CN104988928A - Method for monitoring foundation pit excavation horizontal displacement in real-time manner based on digital images - Google Patents
Method for monitoring foundation pit excavation horizontal displacement in real-time manner based on digital images Download PDFInfo
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Abstract
The invention relates to a method for monitoring the foundation pit excavation horizontal displacement in a real-time manner based on digital images. According to the method, a monitoring system provided with a single camera is established; multiple objects can be rapidly positioned through the single camera; the system is easy to install as information such as camera installation positions and lens parameters is not required to be taken into account; integral calibration is performed after the installation; and a system error is considered according to the integral calibration. The method improves the measuring accuracy, has a simple algorithm, is high in code execution efficiency, and is applicable to long-term field working environment. During a foundation pit excavation process, the system gives an alarm when the horizontal displacement exceeds a preset threshold, a laser lamp points to an alarm position, and the system instructs the field staff to reinforce and maintain the area so as to prevent foundation pit collapse or other severer accidents.
Description
Technical field
The present invention relates to a kind of excavation of foundation pit method of real-time, particularly relate to a kind of method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit.
Background technology
Along with the development that Chinese Urbanization is built; emerging in multitude of the engineerings such as various highrise building, subterranean tunnel, viaduct; in order to more stablize and meet the load action such as wind resistance, antidetonation; usually all excavation pit is needed in engineering; excavation of foundation pit is the basis of engineering construction; because excavation of foundation pit can affect to the stability of Adjacent Buildings, the support system around foundation ditch and surrounding building, environment etc. usually can be caused to change.Simultaneously due to the extruding of around high-lager building, also may cause to the foundation ditch of new excavation harmful effects such as caving in, cause claim for eot, economic loss, therefore, in order to the impact on pattern foundation pit supporting structure, surrounding soil and surrounding contiguous structure that is comprehensive, system, horizontal displacement monitoring is carried out to excavation of foundation pit and is extremely necessary.
Existing pit retaining monitoring method is a lot, such as collimation line method, minor angle method, method of polar coordinates and forward intersection etc.For the monitoring of traditional Foundation Pit, general transit or the total powerstation of adopting is observed.Method for Foundation Pit monitoring is a lot, and the precision of measuring method in Practical Project, the simplification of measuring method, real time implementation are the problems of current people's general concern, and can reach high accuracy is the essential condition ensureing construction safety.
Digital picture measurement is the new disciplines developed rapidly in the last few years.It is mainly by subject crossing, the fusion such as computer vision and Digital Image Processing analysis of traditional photogrammetry, optical measurement and modern trend, and advantage and the strong point of getting every subjects are formed.Its main handling object is based on numeral (video) sequence image.The method utilizes video camera, camera etc. to carry out shooting to motion that is dynamic, stationary body to obtain single frames or Serial digital image, the technology such as recycling digital image processing method identify target, locate, follow the tracks of, and carry out solving and analyze calculation method, realize the theory and technology to the real-time automatic measurement of target and estimation.The method is widely used in a lot of field, and reaching its maturity along with modern digital cameras, its application prospect will be more extensive.
Patent of the present invention mainly realizes excavation of foundation pit horizontal movement Real-Time Monitoring based on digital picture measurement.This Dynamic System is simple, precision is high, real-time is good, is applicable to field site operation, can meet the needs of existing base pit engineering excavation horizontal displacement monitoring.
Summary of the invention
The object of the present invention is to provide a kind of method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit, the method increase certainty of measurement, and algorithm is simple.
For achieving the above object, technical scheme of the present invention is: a kind of method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit, comprises the steps,
S1: provide an excavation of foundation pit real-time horizontal movement monitoring system, the video camera, The Cloud Terrace, the laser lamp be installed on described The Cloud Terrace that are arranged near foundation ditch that comprise middle control computer and be connected with control computer in this;
S2: establish global coordinate system, namely camera coordinates is xyz, and the coordinate centered by The Cloud Terrace is XYZ, and the angle that The Cloud Terrace rotates around X-axis is designated as
, the angle rotated around Z axis is designated as
;
S3: open laser lamp, makes laser lamp point to each monitoring point by rotary platform, i.e. calibration point, record now The Cloud Terrace corner (
), record simultaneously the coordinate of each calibration point under global coordinate system (
), under global coordinate system can be obtained each calibration point coordinate (
) and The Cloud Terrace corner (
) between one-to-one relationship, and stored in middle control computer, wherein
irepresent row-coordinate,
jrepresent row coordinate;
S4: after integral calibrating, when monitor target monitoring point occur skew time, namely by the coordinate of this target monitoring point under global coordinate system (
), acquisition The Cloud Terrace corner (
), and then by middle control computer control this corner of cloud platform rotation (
), open laser lamp and can expose to the target monitoring point place that skew occurs, report to the police.
