CN102721365B - Method and device for high-speed and accurate measurement of tunnel section - Google Patents

Method and device for high-speed and accurate measurement of tunnel section Download PDF

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Publication number
CN102721365B
CN102721365B CN201210179370.7A CN201210179370A CN102721365B CN 102721365 B CN102721365 B CN 102721365B CN 201210179370 A CN201210179370 A CN 201210179370A CN 102721365 B CN102721365 B CN 102721365B
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China
Prior art keywords
laser scanning
measurement
ranging
speed
tunnel
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CN201210179370.7A
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Chinese (zh)
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CN102721365A (en
Inventor
余祖俊
朱力强
郭保青
郭一诗
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北京交通大学
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Abstract

The invention discloses a method and a device for high-speed and accurate measurement of a tunnel section. The method comprises the steps as follows: overlapping a plurality of linear lasers end to end so as to obtain a large-angle tunnel section; synchronously acquiring laser profiles by a plurality of high-speed cameras, and carrying out image processing on the laser profiles; and carrying out model calculation from image coordinates to space coordinates so as to obtain a real coordinate of the tunnel section. The device comprises a laser scanning and distance measuring module, a photography measurement module and a data acquiring and processing module. According to the invention, the laser scanning and distance measuring technology and the photogrammetric triangulation technology are combined, the problem of difficultly processed data due to large data quantity in high-speed dynamic detection is solved, and the measurement requirements of high speed and high precision are satisfied. In addition, the device has the characteristics of compact structure and convenience in mounting and measurement.

Description

Tunnel cross-section high speed accurate measurement method and device

Technical field

The invention belongs to tunnel geometric profile measuring method and equipment thereof.In particular to a kind of tunnel cross-section high speed accurate measurement method and device.

Background technology

Due to train impact, geological deformation, close on the factors such as construction and maintenance of way maintenance, Tunnel body often deforms, and has a strong impact on operation security.Therefore, the dynamic detection technology of full section of tunnel and hole body deformability is one of core technology being related to rail transportation operation safety always.

At present, dynamic detection technology both domestic and external mainly comprises laser assisted triangle photogrammetric technology and the laser scanning measurement technology based on light travel-time principle.These two kinds of measuring principles have respective relative merits.Although laser scanning measurement does not disturb by extraneous light, due to the restriction by scanning spot effect weakening, precision when measuring compound section is low, must improve measuring accuracy, measuring efficiency lower by repeatedly back and forth measuring.Simultaneously because repeatedly back and forth kinetic measurement is high to positioning accuracy request, implement also comparatively difficulty.And although triangle is photogrammetric has higher dynamic measurement precision, is subject in sunlight, tunnel the extraneous light interference such as light when measuring and produces deviation, even losing efficacy time serious.Therefore complicated image processing algorithm must be adopted to carry out making up to a certain degree, and such as, by two-dimensional filtering and mode identification technology, filtering light image, identifies the laser the position of optic strip on Tunnel wall.Usually, kinetic measurement requires the sampling rate of the even thousands of frame of hundreds of per second, and current technology is difficult to the real-time storage realizing all images data, can only by image processing techniques pick up and store laser the position of optic strip.But image processing algorithm can increase the processing time greatly, reduce systematic sampling speed, be not suitable for high speed dynamic application condition.Therefore, current domestic and international existing tunnel cross-section detection technique cannot ensure high measurement accuracy and high sampling rate under high speed kinetic measurement condition simultaneously.

Summary of the invention

For above-mentioned the deficiencies in the prior art, the present invention proposes a kind of tunnel cross-section high speed accurate measurement method and device, realize tunnel cross-section real-time, measure continuously.

Technical solution of the present invention is: a kind of tunnel cross-section high speed accurate measurement method, is characterized in that: the method uses multiple line formula laser instrument head and the tail lap splice to go out the wide-angle section in tunnel; Adopt multiple high speed camera synchronous acquisition laser profile, through image procossing; By to the model calculation of image coordinate to volume coordinate, obtain the coordinate of true tunnel cross-section.

Further, described head and the tail lap splice goes out the wide-angle in tunnel for being greater than 270 degree of sections.

A measurement mechanism for tunnel cross-section high speed accurate measurement method, comprises laser scanning and ranging module, photogrammetric module, digital sampling and processing, it is characterized in that: described laser scanning and ranging module comprises two laser scanning and ranging instrument; Described photogrammetric module comprises multiple line formula laser instrument and multiple high-speed industrial camera; Described digital sampling and processing comprise for the treatment of each road collected by camera data with FPGA be process core image acquisition processing card, for gathering the capture card of left and right laser scanning and ranging instrument data, storing for synthetical collection data, display and each collection path is configured and the computing machine communicated.

