CN103438823A - Tunnel section outline measuring method and device based on vision measurement - Google Patents
Tunnel section outline measuring method and device based on vision measurement Download PDFInfo
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- CN103438823A CN103438823A CN2013101237560A CN201310123756A CN103438823A CN 103438823 A CN103438823 A CN 103438823A CN 2013101237560 A CN2013101237560 A CN 2013101237560A CN 201310123756 A CN201310123756 A CN 201310123756A CN 103438823 A CN103438823 A CN 103438823A
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Abstract
The invention discloses a tunnel section outline measuring method and device based on vision measurement. The measuring method comprises the steps that a structural light source is installed on a measuring trolley to ensure that structural plane light emitted by the structural light source and the inner wall of a detected tunnel intersect, and a marking light bar used for indicating the section outline of the inner wall of the tunnel is formed on the inner wall; a plurality of graph sensors are installed on the measuring trolley, framing ranges of the graph sensors form a ring-belt-like framing range together, and the marking light bar is completely included in the ring-belt-like framing range; co-plane calibration is uniformly conducted on the graph sensors to acquire the mapping relation between plane two-dimensional coordinates and pixel coordinates; the measuring trolley is driven to axially advance along the detected tunnel and conduct graph collection on the way, two-dimensional coordinates of the marking light bar are conversed through the mapping relation, and full-section outline data of the detected tunnel are formed by combination of the two-dimensional coordinates of the marking light bar and position information of all collected points. The tunnel section outline measuring method and device based on vision measurement achieve mobile-type measurement, and are high in measuring speed and precision.
Description
Technical field
The present invention relates to a kind of tunnel cross-section outline measuring method and device, specifically a kind of tunnel cross-section outline measuring method and device based on vision measurement.
Background technology
Track traffic has become and has solved the effective measures of Traffic Jam Problem in Cities, and a large amount of Tunnel Engineering maybe will drop into construction, and tunnel outline distortion and the safety detection of building have become the major action that ensures rail transportation operation safety.
In prior art, the main spiral scan method that adopts is measured tunnel contour, the method is arranged on the laser instrument of launching site laser to measure on car, measuring car in the process of advancing along tunnel, make laser instrument around the tunnel axial-rotation, at tunnel inner wall, to form the spiral laser trace, by laser instrument in supporting instrument acquisition process, to the distance in tunnel, can obtain the full profiled outline of tested tunnel inner wall.
Above-mentioned spiral scan method has the following disadvantages: due to the full profiled outline of tested tunnel inner wall out-of-shape often, the various deformation defects that existence causes because of construction error, above-mentioned spiral scan method discretely getting point, scanning method is measured the full section in tunnel, density measurement to tunnel cross-section is low, profiled outline information is not comprehensive, easily cause the test leakage in deformation defect zone, the full profiled outline precision in the tunnel of measuring is low.
In prior art, the method that adopts the single image sensor to be measured tunnel contour is also arranged, but at first be limited to the resolution limit of single image sensor, be difficult to large-sized tunnel outline is carried out to the one-shot forming measurement, secondly, need to adopt flexible coordinatometer to be identified tunnel contour, measuring speed is slow.
Summary of the invention
First purpose of the present invention is to provide a kind of tunnel cross-section outline measuring method based on vision measurement, has realized the movable type of the full profiled outline in tunnel is measured, and has the advantages that measuring speed is fast, measuring accuracy is high.
Second purpose of the present invention is to provide the tunnel cross-section outline measurement mechanism based on vision measurement of realizing said method.
First purpose of the present invention is to realize by following technical measures:
A kind of tunnel contour measuring method based on vision measurement, it is characterized in that: described measuring method comprises the following steps:
(S1) the structure light source is arranged on the measurement car docked in tested tunnel, the planar structure light that the structure light source is sent and the inwall in tested tunnel intersect, in order to form the sign striation of the profiled outline of indicating tested tunnel inner wall on inwall, wherein, be equipped with the axially extended track along tunnel in described tested tunnel, described measurement car is arranged on this track;
(S2) several graphical sensory devices are arranged on described measurement car, make a class ring-band shape viewfinder range of the common composition of viewfinder range of these several graphical sensory devices, and described sign striation are included in such ring-band shape viewfinder range fully in;
(S3) measuring under the static situation of car, described several graphical sensory device unifications are carried out to the coordinate mapping calibrating, in order to the mapping relations between the picture planimetric coordinates in the two-dimensional world coordinate that obtains any point in planar structure light and this image gathered at described graphical sensory device;
(S4) keep the viewfinder range of described each graphical sensory device and the relative position relation between planar structure light constant, drive described measurement car axially to travel along tested tunnel in orbit, and with described each graphical sensory device, the sign striation is carried out to image acquisition on the way, converse the sign striation two-dimensional world coordinate of each collection point on the way by described mapping relations, with the positional information of described each collection point, be combined into the full profiled outline data in tested tunnel.