In an embodiment of the present invention, in described step S4, if when the target detection point of the generation skew monitored is not calibration point, rotation and the laser lamp that need control The Cloud Terrace are in the following manner reported to the police,
S21: the image of target monitoring point P that skew is occurred by camera shooting, determine its coordinate under global coordinate system (
), and obtain be positioned at the calibration point of its surrounding coordinate (
), (
), (
), (
) and The Cloud Terrace corner corresponding to it (
), (
), (
), (
);
S22: because target monitoring point P is not calibration point, carry out interpolation calculation according to the point of four around it, specific formula for calculation is as follows:
（1）
（2）
Wherein:
,
,
,
,
,
;
By P point coordinates (
) and four calibration point coordinates around it substitute into formula (1) and (2) namely can solve parameter
,
;
S23: by step S22, according to the The Cloud Terrace corner corresponding to known four calibration points, namely by the The Cloud Terrace corner corresponding to following formulae discovery place target monitoring point P:
（3）
（4）
Wherein:
,
.
In an embodiment of the present invention, in described step S4, the skew of monitoring objective monitoring point realizes in the following manner,
S31: one mark plate is all set in each monitoring point of foundation ditch, described mark plate comprises the bar code and 5 black and white marks that store mark plate information, these 5 black and white marks in centered by one of them, another four upper and lower, left and right being arranged in this center black and white mark; The bar code information of each mark plate is all deposited in described middle control computer;
S32: by video camera shooting mark plate image, and the information of this mark plate is obtained by the bar code of middle control computer reading mark plate, draw the distance between left and right two the black and white marks of this mark plate
, the distance between upper and lower two black and white marks
; The image pixel coordinates calculating these 4 black and white marks and center black and white mark is identified respectively by image recognition principle, namely left
, right
, on
, under
, center
;
S33: when skew occurs target monitoring point, skew appears in mark plate, now by video camera shooting mark plate image, and calculates now center black and white marker coordinates by image recognition principle
, there is following formula:
(7)
(8)
By above-mentioned formula, the level of center black and white mark in mark plate and vertical displacement can be obtained;
After S34: the step S33 level obtained and vertical displacement exceed threshold value, namely judge that this target monitoring point offsets.
In an embodiment of the present invention, the square black and white mark of described center black and white flag bit, the black and white mark being arranged in the upper and lower, left and right of this center black and white mark is circular black and white mark.
Compared to prior art, the present invention has following beneficial effect: the inventive method certainty of measurement is high, real-time good, is applicable to field site operation, can meet the needs of existing base pit engineering excavation horizontal displacement monitoring.
Accompanying drawing explanation
Fig. 1 is The Cloud Terrace coordinate system schematic diagram of the present invention.
Fig. 2 is position in digital picture of the present invention and the corresponding relation figure between The Cloud Terrace angle.
Fig. 3 is isoparametric element interpolation calculation figure.
Fig. 4 is mark plate schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is specifically described.
A kind of method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit of the present invention, comprises the steps,
S1: provide an excavation of foundation pit real-time horizontal movement monitoring system, the video camera, The Cloud Terrace, the laser lamp be installed on described The Cloud Terrace that are arranged near foundation ditch that comprise middle control computer and be connected with control computer in this;
S2: establish global coordinate system, namely camera coordinates is xyz, and the coordinate centered by The Cloud Terrace is XYZ, and the angle that The Cloud Terrace rotates around X-axis is designated as
, the angle rotated around Z axis is designated as
;
S3: open laser lamp, makes laser lamp point to each monitoring point by rotary platform, i.e. calibration point, record now The Cloud Terrace corner (
), record simultaneously the coordinate of each calibration point under global coordinate system (
), under global coordinate system can be obtained each calibration point coordinate (
) and The Cloud Terrace corner (
) between one-to-one relationship, and stored in middle control computer, wherein
irepresent row-coordinate,
jrepresent row coordinate;
S4: after integral calibrating, when monitor target monitoring point occur skew time, namely by the coordinate of this target monitoring point under global coordinate system (
), acquisition The Cloud Terrace corner (
), and then by middle control computer control this corner of cloud platform rotation (
), open laser lamp and can expose to the target monitoring point place that skew occurs, report to the police.
