CN109087291B - Tunnel position information base establishing method and tunnel defect positioning method - Google Patents
Tunnel position information base establishing method and tunnel defect positioning method Download PDFInfo
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The invention provides a method for establishing a tunnel position information base, which comprises the following steps of S1, acquiring the image type of the mark in the tunnel through a tunnel design drawing; s2, acquiring a three-dimensional panoramic image of the tunnel through image acquisition equipment; s3, identifying the existing mark in the step S1 in the tunnel in the three-dimensional panoramic image, extracting the image characteristic value of the existing mark, and setting the existing mark as a position marking point; and S4, calibrating and displaying specific position information of each position marking point, generating a tunnel position coordinate system, and then establishing a complete reference tunnel position information base. The tunnel position information base is simple in establishing method, position information of each area in the tunnel can be accurately obtained without adding any auxiliary facilities in the tunnel, feature extraction of each area can be rapidly achieved, and the tunnel position information base has great significance for detecting and maintaining tunnel diseases.
Description
Technical Field
The invention relates to the field of positioning, in particular to a tunnel position information base establishing method and a tunnel defect positioning method.
Background
In order to realize accurate position location in a tunnel, the following methods are generally adopted in the current rail transit systems, such as subways: 1) the RFID positioning method comprises the following steps: by installing the RFID signal transmitting device at a fixed position in the tunnel, the specific ID of the transmitting device can be received by the vehicle-mounted or handheld RFID signal receiving device, and the position information can be calculated by combining the deployment position diagram. 2) Wireless positioning base station: similar to the RFID positioning method, a wireless signal transmitting base station is installed at a predetermined position, and then the position information is determined by a vehicle-mounted or handheld signal receiving device. 3) Installing and positioning mile markers inside the tunnel: on the inner wall of the subway tunnel, a position mark with the number increasing with the distance (such as the starting number is 000) is installed at every fixed distance from the starting point. And then, automatically identifying the information of the current milestone in an image identification mode, and judging the current position.
The basic principles of the implementation of the modes 1 and 2 are similar, wireless facilities need to be installed in a tunnel, which brings interference and hidden danger to the signal safety of rail transit, and the positioning accuracy is related to the number and the positions of installation equipment, so that the fine positioning (for example, the meter level) cannot be realized due to the limitation of the cost; although the 3 rd mode does not interfere with the signals of the rail transit, the installation of the mile post still adds additional facilities inside the tunnel, thereby bringing potential safety hazards.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a tunnel position information base establishing method and a tunnel defect positioning method.
In order to achieve the above object, the present invention provides a method for establishing a tunnel location information base, comprising the following steps:
s1, acquiring the image type with the mark in the tunnel through the tunnel design drawing;
s2, acquiring a three-dimensional panoramic image of the tunnel through image acquisition equipment;
s3, identifying the existing mark in the step S1 in the tunnel in the three-dimensional panoramic image, extracting the image characteristic value of the existing mark, and setting the existing mark as a position marking point;
and S4, calibrating and displaying specific position information for each position marking point.
The tunnel position information base is simple in establishing method, position information of each area in the tunnel can be accurately obtained without adding any auxiliary facilities in the tunnel, feature extraction of each area can be rapidly achieved, and the tunnel position information base has great significance for detecting and maintaining tunnel diseases.
Further, the method for acquiring the three-dimensional panoramic image of the tunnel in the step S2 includes the following steps:
s2-1, the image acquisition equipment is arranged on the rail-mounted vehicle, and the image acquisition equipment acquires tunnel image data in the running process of the rail-mounted vehicle;
and S2-2, splicing the tunnel image data acquired by the image acquisition equipment into a tunnel three-dimensional image.
The image in the tunnel can be acquired in an all-around manner, so that the information of the tunnel position information base is more accurate.
Furthermore, when the image acquisition equipment acquires the tunnel image data, a light supplement light source is adopted to supplement light for the image acquisition process.
Further, the step S3 includes the following steps:
s3-1, identifying a characteristic image of a tunnel existing mark in the three-dimensional image;
s3-2, judging whether the characteristic image is a characteristic image with a mark in the tunnel or not;
s3-3, if the characteristic image is the characteristic image of the existing mark in the tunnel, setting the existing mark corresponding to the characteristic image as a position marking point.
In the process of subway tunnel construction, some special facilities including hectometer marks, shield pieces, distribution boxes, insulating terminals and the like are included, and the special facilities have unique numbers. Moreover, the special facilities are not distinct from surrounding images in image characteristics and are easy to identify.
