CN104596478A - Method for calculating excavation and filing amount of tunnel profile through random photographing by using common digital camera - Google Patents

Abstract

The invention discloses a method for calculating excavation and filing amount of a tunnel profile through random photographing by using a common digital camera. The method comprises the following steps: two calibrated common digital cameras are vertically arranged on a central axis of a tunnel; when a light source light the section profile of the tunnel, the two cameras can simultaneously photograph the complete tunnel profile, to obtain a stereopair of the to-be-photographed tunnel section, and establishing an object space coordinate system by taking one point right below the to-be-photographed tunnel section as an original point; determining 9 photographing parameters of the two cameras by taylor series expansion and matrix rotation transformation of two pictures; determining the object space coordinates (Xi, Yi and Zi) (i=1,2,3...,n) of any to-be-photographed point on the tunnel section by utilizing a matmatics model and the obtained 9 parameters; and comparing the observed profile position with the designed tunnel profile position, to obtain the oversize and undersize and area of the tunnel section, and further to determine the excavation and filing earthwork of the to-be-photographed tunnel.

Description

A kind of tunnel contour excavation and filling amount ordinary digital camera is photographed arbitrarily measuring method

One, technical field

The present invention relates to a kind of tunnel contour excavation and filling earthwork measuring method, particularly a kind of tunnel contour excavation and filling amount ordinary digital camera is photographed arbitrarily measuring method.

Two, technical background

In Tunnel Design work progress, the measurement of tunnel section is a basic problem.At present in tunnel survey, the method being widely used in practical operation mainly contains the classic methods such as laser transit intersection, offset method and planimeter method, photogrammetry still is in an experiment measured tunnel and is also only confined to the single sheet measurement stage, be difficult to obtain substantial progress, this is just for Tunnel construction survey process brings very large trouble:

1. adopt traditional tunnel survey method to carry out tunnel cross-section measurement, much consuming time, workload is comparatively large, and surveying work efficiency is lower;

2. long-time carrying out construction survey work without in the tunnel of lining cutting, also to face the emergency case of various danger the moment;

3. the interior industry process complicated operation after adopting monolithic photogrammetry to gather tunnel image, process is loaded down with trivial details, and task amount is comparatively large, and precision is lower.

Therefore, present tunnel survey is a comparatively numerous and diverse problem, present stage tunnel survey mode, no matter be traditional laser transit intersection, offset method and planimeter method, or the monolithic photogrammetric survey method in research, all there is significant limitation and complicacy, this is all for our actual tunnel construction survey brings a lot of troubles and inconvenience.

Three, summary of the invention

In Tunnel construction survey, in order to overcome adopt at present laser transit intersection, offset method, inevitable trouble existing for monolithic photogrammetry in planimeter method and research and restriction, the object of this invention is to provide a kind of tunnel contour excavation and filling amount ordinary digital camera and to photograph arbitrarily measuring method.

The object of the present invention is achieved like this:

First, specific light source and standard length chi M (this chi left and right length is 1m) are placed in immediately below tunnel section to be measured, the ordinary digital camera of two calibrations that erection is vertically placed on tunnel central axis, wherein, light source and ordinary digital camera are all on tunnel section central axis, and maintain a certain distance between digital camera and section to be measured, to take tunnel cross-section full-sized; Secondly, when light illuminating tunnel section profile, tunnel overall picture (comprising standard length chi) taken by two cameras of vertical placement simultaneously, obtains the stereogram of tunnel cross-section to be measured, and with 1 O immediately below tunnel section to be measured for initial point sets up object coordinates system; Again, utilize mathematical model 1. $\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)={\mathrm{\λ}}_1{R}_{\mathrm{\ω}1}{R}_{\mathrm{\κ}1}\left(\begin{array}{c}u\\ f\\ v\end{array}\right)$ 2. simultaneous, wherein, λ 1, λ 2 are matrix zoom factor, R _{ω 1}, R _{κ 1}, R _{ψ 2}, R _{ω 2}, R _{κ 2}for photo is around the rotation matrix of axle, (Δ X, Δ Y, Δ Z) be increment of coordinate, (u, v) and (u ', v ') be impact point image space coordinate, f is camera focus, by converting the matrix rotation of two photos, 9 parameters, i.e. λ, ω during two camera shootings can be determined ₁, κ ₁, ω ₂, ψ ₂, κ ₂, b _x, b _y, b _z, wherein, λ is the zoom factor of rotation matrix, ω ₁, κ ₁, ω ₂, ψ ₂, κ ₂, be the rotation angle of two photos, b _x, b _y, b _zit is the baseline deviator of two photos; Then, utilize mathematical model 3. $\left\{\begin{array}{c}{x}_0=x_1-L\·\cos \mathrm{\δ}\·\cos \mathrm{\α}\\ y_0=y_1-L\·\cos \mathrm{\δ}\·\sin \mathrm{\α}\\ z_0=z_1-L\·\sin \mathrm{\δ}\end{array}\right.,$ And try to achieve above 9 parameters, just can determine the object coordinates (X of any tested point on tunnel section _i, Y _i, Z _i) (i=1,2,3 ..., n); Finally, by the actual outline position recorded compared with the tunnel outline position of design, obtain tunnel section super, owe size and area, and then the digging of tunnel to be measured can be determined, fill out earthwork.

This invention has the following advantages:

1. adopt any photogrammetry of ordinary digital camera to carry out tunnel cross-section measurement, require lower to measuring equipment and measurement soil property, only need two ordinary digital cameras and standard length chi;

2. any photogrammetry of biplate carries out tunnel survey, and measuring equipment is few, and operating process is easy, and workload is few, and work efficiency is high;

3. converted by the conversion of biplate rotation matrix and object coordinates, can independently set up tunnel cross-section measurement model, achieve the operation of tunnel survey indoor and field integration.

Four, accompanying drawing illustrates:

Below in conjunction with accompanying drawing and example, the present invention is further described.

Fig. 1 is that tunnel contour excavation and filling amount ordinary digital camera is photographed arbitrarily placement scheme schematic diagram;

Fig. 2 is that the photogrammetric section in tunnel digs, the cubic meter of stone that bankets measures the concrete schematic diagram calculated.

In figure: S-camera camera site, 0-is that light source placement location supposes again object coordinates system initial point, M-standard length chi, and "-" represents that tunnel digs the area having surpassed needs and filled up, and "+" represents that tunnel digs and owed area to be dug.

Five, embodiment:

The photogrammetric algorithm of biplate in tunnel is compared with monolithic photogrammetric survey method with traditional measurement mode before, and thinking and countermeasure has all done larger improvement, specifically:

1) specific light source and standard length chi M (the left and right length of this chi is 1m) are placed in immediately below tunnel section to be measured, the ordinary digital camera of two calibrations that erection is vertically placed on tunnel central axis, wherein, light source and digital camera are all on tunnel section central axis, and maintain a certain distance between digital camera and section to be measured, to take tunnel cross-section full-sized.

2) tunnel wall is irradiated with specific light source, when light illuminating tunnel wall profile, tunnel edge overall picture (comprising standard length chi) taken by two cameras of vertical placement simultaneously, obtain two photos of the stereogram of tunnel cross-section to be measured, and with 1 O immediately below tunnel section to be measured for true origin sets up object coordinates system.

3) again, utilize mathematical model 1. $\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)={\mathrm{\λ}}_1{R}_{\mathrm{\ω}1}{R}_{\mathrm{\κ}1}\left(\begin{array}{c}u\\ f\\ v\end{array}\right)$ 2. simultaneous, wherein, λ 1, λ 2 are matrix zoom factor, R _{ω 1}, R _{κ 1}, R _{ψ 2}, R _{ω 2}, R _{κ 2}for photo is around the rotation matrix of axle, (Δ X, Δ Y, Δ Z) be increment of coordinate, (u, v) and (u ', v ') be impact point image space coordinate, f is camera focus, converts by Taylor series expansion and to the matrix rotation of two photos, 9 parameters, i.e. λ, ω during two camera shootings can be determined ₁, κ ₁, ω ₂, ψ ₂, κ ₂, b _x, b _y, b _z, wherein, λ is the zoom factor of rotation matrix, ω ₁, κ ₁, ω ₂, ψ ₂, κ ₂, be any rotation angle of two photos, b _x, b _y, b _zit is the baseline deviator of two photos.

