CN108204985A - A kind of shield tunnel mileage localization method - Google Patents
A kind of shield tunnel mileage localization method Download PDFInfo
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- CN108204985A CN108204985A CN201810038976.6A CN201810038976A CN108204985A CN 108204985 A CN108204985 A CN 108204985A CN 201810038976 A CN201810038976 A CN 201810038976A CN 108204985 A CN108204985 A CN 108204985A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/888—Marking defects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Abstract
The present invention relates to a kind of shield tunnel mileage localization methods, mainly solve the technical issues of existing tunnel mileage positioning method accuracy is not high, technical scheme of the present invention includes the following steps, the section of jurisdiction circumferential weld in shield tunnel surface image is identified using image-recognizing method, and using the position correction rangefinder mileage location information of each section of jurisdiction circumferential weld, obtain final tunnel mileage location information.Specific steps：S1, shield tunnel surface image and rangefinder mileage location information are obtained by mobile detection apparatus；S2, the shield tunnel surface image according to acquisition identify the section of jurisdiction circumferential weld in image, and export the position of each section of jurisdiction circumferential weld；S3, rangefinder mileage location information is corrected according to the judging result of duct pieces of shield tunnel circumferential weld position, exports final tunnel mileage location information.
Description
Technical field
The present invention relates to the positioning of shield tunnel mileage, and a kind of shield tunnel mileage localization method is disclosed, applied to underground
Engineering field.
Background technology
With the development of science and technology, the construction scale of shield tunnel project is growing day by day, greatly facilitate people trip and
Life, and the shield tunnel project being largely completed has been enter into the maintenance stage, therefore, as shield tunnel quantity continues
Increase, the operation state of shield tunnel construction also becomes particularly important with Defect inspection.Traditional shield tunnel surface disease inspection
Work is surveyed mainly to detect by artificial detection or installation retainer instrument equipment（Such as total powerstation lays convergence gauge, optical fiber）
Come what is realized, but since shield tunnel is more and more, detection portfolio sharply increases, and traditional method cannot expire in efficiency
The work requirements of sufficient shield tunnel surface Defect inspection.Relative to traditional method, the shield tunnel based on Digital Image Processing
Surface Defect inspection method has the advantages that efficient, precision is high, and stability is high, it has also become shield tunnel surface Defect inspection industry
The main stream approach of business.Shield tunnel surface Defect inspection method based on Digital Image Processing is broadly divided into three parts, and
A part is digital image acquisition, is generally completed by the mobile equipment such as Tunnel testing vehicle, and second part is Digital Image Processing,
Disease recognition carries out the image collected by designed image Processing Algorithm, Part III is that defect information is integrated, according to institute
The disease recognition result and corresponding mileage information for having image carry out disease positioning.Wherein, mileage location information directly affects
How the precision of disease positioning, therefore, obtain the problem of accurate mileage location information is one very crucial.In recent years,
Research is expanded to tunnel mileage localization method there are many scholar.
The patent document of Publication No. CN101943577B discloses a kind of metro tunnel fracture surface deformation detection system, should
Profile scanning device, mileage positioning device, data processing system and other auxiliary devices are installed on subway detection vehicle by method
On, the positioning of tunnel cross-section information is realized using mileage positioning device.Wherein mileage positioning device is mainly by measuring wheel and rotation
Encoder is formed, measuring wheel and rail contact, and rotary encoder connect the two synchronous rotary with measuring wheel by shaft, real
Existing tunnel mileage positioning.
The patent document of Publication No. CN105548205A discloses tunnel surface defect positioning method and alignment system,
This method is multiple for marking the kilometer stones of tunnel mileage by being set in advance in tunnel surface, then along tunnel extending direction into
Row Image Acquisition, then the image based on acquisition identify the kilometer stone in image, obtain the mileage location information in tunnel.
Mileage localization method in tunnel disclosed in document above, tunnel mileage location information source is single, places one's entire reliance upon
Measuring wheel or image identification, due to Tunnel testing vehicle attitudes vibration, skidding etc., the mileage information and tunnel of measuring wheel are practical
Mileage information is often not consistent, therefore precision is not high.And the kilometer stone in image is identified by image procossing, it needs pre-
Kilometer stone is first laid inside tunnel, increases manpower and time cost, also there is some potential safety problems, and precision easily by
Picture quality influences.Therefore, it is necessary to study a kind of stability and high efficiency, the tunnel mileage localization methods of high accurancy and precision.
