CN109737935A - A kind of Tunnel Overbreak & Underbreak detection method and detector based on machine vision - Google Patents
A kind of Tunnel Overbreak & Underbreak detection method and detector based on machine vision Download PDFInfo
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- CN109737935A CN109737935A CN201910127941.4A CN201910127941A CN109737935A CN 109737935 A CN109737935 A CN 109737935A CN 201910127941 A CN201910127941 A CN 201910127941A CN 109737935 A CN109737935 A CN 109737935A
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Abstract
The present invention relates to a kind of Tunnel Overbreak & Underbreak detection method and device.A kind of Tunnel Overbreak & Underbreak detection method based on machine vision, round laser labelling line is got in tunnel wall using round laser in front of construction tunnel area to be tested, linear laser line is got in the side of tunnel wall using linear laser, and keeps the linear laser line vertical with the holding of circular mark line；Then it keeps linear laser line vertical with circular mark line, linear laser line is made to be moved to the other side from side along tunnel wall, the track of linear laser rays is recorded using camera, and draw the 3D profile diagram of tunnel wall according to these linear laser lines；The 3D structured data of area to be tested tunnel wall is compared with the data in Tunnel Design figure again, obtains Tunnel Overbreak & Underbreak situation.A kind of Tunnel Overbreak & Underbreak detector based on machine vision, including round laser, linear laser, camera and processor.The present invention realizes that process is simple, economical, and effect is good, can be effectively reduced construction cost.
Description
Technical field
The present invention relates to a kind of Tunnel Overbreak & Underbreak detection method and device.
Background technique
Tunnel Overbreak & Underbreak detection is most important during constructing tunnel.Construction site mainly uses external import at present
3D laser scanner measures constructing tunnel out break.However 3D laser scanner is expensive, it is inefficient.
Therefore, in order to preferably reduce construction cost, and guarantee construction quality, it is necessary to propose it is a kind of it is economical, it is simple and
Effective Tunnel Overbreak & Underbreak detection method.
Summary of the invention
The present invention is in view of the shortcomings of the prior art, propose a kind of Tunnel Overbreak & Underbreak detection method based on machine vision, and mention
A kind of Tunnel Overbreak & Underbreak detector based on machine vision out, the detection method and detector have high-efficient, at low cost etc. excellent
Point.
The technical solution adopted by the present invention:
A kind of Tunnel Overbreak & Underbreak detection method based on machine vision, comprises the following steps that
Step S1: it in front of construction tunnel area to be tested, is got using round laser in the tunnel wall of area to be tested
Round laser rays, as mark line 3；
Step S2: (being installed together) shape of the above-mentioned mark line 3 of observation by camera with above-mentioned round laser, and adjustment is taken the photograph
As head position and posture, it is located at the position of camera on the vertical center line of tunnel cross sectional；
Step S3: getting linear laser line 2 in the side of tunnel wall using linear laser, makes the linear laser line 2 and mark
Plumbness is kept between note line 3；
Step S4: by the way of manually or automatically, making linear laser line 2 be moved to the other side from side along tunnel wall, and
Make to keep vertical between linear laser line 2 and mark line 3；
Step S5: during linear laser rays 2 is mobile, the track of linear laser rays 2 is recorded using camera, and according to this
A little linear laser lines 2 draw the 3D profile diagram of tunnel wall；
Step S6: the 3D structured data of area to be tested tunnel wall is compared with the data in Tunnel Design figure, obtains tunnel
Road out break situation, and shown using the label of different color to user.
The Tunnel Overbreak & Underbreak detection method based on machine vision, in step S2, to camera position and posture into
The row process that judges and adjust is for example following: if the shape of the mark line 3 be it is symmetrical arc-shaped, illustrate camera
Position is located on the vertical center line of tunnel cross sectional, otherwise need to adjust by the way of manually or automatically camera (and
Round laser is together) position, until the symmetrical circular arc of mark line 3 that round laser is got in tunnel wall
Shape.
The Tunnel Overbreak & Underbreak detection method based on machine vision, in step S3, if the linear laser line 2 with
Between mark line 3 not in vertical state, then manually or automatically mode adjusts the angle of linear laser, makes linearly to swash
Plumbness is kept between light 2 and mark line 3.
