CN111197486A - Push bench guiding method based on machine vision - Google Patents
Push bench guiding method based on machine vision Download PDFInfo
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- CN111197486A CN111197486A CN202010056449.5A CN202010056449A CN111197486A CN 111197486 A CN111197486 A CN 111197486A CN 202010056449 A CN202010056449 A CN 202010056449A CN 111197486 A CN111197486 A CN 111197486A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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Abstract
The invention provides a push bench guiding method based on machine vision, which adopts a device comprising an industrial PC, an imaging camera and measuring mark points, wherein the measuring mark points comprise fixed measuring mark points P and dynamic measuring mark points, and the imaging camera images the measuring mark points and transmits imaging data to the industrial PC for analysis processing so as to obtain and control the real-time posture of the push bench. Compared with the prior art, the invention adopts a conventional industrial camera as a measuring tool, thereby realizing low cost, breaking through the foreign import blockade limitation of key components and greatly reducing the field working intensity; the imaging camera and the measuring mark point on the pipe joint are convenient to install, the node conversion can be easily realized, the pipe-jacking tunneling time is not occupied, and the pipe-jacking construction efficiency is improved; and the sub-centimeter measurement accuracy can be realized, the construction is guaranteed, a large number of system accessories are not needed, the system is simple, and the maintenance is greatly simplified.
Description
Technical Field
The invention relates to the technical field of pipe jacking machine guiding, in particular to a pipe jacking machine guiding method based on machine vision.
Background
In the existing pipe jacking machine guiding method, because of the particularity of a pipe jacking construction method, a jacking pipe joint is dynamically moved, and the pipe jacking machine head needs to be sequentially extended and measured to an operation surface from a working wellhead each time the position and the posture of the pipe jacking machine are measured. When the short-distance linear jacking pipe is measured, a laser direction indicator is mainly arranged at a working wellhead at present to realize the guiding of the jacking pipe. When long-distance curve pipe jacking is measured, currently, a manual measurement method is mostly adopted, a guide line extends from a control point of a working wellhead to transmit coordinates and directions to a working surface, the measurement strength is high, measurement errors are easy to occur, pipe jacking operation needs to be stopped, real-time measurement cannot be realized, and the guide quality and the construction efficiency are influenced.
Although some existing pipe jacking machines are used for automatic guiding, most of the existing pipe jacking machines are used for guiding multiple automatic total stations and automatic leveling bases to sequentially extend wires to transmit coordinates and directions to a working surface, the whole system is too complex due to the guiding mode, the equipment failure rate is high or low, the cost of the automatic total stations and the automatic leveling bases is very high, the overall cost is greatly increased due to the fact that the multiple total stations and the automatic leveling bases are used, and even the cost of the automatic guiding system exceeds the cost of a pipe jacking machine body, and the automatic guiding system is unacceptable.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a push bench guiding method based on machine vision, which aims to solve the problems that the labor intensity of measurement is high, the stop measurement is needed and the measurement is inaccurate when manual push bench guiding is carried out in the prior art; when the machine is used for guiding the jacking pipe, the guiding cost is high and the structure is complex if an automatic total station instrument, an automatic leveling base and the like are adopted.
