CN104988928B - 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, more particularly to one kind are based on digital picture real-time monitoring
The method of excavation of foundation pit horizontal displacement.
Background technology
The development built with Chinese Urbanization, the gushing in a large number of the engineering such as various skyscrapers, subterranean tunnel, overpass
Existing, in order to more stablize and meet the load actions such as wind resistance, antidetonation, generally it is required for excavation pit 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, usually can cause base
Support system around hole and surrounding building, environment etc. change.Simultaneously because the extruding of surrounding high-lager building,
The harmful effect such as may cause to the new foundation ditch excavating to cave in, and causes claim for eot, economic loss, therefore, for comprehensive, system
The impact to pattern foundation pit supporting structure, surrounding soil and surrounding contiguous structure, carrying out horizontal displacement monitoring to excavation of foundation pit is very
It is necessary.
Existing pit retaining monitoring method is a lot, such as collimation line method, minor angle method, method of polar coordinates and forward intersection
Deng.For traditional Foundation Pit monitoring, to be typically observed using theodolite or total powerstation.For foundation ditch level
The method of displacement monitoring is a lot, and in Practical Project, the precision of measuring method, the simplification of measuring method, real time implementation are current people
The problem of general concern, can reach the essential condition that high accuracy is to ensure that construction safety.
Digital picture measurement is the new disciplines developing rapidly in the last few years.It is mainly surveyed by traditional photography
Subject crossing, the fusion such as the computer vision of amount, optical measurement and modern trend and digital image processing and analyzing, take each
The advantage of section and strong point and formed.Its main process object is based on digital (video) sequence image.The method is to utilize
Video camera, photographing unit etc. carry out shooting and obtain single frames or Serial digital image to dynamic, stationary body motion, recycle number
The technology such as word image processing method are identified to target, position, follow the tracks of, and are solved and analyzed calculation method, realize to mesh
Mark real-time automatic measurement and the theory and technology estimated.The method is widely used in a lot of fields, and with
Reaching its maturity of modern digital cameras, its application prospect will be more extensive.
Patent of the present invention is mainly based upon digital picture measurement to realize excavation of foundation pit horizontal displacement real-time monitoring.This system
Simple to operate, high precision, real-time are good, suitable field site operation, disclosure satisfy that existing base pit engineering excavates horizontal displacement
The needs of monitoring.
Content of the invention
It is an object of the invention to provide a kind of method based on digital picture real-time monitoring excavation of foundation pit horizontal displacement, should
Method improves certainty of measurement, and algorithm is simple.
For achieving the above object, the technical scheme is that one kind is based on digital picture real-time monitoring excavation of foundation pit water
The method that prosposition moves, comprises the steps,
S1: provide an excavation of foundation pit real-time horizontal displacement monitoring system, including central control computer and with this central control computer
The video camera being arranged near foundation ditch of connection, head, the laser lamp being installed on described head；
S2: set global coordinate system, that is, camera coordinates system is xyz, and, as xyz, head is around x-axis for the coordinate system centered on head
The angle rotating is designated as, it is designated as around the angle that z-axis rotates；
S3: open laser lamp, make laser lamp point to each monitoring point, i.e. fixed point by rotary platform, record now cloud
Platform corner (), record simultaneously coordinate under global coordinate system for each fixed point (), you can obtain overall coordinate
Under system each fixed point coordinate () and head corner () between one-to-one relationship, and be stored in middle control calculate
In machine, whereiniRepresent row coordinate,jRepresent row coordinate；
S4: after integral calibrating, when monitoring that target monitoring point shifts, you can existed by this target monitoring point
Coordinate under global coordinate system (), acquisition head corner (), and then cloud platform rotation is controlled by central control computer
This corner (), open laser lamp and can expose at the target monitoring point shifting, reported to the police.