A kind of Tunnel Overbreak & Underbreak detector based on machine vision for realizing the Tunnel Overbreak & Underbreak detection method, including circle
Shape laser 14, linear laser 18, camera 13, processor and peripheral control circuits, the processor are controlled by I/O mouthfuls
System connects round laser 14 and linear laser 18, and is connect by parallel interface with 13 interactive correspondence of camera；The circle
Shape laser 14, linear laser 18 and camera 13 are installed on the rotation microscope carrier 7 being set on instrument base 10, the instrument
10 lower part of device pedestal is equipped with bracket 11.
The linear laser 18 is installed on rotation microscope carrier 7 by fine tuning motor 17 and scan module 16, the rotation
It reprints platform 7 to be set on rotary drive mechanism 8, the fine tuning motor 17, scan module 16 and turns 8 controlled connection of driving mechanism
In the processor.
The rotation microscope carrier 7 is fixed on translation microscope carrier 9 by its rotary drive mechanism 8, and the translation microscope carrier 9 passes through flat
Telephone-moving structure 12 realizes the translation fine tuning on instrument base 10；The control signal of the translation motor control circuit of translation mechanism by
Reason device provides.
The Tunnel Overbreak & Underbreak detector based on machine vision, 10 lower part of instrument base are equipped with bracket 11, the branch
Using self-regulation bracket, the lateral attitude of detector is adjusted frame 11 by three linear electric machines of the bracket that is self-regulated, each
The control signal of circuit for controlling motor is provided by processor.
Invention the utility model has the advantages that
1, the present invention is based on the Tunnel Overbreak & Underbreak detection method of machine vision, it is simple, economical to realize process, and effect is good, it can
Construction cost is effectively reduced.Using the linear laser of two light square crossings, mobile linear laser is recorded using camera
The track of line, and according to the 3D profile diagram of these linear laser lines drafting tunnel wall；Then by the 3D of area to be tested tunnel wall
Structured data is compared with the data in Tunnel Design figure, obtains Tunnel Overbreak & Underbreak situation, and using the label of different color
It is shown to user.Vividly, intuitively.
2, the present invention is based on the Tunnel Overbreak & Underbreak detectors of machine vision, reasonable in design, installation, debugging and operation journey
Sequence is simple, convenient in adverse circumstances rapid deployment and use.It is at low cost, it is easy to accomplish, it can effectively detect that tunnel is super deficient
Dig detection.It is economical and practical, be conducive to popularize, to save engineering spending.
Detailed description of the invention
Fig. 1 is that the present invention is based on the Tunnel Overbreak & Underbreak detection method detection schematic diagrams of machine vision；
Fig. 2 is that the present invention is based on the Tunnel Overbreak & Underbreak detector hardware circuit of machine vision compositions；
Fig. 3~Fig. 5 is respectively that the present invention is based on the Tunnel Overbreak & Underbreak detector main view of machine vision and arranged on left and right sides views；
Fig. 6 is that the present invention is based on the Tunnel Overbreak & Underbreak detector workflow schematic diagrams of machine vision.
Specific embodiment
Below by specific embodiment, technical solution of the present invention is described in further detail.Following embodiment
It is merely to illustrate the present invention, limiting the scope of the present invention should not be constituted.Those skilled in the art are in prior art model
In enclosing, simple combination is carried out using the displacement of conventional techniques and with the prior art, all without departing from the scope of the present invention.
Embodiment 1
Referring to Fig. 1, the present invention is based on the Tunnel Overbreak & Underbreak detection method of machine vision, realize that steps are as follows:
Step S1: it in front of construction tunnel area to be tested, is got using round laser in the tunnel wall 1 of area to be tested
Round laser rays, as mark line 3；
Step S2: the shape of observation mark line 3 (is installed together) with above-mentioned round laser by camera, adjusts camera
Position and posture are located at the position of camera on the vertical center line of tunnel cross sectional；
Step S3: getting linear laser line 2 in the side of tunnel wall using linear laser, makes the linear laser line 2 and mark
Plumbness is kept between note line 3；
Step S4: by the way of manually or automatically, making linear laser line 2 be moved to the other side from side along tunnel wall, and
Make to keep vertical between linear laser line 2 and mark line 3；
Step S5: during linear laser rays 2 is mobile, the track of linear laser rays 2 is recorded using camera, and according to this
A little linear laser lines 2 draw the 3D profile diagram of tunnel wall；
Step S6: the 3D structured data of area to be tested tunnel wall is compared with the data in Tunnel Design figure, obtains tunnel
Road out break situation, and shown using the label of different color to user.
