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 PDFInfo
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- 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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Abstract
Description
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)
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| CN201210179370.7A CN102721365B (en) | 2012-06-01 | 2012-06-01 | Method and device for high-speed and accurate measurement of tunnel section |
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| CN201210179370.7A CN102721365B (en) | 2012-06-01 | 2012-06-01 | Method and device for high-speed and accurate measurement of tunnel section |
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| CN102721365B true CN102721365B (en) | 2015-04-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019200422A1 (en) * | 2018-04-20 | 2019-10-24 | Dibit Messtechnik Gmbh | Device and method for detecting surfaces |
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| CN103196392A (en) * | 2013-04-17 | 2013-07-10 | 武汉武大卓越科技有限责任公司 | Cameralink-camera-based three-dimensional cross section acquisition and measurement system and method |
| 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 |
| CN104792275B (en) * | 2015-04-09 | 2018-01-23 | 张建忠 | A kind of tunnel deformation detecting device and method |
| 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 |
| CN110487195A (en) * | 2019-08-06 | 2019-11-22 | 广州市奥特创通测控技术有限公司 | Vehicle-mounted tunnel detection method and device based on direction linear array technology |
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