In an embodiment of the present invention, in described step s4, if the target detection point shifting monitoring is not mark
During fixed point, the rotation of head and laser lamp need to be controlled in the following manner to report to the police,
S21: shoot the image of the target monitoring point p shifting by camera, determine its seat under global coordinate system
Mark (), and obtain the fixed point positioned at its surrounding coordinate (), (), (), () and its corresponding head corner (), (), (), ()；
S22: because target monitoring point p is not fixed point, calculate according to four click-through row interpolations about, concrete calculating
Formula is as follows:
(1)
(2)
Wherein:,,,,,；
By p point coordinates () can solve ginseng with four demarcation point coordinates substitution formula (1) and (2) about
Number,；
S23: by step s22, the head corner according to corresponding to known four fixed points, you can by following formula meters
Head corner corresponding to target monitoring point p at calculation:
(3)
(4)
Wherein:,.
In an embodiment of the present invention, in described step s4, the skew of monitoring objective monitoring point is real in the following manner
It is existing,
S31: be respectively provided with a mark plate in each monitoring point of foundation ditch, described mark plate includes the bar of mark plate information that is stored with
Shape code and 5 black and white marks, this 5 black and white marks are in that other four is arranged in this center black and white mark centered on one of
Upper and lower, left and right；The bar code information of each mark plate is all deposited to described central control computer；
S32: mark plate image is shot by video camera, and this mark is obtained by the bar code that central control computer reads mark plate
The information of will plate, draws the distance between the left and right two black and white marks of this mark plate, distance between upper and lower two black and white marks；Identify the image pixel coordinates calculating this 4 black and white marks and center black and white mark by image recognition principle respectively, that is,
Left, right, on, under, center；
S33: when target monitoring point shifts, skew in mark plate, shoots mark plate figure now by video camera
Picture, and now center black and white marker coordinates are calculated by image recognition principle, there are following formula:
(7)
(8)
By above-mentioned formula, you can obtain horizontally and vertically displacement in mark plate for the center black and white mark；
S34: step s33 obtain after horizontally and vertically displacement exceedes threshold value, that is, judge that this target monitoring point shifts.
In an embodiment of the present invention, the square black and white mark of described center black and white flag bit, is arranged in this center black and white mark
The black and white mark of the upper and lower, left and right of will is circular black and white mark.
Compared to prior art, the method have the advantages that the inventive method certainty of measurement is high, real-time is good,
Suitable field site operation, disclosure satisfy that existing base pit engineering excavates the needs of horizontal displacement monitoring.
Brief description
Fig. 1 is head coordinate system schematic diagram of the present invention.
Fig. 2 is the corresponding relation figure between position and head angle in digital picture of the present invention.
Fig. 3 is isoparametric element interpolation calculation figure.
Fig. 4 is mark plate schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings, technical scheme is specifically described.
A kind of method based on digital picture real-time monitoring excavation of foundation pit horizontal displacement of the present invention, comprises the steps,
S1: provide an excavation of foundation pit real-time horizontal displacement monitoring system, including central control computer and with this central control computer
The video camera being arranged near foundation ditch of connection, head, the laser lamp being installed on described head；
S2: set global coordinate system, that is, camera coordinates system is xyz, and, as xyz, head is around x-axis for the coordinate system centered on head
The angle rotating is designated as, it is designated as around the angle that z-axis rotates；
S3: open laser lamp, make laser lamp point to each monitoring point, i.e. fixed point by rotary platform, record now cloud
Platform corner (), record simultaneously coordinate under global coordinate system for each fixed point (), you can obtain overall coordinate
Under system each fixed point coordinate () and head corner () between one-to-one relationship, and be stored in middle control calculate
In machine, whereiniRepresent row coordinate,jRepresent row coordinate；
S4: after integral calibrating, when monitoring that target monitoring point shifts, you can existed by this target monitoring point
Coordinate under global coordinate system (), acquisition head corner (), and then cloud platform rotation is controlled by central control computer
This corner (), open laser lamp and can expose at the target monitoring point shifting, reported to the police.