Embodiment 2
Referring to Fig. 1, Tunnel Overbreak & Underbreak detection method and embodiment 1 of the present embodiment based on machine vision the difference is that:
In step S2, the process that camera position and posture are judged and adjusted is for example following: if the shape of the mark line 3 is a left side
It is right symmetrical arc-shaped, then illustrate that the position of camera is located on the vertical center line of tunnel cross sectional, otherwise needs using people
Work or automatic mode adjust the position of camera (and round laser is together), until round laser is beaten in tunnel wall
Symmetrical arc-shaped of mark line 3 out.
Embodiment 3
Referring to Fig. 1, the Tunnel Overbreak & Underbreak detection method based on machine vision and embodiment 1 or embodiment 2 of the present embodiment are not
Be with place: in step S3, if between the linear laser line 2 and mark line 3 not in vertical state, by manually or
The automatic mode of person adjusts the angle of linear laser, makes to keep plumbness between linear laser line 2 and mark line 3.
Embodiment 4
Referring to fig. 2~Fig. 5, the present embodiment are to realize that the tunnel based on machine vision of aforementioned Tunnel Overbreak & Underbreak detection method is super deficient
Dig detector, including round laser 14, linear laser 18, camera 13 and processor and peripheral control circuits, institute
It states processor and connects round laser 14 and linear laser 18 by I/O mouthfuls of controls, and pass through parallel interface and camera 13
Interactive correspondence connection；The circle laser 14, linear laser 18 and camera 13 are installed on and are set on instrument base 10
Rotation microscope carrier 7 on, 10 lower part of instrument base be equipped with bracket 11.
Embodiment 5
Referring to fig. 2~Fig. 5, Tunnel Overbreak & Underbreak detector of the present embodiment based on machine vision, as different from Example 4: into
One step, the linear laser 18 is installed on rotation microscope carrier 7 by fine tuning motor 17 and scan module 16, the rotation
Microscope carrier 7 is set on rotary drive mechanism 8, the fine tuning motor 17 and scan module 16 and the controlled company of rotary drive mechanism 8
It is connected to the processor.
Embodiment 6
Referring to fig. 2~Fig. 5, Tunnel Overbreak & Underbreak detector of the present embodiment based on machine vision, unlike embodiment 4 or 5:
The rotation microscope carrier 7 is fixed on translation microscope carrier 9 by its rotary drive mechanism 8, and translation microscope carrier 9 is realized by translation mechanism 12
Translation fine tuning on instrument base 10；The control signal of the circuit for controlling motor of translation mechanism is provided by processor.
Embodiment 7
Referring to fig. 2~Fig. 5, Tunnel Overbreak & Underbreak detector of the present embodiment based on machine vision are different from foregoing embodiments
Be: 10 lower part of instrument base is equipped with bracket 11, and the bracket 11 passes through self-regulated using self-regulation bracket, the lateral attitude of detector
Three linear electric machines of section bracket are adjusted, and the control signal of each circuit for controlling motor is provided by processor.
As shown in Figure 1, the Tunnel Overbreak & Underbreak detector based on machine vision is located at the center in tunnel or so.Detector first
Round laser is got to tunnel wall 1, forms mark line 3.Meanwhile detector adjusts detector according to the symmetric case of mark line 3
Posture until reach optimum posture.It is then detected that instrument gets a linear laser line 2 perpendicular to mark line.Detector is logical
It crosses the shape of camera recording laser line and estimates the out break situation of tunnel wall 1.Instrument driving laser rays 2 to left-hand moves right
(in moving process in vertical state by fine tuning holding linear laser line 2 and mark line 3), detector is successively remembered by camera
The shape of every laser rays is recorded, and the out break situation of entire tunnel wall 1 is estimated and shown.