The invention provides a push bench guiding method based on machine vision, which adopts a device comprising an industrial PC, an imaging camera and a measuring mark point, wherein the measuring mark point comprises a fixed measuring mark point P and a dynamic measuring mark point, the imaging camera images the measuring mark point and transmits imaging data to the industrial PC for analysis processing so as to obtain and control the real-time posture of the push bench, and the operation steps are as follows:
A. installing a 0# imaging camera at a pipe jacking machine head, and installing a unique group of fixed measurement mark points P at a working wellhead;
B. 6 external orientation elements of the 0# imaging camera are solved through an industrial PC (personal computer), wherein the external orientation elements comprise a three-dimensional camera coordinate X, Y, Z, a pitching angle α, an azimuth angle phi and a torsion angle k of three angle elements of the camera, and a calculation formula is a rear intersection of photogrammetry;
C. comparing the external orientation element of the 0# imaging camera with the position coordinate of the manually measured push bench, including an azimuth angle, a torsion angle and a pitch angle, and establishing a relative position relation between the 0# imaging camera and the push bench head, so that in the subsequent measurement process, only the external orientation element of the O # imaging camera needs to be solved, and the attitude information of the push bench head is correspondingly obtained;
D. during jacking, a group of dynamic measurement mark points and a dynamic imaging camera are arranged in each jacking distance L, and the dynamic imaging camera needs to ensure that the group of dynamic measurement mark points n-1 on the jacking pipe joint of the section and the other group of measurement mark points n on one side of the adjacent working well mouth can be shot;
E. the industrial PC machine calculates the three-dimensional coordinates of each group of dynamic measurement mark points and the external orientation elements of each imaging camera in turn by taking the fixed measurement mark point P as a starting point according to the light beam adjustment principle of a collinear condition equation, thereby realizing long-distance pipe jacking guidance, namely measuring the spatial position of an O # imaging camera relative to the fixed measurement mark point P by measuring 2 groups of measurement mark points on one side of an adjacent rear working wellhead through each imaging camera, thereby obtaining the attitude information of the pipe jacking machine head and controlling and adjusting the attitude information.
And further, a step F of manually carrying out accurate geodetic coordinate measurement on the fixed measurement mark point P and determining the position coordinate of the push bench in a geodetic coordinate system is also arranged between the step A and the step B, so that the relative relationship and the manual inspection are conveniently established.
Furthermore, the imaging camera is a single camera, and the imaging camera and the single camera are combined in a staggered mode to form a binocular vision measuring system.
Optionally, the imaging camera is composed of 2 or more cameras.
Furthermore, the measuring mark points are circular and made of directional reflecting materials or self-luminous materials.
Furthermore, the number of the measurement mark points in each group ranges from 4 to 10, and the measurement mark points are uniformly distributed on the same pipe section surface.
Further, the distance L in step D is between 50 and 80 m.
Preferably, the number of each group of measurement mark points is 5, and the distance L is 60 m.
The method comprises the steps of A-C, namely O-position measurement, wherein after the O-position measurement, the pipe jacking machine head is continuously pushed in, the subsequent pipe joints are continuously followed, the industrial PC drives the 0# imaging camera to continuously take pictures, and the external orientation elements of the camera are solved in real time so as to calculate the real-time posture of the pipe jacking machine; after the pipe jacking machine head is jacked into a distance L (note that the distance L is an approximate value and does not need to be accurate), a 1# imaging camera and 1 group of dynamic measurement mark points are installed, an industrial PC drives the installed 0# and 1# imaging cameras to image the 1 group of dynamic measurement mark points and the fixed measurement mark points P, the images are analyzed to obtain 6 exterior orientation element values of the 1 group of dynamic measurement mark points and the 0# camera so as to obtain real-time attitude information of the pipe jacking machine head, the imaging cameras 2# to n # and the dynamic measurement mark points 2 to n groups are sequentially installed, and each image is continuously analyzed based on a light beam method adjustment principle of a collinear condition equation, namely, the accurate three-dimensional coordinates of each measurement mark point and the exterior orientation elements of each imaging camera are sequentially calculated by taking the fixed measurement mark points P as calculation points, so that the guiding of the long-distance curve pipe jacking is realized.
The invention has the beneficial effects that:
1. compared with the prior art, the invention adopts the machine vision technology and adopts the conventional industrial camera as a measuring tool, thereby realizing low cost, breaking through the foreign import blockade limitation of key parts and greatly lightening the field working strength; specifically, each imaging camera only needs thousands of yuan, the cost of linear or curved jacking pipe engineering hardware with the length within 2000m does not exceed 10 ten thousand yuan, the cost of the total station is about 30 ten thousand, and the cost of the linear or curved jacking pipe engineering hardware with the length within 2000m reaches more than 300 thousand.
