CN112461198A - Device and method for detecting geometric parameters of tunnel section - Google Patents
Device and method for detecting geometric parameters of tunnel section Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a device and a method for detecting geometric parameters of a tunnel section, and relates to the technical field of tunnel detection.A ring-shaped light spot light source is vertically fixed on a support at the upper part of a base, a plurality of camera components are fixed on the base, and an inertia measurement sensor is fixed on the support above the base and is positioned below the ring-shaped light spot light source; each camera component is connected with a corresponding front-end computing unit, the front-end computing units are connected with a rear-end computing unit by using a network switch, the annular light spot light source is connected with the light source driver, and the light source driver and the inertial measurement sensor are connected with the rear-end computing unit. The multi-camera based on the annular facula light source guarantees the integrity of the cross section, can flexibly adjust the distance measurement range and the image acquisition speed, reduces errors caused by the deviation of the attitude angles of the camera assembly and the light source assembly, and is beneficial to the improvement of the measurement precision.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to a device for detecting geometric parameters of a tunnel section and a detection method thereof.
Background
The periodic section geometric parameter detection of rail transit and highway tunnel is a necessary measure for guaranteeing the safe operation of rail transit and highway. With the increase of the track traffic operation mileage and operation time and the increasing complexity of the underground environment of the track traffic tunnel, the importance and urgency of convergence monitoring of the tunnel structure are gradually increasing. The contradiction between the frequency improvement of convergence monitoring and the limited maintenance time is more and more prominent, and a high-precision and quick tunnel section geometric parameter mapping method is needed.
The existing tunnel section geometric parameter mapping method mainly comprises a ToF ranging point-by-point scanning method, a binocular vision ranging method and a triangulation method based on discrete structured light and a discrete camera. In the actual detection process of the prior art, the main defects are as follows: although the ToF ranging point-by-point scanning method has high ranging accuracy, the measuring speed is slow, and even if the ToF ranging point-by-point scanning method is a fast three-dimensional laser scanner, the measuring point speed is usually less than 1000 points/second, and the measuring efficiency of the geometric parameters of the tunnel is low. The binocular vision ranging method depends on the characteristic mark patterns on the tunnel wall plate, and the arrangement of a large number of characteristic mark patterns is difficult for measuring the geometric parameters of the tunnel in a large range. Based on a triangulation method of discrete structured light and a discrete camera, a combination body formed by a single-group structured light source-camera can meet the requirements on the distance measurement precision and the measurement speed of a tunnel wall plate, but the positioning precision among the multiple-group structured light source-camera combination body is difficult to control, so that the measurement precision of the whole equipment is obviously reduced compared with that among single combination bodies.
Disclosure of Invention
The invention aims to provide a device for detecting geometric parameters of a tunnel section and a detection method thereof, which are reasonable in design, aiming at the defects and shortcomings of the prior art.
In order to achieve the above purpose, the present invention provides an apparatus for detecting a geometric parameter of a tunnel section, comprising: the system comprises an annular facula light source, a light source driver, a camera component, a base, a front-end computing unit, a network switch, a rear-end computing unit and an inertial measurement sensor; the annular light spot light source is vertically fixed on a support at the upper part of the base, a plurality of camera components are fixed on the base, and the inertial measurement sensor is fixed on the support above the base and positioned below the annular light spot light source; each camera component is connected with a corresponding front-end computing unit, the front-end computing units are connected with a rear-end computing unit by using a network switch, the annular light spot light source is connected with the light source driver, and the light source driver and the inertial measurement sensor are connected with the rear-end computing unit.
Furthermore, the connection surface of the plurality of camera components and the base is a tangent plane of a conical surface which coincides with the axis of the light source of the annular facula light source, and the plurality of camera components are distributed around the axis of the light source at the same height.
Furthermore, the camera assembly consists of a camera, a lens and a filter; a lens is fixed on the camera, and a filter is fixed on the lens.
Furthermore, the front-end computing unit is composed of a camera data interface, an image processing unit, a front-end network interface and a front-end local memory; the camera data interface is connected with the image processing unit, the image processing unit is connected with the front-end network interface, the image processing unit is connected with the front-end local memory, and the front-end network interface is connected with the network switch.
Furthermore, the back-end computing unit is composed of a back-end network interface, a data processing unit and a back-end local memory; the back end network interface is connected with the network switch, the back end network interface is connected with the data processing unit, and the data processing unit is connected with the back end local memory.