Further, the step S4 includes the following steps:
s4-1, numbering the identified existing marks in sequence from the starting point, dividing the image between two adjacent existing marks into equal-area regions according to the pixel size, taking the divided regions as the secondary number of the existing mark number, and establishing a coordinate system on the basis of the number;
s4-2, surveying in the field, and collecting the distance position of each existing mark;
s4-3, determining the position of each secondary number according to the actual area corresponding to each pixel in the image;
and S4-4, establishing a complete tunnel position information base by combining each existing mark, each area and the image characteristics.
This makes the information of the tunnel location information base more accurate.
Further, at each existing mark, the position is corrected according to the distance of the current existing mark. The regions are divided by the number of pixel points, and the total length and the real length have a point error. Each position mark point is taken as the starting point of the divided area, so that the area error of the previous position mark point cannot be accumulated to the next one, which is equivalent to that one position correction is carried out.
The invention also provides a tunnel disease positioning method based on the tunnel position information base establishing method, which comprises the following steps:
A. when a tunnel is built, establishing a tunnel position information reference library by adopting the method of claim 1;
B. when a disease is detected, the image acquisition equipment acquires a three-dimensional panoramic image of the tunnel;
C. comparing the three-dimensional panoramic image obtained during disease inspection with the three-dimensional panoramic image in the tunnel position information reference library, and judging whether the tunnel has diseases or not;
D. and if the tunnel diseases exist, marking the disease area, and taking the position information of the area corresponding to the disease area in the tunnel position information reference library as the accurate position of the disease area to realize the positioning of the tunnel diseases.
In the maintenance in tunnel later stage, can gather the state information in tunnel through on-vehicle laser image acquisition equipment at any time, compare with the original data in tunnel position information base again, this can not only in time discover the abnormality in tunnel, but also can the position that the accurate location is unusual.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the present invention provides a method for establishing a tunnel location information base, which includes the following steps:
s1, acquiring the image type with the mark in the tunnel through the tunnel design drawing;
s2, acquiring a three-dimensional panoramic image of the tunnel through image acquisition equipment;
and S3, identifying the existing mark in the step S1 in the tunnel in the three-dimensional panoramic image by using an image identification algorithm, extracting the image characteristic value of the existing mark, and setting the existing mark as a position marking point.
Specifically, the method comprises the following steps:
s3-1, identifying a characteristic image of a tunnel existing mark in the three-dimensional image by using an image identification algorithm;
s3-2, judging whether the characteristic image is a characteristic image with a mark in the tunnel or not;
s3-3, if the characteristic image is the characteristic image of the existing mark in the tunnel, setting the existing mark corresponding to the characteristic image as a position marking point.
Whether a characteristic image exists in the image is firstly identified, and then whether the characteristic image in the image is the characteristic image of an existing tunnel mark (such as a distribution box, a shield slice and the like) is judged.
When the image is identified whether the characteristic image exists, the following method is adopted for extraction:
1. randomly selecting a pixel point from the picture to obtain the pixel value of the point;
2. taking a Bresenham circle with the radius equal to 3 and taking the selected point coordinate as the center of the circle;
3. and setting a threshold, wherein if N continuous pixel points are arranged on the circumference, the difference between the brightness value of the pixel points and the pixel value of the central point is greater than or less than the threshold, and the circle center is a feature point. Then the image is considered to have a characteristic image.
4. And traversing other pixel points in the detected picture to obtain all the characteristic points in the picture.
And carrying out binarization processing on the image to obtain a characteristic contour and a gray value, obtaining the area size of a pixel point of the characteristic according to the actual area size corresponding to each pixel, and taking the characteristic contour, the gray value and the area size of the characteristic as the characteristic value of the image.
When the position marking points are determined, further algorithm processing is carried out on the reference characteristic point set, whether the reference characteristic point set is consistent with target images (such as distribution boxes, shield pieces and other target images) is judged, and if yes, the reference characteristic point set is set as the position marking points;
the specific method comprises the following steps:
1. downscaling an image having an image feature value: the image is reduced to a size of 8 x 8 for a total of 64 pixels. The step has the effects of removing the details of the image, only retaining the basic information of structure/brightness and the like, and abandoning the image difference caused by different sizes/proportions.
2. Simplifying the color: and converting the reduced image into 64-level gray, namely, all pixel points have 64 colors in total.
3. Calculating the average value of the gray levels: the gray level average of all 64 pixels is calculated.
4. Comparing the gray levels of the pixels: the gray scale of each pixel is compared with the average value, and the average value greater than or equal to the gray scale is 1, and the average value smaller than the gray scale is 0.
5. Calculating a hash value: the comparison results from the previous step are combined to form a 64-bit integer, which is the fingerprint of the image. The order of the combination is not important as long as it is guaranteed that all images take the same order.