Further, in described step S4, if when the target detection point of the generation skew monitored is not calibration point, rotation and the laser lamp that need control The Cloud Terrace are in the following manner reported to the police,
S21: the image of target monitoring point P that skew is occurred by camera shooting, determine its coordinate under global coordinate system (
), and obtain be positioned at the calibration point of its surrounding coordinate (
), (
), (
), (
) and The Cloud Terrace corner corresponding to it (
), (
), (
), (
);
S22: because target monitoring point P is not calibration point, carry out interpolation calculation according to the point of four around it, specific formula for calculation is as follows:
（1）
（2）
Wherein:
,
,
,
,
,
;
By P point coordinates (
) and four calibration point coordinates around it substitute into formula (1) and (2) namely can solve parameter
,
;
S23: by step S22, according to the The Cloud Terrace corner corresponding to known four calibration points, namely by the The Cloud Terrace corner corresponding to following formulae discovery place target monitoring point P:
（3）
（4）
Wherein:
,
.
Further, in described step S4, the skew of monitoring objective monitoring point realizes in the following manner,
S31: one mark plate is all set in each monitoring point of foundation ditch, described mark plate comprises the bar code and 5 black and white marks that store mark plate information, these 5 black and white marks are in centered by one of them, another four upper and lower, left and right (the square black and white mark of described center black and white flag bit, the black and white mark being arranged in the upper and lower, left and right of this center black and white mark is circular black and white mark) being arranged in this center black and white mark; The bar code information of each mark plate is all deposited in described middle control computer;
S32: by video camera shooting mark plate image, and the information of this mark plate is obtained by the bar code of middle control computer reading mark plate, draw the distance between left and right two the black and white marks of this mark plate
, the distance between upper and lower two black and white marks
; The image pixel coordinates calculating these 4 black and white marks and center black and white mark is identified respectively by image recognition principle, namely left
, right
, on
, under
, center
;
S33: when skew occurs target monitoring point, skew appears in mark plate, now by video camera shooting mark plate image, and calculates now center black and white marker coordinates by image recognition principle
, there is following formula:
(7)
(8)
By above-mentioned formula, the level of center black and white mark in mark plate and vertical displacement can be obtained;
After S34: the step S33 level obtained and vertical displacement exceed threshold value, namely judge that this target monitoring point offsets.
Be below specific embodiments of the invention.
The inventive method realizes mainly through following technological means: provide an excavation of foundation pit real-time horizontal movement monitoring system, comprise middle control computer, be arranged on video camera (multiple target monitored by a video camera) near foundation ditch, The Cloud Terrace 2(1), be installed on above The Cloud Terrace 2 laser lamp 1(1); Multiple measuring point measured by 1, described video camera, Real-Time Monitoring is carried out to the horizontal movement in Excavation Process, and be connected with middle control computer, taken by middle control conputer controlled video camera, control computer in when occurring situation and send instructions to The Cloud Terrace again, open laser lamp, make The Cloud Terrace (The Cloud Terrace can around x-axis and y-axis 360 ° rotations) turn to laser lamp sensing alarm target.
Fix each plant and instrument in engineering, require each equipment to install firmly stable, laser lamp is installed on The Cloud Terrace, does not need to measure the position relationship between The Cloud Terrace and video camera.By all equipment connections on middle control computer, and carry out initial ensemble demarcation, demarcate the corresponding relation between each video camera and The Cloud Terrace, stored in middle control computer.
Concrete demarcation way:
Assuming that the coordinate at The Cloud Terrace place is XYZ, laser lamp is arranged on The Cloud Terrace, as shown in Figure 1.Rotate around X-axis and can change laser lamp distance, laser lamp can be changed around Z axis rotation and point to left or right.The angle of rotating around X-axis is designated as
, the angle rotated around Z axis is designated as
.Assuming that global coordinate system is xyz, then when there being multiple monitoring objective, first open laser lamp and rotary platform to assigned address record The Cloud Terrace (
), record simultaneously the coordinate of target monitoring point under global coordinate system (
); Rotary platform points to each target monitoring point successively, and record respectively The Cloud Terrace position coordinates (
) (i represents row-coordinate, and j represents row coordinate), have also been obtained in camera the coordinate of respective point under camera coordinates system (
).Then by obtain after above-mentioned demarcation coordinate under global coordinate system (
) and The Cloud Terrace corner (
) between one-to-one relationship.After integral calibrating, when under given global coordinate system coordinate (
), namely can find its The Cloud Terrace corner (
), about both for be completed by middle control computer after relation integral calibrating and stored in memory, different requirement of engineering is demarcated again.Integral calibrating is without the need to considering the relation between camera coordinates system and The Cloud Terrace coordinate system, construction and installation are simple, and owing to containing the situation such as relation, lens distortion, systematic error between coordinate system in integral calibrating, therefore no longer rethink in obtained corresponding relation, effectively reduce complexity, improve the precision of calculating, improve the execution efficiency of code.