In order to improve the precision of profiled outline data, as a modification of the present invention, the inwall quadrature in described planar structure light and tested tunnel or close to quadrature, make described sign striation indicate the cross-sectional outling of tested tunnel inner wall.
As one embodiment of the present invention, described structure light source comprises that three or the above direction of propagation disperse a word laser line generator of setting, and the laser plane of described each word laser line generator is coplanar is combined into described planar structure light.
Can include in fully in class ring-band shape viewfinder range in order to ensure the sign striation, guarantee that the structure self check of measurement mechanism of the present invention and minute precision improve simultaneously, as a modification of the present invention, the viewfinder range of adjacent two described graphical sensory devices partly overlaps.
As one embodiment of the present invention, in step (S3), the coordinate mapping calibrating of described several graphical sensory devices is comprised the following steps:
First scaling board is suspended on to the measurement front side, the gridiron pattern plane on scaling board is overlapped with described planar structure light, and within the class ring-band shape viewfinder range of described several graphical sensory devices drops on the gridiron pattern scope fully; Then the described planar structure light of temporary close, carry out image acquisition with each graphical sensory device to gridiron pattern; The gridiron pattern of usining again in the image collected, as the picture planimetric coordinates of described planar structure light, calculates described mapping relations.
In order to make to measure car, in tunnel, can steadily advance, avoiding measuring the variation of car attitude impacts measurement result, as a modification of the present invention, utilize in described tested tunnel the axially extended track along tunnel of laying, described inspection vehicle is arranged on this track and along rail running.
In order to overcome the variation of measurement car attitude, measurement result is impacted, improve the precision of measurement result, as a modification of the present invention, described measuring method is further comprising the steps of:
(S5) with the attitude correction unit, the described measurement car along in the axial traveling process in tested tunnel is carried out to attitude monitoring, proofread and correct the full profiled outline data in described tested tunnel by the attitude data monitored.
Second purpose of the present invention is to realize by following technical measures:
A kind of tunnel contour measurement mechanism based on vision measurement, it is characterized in that: described measurement mechanism comprises processor, work in measurement car in tested tunnel, send the structure light source of planar structure light and several carry out for the plane unification of described planar structure light place the graphical sensory device that the coordinate mapping calibrating is crossed, wherein, be equipped with the axially extended track along tunnel in described tested tunnel, described measurement car is arranged on this track, described structure light source and several graphical sensory devices be arranged on respectively measure on car and relative position relation firmly constant, a class ring-band shape viewfinder range of the common composition of the viewfinder range of described several graphical sensory devices, with the inwall in tested tunnel, profiled outline crossing and the tested tunnel inner wall of formation indication on inwall identifies striation to described planar structure light mutually, this sign striation is included in described class ring-band shape viewfinder range fully, described measurement car axially travels along tested tunnel in orbit, each graphical sensory device carries out image acquisition to described sign striation on the way, mapping relations between picture planimetric coordinates in the planar structure light that described processor obtains according to described several graphical sensory device coordinate mapping calibratings in the two-dimensional world coordinate of any point and this image gathered at described graphical sensory device, converse the sign striation two-dimensional world coordinate of each collection point on the way, and be combined into the full profiled outline data in tested tunnel with the positional information of described each collection point.
In order to improve the precision of profiled outline data, as a modification of the present invention, the inwall quadrature in described planar structure light and tested tunnel or, close to quadrature, described sign striation is indicated the cross-sectional outling of tested tunnel inner wall.
As one embodiment of the present invention, described structure light source comprises that three or the above direction of propagation disperse a word laser line generator of setting, and the laser plane of described each word laser line generator is coplanar and ring-type is dispersed and is combined into described planar structure light.
Can include in fully in class ring-band shape viewfinder range in order to ensure the sign striation, guarantee that the structure self check of measurement mechanism of the present invention and minute precision improve simultaneously, as a modification of the present invention, the viewfinder range of adjacent two described graphical sensory devices partly overlaps.