Further, in described step s4, if the target detection point shifting monitoring not is fixed point, need to lead to
Cross in the following manner to report to the police come the rotation and laser lamp to control head,
S21: shoot the image of the target monitoring point p shifting by camera, determine its seat under global coordinate system
Mark (), and obtain the fixed point positioned at its surrounding coordinate (), (), (), () and its corresponding head corner (), (), (), ()；
S22: because target monitoring point p is not fixed point, calculate according to four click-through row interpolations about, concrete calculating
Formula is as follows:
(1)
(2)
Wherein:,,,,,；
By p point coordinates () can solve ginseng with four demarcation point coordinates substitution formula (1) and (2) about
Number,；
S23: by step s22, the head corner according to corresponding to known four fixed points, you can by following formula meters
Head corner corresponding to target monitoring point p at calculation:
(3)
(4)
Wherein:,.
Further, in described step s4, the skew of monitoring objective monitoring point is to be accomplished by,
S31: be respectively provided with a mark plate in each monitoring point of foundation ditch, described mark plate includes the bar of mark plate information that is stored with
Shape code and 5 black and white marks, this 5 black and white marks are in that other four is arranged in this center black and white mark centered on one of
Upper and lower, left and right (the square black and white mark of described center black and white flag bit, be arranged in this center black and white mark upper and lower, left,
Right black and white mark is circular black and white mark)；The bar code information of each mark plate is all deposited to described central control computer；
S32: mark plate image is shot by video camera, and this mark is obtained by the bar code that central control computer reads mark plate
The information of will plate, draws the distance between the left and right two black and white marks of this mark plate, distance between upper and lower two black and white marks；Identify the image pixel coordinates calculating this 4 black and white marks and center black and white mark by image recognition principle respectively, that is,
Left, right, on, under, center；
S33: when target monitoring point shifts, skew in mark plate, shoots mark plate figure now by video camera
Picture, and now center black and white marker coordinates are calculated by image recognition principle, there are following formula:
(7)
(8)
By above-mentioned formula, you can obtain horizontally and vertically displacement in mark plate for the center black and white mark；
S34: step s33 obtain after horizontally and vertically displacement exceedes threshold value, that is, judge that this target monitoring point shifts.
It is below the specific embodiment of the present invention.
The inventive method is mainly realized by following technological means: provides an excavation of foundation pit real-time horizontal displacement monitoring system
System, including in control computer, be arranged on video camera near foundation ditch (multiple targets monitored by a video camera), head 2(1), peace
It is loaded on laser lamp 1(1 of head 2 top)；1 multiple measuring point of measurement of described video camera, to the water in Excavation Process
Prosposition be moved into row real-time monitoring, and with middle control computer is connected, by middle control computer control video camera shoot, when situation occurs in control
Computer retransmits instruction and arrives head, opens laser lamp so that head (head can be around x-axis and 360 ° of rotations of y-axis) turns to laser
Lamp points to alarm target.
Each instrument and equipment is fixed it is desirable to the installation of each equipment is stable firm, laser lamp is installed on head in engineering,
Do not need to measure the position relationship between head and video camera.All of equipment is connected on middle control computer, and carries out initial
Integral calibrating, demarcates the corresponding relation between each video camera and head, is stored in middle control computer.
Concrete method of demarcating:
It is assumed that the coordinate system that head is located is xyz, laser lamp is arranged on head, as shown in Figure 1.Rotate permissible around x-axis
Change laser lamp far and near, laser lamp sensing can be changed around z-axis rotation left or right.The angle rotating around x-axis is designated as, around z-axis
The angle of rotation is designated as.It is assumed that global coordinate system is xyz, then, when there being multiple monitoring objective, it is first turned on laser lamp and rotates
Head to specified location record head (), record simultaneously coordinate under global coordinate system for the target monitoring point ()；Rotary platform points to each target monitoring point successively, and record respectively head position coordinateses () (i table
Show row coordinate, j represents row coordinate), also obtained in camera coordinate under camera coordinates system for the respective point ().Then pass through
Obtained after above-mentioned demarcation coordinate under global coordinate system () and head corner () between one-to-one relationship.