The invention relates to a detection method for detecting geometric parameters of a tunnel section, which comprises the following operation steps:
the method comprises the following steps that firstly, the light source axis of an annular light spot light source is parallel to the tunnel advancing direction, the annular light spot light source continuously or intermittently emits laser under the driving of a light source driver, and output light of the annular light spot light source is continuously distributed in a plane perpendicular to the light source axis and irradiates the surface of an object to be measured to form light spots;
secondly, the camera components collect images formed by light spots projected on the surface of the measured object under the control of the front-end computing unit, the optical axes of all the camera components are converged at one point on the axis of the light source in space, namely the convergence point, and the included angle formed by the optical axes of the camera components and the axis of the light source is smaller than 90 degrees and larger than 45 degrees;
the front end computing unit is communicated with a camera component corresponding to the front end computing unit through a camera data interface in the front end computing unit to control the camera component to collect image data, after the front end computing unit reads an image through a program, the front end computing unit searches brightness data of the image along the row direction of the image, calculates row coordinates and column coordinates of light spots generated by the annular light spot light source relative to an original point, and takes the central position of an optical axis of the camera component in the image, namely a light center, as the original point in each row of the image;
fourthly, all the front-end computing units organize the computed information such as the line coordinates, the column coordinates, the shooting time, the camera numbers and the like corresponding to the light spots acquired by the camera assemblies into data packets according to a communication protocol defined in advance, send the data packets through a front-end network interface in the front-end computing unit and forward the data packets to a rear-end computing unit by a network switch;
after receiving the data packet sent by the front-end computing unit, the rear-end computing unit selects corresponding calibration parameters according to the camera number contained in the data packet, and converts the row coordinate and the column coordinate (namely the coordinate of a camera coordinate system) corresponding to the light spot into coordinates relative to a complete machine reference point;
reading attitude parameters acquired by an inertial measurement sensor by a rear-end calculation unit, and correcting coordinates corresponding to light spots relative to a whole machine reference point after calculating the current attitude of the whole machine; and the coordinate data after the calculation is stored in a back-end local memory inside the back-end calculation unit by taking the image shooting time as an index.
After adopting the structure, the invention has the beneficial effects that: the invention provides a device and a method for detecting geometric parameters of a tunnel section, which are based on an annular light spot light source and multiple cameras, ensure the integrity of the section, can flexibly adjust the distance measurement range and the image acquisition speed, reduce errors caused by attitude angle deviation of a camera assembly and a light source assembly, and are beneficial to improving the measurement precision.
Drawings
FIG. 1 is a schematic diagram of the connection of the annular spot light source, the camera assembly and the base of the present invention.
FIG. 2 is a front view of the connection of the annular spot light source, camera assembly and base of the present invention.
Fig. 3 is a working principle diagram of the present invention.
Fig. 4 is a system block diagram of the present invention.
Fig. 5 is a schematic diagram of a spot image acquired by the camera assembly according to the present invention.
Description of reference numerals:
the device comprises an annular light spot light source 1, a light source axis 2, a plane 3, a light source driver 4, a camera assembly 5, a camera 5a, a lens 5b, a filter 5c, a base 6, a camera assembly optical axis 7, an intersection point 8, an included angle 9, a front end computing unit 10, a camera data interface 10a, an image processing unit 10b, a front end network interface 10c, a front end local memory 10d, a network switch 11, a rear end computing unit 12, a rear end network interface 12a, a data processing unit 12b, a rear end local memory 12c, an inertial measurement sensor 13, a measured object 14, a light spot 15, an image 16 and an origin 17.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the following technical solutions are adopted in the present embodiment (example one): the device is arranged on a detection vehicle which can move on a track, an annular light spot light source 1 is arranged at the top end of a base 6, the axis 2 of the light source is parallel to the advancing direction of a tunnel, and the light emitted by the annular light spot light source 1 is continuously distributed in a plane 3 vertical to the axis of the light source; the camera component 5 consists of a camera 5a, a lens 5b and a filter 5c, wherein the lens 5b is fixed on the camera 5a, and the filter 5c is fixed on the lens 5 b; the camera assemblies 5 are mounted on the base 6, the mounting surfaces of the camera assemblies 5 and the base 6 are tangent planes of conical surfaces which coincide with the light source axis 2 of the annular light spot light source 1, all the camera assemblies 5 are distributed around the light source axis 2 at the same height, the axis of a lens 5a in each camera assembly 5 is defined as a camera assembly optical axis 7, all the camera assembly optical axes 7 are converged at one point on the light source axis 2 in space, namely a convergence point 8, and the included angle 9 formed by the camera assembly optical axis 7 and the light source axis 2 is smaller than 90 degrees and larger than 45 degrees; when the device works, the annular light spot light source 1 emits a laser beam distributed annularly under the driving of the light source driver 4, the laser beam irradiates on a tunnel wall plate (a measured object 14) to form a laser light spot 15, and the abscissa of the light spot 15 in an image 16 acquired by the camera assembly 5 changes monotonically along with the change of the distance between the measuring device and the tunnel wall plate; the front end computing unit 10 controls the camera assemblies 5 to shoot images, the front end computing unit 10 computes the positions of light spots 15 in each image line, the light spots are converted into coordinate data with the position of an optical axis 7 of the camera assembly in an image 16 as an origin 17 and sent to the rear end computing unit 12, the rear end computing unit 12 converts the coordinate data generated by each camera assembly 5 into coordinates of the light spots 15 in the real world according to calibration parameters, and the coordinates are combined with the inertial measurement sensor 13 to acquire current attitude parameters of the whole machine and correct a distance measurement error formed by the attitude error of the base 6 to form point cloud data of a tunnel wall plate.