Invention content
The purpose of the invention is to overcome the shortcomings of existing method, it is proposed that a kind of shield tunnel mileage localization method,
To improve the precision of the shield tunnel surface disease positioning based on Digital Image Processing.The present invention thinking be：Use image
Section of jurisdiction circumferential weld in recognition methods identification shield tunnel surface image, and utilize the position correction rangefinder mileage of each section of jurisdiction circumferential weld
Location information obtains final tunnel mileage location information.
The technical scheme is that：A kind of shield tunnel mileage localization method, which is characterized in that include the following steps：
S1, shield tunnel surface image and mileage location information are obtained by mobile detection apparatus；
S2, the shield tunnel surface image according to acquisition identify the section of jurisdiction circumferential weld in image, and export the position of each section of jurisdiction circumferential weld
It puts；
S3, it is corrected according to the judging result of duct pieces of shield tunnel circumferential weld position, final tunnel mileage location information is exported,
It is denoted as。
The particular content of the S1 steps is as follows：
（1）It is single channel gray level image to acquire image by the laser scanner of mobile detection apparatus, and the required precision of image is extremely
Reach 3mm/pixel less；
（2）By the preliminary tunnel mileage location information of the rangefinder of mobile detection apparatus, encoder output, it is denoted as。
The concrete operations of the step S2 are as follows：
（1）Contrast enhancement processing is carried out to original tunnel image using histogram equalization method, original tunnel image is denoted as, the enhanced image of contrast is denoted as I, and the width of image is high to be denoted as W, H respectively.
（2）According to the image I after contrast enhancement processing, statistics wherein each column gray scale accumulated value.It is as follows：
（a）The initial range of each column gray scale accumulated value in statistical picture I is set, is denoted as、, wherein,；
（b）According to the statistics initial range of each column gray scale accumulated value of setting, valid data statistical regions are obtained, are denoted as, system
The row gray scale accumulated value in valid data statistical regions in image I is counted, is denoted as,, computational methods are as follows：
(1)
WhereinExist for image IThe gray value of position, and,。
（3）Processing is zoomed in and out to the row gray scale accumulated value after statistics, scales it setting range.Concrete operations are such as
Under：
（a）The maximum value of row gray scale accumulated value after setting scaling, is denoted as；
（b）The row gray scale accumulated value after scaling is calculated, is denoted as, the scaling computational methods of row gray scale accumulated value are as follows：
（2）
WhereinFor the maximum value in the row gray scale accumulated value before scaling,。
（4）Duct pieces of shield tunnel circumferential weld decision threshold is calculated according to the row gray scale accumulated value after scaling, is denoted as；Specific behaviour
Make as follows：
（a）Row gray scale accumulated value after scaling needs to cut into ranks, cuts columns and is denoted as, in order to eliminate image
The zero interference on boundary, the column position index after row are cut are denoted as,；
（b）The maximum value and minimum value in the row gray scale accumulated value after row are cut are calculated, is denoted as respectively,
Computational methods are as follows：
(3)
(4)
（c）The maximum value and minimum value in row gray scale accumulated value after being cut according to row determines that duct pieces of shield tunnel circumferential weld judges
Threshold value is denoted as, computational methods are as follows：
(5)
(6)
WhereinIt is punishment parameter.