After integral calibrating, when under given global coordinate system coordinate (), you can with find its head corner (),
Being completed and being stored in memorizer by middle control computer for after relation integral calibrating with regard to both, different requirement of engineering is marked again
Fixed.Integral calibrating need not consider the relation between camera coordinates system and head coordinate system, and construction and installation are simple, and due to entirety
Contain situations such as relation between coordinate system, lens distortion, systematic error, in demarcation in therefore obtained corresponding relation not
Rethink again, effectively reduce complexity, improve the precision of calculating, improve the execution efficiency of code.
Data points more at most computational accuracy used is demarcated higher, when impact point is not on fixed point during integral calibrating
When, p point as shown in Figure 2, this point is located between four fixed points, now also needs here to process again.According to above-mentioned foundation
Camera coordinates () and head angle () corresponding relation, obtained global coordinate system after identifying target
Lower p point coordinate (), because this point is not on fixed point, positioned at this surrounding point be respectively (), (), (), (), in the head according to corresponding to this four points of corresponding corresponding relation
Position be respectively (), (), (), ().Impact point p due to identification does not exist
When on identification point, then just calculate according to four click-through row interpolations about, specific computational methods are as follows (as Fig. 3 institute
Show):
(1)
(2)
Wherein:, (),,,
,.
By p point coordinates () can solve ginseng with four demarcation point coordinates substitution formula (1) and (2) about
Number,.
As shown in figure 3, work as solving,Afterwards, the head angle according to corresponding to known four fixed points, then according under
Head angle corresponding to the method calculating point p of face:
(3)
(4)
Wherein:, ().
When target is located on fixed point, then the precision of the quick positioning of target is consistent with image recognition precision；When target position
When outside fixed point, then the quick positioning of target needs to be calculated, therefore, its precision and demarcation by four fixed points of surrounding
Dot spacing (demarcating point resolution) is relevant.When the resolution of fixed point isWhen, the resolution of picture captured by camera
For, then the pixel between fixed point be, any point between fixed point calculates
Precision is:
(5)
(6)
Wherein:、、WithRepresent the error of image recognition respectively.From formula (5), (6) can
Less to find out demarcation dot spacing, that is, nominal data point is more, then the precision calculating between two fixed points is also higher.For example away from
Away from 100m position, camera resolution is, under different demarcation point resolutions, computational accuracy is as shown in table 1, wherein、For image accuracy of identification in the x and y direction.
Horizontal position shift measurement in real time:
Computational accuracy can effectively be improved using mark plate, the mark plate that patent of the present invention adopts is as shown in figure 4, this mark
Will plate includes bar code (storing data and the type of mark plate), black and white mark 5 (wherein 4 circles, square), black
It is graduation mark between white mark.
Arrange multiple mark plates around foundation ditch, obtained between laser lamp and mark plate according to above-mentioned scaling method
Corresponding relation, for each mark plate, its measuring method is identical, specific as follows:
Read bar code recognition mark plate type first, middle control computer recalls the data of this mark plate, such as level two
Circular black and white tag distance, vertical two circular black and white tag distance.Then identified respectively simultaneously according to image recognition principle
Calculate the image pixel coordinates of 4 circular black and white marks and central square black and white mark, respectively left mark, right
Mark, upper mark, lower markAnd intermediate marker.
According to four points of circular black and white can obtain image pixel and coordinate in the region that this four points are located it
Between relation.When middle square black and white identification point changes, image pixel coordinates are changed intoIt is possible to by calculating
To its horizontally and vertically displacement in this cooperation Surface of sign board.