After adopting above-mentioned structure, this embodiment's beneficial effect is: the specific embodiment provides a device for detecting geometric parameters of a tunnel section and a detection method thereof, which are based on an annular light spot light source and multiple cameras, ensure the integrity of the section, flexibly adjust the distance measurement range and the image acquisition speed, reduce errors caused by attitude angle deviation of camera components and light source components, and are beneficial to improving the measurement precision.
Example two:
the top end of the base 6 is provided with an annular light spot light source 1, the axis 2 of the light source is parallel to the advancing direction of the tunnel, and the light emitted by the annular light spot light source 1 is continuously distributed in a plane 3 vertical to the axis of the light source; the camera component 5 consists of a camera 5a, a lens 5b and a filter 5c, wherein the lens 5b is fixed on the camera 5a, and the filter 5c is fixed on the lens 5 b; the camera assemblies 5 are mounted on the base 6, the mounting surfaces of the camera assemblies 5 and the base 6 are tangent planes of conical surfaces which coincide with the light source axis 2 of the annular light spot light source 1, all the camera assemblies 5 are distributed around the light source axis 2 at the same height, the axis of a lens 5a in each camera assembly 5 is defined as a camera assembly optical axis 7, all the camera assembly optical axes 7 are converged at one point on the light source axis 2 in space, namely a convergence point 8, and the included angle 9 formed by the camera assembly optical axis 7 and the light source axis 2 is smaller than 90 degrees and larger than 45 degrees; when the device works, the image processing and the coordinate calculation of the device are completed by a plurality of computers; the device comprises a plurality of front-end computing units 10, wherein each front-end computing unit 10 is composed of a computer, the computer is connected with one or more cameras 5a (see figure 3) in the camera assembly 5 by using a USB interface, the image data of the camera 5a is acquired at regular time, and the image is subjected to brightness adjustment, contrast adjustment, edge enhancement and light spot center coordinate calculation by using software; the calculated coordinate data are coordinate data of light spots in each camera coordinate system, are packaged through a communication protocol and are sent to a rear-end calculating unit 12 through a network, the rear-end calculating unit 12 is composed of a computer, the rear-end calculating unit 12 receives the coordinate data of the light spots 15 in each camera coordinate system, calculated by each front-end calculating unit 10, synchronously reads current attitude parameters of the base 6 acquired by the inertial measurement sensor 13 to correct ranging errors formed by the attitude errors of the base 6, and the coordinate data of the light spots 15 in each camera coordinate system are converted into uniform world coordinate system data through software by combining calibration parameters to form point cloud data of a tunnel wall plate and stored in a database for monitoring and comparison.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (6)
1. A device for detecting tunnel section geometric parameters is characterized in that: the system comprises an annular facula light source (1), a light source driver (4), a camera component (5), a base (6), a front-end computing unit (10), a network switch (11), a rear-end computing unit (12) and an inertial measurement sensor (13); the annular light spot light source (1) is vertically fixed on a support at the upper part of the base (6), a plurality of camera assemblies (5) are fixed on the base (6), and the inertial measurement sensor (13) is fixed on the support above the base (6) and is positioned below the annular light spot light source (1); each camera component (5) is connected with a corresponding front-end computing unit (10), the front-end computing units (10) are connected with a rear-end computing unit (12) through a network switch (11), the annular facula light source (1) is connected with the light source driver (4), and the light source driver (4) and the inertial measurement sensor (13) are connected with the rear-end computing unit (12).