In order to make to measure car, in tunnel, can steadily advance, avoiding measuring the variation of car attitude impacts measurement result, as a modification of the present invention, utilize the axially extended track along tunnel of laying in described tunnel, described measurement car is arranged on this track and along rail running.
Compared with prior art, the present invention has following beneficial effect:
First, the present invention is based on the mode of vision measurement, utilize planar structure light to form the sign striation of the profiled outline of the tested tunnel inner wall of indication on tested tunnel inner wall, can realize in the situation that measurement mechanism of the present invention moves, fast the tunnel contour geometric properties is identified continuously, and imageing sensor also can carry out high density in measuring overall process, therefore, the present invention is high to the sampling density of large scale tunnel contour, can realize the continuous sampling to profiled outline, to the full face profile one-shot forming in tunnel, the full profiled outline smoothness drawn is high,
Second, the present invention adopts a plurality of imageing sensors to carry out image acquisition to the sign striation that characterizes tunnel contour, each imageing sensor obtains wherein a section of sign striation, actual conditions according to tunnel inner wall, selection arranges the quantity of imageing sensor and the resolution of each imageing sensor, realization once covers the large scale tunnel cross-section comprehensively, and the high definition collection is carried out in its concavo-convex position, therefore, the present invention can measure the full profiled outline in tunnel that precision is the highest with minimum cost;
The 3rd, the present invention utilizes planar structure light and scaling board to carry out the coordinate mapping calibrating to all imageing sensor unifications, obtain the two-dimensional world coordinate of any point in planar structure light and the mapping relations between the picture planimetric coordinates in this image gathered at described graphical sensory device, and this forms the characteristic of striation in the shelter surface diffuse reflectance due to structured light, can judge accurately only no coincidence of gridiron pattern plane on scaling board and planar structure, therefore, the present invention can demarcate the space geometry relation of all imageing sensor peace area-structure lights accurately, make the full profiled outline in the tunnel of measuring more accurate,
The 4th, imageing sensor of the present invention and structure light source are arranged on to be measured on car, under collaborative work, can in advancing, to tunnel contour, be measured, therefore, the present invention has realized the movable type of tunnel contour is measured, and has the advantages that measuring speed is fast, measuring accuracy is high;
The 5th, the present invention is applied widely, can be widely used in 1 meter to 20 meters of diameter, and Measurement Resolution, precision are in the various hollow lumen of 0.05～50mm, in the measurement as tunnel; And the present invention is applicable in the tunnel of various cross sectional shapes, as the tunnel of round section, square-section.
The accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Fig. 1 is the schematic diagram that measurement mechanism of the present invention is measured tunnel contour;
Fig. 2 is that structure light source of the present invention forms the schematic diagram of sign striation at tunnel inner wall;
Fig. 3 is each imageing sensor viewfinder range of the present invention and the position relationship schematic diagram that identifies striation;
Fig. 4 is that the present invention carries out timing signal, the tessellated position relationship schematic diagram of each imageing sensor viewfinder range and scaling board.
Embodiment
As shown in Figures 1 to 3, the tunnel contour measurement mechanism based on vision measurement of the present invention comprises processor (not shown), photoelectric encoder (not shown), measures car 1, structure light source and several graphical sensory devices 3, wherein, structure light source and these several graphical sensory devices 3 are arranged on respectively to be measured on car 1, a class ring-band shape viewfinder range of the common composition of the viewfinder range of several graphical sensory devices 3, and the viewfinder range of adjacent two graphical sensory devices 3 partly overlaps, in Fig. 3, the zone that viewfinder range 3a～3i forms, structure light source and these several graphical sensory devices 3 need to meet following position relationship when mounted, that is: in the time of measuring car 1 and dock in tested tunnel, inwall 4 quadratures in the planar structure light that the structure light source sends and tested tunnel or close to quadrature, form the sign striation 5 of the cross-sectional outling of the tested tunnel inner wall 4 of indication on inwall 4, the shape of the cross-sectional outling of this sign striation 5 and tested tunnel inner wall 4, position matches, and this sign striation 5 is included in above-mentioned class ring-band shape viewfinder range fully, photoelectric encoder is arranged on the wheel or transmission shaft of measuring car 1, for the position of location survey car 1, the opertaing device with data, image-capable of commonly using in the processor adopting prior art, as microcomputer loads corresponding synchro control and signal processing system, for being processed measuring car 1, photoelectric encoder and graphical sensory device 3 is controlled and they collect data.