（5）Traverse all positions effectively arranged, and according toWhether the position for judging the currently active row is shield tunnel
Position where piece circumferential weld；Concrete operations are as follows：
（a）The row gray scales for choosing several sampling row at left and right sides of the currently active row add up and data, the position effectively arranged are denoted as,, wherein N is sampling columns,,It is that the sampling that sampling arranges at left and right sides of the currently active row is inclined
Shifting amount.Starting sample column position at left and right sides of the currently active row can be inclined according to the sampling that sampling arranges at left and right sides of the currently active row
Shifting amount determines that the starting sample column position at left and right sides of the currently active row is denoted as respectively、, wherein,,For the position of the currently active row,.The row gray scale of sampling row at left and right sides of the currently active row adds up
Value is denoted as respectively、, wherein,；
（b）Statistics is located at the average value of the row gray scale accumulated value of several samplings row at left and right sides of the currently active row, is denoted as respectively,, computational methods are as follows：
(7)
(8)
（c）Calculate the currently active row row gray scale add up and at left and right sides of it several samplings row row gray scale accumulated value it is equal
The difference of value, is denoted as,, computational methods are as follows：
(9)
(10)
（d）If the mean value of the row gray scale accumulated value of the currently active row and the row gray scale accumulated value of several sampling row in its left and right sides
Difference be more than duct pieces of shield tunnel circumferential weld decision threshold, then where the position of the currently active row is duct pieces of shield tunnel circumferential weld
Position, record this position；Conversely, the position of the currently active row is not the position where duct pieces of shield tunnel circumferential weld, do not record
This position；
（e）The duct pieces of shield tunnel circumferential weld position tentatively recorded is post-processed, post-processing approach is：One search model of setting
It encloses, is denoted as SR, in the range of SR, only retain an optimal duct pieces of shield tunnel circumferential weld position；
（f）It repeats above-mentioned（a）~（e）Step is completed until the positions effectively arranged all in image traverse.
（6）The judging result of final duct pieces of shield tunnel circumferential weld position is exported, is denoted as。
The concrete operations of the step S3 are as follows：
（1）InitializationFor。
（2）TraversalThe position of middle duct pieces of shield tunnel circumferential weld and, obtain the position pair of duct pieces of shield tunnel circumferential weld
The mileage location information answered.
（3）According to the mileage information of duct pieces of shield tunnel length correction, shield tunnel leaf length is denoted as, meter
Calculation method is as follows：
Wherein,, N is the duct pieces of shield tunnel circumferential weld number detected,For i-th of section of jurisdiction circumferential weld position
Corresponding mileage location information.
（4）It repeats above-mentioned（2）~（3）Step, untilIn all duct pieces of shield tunnel circumferential welds position traversal complete.
Compared with prior art, the present invention has the following advantages：（1）Present invention incorporates the high efficiency and image of rangefinder
The high accurancy and precision of identification realizes the mileage positioning of shield tunnel, and comprehensive performance is stronger.（2）Mathematics shape based on image gradation data
State feature identifies that, without complicated image processing operations, computational efficiency is high to do duct pieces of shield tunnel circumferential weld.（3）Profit of the invention
With the tunnel mileage location information of duct pieces of shield tunnel circumferential weld recognition methods correction rangefinder, robustness higher.
Description of the drawings
Fig. 1 is the system flow schematic diagram of the method for the present invention.
Fig. 2 is the section of jurisdiction circumferential weld identification process schematic diagram of the method for the present invention.
Fig. 3 is the circumferential weld resolution principle schematic diagram of the method for the present invention.
Fig. 4 is the tunnel mileage location information bearing calibration schematic diagram of the method for the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to the accompanying drawings 1, the present invention is a kind of shield tunnel mileage localization method, is included the following steps：
S1, shield tunnel surface image and mileage location information are obtained by mobile detection apparatus；
（1）Mobile detection apparatus mainly includes image collecting device, mileage positioning device；
（2）Image collecting device use is single channel ash inspiring confidence in scientific and technological 9012 laser scanners of Z+F PROFILER, acquisition image
Image is spent, the required precision of image is at least up to 3mm/pixel；
（3）Mileage positioning device mainly includes rangefinder, encoder, exports preliminary tunnel mileage location information, is denoted as；
Wherein rangefinder is laser range finder, and encoder is incremental optical-electricity encoder.
S2, the shield tunnel surface image according to acquisition identify the section of jurisdiction circumferential weld in image, and export each section of jurisdiction circumferential weld
Position；
With reference to the accompanying drawings 2, the concrete operations of the step S2 are as follows：
（1）Contrast enhancement processing is carried out to original tunnel image using histogram equalization method, original tunnel image is denoted as, the enhanced image of contrast is denoted as I, and the width of image is high to be denoted as W, H respectively.