(7)
(8)
If being m pixel between indicating about the mark plate image collecting and up and down,、Actual size is h millimeter, real
The deviation of border size is δ millimeter, then the error estimate of measurement result is:
(millimeter) (9)
Due to m > > δ, h > > δ, therefore if instrument is sufficiently stable and environmental condition is good (adopts that plot quality is good, power supply is steady
Fixed, flow perturbation is little etc.), then certainty of measurement is mainly by amplification (h/m) and index point extraction accuracy δ decision.Using sub- picture
Plain location technology, to carrying out the target plate face index point extraction accuracy of special marking up to 0.2 pixel, current instrument can gather
The image of resolution 1280*1024, the instrument angle of visual field is ± 15 points.If taking m=1000, h=500mm, δ=1mm, δ=
0.2, then the error estimate pressing the calculated measurement result of formula (1) is 0.1 millimeter.
Flow perturbation and various interference can be used as noise, the pixel precision of main impact imaging, are that precision analysis is convenient, will
It is attributed to picture point extraction accuracy.For improving precision, using multiple averaging method.To pure random noise, n average precision
It is single shot occuracy.
Identical for its measuring method of other mark plates, therefore, target and head are obtained by fast locating algorithm
Between corresponding relation, and obtain the horizontally and vertically displacement of each target by image measuring method in real time measurement, when certain
After target measurement displacement exceedes threshold value, middle control computer will be made warning and laser lamp will be pointed to this target, and all processes are in real time, right
It is very important in engineering safety.
It is more than presently preferred embodiments of the present invention, all changes made according to technical solution of the present invention, produced function is made
With without departing from technical solution of the present invention scope when, belong to protection scope of the present invention.
Claims (3)
1. a kind of method based on digital picture real-time monitoring excavation of foundation pit horizontal displacement it is characterised in that: comprise the steps,
S1 a: excavation of foundation pit real-time horizontal displacement monitoring system is provided, is connected including central control computer and with this central control computer
The video camera being arranged near foundation ditch, head, the laser lamp being installed on described head；
S2: set global coordinate system, that is, camera coordinates system is xyz, as xyz, head rotates the coordinate system centered on head around x-axis
Angle be designated as, it is designated as around the angle that z-axis rotates；
S3: open laser lamp, make laser lamp point to each monitoring point, i.e. fixed point by rotary platform, record now head and turn
Angle (), record simultaneously coordinate under global coordinate system for each fixed point (), you can obtain under global coordinate system
Each fixed point coordinate () and head corner () between one-to-one relationship, and be stored in central control computer,
WhereiniRepresent row coordinate,jRepresent row coordinate；
S4: after integral calibrating, when monitoring that target monitoring point shifts, you can by this target monitoring point in entirety
Coordinate under coordinate system (), acquisition head corner (), and then this turn of cloud platform rotation is controlled by central control computer
Angle (), open laser lamp and can expose at the target monitoring point shifting, reported to the police；
In described step s4, if the target monitoring point shifting monitoring not is fixed point, need to come in the following manner
The rotation of head and laser lamp is controlled to report to the police,
S21: the image of target monitoring point p shifting is shot by camera, determine its coordinate under global coordinate system (), and obtain the fixed point positioned at its surrounding coordinate (), (), (), () and its corresponding head corner (), (), (), ()；
S22: because target monitoring point p is not fixed point, calculate according to four click-through row interpolations about, specific formula for calculation
As follows:
(1)
(2)
Wherein:,,,,,；
By p point coordinates () can solve parameter with four demarcation point coordinates substitution formula (1) and (2) about,；
S23: by step s22, the head corner according to corresponding to known four fixed points, you can calculated by following formula
Head corner corresponding to target monitoring point p:
(3)
(4)
Wherein:,.
