CN112822359A - Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel - Google Patents
Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel Download PDFInfo
- Publication number
- CN112822359A CN112822359A CN202011622488.3A CN202011622488A CN112822359A CN 112822359 A CN112822359 A CN 112822359A CN 202011622488 A CN202011622488 A CN 202011622488A CN 112822359 A CN112822359 A CN 112822359A
- Authority
- CN
- China
- Prior art keywords
- image
- tunnel
- surrounding rock
- vehicle
- imaging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The panoramic imaging system comprises a mobile vehicle, a panoramic imaging module and a panoramic imaging module, wherein the mobile vehicle is used for carrying out mobile measurement and acquiring the position of a test point of surrounding rock imaging; the image acquisition system comprises a spherical transparent protective shell and a plurality of cameras arranged in the spherical transparent protective shell and used for acquiring surrounding rock images of corresponding test points in different directions; the moving mechanism is arranged on a moving vehicle, bears the image acquisition system and drives the image acquisition system to move to a specified position of the end face of the tunnel; the data transmission system is used for transmitting the surrounding rock image of the acquisition point to the image processing system; and the image processing system is used for receiving the surrounding rock image, processing and splicing the image information and forming a complete surrounding rock image at the corresponding imaging position. This openly can be in boring different positions acquisition country rock image data in exploding the tunnel to handle image data, realize panorama monitoring.
Description
Technical Field
The disclosure belongs to the technical field of tunnel imaging, and particularly relates to a panoramic imaging system and method based on a vehicle-mounted drilling and blasting tunnel.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the tunnel construction process, in order to analyze the development characteristics of the surrounding rock cracks or joints, the field investigation needs to be carried out on the surrounding rock in the tunnel, the geological parameters of the tunnel surrounding rock are obtained, the tunnel surrounding rock is monitored, and the tunnel engineering safety is ensured.
Aiming at tunnel construction, particularly construction of long and large tunnels, the method for acquiring and analyzing the development characteristics of surrounding rock cracks or joints mainly depends on field observation, manual sketch, test statistics and other methods of testers, and the traditional measuring methods have the defects of large workload, long consumed time, serious influence on the working efficiency and incapability of adapting to the current tunnel tunneling requirement. In recent years, people also adopt a camera shooting method to obtain surrounding rock images, but surrounding rocks with different heights in a tunnel restrict short-distance shooting of testers, so that imaging blur is caused; limited by the imaging area of a single camera, shot surrounding rock cracks or joints are not complete in imaging, so that the mapping data is inaccurate.
Disclosure of Invention
In order to solve the problems, the panoramic imaging system and method based on the vehicle-mounted drilling and blasting tunnel are provided, surrounding rock image data can be collected at different positions in the drilling and blasting tunnel, the image data are processed, and panoramic monitoring is achieved.
According to some embodiments, the following technical scheme is adopted in the disclosure:
a panorama imaging system based on vehicular bores and explodes hole tunnel includes:
the mobile vehicle is used for carrying out mobile measurement and obtaining the position of a test point of the surrounding rock imaging;
the image acquisition system comprises a spherical transparent protective shell and a plurality of cameras arranged in the spherical transparent protective shell and used for acquiring surrounding rock images of corresponding test points in different directions;
the moving mechanism is arranged on a moving vehicle, bears the image acquisition system and drives the image acquisition system to move to a specified position of the end face of the tunnel;
the data transmission system is used for transmitting the surrounding rock image of the acquisition point to the image processing system;
and the image processing system is used for receiving the surrounding rock image, processing and splicing the image information and forming a complete surrounding rock image at the corresponding imaging position.
As an alternative embodiment, a position sensor is arranged on the moving vehicle and used for measuring the distance traveled by the moving vehicle and acquiring the surrounding rock imaging site.
As an alternative embodiment, a power supply system is arranged on the mobile vehicle, and the power supply system is used for supplying electric energy to the mobile mechanism, the image acquisition system and the image processing system.