The present invention is based on the Tunnel Overbreak & Underbreak detectors of machine vision, and appearance is as shown in figure 3, figure 4 and figure 5.It is wherein round to swash
Light device 14 is responsible for getting mark line 3；Linear laser 18 is responsible for getting linear laser line 2；Camera 13 is responsible for record data.Circle
Shape laser 14, linear laser 18 and camera 13 are mounted on rotation microscope carrier 7.Rotation microscope carrier 7 is driven by rotary drive mechanism 8
It is dynamic to be rotated, to realize the position control of rotation microscope carrier.Rotary drive mechanism 8 is fixed on translation microscope carrier 9.Translation
Microscope carrier 9 realizes the translation fine tuning on pedestal 10 by translation mechanism 12.The lateral attitude of detector passes through self-regulation bracket 11
Three linear electric machines be adjusted.Above-mentioned rotary drive mechanism 8, translation mechanism 12 and self-regulation bracket 11 is realized to entire
The pose adjustment of detector.The feedback signal of pose adjustment is acquired and is obtained by camera.
The scanning motion of linear laser 18 has scan module 16 to be driven.In 18 scanning process of linear laser,
The linear laser line 2 that linear laser 18 is got is finely adjusted by finely tuning motor 17, so that linear laser line 2 and mark line
3 keep vertical.Rotating mechanism 8, translation mechanism 12 and self-regulation bracket 11 realize the pose adjustment to entire detector.Posture tune
The feedback signal of whole (including trim process) is acquired and is obtained by camera.
Detector top cover 4 uses hard material (metal or plastics).Detector front cover 15 uses transparent glass material, i.e.,
It ensure that passing through for linear laser, in turn ensure the security protection of entire instrument.Operator is real by touch display 5
Now with the interaction of detector.One switch button is set outside entire detector, which is installed in installation buckle closure 6.
Detector hardware circuit composition is as shown in Figure 2.Wherein processor completes the coordinated control of entire instrument.Scanning electricity
Machine, fine tuning motor, rotating electric machine, translation motor and carriage motor control circuit are respectively completed the driving of each motor.Each electricity
The control signal of machine control circuit is provided by processor.Processor controls the switch of laser by I/O mouthfuls.Processor passes through
UART interface controls touch display.Processor carries out data friendship with memory and wifi communication module respectively by SPI1 interface
Mutually.Processor carries out data interaction by SPI2 and battery management module and clock circuit.Processor passes through parallel interface and takes the photograph
As head carries out the data interaction of high speed.
The present invention is based on the Tunnel Overbreak & Underbreak detector of machine vision, software design is as shown in Figure 6.It is first after detector booting
First carry out self-test (information about power of state and battery including all parts).After all parts self-test inerrancy, instrument enters
Idle state.User by touch display operate instrument complete parameter setting, posture self calibration, tunnel wall scanning, networking and
Upload the operation such as data.Parameter setting includes the information such as the design size in tunnel；Posture self calibration refers to detector according to taking the photograph
As head is to the information of mark line 3, (driving rotating electric machine, translation motor 12 and bracket are calibrated to the posture of entire detector
Motor 11)；Detector can connect the computer node on network by network savvy；Detector can be real by uploading data
The shared and diversification of existing scan data is shown.
Tunnel wall scanning is the core function of detector.First processing device is adjusted linear laser 18 by scan module 16
It is whole to arrive the leftmost side, and control linear laser 18 and get linear laser line 2.Processor is adjusted linear sharp by fine tuning motor 17
Light 2 keeps vertical with label laser rays 3.Information and processing of the processor by camera recording laser line 2.Processor driving
Scan module movement, moves right laser rays 2 to left-hand, and in 2 moving process of laser rays, guarantees line by fine tuning motor
Property laser rays 2 keeps vertical with mark line 3.For linear laser line 2 in moving process, processor drives camera to carry out data
It records and handles.For linear laser line 2 along tunnel wall run-down, detector completes the building to the threedimensional model of tunnel wall, and
Out break situation is estimated.The estimated result shows operator by touch display.