2. The device for detecting the geometric parameters of the section of the tunnel according to claim 1, wherein: the connection surface of the camera components (5) and the base (6) is a tangent plane of a conical surface which coincides with the light source axis (2) of the annular light spot light source (1), and the camera components (5) are distributed around the light source axis (2) at the same height.
3. The device for detecting the geometric parameters of the section of the tunnel according to claim 1, wherein: the camera component (5) consists of a camera (5 a), a lens (5 b) and a filter (5 c); a lens (5 b) is fixed on the camera (5 a), and a filter (5 c) is fixed on the lens (5 b).
4. The device for detecting the geometric parameters of the section of the tunnel according to claim 1, wherein: the front-end computing unit (10) is composed of a camera data interface (10 a), an image processing unit (10 b), a front-end network interface (10 c) and a front-end local memory (10 d); the camera data interface (10 a) is connected with the image processing unit (10 b), the image processing unit (10 b) is connected with the front-end network interface (10 c), the image processing unit (10 b) is connected with the front-end local memory (10 d), and the front-end network interface (10 c) is connected with the network switch (11).
5. The device for detecting the geometric parameters of the section of the tunnel according to claim 1, wherein: the back-end computing unit (12) is composed of a back-end network interface (12 a), a data processing unit (12 b) and a back-end local memory (12 c); the back end network interface (12 a) is connected with the network switch (11), the back end network interface (12 a) is connected with the data processing unit (12 b), and the data processing unit (12 b) is connected with the back end local memory (12 c).
6. A detection method for detecting tunnel section geometric parameters comprises the following operation steps:
step one, a light source axis (2) of an annular light spot light source (1) is parallel to the tunnel advancing direction, the annular light spot light source (1) emits laser at continuous or interval under the driving of a light source driver (4), and output light of the annular light spot light source is continuously distributed in a plane (3) vertical to the light source axis and irradiates the surface of a measured object (14) to form a light spot (15);
the method comprises the following steps that (II) camera components (5) collect images (16) formed by light spots (15) projected on the surface of a measured object (14) under the control of a front-end computing unit (10), all camera component optical axes (7) are converged at one point on a light source axis (2) in space, namely a convergence point (8), and the angle of an included angle (9) formed by the camera component optical axes (7) and the light source axis (2) is smaller than 90 degrees and larger than 45 degrees;
step three, the front end computing unit (10) communicates with the corresponding camera assembly (5) through a camera data interface (10 a) in the front end computing unit to control the camera assembly (5) to collect image data, after the front end computing unit (10) reads an image (16) through a program, the front end computing unit searches brightness data of the image (16) along the row direction of the image (16), and calculates row coordinates and column coordinates of light spots (15) generated by the annular light spot light source (1) relative to an origin (17) in each row of the image (16) by taking the central position, namely the light center, of the camera assembly optical axis (7) in the image (16) as the origin (17);
step four, all the front-end computing units (10) organize the computed row coordinates, column coordinates, shooting time and camera number information corresponding to the light spots (15) collected by the camera assemblies (5) into data packets according to a pre-defined communication protocol, send the data packets through a front-end network interface (10 c) in the front-end computing unit (10), and forward the data packets to a rear-end computing unit (12) through a network switch (11);
after receiving the data packet sent by the front-end computing unit (10), the rear-end computing unit (12) selects corresponding calibration parameters according to the serial number of the camera contained in the data packet, and converts the row coordinate and the column coordinate corresponding to the light spot (15) into coordinates relative to a whole machine reference point;
reading attitude parameters acquired by an inertial measurement sensor (13) by a rear end calculation unit (12), and correcting coordinates corresponding to a light spot (15) relative to a whole machine reference point after calculating the current attitude of the whole machine; the coordinate data after the calculation is stored in a back-end local memory (12 c) inside the back-end calculation unit (12) with the image capturing time as an index.
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Cited By (3)
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| CN114951015A (en) * | 2022-05-10 | 2022-08-30 | 苏州天准科技股份有限公司 | Electrode hole column inner wall detection device, detection method and electrode comprehensive detection equipment |
| CN116358492A (en) * | 2023-06-01 | 2023-06-30 | 辽宁省交通规划设计院有限责任公司 | Tunnel intelligent detection device and method |
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Application publication date: 20210309 |