Researchers have already used vibration data and deep learning methods, such as Convolutional Neural Networks (CNNs), to detect structural damage. Moreover, some researchers have employed image-based displacement sensors (such as the template matching and edge detection methods) to obtain structural vibration information. It is necessary to verify whether deep learning methods can detect minor damage inside beams, for example, small hollowing in concrete. In addition, there is an urgent need to develop an effective image-based displacement sensor that can simultaneously detect a large number of reliable vibration data from different measurement points. In this study, the vibration data of two beam-ABAQUS models were used as the input data for a newly designed deep learning-based structural health monitoring method. There were 500 vibration samples for each case, and the peak of vibrations was several millimeters. The proposed CNN model can locate damage positions in beams with high accuracy (close to 100%), and the damage sizes are 3 cm and 6 cm. Laboratory experiments were carried out on four beams with different damage. The optimized displacement sensor developed based on the edge detection method was used to detect the displacement of the beams. Each beam had 200 vibration data, and there were 800 vibration data in total. These vibration data were used as input data to train the proposed deep learning architecture, and satisfactory accuracy was achieved in detecting the damage of the beams with an accuracy of 97%. The training process is satisfactory in that the training loss and validation loss dropped very quickly.
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