6. After obtaining the fingerprint, comparing the fingerprint with the target image, comparing how many bits are different in 64-bit integers, if the number of different data bits does not exceed the specified number of bits, indicating that the two images are the same image, and if the number of different data bits exceeds the specified number of bits, indicating that the two images are different images. For example: if the number of the different data bits does not exceed 5, the two images are very similar; if greater than 10, this indicates that these are two different images.
And S3, calibrating and displaying specific position information of each position marking point in a manual mode, and establishing a complete reference tunnel position information base.
Specifically, the method comprises the following steps:
s3-1, numbering the identified existing marks in sequence from the starting point, dividing the image between two adjacent existing marks into equal-area regions according to the pixel size, taking the divided regions as the secondary number of the existing mark number, and establishing a coordinate system on the basis of the number;
s3-2, surveying in the field, and collecting the distance position of each existing mark;
s3-3, determining the position of each secondary number according to the actual area corresponding to each pixel in the image;
and S3-4, establishing a complete tunnel position information base by combining each existing mark, each area and the image characteristics.
To reduce the error, at each existing marker, the position is corrected by the distance at which the current existing marker is located. The regions are divided by the number of pixel points, and the total length and the real length have a point error. We use each existing mark as the starting point of the divided region, and the region error of the last existing mark will not be accumulated to the next one. Which corresponds to a position correction.
According to the method, the tunnel lining and section panoramic image information are acquired through image acquisition equipment, and then the image splicing and three-dimensional reconstruction of the whole tunnel are completed through a three-dimensional splicing reconstruction system. The image recognition system recognizes the characteristic images and marks the position characteristic points according to the unique number information in the characteristic images. The position calibration system calibrates the specific position information of the characteristic points in a manual mode according to the calibrated position characteristic points in the system, and then establishes a tunnel position coordinate system. The system carrying hardware is generally arranged on a rail-mounted vehicle, and the rail-mounted vehicle provides a power supply required by the equipment. Meanwhile, data acquisition can be completed in the running process of the rail carrier. In the process of collecting images, a light supplementing light source is adopted for supplementing light, and the influence of light rays in a tunnel environment is avoided.
The specific settings are as follows: the image acquisition equipment comprises a main control board, a time sequence controller, at least one group of image acquisition units and a server, wherein each image acquisition unit comprises a light supplementing light source and 2 image sensors;
the server is in communication connection with the main control board, a trigger signal output end of the main control board is connected with a trigger signal input end of the time sequence controller, a light supplementing light source delay control output end of the time sequence controller is connected with a light supplementing light source trigger end, an image sensor delay control output end of the time sequence controller is connected with a trigger end of the image sensor, the main control board sends trigger signals to the time sequence controller according to specified time intervals, and the light supplementing light source and the image sensor are synchronously triggered after the time sequence controller receives the trigger signals;
the image information output end of the image sensor is connected with the image information input end of the main control board, the horizontal heights of the image sensors are consistent, and the light supplementing light source outputs light spots to cover the view field of the image sensor.
The image acquisition unit is installed on a transmission device, the transmission device is connected with the rail-mounted vehicle through a connecting piece, and the main control board controls the transmission device to rotate.
The invention also provides a tunnel disease positioning method based on the tunnel position information base establishing method, which comprises the following steps:
A. when the tunnel is built, the method is adopted to establish a tunnel position information reference library;
B. when a disease is detected, the image acquisition equipment acquires a three-dimensional panoramic image of the tunnel;
C. and comparing the three-dimensional panoramic image obtained during disease inspection with the three-dimensional panoramic image in the tunnel position information reference library, and judging whether the tunnel has the disease or not.
The method specifically comprises the following steps:
1. and judging whether the panoramic image generated by current measurement has diseases or not through an image recognition algorithm. The specific identification method comprises the following steps:
(1) and randomly selecting a pixel point from the picture to obtain the pixel value of the point.
(2) And taking a Bresenham circle with the radius equal to 3 and taking the selected point coordinate as the center of the circle.
(3) And setting a threshold, wherein if N continuous pixel points are arranged on the circumference, the difference between the brightness value of the pixel points and the pixel value of the central point is greater than or less than the threshold, and the circle center is a feature point. Then the image is considered to have a suspected disease feature image. And traversing other pixel points in the detected picture to obtain all the characteristic points in the picture, obtaining the pixel points of the suspected disease characteristic image, and marking the suspected disease characteristic image.
The images can also be directly observed manually to obtain and mark the images with the characteristics of suspected diseases, because the characteristics of the images with the tunnel diseases are very clear, such as the characteristics of the images at the water seepage positions, the areas are large and the outlines are not standard. The image features at the crack are typically line-shaped.