（2）According to the image I after contrast enhancement processing, statistics wherein each column gray scale accumulated value.It is as follows：
（a）The initial range of each column gray scale accumulated value in statistical picture I is set, is denoted as、, wherein,；
（b）According to the statistics initial range of each column gray scale accumulated value of setting, valid data statistical regions are obtained, are denoted as, system
Count imageRow gray scale accumulated value in middle valid data statistical regions, is denoted as,, computational methods are as follows：
(1)
WhereinFor image The gray value of position, and,；
Valid data statistical regions control parameter can be defined as follows：
struct GapRecRegCtlPara
{
int nVStart;// setting data extraction scope：Vertical direction starting point
int nVEnd;// setting data extraction scope：Vertical direction terminal
}。
（3）Processing is zoomed in and out to the row gray scale accumulated value after statistics, scales it setting range.Concrete operations are such as
Under：
（a）The maximum value of row gray scale accumulated value after setting scaling, is denoted as；
（b）The row gray scale accumulated value after scaling is calculated, is denoted as, the scaling computational methods of row gray scale accumulated value are as follows：
)
WhereinFor the maximum value in the row gray scale accumulated value before scaling,。
（4）With reference to the accompanying drawings 3, duct pieces of shield tunnel circumferential weld decision threshold, note are calculated according to the row gray scale accumulated value after scaling
For.Concrete operations are as follows：
（a）Row gray scale accumulated value after scaling needs to cut into ranks, cuts columns and is denoted as, in order to eliminate image
The zero interference on boundary, the column position index after row are cut are denoted as,；
（b）The maximum value and minimum value in the row gray scale accumulated value after row are cut are calculated, is denoted as respectively,
Computational methods are as follows：
(3)
(4)
（c）The maximum value and minimum value in row gray scale accumulated value after being cut according to row determines that duct pieces of shield tunnel circumferential weld judges
Threshold value is denoted as, computational methods are as follows：
(5)
(6)
WhereinIt is punishment parameter, to control the size of duct pieces of shield tunnel circumferential weld decision threshold, which can generally be set as 0.5；
The control parameter for calculating duct pieces of shield tunnel circumferential weld decision threshold can be defined as follows：
struct GapRecThCtlPara
{
double dPenaltyCoef;// duct pieces of shield tunnel circumferential weld decision threshold
int nBoundaryClip;// image boundary cuts range
}。
（5）Traverse all positions effectively arranged, and according toWhether the position for judging the currently active row is shield tunnel
Position where piece circumferential weld.Concrete operations are as follows：
（a）The row gray scales for choosing several sampling row at left and right sides of the currently active row add up and data, the position effectively arranged are denoted as,, wherein N is sampling columns,,It is that the sampling that sampling arranges at left and right sides of the currently active row is inclined
Shifting amount.Starting sample column position at left and right sides of the currently active row can be inclined according to the sampling that sampling arranges at left and right sides of the currently active row
Shifting amount determines that the starting sample column position at left and right sides of the currently active row is denoted as respectively、, wherein,,For the position of the currently active row,.The row gray scale of sampling row at left and right sides of the currently active row adds up
Value is denoted as respectively、, wherein,；
（b）Statistics is located at the average value of the row gray scale accumulated value of several samplings row at left and right sides of the currently active row, is denoted as respectively,, computational methods are as follows：
(7)
(8)
（c）Calculate the currently active row row gray scale add up and at left and right sides of it several samplings row row gray scale accumulated value it is equal
The difference of value, is denoted as,, computational methods are as follows：
(9)
(10)
（d）If the mean value of the row gray scale accumulated value of the currently active row and the row gray scale accumulated value of several sampling row in its left and right sides
Difference be more than duct pieces of shield tunnel circumferential weld decision threshold, then where the position of the currently active row is duct pieces of shield tunnel circumferential weld
Position, record this position；Conversely, the position of the currently active row is not the position where duct pieces of shield tunnel circumferential weld, do not record
This position；
（e）The duct pieces of shield tunnel circumferential weld position tentatively recorded is post-processed, post-processing approach is：One search model of setting
It encloses, is denoted as SR, in the range of SR, only retain an optimal duct pieces of shield tunnel circumferential weld position；
（f）It repeats above-mentioned（a）~（e）Step is completed until the positions effectively arranged all in image traverse.
