S at tiA position equation of time;
establishing a position equation of the measuring camera at the initial moment so as to obtain a world coordinate of the measuring point S;
Repeating the measuring steps to obtain world coordinates of the monitoring points at different positions at different moments;
and solving the corresponding deformation quantity according to the measurement position of the monitoring point and the actual position of the identification point.
4. The method for monitoring and analyzing the deformation of the large industrial structure according to claim 3, wherein the safety evaluation of the large industrial structure comprises: determining a deformation weight based on a coefficient of variation method; calculating reliability based on the deformation of the distance; the security of large industrial structures is assessed based on evidence reasoning.
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CN110260790A (en) * 2019-07-20 2019-09-20 龚烨飞 A kind of detection device and its detection method of the punching angle steel based on 3D vision
CN110595374A (en) * 2019-09-17 2019-12-20 中国人民解放军火箭军工程大学 Large structural part real-time deformation monitoring method based on image transmission machine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6144443A (en) * 1998-08-25 2000-11-07 Nec Corporation Apparatus and method for measuring crystal lattice strain
CN101504272A (en) * 2009-03-11 2009-08-12 中国人民解放军国防科学技术大学 Video recorder network shooting measurement method and apparatus for large structure attitude and displacement deformation
CN103430210A (en) * 2011-03-31 2013-12-04 索尼电脑娱乐公司 Information processing system, information processing device, imaging device, and information processing method
CN110260790A (en) * 2019-07-20 2019-09-20 龚烨飞 A kind of detection device and its detection method of the punching angle steel based on 3D vision
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