And carrying out binarization processing on the suspected disease feature image to obtain a feature profile and a gray value of the image, obtaining the area size of a pixel point of the suspected disease feature according to the actual area size corresponding to each pixel, and taking the feature profile, the gray value and the area size of the feature as the suspected disease feature value of the image.
2. Comparing the marked suspected disease image with a reference library, and if the marked suspected disease image is consistent with the reference library, removing the suspicion of the suspected disease; and if the two are inconsistent, marking the disease.
D. And if the tunnel diseases exist, marking the disease area, and taking the position information of the area corresponding to the disease area in the tunnel position information reference library as the accurate position of the disease area to realize the positioning of the tunnel diseases. Then, manual rechecking is carried out to confirm whether diseases exist.
In the later maintenance process of the tunnel, the data acquired each time can be rapidly divided into areas and positioned by the image splicing and position calibration method. The positioned image area needs to be compared with a reference library, so that the difference between the detected image and the reference library can be judged, and whether the tunnel is abnormal or not is judged. Taking tunnel disease detection as an example, if water seepage occurs in a certain area, after maintaining collected data and comparing the collected data with a reference database, the image characteristic value of the area is inconsistent with the reference database, the system can automatically mark the area, and accurately position the accurate position of the disease area by combining the positions of the front and rear characteristic areas of the area (assuming that no disease occurs in the front and rear areas, the image characteristics of the front and rear characteristic areas are consistent with the reference database). The automatic tunnel disease detection is realized, and the current manual operation mode is replaced.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A tunnel position information base establishing method is characterized by comprising the following steps:
s1, acquiring the image type with the mark in the tunnel through the tunnel design drawing;
s2, acquiring a three-dimensional panoramic image of the tunnel through image acquisition equipment;
s3, identifying the existing mark in the step S1 in the tunnel in the three-dimensional panoramic image, extracting the image characteristic value of the existing mark, and setting the existing mark as a position marking point;
s4, calibrating and displaying specific position information of each position marking point;
the method specifically comprises the following steps:
s4-1, numbering the identified existing marks in sequence from the starting point, dividing the image between two adjacent existing marks into equal-area regions according to the pixel size, taking the divided regions as the secondary number of the existing mark number, and establishing a coordinate system on the basis of the number;
s4-2, surveying in the field, and collecting the distance position of each existing mark;
s4-3, determining the position of each secondary number according to the actual area corresponding to each pixel in the image;
and S4-4, establishing a complete tunnel position information base by combining each existing mark, each area and the image characteristics.
2. The method for building the tunnel location information base according to claim 1, wherein the method for acquiring the three-dimensional panoramic image of the tunnel in the step S2 comprises the following steps:
s2-1, the image acquisition equipment is arranged on the rail-mounted vehicle, and the image acquisition equipment acquires tunnel image data in the running process of the rail-mounted vehicle;
and S2-2, splicing the tunnel image data acquired by the image acquisition equipment into a tunnel three-dimensional image.
3. The method for establishing a tunnel location information base according to claim 1, wherein the step S3 comprises the following steps:
s3-1, identifying a characteristic image of a tunnel existing mark in the three-dimensional image;
s3-2, judging whether the characteristic image is a characteristic image with a mark in the tunnel or not;
s3-3, if the characteristic image is the characteristic image of the existing mark in the tunnel, setting the existing mark corresponding to the characteristic image as a position marking point.
4. The method of claim 1, wherein at each existing mark, the position is corrected by the distance of the current existing mark.
5. A tunnel disease positioning method based on the tunnel position information base establishment method of claim 1 is characterized by comprising the following steps:
A. when a tunnel is built, establishing a tunnel position information reference library by adopting the method of claim 1;
B. when a disease is detected, the image acquisition equipment acquires a three-dimensional panoramic image of the tunnel;
C. comparing the three-dimensional panoramic image obtained when the diseases are detected with the three-dimensional panoramic image in the tunnel position information reference library, and judging whether the tunnel has the diseases or not;
D. and if the tunnel diseases exist, marking the disease area, and taking the position information of the area corresponding to the disease area in the tunnel position information reference library as the accurate position of the disease area to realize the positioning of the tunnel diseases.
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| CN110672632A (en) * | 2019-09-24 | 2020-01-10 | 江西交通职业技术学院 | Tunnel disease identification method |
| CN112149042A (en) * | 2020-10-23 | 2020-12-29 | 青岛地铁集团有限公司运营分公司 | System and method for managing subway tunnel structure quality information in operation period |
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