4) utilize mathematical model 3. $\left\{\begin{array}{c}{x}_0=x_1-L\·\cos \mathrm{\δ}\·\cos \mathrm{\α}\\ y_0=y_1-L\·\cos \mathrm{\δ}\·\sin \mathrm{\α}\\ z_0=z_1-L\·\sin \mathrm{\δ}\end{array}\right.,$ And the 3rd) 9 parameters that step is tried to achieve, just can determine the object coordinates (X of any tested point on tunnel section _i, Y _i, Z _i) (i=1,2,3 ..., n).

5) by the actual outline position recorded compared with the tunnel outline position of design, and give actual measurement tunnel profile and design tunnel profile object coordinates simultaneously, by comparing super, the deficient value of both sizes, obtain tunnel section super, owe size and area, and then the digging of tunnel to be measured can be determined, fill out earthwork.

Claims (1)

1. a tunnel contour excavation and filling amount ordinary digital camera is photographed arbitrarily measuring method, it is characterized in that: first, specific light source and standard length chi (this chi left and right length is 1m) are placed in immediately below tunnel section to be measured, the ordinary digital camera of two calibrations that erection is vertically placed on tunnel central axis, wherein, light source and ordinary digital camera are all on tunnel section central axis, and maintain a certain distance between digital camera and section to be measured, to take tunnel cross-section full-sized; Secondly, when light illuminating tunnel section profile, tunnel overall picture (comprising standard length chi) taken by two cameras of vertical placement simultaneously, obtains the stereogram of tunnel cross-section to be measured, and with immediately below tunnel section to be measured a bit for initial point sets up object coordinates system; Again, utilize mathematical model 1. $\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)={\mathrm{\λ}}_1{R}_{\mathrm{\ω}1}{R}_{\mathrm{\κ}1}\left(\begin{array}{c}u\\ f\\ v\end{array}\right)$ 2. simultaneous, wherein, λ 1, λ 2 are matrix zoom factor, R _{ω 1}, R _{κ 1}, R _{ψ 2}, R _{ω 2}, R _{κ 2}for photo is around the rotation matrix of axle, (Δ X, Δ Y, Δ Z) be increment of coordinate, (u, v) and (u ', v ') be impact point image space coordinate, f is camera focus, converts by Taylor series expansion and to the matrix rotation of two photos, 9 parameters, i.e. λ, ω during two camera shootings can be determined ₁, κ ₁, ω ₂, ψ ₂, κ ₂, b _x, b _y, b _z, wherein, λ is the zoom factor of rotation matrix, ω ₁, κ ₁, ω ₂, ψ ₂, κ ₂be the rotation angle of two photos, b _x, b _y, b _zit is the baseline deviator of two photos; Then, utilize mathematical model 3. $\left\{\begin{array}{c}{x}_0=x_1-L\·\cos \mathrm{\δ}\·\cos \mathrm{\α}\\ y_0=y_1-L\·\cos \mathrm{\δ}\·\sin \mathrm{\α}\\ z_0=z_1-L\·\sin \mathrm{\δ}\end{array}\right.,$ And try to achieve 9 parameters, just can determine the object coordinates (X of any tested point on tunnel section _i, Y _i, Z _i) (i=1,2,3 ..., n); Finally, by the actual outline position recorded compared with the tunnel outline position of design, obtain tunnel section super, owe size and area, and then the digging of tunnel to be measured can be determined, fill out earthwork.