As an alternative embodiment, the moving mechanism comprises two telescopic mechanical arm connecting rods, an articulated shaft and a driving part, wherein the two telescopic mechanical arm connecting rods are connected by the articulated shaft, and under the action of the driving part, the telescopic mechanical arm connecting rods can rotate around the articulated shaft to generate displacement in the cross section of the tunnel, so that the required height for surrounding rock shooting is reached, and the image acquisition system is moved to any position of the cross section of the tunnel to shoot.
In a more limited embodiment, the hinge shaft is provided with a rotation angle sensor for adjusting the angle of two retractable arm links, and the retractable arm links are provided with a distance sensor.
As an alternative embodiment, the image acquisition system comprises three cameras, a hyperboloid lens, an LED cold light lamp and a spherical transparent protective shell, wherein the three cameras are connected through a metal plate and placed in the spherical transparent protective shell in an equilateral triangle shape, and the LED cold light lamp is arranged between every two adjacent cameras;
a double-curved-surface lens is arranged on the inner wall of the shell of the spherical transparent protective shell and opposite to each camera to form a catadioptric system;
and a rod piece is embedded on the outer side of the metal plate and is connected with the spherical transparent protective shell through the rod piece.
As an alternative embodiment, the data transmission system comprises a plurality of data transmission lines, and the pictures obtained by the image acquisition system are transmitted to the image processing system.
As an alternative embodiment, the image processing system comprises a processor and a memory, wherein the processor is configured to receive surrounding rock image information, perform image preprocessing and image cutting and splicing, and form a panoramic image of a surrounding rock at a certain position in a tunnel; the memory is used for storing the images shot by each camera according to the serial number of the camera and the shooting sequence.
As an alternative embodiment, the processor is connected to the rotation angle sensor and the distance sensor.
The working method based on the system comprises the following steps:
controlling the mobile vehicle to reach a preset surrounding rock imaging position, and recording the driving mileage;
adjusting the moving mechanism to enable the image acquisition system to reach a shooting position with a preset height, and recording the telescopic length and the rotating angle of the moving mechanism at the moment;
controlling lighting according to the environment in the tunnel;
controlling each camera to start and shoot, and storing shot images according to the serial number of the camera and the shooting sequence;
and according to the stored sequence, carrying out projection transformation, image filtering, image denoising, distortion correction, edge extraction, cutting and splicing on the image information to obtain the surrounding rock panoramic image with high imaging quality and large information quantity.
In the process, the image denoising processing is used for eliminating image noise, and the influence of interference of imaging equipment and external environment noise and the like on the image in the digitization and transmission processes is reduced by using algorithms such as mean filtering, median filtering and the like.
The image segmentation is mainly based on the edge image characteristics of imaging superposition areas formed by two catadioptric systems to be cut, the image is segmented into a series of target areas, and finally primitives are formed. And eliminating the influence caused by color difference and nonuniform exposure among the images through ISP processing and a weight function.
And (3) finding out characteristic points for matching by using an image splicing method based on characteristics. The invention uses HARRIS matrix to detect the angular point, and uses gray ladder correlation and loose matching to find the corresponding point, to realize the accurate splicing of the image. And in the image splicing process, according to the cut elements, splicing is carried out according to different angles and a preset position sequence to form a panoramic image of the surrounding rock at a certain position in the tunnel, so that the fracture or joint characteristics of the surrounding rock can be truly reflected.
The process of the method may be repeated until image imaging is completed at all detection points.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the image acquisition system is moved to any position of the section of the tunnel by adjusting the length of the telescopic mechanical arm and the angle change direction and position of the hinge shaft; according to the method, surrounding rock image data can be acquired at different positions in the tunnel with the drilled blast hole according to system setting;
2. according to the method, the imaging position of the surrounding rock in the tunnel is positioned through the initial mileage and the driving mileage of the vehicle, so that the method is convenient and accurate; the specific position of the surrounding rock imaging can be accurately positioned through the telescopic length and the rotating angle recorded by the distance sensor of the telescopic mechanical connecting rod and the rotating angle sensor of the hinged shaft.