Further, the physical construction of described measurement mechanism, comprise laser scanning and ranging instrument 1, the mounting seat 2 of laser scanning and ranging instrument, line formula laser instrument 3, apparatus main body supporting construction 4, high-speed industrial camera 5, ring flange 6 with rotating vane, it is characterized in that: described apparatus main body supporting construction 4 is multiaspect columns of hollow, laser scanning and ranging instrument 1 and line formula laser instrument 3 are installed in one end, line formula laser instrument mounted in pairs forms sector display face in the mounting seat 2 of laser scanning and ranging instrument, the mounting seat 2 of laser scanning and ranging instrument is connected with apparatus main body supporting construction 4, apparatus main body supporting construction 4 other end is the ring flange 6 of band rotating vane, and each blade of the ring flange 6 of band rotating vane installs a high-speed industrial camera 5.

Further, the quantity of described high-speed industrial camera 5 can adjust according to practical measurement requirement.

Advantageous effect of the present invention is: tunnel cross-section high speed accurate measurement method of the present invention and device adopt laser scanning and ranging module (bigness scale mould is fast) and photogrammetric module (accurate measurement module) collocation to use.By the rough position of the fast Real-time Obtaining tunnel contour of bigness scale mould, Digital Photogrammetric System (accurate measurement module) is instructed to carry out fast two-dimensional image filtering, only the region that target location may occur on image is processed, the accurate location of direct acquisition laser light belt, which reduces image procossing amount, substantially increase processing speed.Delimit laser light belt place window in advance also can extraneous light interference in avoidance unit story board simultaneously, improves the precision of collection.

Laser scanning and ranging technology and triangle photogrammetric technology have been merged in the present invention, and when solving high speed detection of dynamic, the large reluctant problem of data volume, meets the measurement demand of high-speed, high precision.In addition the present invention has compact conformation, installs testing feature easily.

Accompanying drawing explanation

Fig. 1 is the measurement mechanism physical construction schematic diagram of tunnel cross-section high speed accurate measurement method of the present invention

Fig. 2 is that the present invention gathers image and draws window example

Fig. 3 is data acquisition process structured flowchart of the present invention

Accompanying drawing indicates: 1 be laser scanning and ranging instrument, 2 be the mounting seat, 3 of laser scanning and ranging instrument be line formula laser instrument, 4 be apparatus main body supporting construction, 5 be high-speed industrial camera, 6 is the ring flange being with rotating vane;

21 is the display of laser on image, 22 strokes of the window upper limits, 23 strokes of window lower limits;

Embodiment

Below in conjunction with embodiment and accompanying drawing, the present invention is further elaborated, but embodiments of the present invention are not limited thereto.

Embodiment 1

The present invention is mainly equipped on railway inspection vehicle, when inspection vehicle is by system starts during tunnel.Laser scanning and ranging system is made up of two German SICK laser range sensors, with the frequency real-time update target range that 35 frames are per second, and precision 10mm.In plant running process, when being detected that by laser range finder based on synchronized scanner objective contour hypothesis is near radius 3m, this information uploads to computing machine, computing machine calculates near the 286th row on the collected by camera image of the corresponding Digital Photogrammetric System respective angles of spatial altitude 3m according to the model demarcated in advance, as in Fig. 2 21, simultaneously near radius of target 0.5m upper and lower correspondence image the 240th row and the 317th row, as in Fig. 2 22 and 23.Then, the respective camera of computer instruction Digital Photogrammetric System is only to capture card transmitting image the 240th row to the 317th row data, like this relative to full image 1024 row image information, capture card only obtains and processes 77 row useful datas, which reduces the unnecessary image information of 93%, for subsequent treatment saves computing power.Image acquisition is stuck in and obtains after this part image information, processes onboard and calculates the Accuracy Space coordinate of tunnel contour, finally pass result of calculation back computing machine again, software interface shows in real time image.

Embodiment 2

Whole measurement mechanism is made up of three parts, the bigness scale module that (1) is formed primarily of two laser scanning and ranging instrument; (2) the photogrammetric module be made up of multiple laser instrument and multiple high-speed industrial camera; (3) data handling system, comprises video processing board-card, laser ranging capture card and computing machine that multiple take FPGA as process core.