（6）The judging result of final duct pieces of shield tunnel circumferential weld position is exported, is denoted as；
The control parameter of duct pieces of shield tunnel circumferential weld judgement can be defined as follows：
struct GapRecJudgeCtlPara
{
int nShiftLR;// sampling pixel points offset
int nPointNum;// sampling pixel points quantity
}。
S3, it is corrected according to the judging result of duct pieces of shield tunnel circumferential weld position, export final tunnel mileage positioning
Information is denoted as。
With reference to the accompanying drawings 4, the concrete operations of the step S3 are as follows：
（1）InitializationFor；
（2）TraversalThe position of middle duct pieces of shield tunnel circumferential weld and, the position for obtaining duct pieces of shield tunnel circumferential weld corresponds to
Mileage location information；
（3）According to the mileage information of duct pieces of shield tunnel length correction, shield tunnel leaf length is denoted as, which is
Standard setting, generally 1.5m are built according to shield tunnel.Computational methods are as follows：
Wherein,,For the duct pieces of shield tunnel circumferential weld number detected,It isA section of jurisdiction circumferential weld position
Corresponding mileage location information；
（4）It repeats above-mentioned（2）~（3）Step, untilIn all duct pieces of shield tunnel circumferential welds position traversal complete.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Creative work is needed according to the present invention can to conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (5)
1. a kind of shield tunnel mileage localization method, which is characterized in that identify shield tunnel exterior view using image-recognizing method
Section of jurisdiction circumferential weld as in, and using the position correction rangefinder mileage location information of each section of jurisdiction circumferential weld, obtain in final tunnel
Journey location information.
2. a kind of shield tunnel mileage localization method according to claim 1, which is characterized in that include the following steps：
S1, shield tunnel surface image and rangefinder mileage location information are obtained by mobile detection apparatus；S2, according to acquisition
Shield tunnel surface image identifies the section of jurisdiction circumferential weld in image, and exports the position of each section of jurisdiction circumferential weld；
S3, rangefinder mileage location information is corrected according to the judging result of duct pieces of shield tunnel circumferential weld position, exports final tunnel
Road mileage location information.
3. a kind of shield tunnel mileage localization method according to claim 2, which is characterized in that the S1 steps it is specific
Content is as follows：
（1）It is single channel gray level image to acquire image by the laser scanner of mobile detection apparatus, and the required precision of image is extremely
Reach 3mm/pixel less；
（2）By the preliminary tunnel mileage location information of the rangefinder of mobile detection apparatus, encoder output, it is denoted as。
A kind of 4. shield tunnel mileage localization method according to claim 2, which is characterized in that the concrete operations of the S2
It is as follows：
（1）Contrast enhancement processing is carried out to original tunnel image using histogram equalization method, original tunnel image is denoted as, the enhanced image of contrast is denoted as, the width of image is high to be denoted as respectively,；
（2）According to the image after contrast enhancement processing, statistics wherein each column gray scale accumulated value；It is as follows：
（a）Set statistical pictureThe initial range of middle each column gray scale accumulated value, is denoted as、, wherein,；
（b）According to the statistics initial range of each column gray scale accumulated value of setting, valid data statistical regions are obtained, are denoted as, system
Count imageRow gray scale accumulated value in middle valid data statistical regions, is denoted as,, computational methods are as follows：
WhereinFor image The gray value of position, and,；
（3）Processing is zoomed in and out to the row gray scale accumulated value after statistics, scales it setting range；It is as follows：
（a）The maximum value of row gray scale accumulated value after setting scaling, is denoted as；
（b）The row gray scale accumulated value after scaling is calculated, is denoted as, the scaling computational methods of row gray scale accumulated value are as follows：
WhereinFor the maximum value in the row gray scale accumulated value before scaling,；
（4）Duct pieces of shield tunnel circumferential weld decision threshold is calculated according to the row gray scale accumulated value after scaling, is denoted as；Specific steps are such as
Under：
（a）Row gray scale accumulated value after scaling needs to cut into ranks, cuts columns and is denoted as, in order to eliminate image side
The zero interference on boundary, the column position index after row are cut are denoted as,；