Referring to Fig. 2, structure light source of the present invention comprises that three or the above direction of propagation disperse a word laser line generator 2 of setting, they are arranged on the mounting bracket 1a that measures car 1, and the laser plane of each word laser line generator is coplanar is combined into above-mentioned planar structure light, there is shown the example that is formed the structure light source by 5 word laser line generators 2, two dotted lines of each word laser line generator 2 correspondences mean the boundary edge on the word line laser plane that this word laser line generator 2 is launched, one word line laser plane of two adjacent word laser line generators 2 is can part overlapping, wherein, one word laser line generator should select wavelength to be greater than the LASER Light Source of 400nm, so that above-mentioned sign striation 5 has enough brightness, meet the sensitivity requirement of above-mentioned imageing sensor, and, while selecting a word laser line generator, should make the width of above-mentioned sign striation 5 narrow as far as possible, be limited in 2mm, so, the flatness of planar structure light in 20 meters of the coplanar composition of laser plane of each word laser line generator can be less than 1mm.
Referring to Fig. 3, the quantity of graphical sensory device 3 of the present invention should determine according to the resolution of the radial width in tested tunnel and each graphical sensory device 3, and the requirement in the time of only need meeting above-mentioned graphical sensory device 3 and install gets final product.Wherein, according to zones of different in tested tunnel cross-section, the difference to resolution requires to select the resolution of each graphical sensory device 3, for example, for the bottom that is equipped with various facilities in tunnel, for the finer acquisition profiled outline of energy, the imageing sensor that gathers this area image can be selected high-resolution, and, for top comparatively level and smooth in tunnel, corresponding imageing sensor can be selected low resolution, to reduce implementation cost of the present invention.
As shown in Figure 4, before tested tunnel is carried out to the profiled outline measurement, at first to carry out the coordinate mapping calibrating to several graphical sensory devices 3 unifications of measurement mechanism of the present invention: measure car 1 static state and be parked in open air or tunnel, first scaling board is suspended on and measures car 1 the place ahead, gridiron pattern 6 planes on scaling board are overlapped with planar structure light, and within the class ring-band shape viewfinder range of above-mentioned several graphical sensory devices 3 drops on gridiron pattern 6 scopes fully, wherein, scaling board is selected scaling board commonly used in prior art, and according to the breadth size of the size of above-mentioned class ring-band shape viewfinder range customization gridiron pattern 6, and form the characteristic of striation at the shelter surface diffuse reflectance by structured light, when the comprehensive formation of gridiron pattern 6 is reflective, can judge that gridiron pattern 6 planes overlap with planar structure light, then in the situation that planar structure light is closed, with 3 pairs of gridiron patterns of each graphical sensory device 6, carry out image acquisition, the gridiron pattern 6 of usining again in the image collected is as the picture planimetric coordinates initial point of planar structure light, in the two-dimensional world coordinate that obtains any point in above-mentioned planar structure light and this image gathered at graphical sensory device 3, looks like the mapping relations between planimetric coordinates.In addition, after it should be noted that measurement mechanism of the present invention is changed graphical sensory device 3 or used certain time limit, correct for guaranteeing these mapping relations, should be to graphical sensory device 3 addition calibrations of device.
Referring to Fig. 1, after this device completes demarcation, the relative position relation maintained between planar structure light and graphical sensory device is constant, can start tested tunnel is carried out to the profiled outline measurement.Be equipped with along tunnel axially extended track 7 in tested tunnel of the present invention, above-mentioned measurement car 1 is arranged on this track 7 and along track 7 and travels, keep each graphical sensory device 3 and Ge Zhi mono-word laser line generator to be fixed on and measure on car 1, make viewfinder range and the relative position relation between planar structure light of each graphical sensory device 3 constant, drive measurement car 1 axially to advance along tested tunnel, and carry out image acquisition with 3 pairs of sign striations 5 of each graphical sensory device on the way, the mapping relations of utilizing above-mentioned demarcation to get with processor, by three-dimensional interpolation method and look-up method, converse the two-dimensional world coordinate of sign striation 5 corresponding to each position, collection point on the way, the positional information of measurement car 11 in each collection point navigated to above-mentioned photoelectric encoder is combined into the full profiled outline data in tested tunnel, wherein, the density of collection point requires and determines according to the flatness to full section outline sampling, when smoothness requires higher, by the sub-pix computing method, extract closeer striation pixel, remove to calculate by look-up table and three-dimensional interpolation method the two-dimensional world coordinate that obtains sign striation 5 again.In the process of advancing at measurement car 1, there is protruding 4a as shown in Figure 1 in tunnel inner wall 4 transversal section of certain position, collection point, form the characteristic of striation at the shelter surface diffusion by structured light, tunnel inner wall 4 transversal section of sign striation 5 these positions of indication that now form on tunnel inner wall 4, can reflect that there is the situation of protruding 4a in tunnel inner wall 4 transversal section, the full profiled outline data in tested tunnel obtained above are reflected the actual conditions of the full profiled outline in tunnel comprehensively.