Computational accuracy is higher more at most to demarcate number of data points used during integral calibrating, and when impact point is not on calibration point, P point as shown in Figure 2, this o'clock, between four calibration points, now also needs to process here again.According to the camera coordinates of above-mentioned foundation (
) and The Cloud Terrace angle (
) corresponding relation, namely obtain after identifying target P point under global coordinate system coordinate (
), because this point is not on calibration point, the point being positioned at this surrounding is respectively (
), (
), (
), (
), be respectively in the The Cloud Terrace position corresponding to these four points of corresponding corresponding relation (
), (
), (
), (
).Due to when the impact point P that identifies is not on identification point, so just carry out interpolation calculation according to the point of four around it, concrete computational methods as follows (as shown in Figure 3):
（1）
（2）
Wherein:
, (
),
,
,
,
.
By P point coordinates (
) and four calibration point coordinates around it substitute into formula (1) and (2) namely can solve parameter
,
.
As shown in Figure 3, when solving
,
after, according to the The Cloud Terrace angle corresponding to known four calibration points, then according to the The Cloud Terrace angle below corresponding to method calculation level P:
（3）
（4）
Wherein:
, (
).
When target is positioned on calibration point, then the precision of target quick position is consistent with image recognition precision; When target is positioned at outside calibration point, then target quick position needs to be calculated by around four calibration points, and therefore, its precision is relevant with calibration point spacing (i.e. calibration point resolution ratio).When the resolution ratio of calibration point is
time, the resolution ratio of picture captured by camera is
, then the pixel between calibration point is
, any point computational accuracy between calibration point is:
（5）
（6）
Wherein:
,
,
with
represent the error of image recognition respectively.Can find out that calibration point spacing is less from formula (5), (6), namely nominal data point is more, then the precision calculated between two calibration points is also higher.Such as distance 100m position, camera resolution is
, under different calibration point resolution ratio, computational accuracy is as shown in table 1, wherein
,
for image accuracy of identification in the x and y direction.
Real-time Water prosposition shift measurement:
Adopt mark plate effectively can improve computational accuracy, the mark plate that patent of the present invention adopts as shown in Figure 4, this mark plate comprises bar code (storing data and the type of mark plate), black and white mark 5 (wherein 4 circles, square), is graduation mark between black and white mark.
Around foundation ditch, arrange multiple mark plate, obtain the corresponding relation between laser lamp and mark plate according to above-mentioned scaling method, for each mark plate, its measuring method is identical, specific as follows:
First read bar code recognition mark plate type, middle control computer recalls the data of this mark plate, such as the circular black and white tag distance of level two
, vertical two circular black and white tag distance
.Then identify respectively according to image recognition principle and calculate the image pixel coordinates of 4 circular black and white marks and central square black and white mark, being respectively left mark
, right mark
, upper mark
, lower mark
and intermediate marker
.
Namely the relation between image pixel in the region at these four some places and coordinate can be obtained according to four points of circular black and white.When the square black and white identification point change in centre, image pixel coordinates becomes
, just can by calculating its level in this cooperation Surface of sign board and vertical displacement.
(7)
(8)
If between mark be about the mark plate image collected and up and down m pixel,
,
real size is H millimeter, and the deviation of real size is Δ millimeter, then the error estimate of measurement result is:
(millimeter) (9)
Due to m >> δ, H >> Δ, if therefore instrument is enough stable and ambient conditions good (adopt plot quality is good, power good, flow perturbation are little), then certainty of measurement determines primarily of multiplication factor (H/m) and mark extraction accuracy δ.Adopt sub-pixel positioning technology, can reach 0.2 pixel to the target plate face mark extraction accuracy carrying out special marking, current instrument can the image of acquisition resolution 1280*1024, and the instrument angle of visual field is ± 15 points.If get m=1000, H=500mm, Δ=1mm, δ=0.2, then the error estimate of the measurement result calculated by formula (1) is 0.1 millimeter.
Flow perturbation and various interference can be used as noise, the pixel precision of major effect imaging, for precision analysis is convenient, are summed up as picture point extraction accuracy.For improving precision, adopt multiple averaging method.To pure random noise, n time average precision is single shot occuracy
.
Its measuring method of mark plate for other is identical, therefore, the corresponding relation between target and The Cloud Terrace is obtained by fast locating algorithm, and the level and vertical displacement that obtain each target is measured in real time by image measuring method, after certain target measurement displacement exceedes threshold value, middle control computer will be made and reported to the police and laser lamp is pointed to this target, and all processes are real-time, are very important for engineering safety.