2. The imaging camera and the measuring mark point on the pipe joint are convenient to install, the node conversion can be easily realized, the pipe-jacking tunneling time is not occupied, and the pipe-jacking construction efficiency is improved; and the sub-centimeter measurement accuracy can be realized, the construction is guaranteed, a large number of system accessories are not needed, the system is simple, and the maintenance is greatly simplified.
Drawings
FIG. 1 is a schematic diagram of the originating pipe push bench provided by the method of the present invention.
FIG. 2 is a schematic diagram of the push bench guiding system provided by the method of the present invention for installing 1# imaging camera and 1 set of dynamic marker points.
FIG. 3 is a general schematic diagram of the guiding method of the push bench provided by the present invention.
FIG. 4 is a collinear condition equation for photogrammetry.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention provides a push bench guiding method based on machine vision, which adopts a device comprising an industrial PC, an imaging camera and a measuring mark point, wherein the measuring mark point comprises a fixed measuring mark point P and a dynamic measuring mark point, the imaging camera images the measuring mark point and transmits imaging data to the industrial PC for analysis processing so as to obtain and control the real-time posture of the push bench, and the method comprises the following specific steps:
as shown in fig. 1, in the initial jacking stage of the jacking pipe:
1. a0 # imaging camera is installed on a pipe jacking machine head, and a group of fixed measurement mark points P are installed on a working wellhead.
2. And (4) manually and accurately measuring the geodetic coordinates of the fixed measurement mark point P, and determining the initial position and the initial posture of the push bench in a geodetic coordinate system.
3. 6 external orientation elements of the 0# imaging camera are solved through an industrial PC, the external orientation elements comprise a three-dimensional camera coordinate X, Y, Z, three angle elements of the camera comprise a pitch angle α, an azimuth angle phi and a torsion angle k, and a calculation formula is a rear intersection of photogrammetry.
4. And comparing the external orientation element of the 0# imaging camera with the position coordinate of the manually measured push bench, including an azimuth angle, a torsion angle and a pitch angle, and establishing a relative position relation between the 0# imaging camera and the push bench head, so that in the subsequent measurement process, only the external orientation element of the O # imaging camera needs to be solved, and the attitude information of the push bench head is correspondingly obtained.
5. The push bench continuously pushes in, the subsequent pipe joints continuously follow, the industrial PC drives the 0# imaging camera to continuously shoot, and external orientation elements of the imaging camera are calculated in real time, so that the real-time posture of the push bench is calculated.
As shown in fig. 2, the jacking period of the jacking pipe is as follows:
6. after the pipe jacking machine is jacked for a distance L (the distance L is an approximate value and is determined according to the diameter of the pipe jacking machine, the distance of a pipe joint with a diameter of 2m is 50-80m, and the imaging camera is more difficult to photograph as the distance from a measurement mark point is larger), a 1# imaging camera and 1 group of dynamic measurement mark points are additionally installed on a pipe ring which is jacked subsequently, wherein the 1# imaging camera is preferably arranged in a staggered mode with an O # imaging camera to ensure that the 1 group of dynamic measurement mark points can be imaged by the two imaging cameras simultaneously, and of course, the O # imaging camera only needs to image the 1 group of dynamic measurement mark points.
7. And (3) imaging the O # imaging camera and the 1# imaging camera by the industrial PC to obtain the accurate coordinates of 1 group of dynamic measurement mark points and 6 external orientation element values of the O # imaging camera, thereby determining the posture of the jacking machine head and calculating the beam adjustment far away from a collinear condition equation based on photogrammetry.