2. the method based on digital picture real-time monitoring excavation of foundation pit horizontal displacement according to claim 1, its feature exists
In: in described step s4, the judgement of the skew of target monitoring point is to be accomplished by,
S31: be respectively provided with a mark plate in each monitoring point of foundation ditch, described mark plate includes the bar code of mark plate information that is stored with
And 5 black and white marks, this 5 black and white marks are in centered on one of, other four be arranged in this center black and white mark upper,
Under, left and right；The bar code information of each mark plate is all deposited to described central control computer；
S32: mark plate image is shot by video camera, and this mark plate is obtained by the bar code that central control computer reads mark plate
Information, draw the distance between the left and right two black and white marks of this mark plate, distance between upper and lower two black and white marks；Logical
Cross image recognition principle and identify the image pixel coordinates calculating this 4 black and white marks and center black and white mark respectively, that is, left, right, on, under, center；
S33: when target monitoring point shifts, skew in mark plate, shoots mark plate image now by video camera, and
Now center black and white marker coordinates are calculated by image recognition principle, there are following formula:
(7)
(8)
By above-mentioned formula, you can obtain horizontally and vertically displacement in mark plate for the center black and white mark；
S34: step s33 obtain after horizontally and vertically displacement exceedes threshold value, that is, judge that this target monitoring point shifts.
3. the method based on digital picture real-time monitoring excavation of foundation pit horizontal displacement according to claim 2, its feature exists
In: described center black and white is masked as square black and white mark, is arranged in the black and white mark of the upper and lower, left and right of this center black and white mark
It is circular black and white mark.
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| CN105547160B (en) * | 2016-01-08 | 2018-11-30 | 中铁第四勘察设计院集团有限公司 | Railway component system for monitoring displacement and method |
| CN105672377B (en) * | 2016-04-01 | 2017-12-22 | 上海筑邦测控科技有限公司 | Intelligent foundation ditch support meanss and intelligent foundation pit support system |
| CN106441108B (en) * | 2016-09-14 | 2020-02-14 | 苏州市建筑科学研究院集团股份有限公司 | Visual displacement measurement system and measurement method thereof |
| CN107478318B (en) * | 2017-08-02 | 2019-11-15 | 深圳钰湖电力有限公司 | A kind of vibration measuring control method of crusing robot system |
| CN108612075B (en) * | 2018-05-21 | 2020-07-07 | 辽宁工程技术大学 | Method for monitoring horizontal displacement of deep foundation pit |
| CN109579680A (en) * | 2018-11-22 | 2019-04-05 | 中国十七冶集团有限公司 | A kind of displacement monitoring method of interim door opening |
| CN110057302A (en) * | 2019-05-15 | 2019-07-26 | 南京工业职业技术学院 | Automatic Measuring Apparatus and measurement method towards subsurface safety |
| CN110241700B (en) * | 2019-05-27 | 2020-12-04 | 内蒙古路桥工程技术检测有限责任公司 | Pit slot detection post-repair process |
| CN111121731B (en) * | 2019-12-11 | 2022-09-09 | 国网湖北省电力有限公司荆州供电公司 | Foundation pit dividing instrument |
| CN112504134B (en) * | 2020-11-27 | 2022-03-29 | 重庆康盛监理咨询有限公司 | Dynamic displacement monitoring system, method and device for steel structure net rack and storage medium |
| CN113779668B (en) * | 2021-08-23 | 2023-05-23 | 浙江工业大学 | Foundation pit support structure displacement monitoring system |
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| JP3769666B2 (en) * | 2000-11-09 | 2006-04-26 | 日本電気株式会社 | Aberration correction method and optical disc apparatus |
| CN202485632U (en) * | 2011-12-20 | 2012-10-10 | 中建八局第一建设有限公司 | Deep foundation pit displacement laser monitoring and alarming system |
| CN103363904B (en) * | 2013-06-26 | 2015-12-16 | 同济大学 | The measurement mechanism of foundation pit enclosure structure layering horizontal shift and measuring method |
| CN103557800B (en) * | 2013-11-07 | 2016-03-30 | 大连市勘察测绘研究院有限公司 | Multilayer floor slab layering horizontal displacement monitoring method |
| CN204313798U (en) * | 2014-12-26 | 2015-05-06 | 华中科技大学 | A kind of laser beam in-situ calibration device |
| CN204286365U (en) * | 2014-12-30 | 2015-04-22 | 姜泓任 | Foundation pit side-wall displacement monitor |
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