Claims (7)
1. a kind of Tunnel Overbreak & Underbreak detection method based on machine vision, steps are as follows:
Step S1: it in front of construction tunnel area to be tested, is got using round laser in the tunnel wall of area to be tested
Round laser rays, as mark line (3)；
Step S2: observing the shape of above-mentioned mark line (3) by camera, adjusts camera position and posture, makes camera
Position is located on the vertical center line of tunnel cross sectional；
Step S3: linear laser line (2) are got in the side of tunnel wall using linear laser, make the linear laser line (2)
Plumbness is kept between mark line (3)；
Step S4: by the way of manually or automatically, making linear laser line (2) be moved to the other side from side along tunnel wall,
And keep holding between linear laser line (2) and mark line (3) vertical；
Step S5: during linear laser rays (2) are mobile, recording the track of linear laser rays using camera, and according to
The 3D profile diagram of these linear laser lines drafting tunnel wall；
Step S6: the 3D structured data of area to be tested tunnel wall is compared with the data in Tunnel Design figure, obtains tunnel
Road out break situation, and shown using the label of different color to user.
2. the Tunnel Overbreak & Underbreak detection method according to claim 1 based on machine vision, it is characterised in that: step S2
In, the process that camera position and posture are judged and adjusted is for example following:
If the shape of the mark line (3) be it is symmetrical arc-shaped, illustrate that the position of camera is located at tunnel cross sectional
Vertical center line on, otherwise need to adjust the position of camera by the way of manually or automatically, until round laser
Symmetrical arc-shaped of the mark line (3) got in tunnel wall.
3. the Tunnel Overbreak & Underbreak detection method according to claim 1 or 2 based on machine vision, it is characterised in that: step
In S3, if between the linear laser line (2) and mark line (3) not in vertical state, it is manually or automatically square
Formula adjusts the angle of linear laser, makes to keep plumbness between linear laser line (2) and mark line (3).
4. a kind of Tunnel Overbreak & Underbreak detection based on machine vision for realizing Tunnel Overbreak & Underbreak detection method described in claim 1
Instrument, including round laser (14), linear laser (18), camera (13), processor and peripheral control circuits, feature
Be: the processor connects the round laser (14) and linear laser (18) by I/O mouthfuls of controls, and by parallel
Interface is connect with camera (13) interactive correspondence；The circle laser (14), linear laser (18) and camera (13) peace
Loaded on the rotation microscope carrier (7) being set on instrument base (10), instrument base (10) lower part is equipped with bracket (11).
5. the Tunnel Overbreak & Underbreak detector according to claim 4 based on machine vision, it is characterised in that: described linear sharp
Light device (18) is installed on the rotation microscope carrier (7) by fine tuning motor (17) and scan module (16), the rotation microscope carrier
(7) be set on rotary drive mechanism (8), the fine tuning motor (17), scan module (16) and rotary drive mechanism (8) by
Control is connected to the processor.
6. the Tunnel Overbreak & Underbreak detector according to claim 4 or 5 based on machine vision, it is characterised in that: the rotation
It reprints platform (7) to be fixed in translation microscope carrier (9) by its rotary drive mechanism (8), the translation microscope carrier (9) passes through translation mechanism
(12) the translation fine tuning on instrument base (10) is realized；The control signal of the translation motor control circuit of translation mechanism is by handling
Device provides.
7. the Tunnel Overbreak & Underbreak detector according to claim 6 based on machine vision, it is characterised in that: the instrument bottom
Seat (10) lower part is equipped with bracket (11), and the bracket (11) passes through self-regulation using self-regulation bracket, the lateral attitude of detector
Three linear electric machines of bracket are adjusted, and the control signal of each circuit for controlling motor is provided by processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910127941.4A CN109737935B (en) | 2019-02-19 | 2019-02-19 | Tunnel ultra-short excavation detection method and detector based on machine vision |
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| CN201910127941.4A CN109737935B (en) | 2019-02-19 | 2019-02-19 | Tunnel ultra-short excavation detection method and detector based on machine vision |
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| CN109737935B CN109737935B (en) | 2021-11-09 |
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| CN113551655A (en) * | 2021-07-20 | 2021-10-26 | 杭州伟业建设集团有限公司 | Tunnel surpasses owes detection device and detecting system who digs |
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| Publication number | Publication date |
|---|---|
| CN109737935B (en) | 2021-11-09 |
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