8. Repeating the steps 6 and 7, and sequentially installing the imaging cameras 2# to n # and the dynamic measurement mark points 2 to n sets along with the continuous jacking of the pipe jacking machine, wherein the dynamic imaging cameras need to ensure that the dynamic measurement mark points n-1 on the jacking pipe joint of the pipe jacking pipe joint and the other measurement mark points n on one side of the adjacent working wellhead can be shot, and continuously analyzing the images of the imaging cameras by utilizing the light beam adjustment principle of the industrial PC based on the collinearity condition equation, namely sequentially calculating the accurate three-dimensional coordinates of the measurement mark points and the external orientation elements of the imaging cameras by taking the fixed measurement mark points P as starting points to realize the guiding of the long-distance curve pipe jacking, as shown in FIG. 3.
In this embodiment, the imaging camera is wirelessly connected to an industrial PC.
As a preferred technical scheme of the invention, the imaging camera is a single camera, and the imaging camera and the single camera are combined in a staggered manner to form a binocular vision measuring system, so that the cost of the camera is reduced.
Of course, it is easily contemplated that in other embodiments of the present invention, two or more cameras may be used as one imaging camera set, and such solutions that do not depart from the concept of the present invention and make several simple deductions or substitutions fall within the protection scope of the present invention.
In this embodiment, the measurement mark points are circular and made of a retroreflective material or a self-luminescent material, and it is conceivable that the measurement mark points are also in a symmetrical pattern such as a square or a diamond or other shape that is easy to capture the center of a phase point by a camera.
In this embodiment, the number of the measurement mark points in each group is between 4 and 10, and the measurement mark points are uniformly distributed on the same pipe segment surface, preferably 5.
According to the imaging performance of the existing camera, the distance L is preferably 60 m.
The implementation principle of the above method is further explained as follows:
1) the push bench is a rigid body, the geometric position information of the rigid body in space is uniquely determined, and at least the three-dimensional coordinate of a point on the rigid body, the pitch angle, the azimuth angle and the torsion angle of the three-dimensional coordinate are measured to total 6 parameters; as the 0# imaging camera is fixed on the pipe jacking machine, the spatial position of the pipe jacking machine can be uniquely measured by determining 6 outer directions of the 0# imaging camera.
2) According to the principle of bundle adjustment of photogrammetric light rays:
and (3) integral adjustment calculation: and (4) resolving the three-dimensional coordinates of the exterior orientation element and each mark point of each camera.
1. Giving an approximate value of the exterior orientation element of each photo and an approximate value of coordinates of all newly added mark points;
2. encrypting a point column original error equation;
3. a control point array original error equation;
4. under the condition of least square, carrying out normalization and overall solution, and determining the correction number of the exterior orientation element approximate value and the correction number of the coordinate approximate value of each mark point of each photo;
5. correcting the coordinates of the exterior orientation element and the mark point of each photo by using the correction numbers;
6. repeating the steps 2-5, performing iterative calculation, and finally obtaining the exterior orientation element and the mark point coordinates of each photo.
It should be noted that in the shot obtained by the n # imaging camera, the fixed measurement mark point P of the well head is used as the shot control point, the newly added n-th group of dynamic measurement mark point coordinates and camera parameters are used as unknowns, but the initial value of the unknowns can be obtained from the mileage and the position, so that the accurate coordinates of the newly added dynamic measurement mark point and the external orientation element of the newly added camera can be calculated by the light beam method. In the invention, the shot of the n-1# imaging camera takes the newly calculated dynamic measurement mark point as a control point to take over calculation to the 0# imaging camera to realize the guidance of the pipe jacking machine.
Specifically, the collinearity condition equation is shown in fig. 4, wherein the meaning of each parameter is as follows:
1. f focal length of camera lens, x0,y0Is the image plane coordinates of the image principal point. The camera can be accurately calibrated indoors or on site by a self-calibration method before and after installation of the camera. Of course, the distortion error parameter of the camera lens can also be calibrated.
2. And x 'and y' are the coordinates of the image points of the mark points, and are accurately measured by image measuring software of an industrial PC.
3、XS,YS,ZSIs the geodetic coordinates of the camera. X, Y and Z are geodetic coordinates of the mark point.