Easy top mother-in-law's situation in the process of advancing in tested tunnel for the measurement car, the present invention can be by setting up attitude correction unit commonly used in prior art, as the attitude detection gyroscope, measurement car along in the axial traveling process in tested tunnel is carried out to attitude monitoring, and the attitude data that processor is monitored according to this attitude correction unit is proofreaied and correct the full profiled outline data in above-mentioned tested tunnel, to overcome the variation of measurement car attitude, measurement result is impacted, improve the precision of measurement result.
The present invention does not limit to and above-mentioned embodiment, according to foregoing, ordinary skill knowledge and customary means according to this area, do not breaking away under the above-mentioned basic fundamental thought of the present invention prerequisite, the present invention can also make equivalent modifications, replacement or the change of other various ways, for example, and the situation for tunnel cross-section without comprehensive measurement, the planar structure light formed by the laser plane of a word laser line generator in above-mentioned specific embodiment, its angle of divergence can be 0-360 °; All drop among protection scope of the present invention.
Claims (10)
1. the tunnel contour measuring method based on vision measurement, it is characterized in that: described measuring method comprises the following steps:
(S1) the structure light source is arranged on the measurement car docked in tested tunnel, the planar structure light that the structure light source is sent and the inwall in tested tunnel intersect, in order to form the sign striation of the profiled outline of indicating tested tunnel inner wall on inwall, wherein, be equipped with the axially extended track along tunnel in described tested tunnel, described measurement car is arranged on this track;
(S2) several graphical sensory devices are arranged on described measurement car, make a class ring-band shape viewfinder range of the common composition of viewfinder range of these several graphical sensory devices, and described sign striation are included in such ring-band shape viewfinder range fully in;
(S3) measuring under the static situation of car, described several graphical sensory device unifications are carried out to the coordinate mapping calibrating, in order to the mapping relations between the picture planimetric coordinates in the two-dimensional world coordinate that obtains any point in planar structure light and this image gathered at described graphical sensory device;
(S4) keep the viewfinder range of described each graphical sensory device and the relative position relation between planar structure light constant, drive described measurement car axially to travel along tested tunnel in orbit, and with described each graphical sensory device, the sign striation is carried out to image acquisition on the way, converse the sign striation two-dimensional world coordinate of each collection point on the way by described mapping relations, with the positional information of described each collection point, be combined into the full profiled outline data in tested tunnel.
2. the tunnel contour measuring method based on vision measurement according to claim 1, it is characterized in that: the inwall quadrature in described planar structure light and tested tunnel or close to quadrature makes described sign striation indicate the cross-sectional outling of tested tunnel inner wall.
3. the tunnel contour measuring method based on vision measurement according to claim 2, it is characterized in that: described structure light source comprises that three or the above direction of propagation disperse a word laser line generator of setting, and the laser plane of described each word laser line generator is coplanar is combined into described planar structure light.
4. the tunnel contour measuring method based on vision measurement according to claim 3, it is characterized in that: the viewfinder range of adjacent two described graphical sensory devices partly overlaps.
5. according to the described tunnel contour measuring method based on vision measurement of claim 1 to 4 any one, it is characterized in that: in step (S3), the coordinate mapping calibrating of described several graphical sensory devices is comprised the following steps:
First scaling board is suspended on to the measurement front side, the gridiron pattern plane on scaling board is overlapped with described planar structure light, and within the class ring-band shape viewfinder range of described several graphical sensory devices drops on the gridiron pattern scope fully; Then the described planar structure light of temporary close, carry out image acquisition with each graphical sensory device to gridiron pattern; The gridiron pattern of usining again in the image collected, as the picture planimetric coordinates of described planar structure light, calculates described mapping relations.