（b）The maximum value and minimum value in the row gray scale accumulated value after row are cut are calculated, is denoted as respectively, meter
Calculation method is as follows：
（c）The maximum value and minimum value in row gray scale accumulated value after being cut according to row determines that duct pieces of shield tunnel circumferential weld judges
Threshold value is denoted as, computational methods are as follows：
WhereinIt is punishment parameter；
（5）Traverse all positions effectively arranged, and according toWhether the position for judging the currently active row is duct pieces of shield tunnel circumferential weld
The position at place；It is as follows：
（a）The row gray scales for choosing several sampling row at left and right sides of the currently active row add up and data, the position effectively arranged are denoted as,, wherein N is sampling columns,,It is that the sampling that sampling arranges at left and right sides of the currently active row is inclined
Shifting amount；Starting sample column position at left and right sides of the currently active row can be inclined according to the sampling that sampling arranges at left and right sides of the currently active row
Shifting amount determines that the starting sample column position at left and right sides of the currently active row is denoted as respectively、, wherein,,For the position of the currently active row,；The row gray scale of sampling row at left and right sides of the currently active row adds up
Value is denoted as respectively、, wherein,；
（b）Statistics is located at the average value of the row gray scale accumulated value of several samplings row at left and right sides of the currently active row, is denoted as respectively,, computational methods are as follows：
（c）Calculate the currently active row row gray scale add up and at left and right sides of it several samplings row row gray scale accumulated value it is equal
The difference of value, is denoted as,, computational methods are as follows：
（d）If the mean value of the row gray scale accumulated value of the currently active row and the row gray scale accumulated value of several sampling row in its left and right sides
Difference be more than duct pieces of shield tunnel circumferential weld decision threshold, then where the position of the currently active row is duct pieces of shield tunnel circumferential weld
Position, record this position；Conversely, the position of the currently active row is not the position where duct pieces of shield tunnel circumferential weld, do not record
This position；
（e）The duct pieces of shield tunnel circumferential weld position tentatively recorded is post-processed, post-processing approach is：One search model of setting
It encloses, is denoted as, in the range of SR, only retain an optimal duct pieces of shield tunnel circumferential weld position；
（f）It repeats above-mentioned（a）~（e）Step is completed until the positions effectively arranged all in image traverse；
（6）The judging result of final duct pieces of shield tunnel circumferential weld position is exported, is denoted as。
A kind of 5. shield tunnel mileage localization method according to claim 2, which is characterized in that the specific steps of the S3
It is as follows：
（1）Initialize final tunnel mileage location informationFor rangefinder mileage location information；
（2）TraversalThe position of middle duct pieces of shield tunnel circumferential weld and, the position for obtaining duct pieces of shield tunnel circumferential weld is corresponding
Mileage location information；
（3）According to the mileage information of duct pieces of shield tunnel length correction, shield tunnel leaf length is denoted as, calculating side
Method is as follows：
Wherein,,For the duct pieces of shield tunnel circumferential weld number detected,It isA section of jurisdiction circumferential weld position pair
The mileage location information answered；
（4）It repeats above-mentioned（2）~（3）Step, untilIn all duct pieces of shield tunnel circumferential welds position traversal complete.
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| CN109029373A (en) * | 2018-07-16 | 2018-12-18 | 银河水滴科技（北京）有限公司 | The synthesized positioning method and device of vehicle are detected in a kind of tunnel |
| CN109029372A (en) * | 2018-07-16 | 2018-12-18 | 银河水滴科技（北京）有限公司 | A kind of detection vehicle localization method and device |
| CN109029374A (en) * | 2018-07-16 | 2018-12-18 | 银河水滴科技（北京）有限公司 | It is a kind of to analyze the method and device positioned to measuring car using visual pattern |
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| CN110161043A (en) * | 2019-05-10 | 2019-08-23 | 同济大学 | A kind of subway tunnel structure synthetic detection vehicle |
| CN110161043B (en) * | 2019-05-10 | 2021-03-26 | 同济大学 | Subway tunnel structure comprehensive detection vehicle |
| CN112819070A (en) * | 2021-01-29 | 2021-05-18 | 中国电建集团华东勘测设计研究院有限公司 | Tunnel segment circular seam linearization identification and mileage ring number marking method |
| DE102022103565A1 (en) | 2022-02-16 | 2023-08-17 | Bayerische Motoren Werke Aktiengesellschaft | Longitudinal positioning of a vehicle |
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