4、a1、a2、a3、b1、b2、b3、c1、c2、c3Is an equation parameter that is a function of camera orientation, twist, pitch angle, etc.
The invention adopts the machine vision technology and adopts the conventional industrial camera as a measuring tool, thereby realizing low cost, preventing key components from being limited by foreign import blockade and greatly lightening the field working strength; the node conversion can be easily realized, the pipe jacking tunneling time is not occupied, and the pipe jacking construction efficiency is improved; the sub-centimeter-level precision measurement is realized, the precision is high, and the construction is guaranteed; and a large number of system accessories are not needed, the system is simple, and the maintenance is greatly simplified.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. A push bench guiding method based on machine vision is characterized in that an adopted device comprises an industrial PC, an imaging camera and measuring mark points, the measuring mark points comprise fixed measuring mark points P and dynamic measuring mark points, the imaging camera images the measuring mark points and transmits imaging data to the industrial PC for analysis processing so as to obtain and control the real-time posture of the push bench, and the operation steps are as follows:
A. installing a 0# imaging camera on a pipe jacking machine head, and installing a group of fixed measurement mark points P on a working wellhead;
B. imaging the fixed measurement mark point P by a 0# imaging camera, and solving 6 external orientation elements of the 0# imaging camera by an industrial PC (personal computer), wherein the external orientation elements comprise a three-dimensional coordinate X, Y, Z of the camera, a pitch angle α, an azimuth angle phi and a torsion angle k of three angle elements of the camera, and a calculation formula is a rear intersection of photogrammetry;
C. comparing the external orientation element of the 0# imaging camera with the position coordinates of the manually measured push bench, including an azimuth angle, a torsion angle and a pitch angle, and establishing a relative position relationship between the 0# imaging camera and a push bench head;
D. during jacking, a group of dynamic measurement mark points and a dynamic imaging camera are arranged in each jacking distance L, and the dynamic imaging camera needs to ensure that the group of dynamic measurement mark points n-1 on the jacking pipe joint of the section and the other group of measurement mark points n on one side of the adjacent working well mouth can be shot;
E. the industrial PC machine calculates the three-dimensional coordinates of each group of dynamic measurement mark points and the external orientation elements of each imaging camera in turn by taking the fixed measurement mark point P as a starting point according to the light beam adjustment principle of the collinear condition equation, thereby realizing long-distance pipe jacking guidance.
2. The push bench guiding method based on machine vision as claimed in claim 1, wherein step F is further provided between step A and step B, wherein the fixed survey mark point P is measured by manual work for accurate geodetic coordinates, and the position coordinates of the push bench in the geodetic coordinate system are determined.
3. The push bench guiding method based on machine vision as claimed in claim 2, wherein the imaging camera is a single camera, and they are combined with each other in a staggered manner to form a binocular vision measuring system.
4. A push bench guiding method based on machine vision as claimed in claim 2, characterized in that said imaging camera is composed of 2 or more cameras.
5. The pipe push bench guiding method based on machine vision as claimed in any one of claims 2-4, wherein said measuring mark points are circular and made of directional light reflecting material or self-luminous material.
6. The pipe push bench guiding method based on machine vision as claimed in claim 5, wherein the number of each set of measurement mark points ranges from 4 to 10, and the measurement mark points are uniformly distributed on the same pipe section.
7. A push bench guiding method based on machine vision as claimed in claim 6, wherein said distance L in step D is between 50-80 m.
8. The push bench guiding method based on machine vision as claimed in claim 7, wherein the number of each set of measurement mark points is 5, and the distance L is 60 m.
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Cited By (2)
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| CN112943263A (en) * | 2021-02-08 | 2021-06-11 | 中国铁建重工集团股份有限公司 | Pipe jacking machine and pipe joint interval measuring device thereof |
| CN115142855A (en) * | 2022-05-11 | 2022-10-04 | 广州鑫唐夏信息科技有限公司 | Intelligent pipe jacking guiding method and system based on machine vision |
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Application publication date: 20200526 |