6. the tunnel contour measurement mechanism based on vision measurement, it is characterized in that: described measurement mechanism comprises processor, work in measurement car in tested tunnel, send the structure light source of planar structure light and several carry out for the plane unification of described planar structure light place the graphical sensory device that the coordinate mapping calibrating is crossed, wherein, be equipped with the axially extended track along tunnel in described tested tunnel, described measurement car is arranged on this track, described structure light source and several graphical sensory devices be arranged on respectively measure on car and relative position relation firmly constant, a class ring-band shape viewfinder range of the common composition of the viewfinder range of described several graphical sensory devices, with the inwall in tested tunnel, profiled outline crossing and the tested tunnel inner wall of formation indication on inwall identifies striation to described planar structure light mutually, this sign striation is included in described class ring-band shape viewfinder range fully, described measurement car axially travels along tested tunnel in orbit, each graphical sensory device carries out image acquisition to described sign striation on the way, mapping relations between picture planimetric coordinates in the planar structure light that described processor obtains according to described several graphical sensory device coordinate mapping calibratings in the two-dimensional world coordinate of any point and this image gathered at described graphical sensory device, converse the sign striation two-dimensional world coordinate of each collection point on the way, and be combined into the full profiled outline data in tested tunnel with the positional information of described each collection point.
7. the tunnel contour measurement mechanism based on vision measurement according to claim 6 is characterized in that: the inwall quadrature in described planar structure light and tested tunnel or, close to quadrature, described sign striation is indicated the cross-sectional outling of tested tunnel inner wall.
8. the tunnel contour measurement mechanism based on vision measurement according to claim 7, it is characterized in that: described structure light source comprises that three or the above direction of propagation disperse a word laser line generator of setting, and coplanar and annular outwards the dispersing of the laser plane of described each word laser line generator is combined into described planar structure light.
9. the tunnel contour measurement mechanism based on vision measurement according to claim 8, it is characterized in that: the viewfinder range of adjacent two described graphical sensory devices partly overlaps.
10. according to the described tunnel contour measurement mechanism based on vision measurement of claim 6 to 9 any one, it is characterized in that: be equipped with the axially extended track along tunnel in described tunnel, described measurement car is arranged on this track and along rail running.
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| CN104567708A (en) * | 2015-01-06 | 2015-04-29 | 浙江工业大学 | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision |
| CN104567708B (en) * | 2015-01-06 | 2018-03-16 | 浙江工业大学 | Full section of tunnel high speed dynamical health detection means and method based on active panoramic vision |
| CN104931006A (en) * | 2015-05-05 | 2015-09-23 | 中国矿业大学 | Device of dynamically monitoring surrounding rock deformation of filled tunnel |
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| CN109489584A (en) * | 2018-12-03 | 2019-03-19 | 大连维德轨道装备有限公司 | A kind of tunnel clearance detection system and tunnel clearance recognition methods based on 3D technology |
| CN109780999A (en) * | 2018-12-18 | 2019-05-21 | 杭州国电大坝安全工程有限公司 | Side wall measuring point coordinate information collecting method in tunnel |
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| CN110926417B (en) * | 2019-12-03 | 2021-12-14 | 西北工业大学 | Vehicle-mounted railway tunnel detection system based on machine vision |
| CN111707668A (en) * | 2020-05-28 | 2020-09-25 | 武汉武大卓越科技有限责任公司 | Tunnel detection and image processing method based on sequence image |
| CN111707668B (en) * | 2020-05-28 | 2023-11-17 | 武汉光谷卓越科技股份有限公司 | Tunnel detection and image processing method based on sequence images |
| CN112556600A (en) * | 2021-02-22 | 2021-03-26 | 南京派光智慧感知信息技术有限公司 | Tunnel deformation real-time monitoring method and device |
| CN112556600B (en) * | 2021-02-22 | 2021-05-18 | 南京派光智慧感知信息技术有限公司 | Tunnel deformation real-time monitoring method and device |
| WO2022174592A1 (en) * | 2021-02-22 | 2022-08-25 | 南京派光智慧感知信息技术有限公司 | Real-time tunnel deformation monitoring method and device |
| US11908121B2 (en) | 2021-02-22 | 2024-02-20 | Nanjing Pioneer Awareness Information Technology Co., Ltd | Conveying manipulator for machining precision parts |
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