Be more than preferred embodiment of the present invention, all changes done according to technical solution of the present invention, when the function produced does not exceed the scope of technical solution of the present invention, all belong to protection scope of the present invention.
Claims (4)
1., based on a method for digital picture Real-Time Monitoring excavation of foundation pit horizontal movement, it is characterized in that: comprise the steps,
S1: provide an excavation of foundation pit real-time horizontal movement monitoring system, the video camera, The Cloud Terrace, the laser lamp be installed on described The Cloud Terrace that are arranged near foundation ditch that comprise middle control computer and be connected with control computer in this;
S2: establish global coordinate system, namely camera coordinates is xyz, and the coordinate centered by The Cloud Terrace is XYZ, and the angle that The Cloud Terrace rotates around X-axis is designated as
, the angle rotated around Z axis is designated as
;
S3: open laser lamp, makes laser lamp point to each monitoring point by rotary platform, i.e. calibration point, record now The Cloud Terrace corner (
), record simultaneously the coordinate of each calibration point under global coordinate system (
), under global coordinate system can be obtained each calibration point coordinate (
) and The Cloud Terrace corner (
) between one-to-one relationship, and stored in middle control computer, wherein
irepresent row-coordinate,
jrepresent row coordinate;
S4: after integral calibrating, when monitor target monitoring point occur skew time, namely by the coordinate of this target monitoring point under global coordinate system (
), acquisition The Cloud Terrace corner (
), and then by middle control computer control this corner of cloud platform rotation (
), open laser lamp and can expose to the target monitoring point place that skew occurs, report to the police.
2. the method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit according to claim 1, it is characterized in that: in described step S4, if when the target detection point of the generation skew monitored is not calibration point, rotation and the laser lamp that need control The Cloud Terrace are in the following manner reported to the police
S21: the image of target monitoring point P that skew is occurred by camera shooting, determine its coordinate under global coordinate system (
), and obtain be positioned at the calibration point of its surrounding coordinate (
), (
), (
), (
) and The Cloud Terrace corner corresponding to it (
), (
), (
), (
);
S22: because target monitoring point P is not calibration point, carry out interpolation calculation according to the point of four around it, specific formula for calculation is as follows:
（1）
（2）
Wherein:
,
,
,
,
,
;
By P point coordinates (
) and four calibration point coordinates around it substitute into formula (1) and (2) namely can solve parameter
,
;
S23: by step S22, according to the The Cloud Terrace corner corresponding to known four calibration points, namely by the The Cloud Terrace corner corresponding to following formulae discovery place target monitoring point P:
（3）
（4）
Wherein:
,
.
3. the method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit according to claim 1, is characterized in that: in described step S4, and the judgement of the skew of target monitoring point realizes in the following manner,
S31: one mark plate is all set in each monitoring point of foundation ditch, described mark plate comprises the bar code and 5 black and white marks that store mark plate information, these 5 black and white marks in centered by one of them, another four upper and lower, left and right being arranged in this center black and white mark; The bar code information of each mark plate is all deposited in described middle control computer;
S32: by video camera shooting mark plate image, and the information of this mark plate is obtained by the bar code of middle control computer reading mark plate, draw the distance between left and right two the black and white marks of this mark plate
, the distance between upper and lower two black and white marks
; The image pixel coordinates calculating these 4 black and white marks and center black and white mark is identified respectively by image recognition principle, namely left
, right
, on
, under
, center
;
S33: when skew occurs target monitoring point, skew appears in mark plate, now by video camera shooting mark plate image, and calculates now center black and white marker coordinates by image recognition principle
, there is following formula:
(7)
(8)
By above-mentioned formula, the level of center black and white mark in mark plate and vertical displacement can be obtained;
After S34: the step S33 level obtained and vertical displacement exceed threshold value, namely judge that this target monitoring point offsets.
4. the method based on the horizontal movement of digital picture Real-Time Monitoring excavation of foundation pit according to claim 3, it is characterized in that: the square black and white mark of described center black and white flag bit, the black and white mark being arranged in the upper and lower, left and right of this center black and white mark is circular black and white mark.
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| CN105672377A (en) * | 2016-04-01 | 2016-06-15 | 上海筑邦测控科技有限公司 | Intelligent foundation pit supporting device and intelligent foundation pit supporting system |
| CN106441108A (en) * | 2016-09-14 | 2017-02-22 | 苏州市建筑科学研究院集团股份有限公司 | Vision displacement measurement system and method |
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| CN115469328A (en) * | 2022-08-29 | 2022-12-13 | 中国电建集团福建省电力勘测设计院有限公司 | Digital foundation pit acceptance method based on laser point cloud |
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