Laser ranging capture card gathers the data upload of laser scanning and ranging instrument to industrial computer, and video processing board-card completes image acquisition and the model computing function of camera, with camera one_to_one corresponding, as shown in Figure 3.All capture cards are connected by pci bus with industrial computer.The method that video processing board-card realizes with hardware circuit carries out multiple-stage filtering, light belt sub-pixel center extraction to the image in window, again according to space triangular model equation, calculated the volume coordinate of laser light belt by image coordinate, thus draw tunnel contour accurate dimension.Near the measurement radius of 3m, the section survey precision of this device is better than 1mm.The result of hardware handles carries out coordinate points synthesis and splicing on computers, obtains visual complete profiled outline information.

Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications.In sum, this description should not be construed as limitation of the present invention.

Claims (4)

1. a tunnel cross-section high speed accurate measurement method, is characterized in that, comprises the steps:
Objective contour information to objective contour, and is uploaded to computing machine by laser scanning and ranging systems axiol-ogy by step 1);
Step 2) information uploaded according to laser scanning and ranging system of computing machine, the model through demarcating in advance calculates the scope of the collected by camera image of the corresponding Digital Photogrammetric System respective angles of objective contour;
The respective camera of step 3) computer instruction Digital Photogrammetric System is only absorbed and to the view data of the corresponding scope of capture card transmission objectives profile;
Step 4) image acquisition is stuck in and obtains after this part image information, processes and calculates the Accuracy Space coordinate of objective contour, finally pass result of calculation back computing machine again, software interface shows in real time image.
2. a measurement mechanism for tunnel cross-section high speed accurate measurement method, comprises laser scanning and ranging module, and photogrammetric module and digital sampling and processing, is characterized in that: described laser scanning and ranging module comprises two laser scanning and ranging instrument; Described photogrammetric module comprises multiple line formula laser instrument and multiple high-speed industrial camera; Described digital sampling and processing comprise for the treatment of each road collected by camera data with FPGA be process core image acquisition processing card, for gathering the capture card of left and right laser scanning and ranging instrument data, storing for synthetical collection data, display and each collection path is configured and the computing machine communicated.
3. the measurement mechanism of a kind of tunnel cross-section high speed accurate measurement method according to claim 2, it is characterized in that: the physical construction of described measurement mechanism, comprise laser scanning and ranging instrument (1), the mounting seat (2) of laser scanning and ranging instrument, line formula laser instrument (3), apparatus main body supporting construction (4), high-speed industrial camera (5), ring flange (6) with rotating vane, it is characterized in that: described apparatus main body supporting construction (4) is the multiaspect column of hollow, laser scanning and ranging instrument (1) and line formula laser instrument (3) are installed in its one end, described line formula laser instrument (3) mounted in pairs is in mounting seat (2) the upper formation sector display face of laser scanning and ranging instrument, the mounting seat (2) of laser scanning and ranging instrument is connected with apparatus main body supporting construction (4), apparatus main body supporting construction (4) other end is the ring flange (6) of band rotating vane, and each blade of the ring flange (6) of band rotating vane installs a high-speed industrial camera (5).
4. the measurement mechanism of a kind of tunnel cross-section high speed accurate measurement method according to claim 3, is characterized in that: the quantity of described high-speed industrial camera (5) can adjust according to practical measurement requirement.
CN201210179370.7A 2012-06-01 2012-06-01 Method and device for high-speed and accurate measurement of tunnel section CN102721365B (en)

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CN103630088B (en) * 2013-11-06 2017-01-04 北京市地铁运营有限公司 High accuracy tunnel cross-section detection method based on bidifly light belt and device
RU2570835C2 (en) * 2013-11-15 2015-12-10 Закрытое акционерное общество "ПИК ПРОГРЕСС" Recording method of tunnel profile cross-section and device for its implementation
CN103791849B (en) * 2014-01-27 2017-02-15 武汉长澳大地工程有限公司 Monitoring system and measuring method for laser intelligent response type tunnel convergence
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CN104931006A (en) * 2015-05-05 2015-09-23 中国矿业大学 Device of dynamically monitoring surrounding rock deformation of filled tunnel
CN108593654B (en) * 2018-03-28 2020-08-25 北京交通大学 Tunnel image acquisition system and method
CN109186480B (en) * 2018-09-19 2020-11-10 成都理工大学 Tunnel surrounding rock scanning and observation system based on double-shield TBM (Tunnel boring machine) process
CN110033407B (en) * 2019-03-29 2020-10-30 华中科技大学 Shield tunnel surface image calibration method, splicing method and splicing system
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