3. This is disclosed through image acquisition system, data transmission system, image processing system, realizes splicing the different angle country rock images of boring the blast hole same position, acquires and bores the blast hole country rock panorama, can present the crack or the joint characteristic of arbitrary face of cylinder country rock in the tunnel on a picture, makes things convenient for the observer's more comprehensive observation country rock characteristic that links together.
4. The automatic monitoring system realizes high automation, does not need long-time standing and guarding operation of measuring personnel, reduces labor, improves working efficiency and indirectly ensures personnel safety.
5. The spherical transparent protective shell can not only ensure that the camera is not damaged by bad tunnel construction environments such as rockfall, seepage and the like in the using process, but also achieve the effect of panoramic imaging distortion prevention; the LED cold light lamp can change the lighting conditions in the tunnel, and ensures that the pictures shot by the camera are clear and reliable.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a front view of the present disclosure;
FIG. 2 is a side view of the present disclosure;
FIG. 3 is a schematic view of camera position and field of view of the present disclosure;
FIG. 4 is a panoramic imaging schematic of the present disclosure;
fig. 5 is a schematic diagram of the operation of the camera of the present disclosure.
Wherein, 1 is a spherical transparent protective shell; 2 is a hyperboloid lens; 3 is a camera; 4 is an LED cold light lamp; 5 is a data transmission line; 6 is a computer; 7 is a power supply; 8 is a vehicle; 9 is a hinge shaft; 10 is a telescopic mechanical arm connecting rod; 11 is a surrounding rock; i is the right viewing zone; II is the left visual area; III is a blind zone; and IV is an imaging coincidence zone.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 1 and 2, a panoramic imaging system based on vehicle-mounted drilling and blasting tunnel analysis comprises a vehicle-mounted positioning system, a power supply system, a mechanical control system, an image acquisition system, a data transmission system and an image processing system. Wherein:
the vehicle-mounted and positioning system is characterized in that a tunnel special vehicle 8 is the prior art, the vehicle provides power and a base for the whole system, a camera is arranged on a vehicle head to observe the condition in front of a tunnel, a displacement sensor is arranged on the vehicle 8, the distance traveled by the vehicle is measured by recording the initial mileage and the advancing length, and the position of an imaging surrounding rock 11 is determined.
The power supply system comprises a power supply device 7, the power supply device 7 adopts a power supply type large battery to supply power for the device, and is connected with a motor, three LED cold light lamps 4 and computer 6 equipment, so that the stable cruising of the system device in the tunnel is ensured, and the continuous shooting is realized.
The mechanical control system comprises two telescopic mechanical arm connecting rods 10 and a hinge shaft 9, the telescopic mechanical arm connecting rods 10 can rotate around the hinge shaft, wherein the vertical telescopic mechanical arm connecting rod 10 is used for adjusting the height of the image acquisition system, and the other telescopic mechanical arm connecting rod 10 is used for adjusting the imaging distance from the image acquisition system to the surrounding rock 11. The hinge shaft 9 is used to adjust the angles of the two telescopic robot arm links 10.
Further, in the present embodiment, the two telescopic robot arm links 10 are provided with distance sensors for measuring the telescopic lengths of the telescopic robot arm links, the hinge shaft 9 is provided with a rotation angle sensor, and the distance sensors are used for measuring the angles of the two telescopic robot arm links, recording the telescopic lengths and the rotation angles, and transmitting the data to the computer 6.
The image acquisition system mainly comprises three cameras 3, three hyperboloid lenses 2, three LED cold light lamps 4 and a spherical transparent protective shell 1. Camera 3 connects through the metal sheet, is equilateral triangle and places, LED cold light lamp 4 is placed respectively between two liang of cameras 3, a member is inlayed in the metal sheet outside, and the metal sheet passes through the member to be connected with spherical transparent protective housing 1, and spherical transparent housing 1 can provide the protection for camera 3, for hyperboloid lens 2 provides the carrier, compares with square protective housing, under the prerequisite that does not influence imaging quality, can effectively accomplish the distortion effect of preventing of image.
As shown in fig. 1, one camera 3 and one hyperbolic 2 lens form a catadioptric system, and the panoramic imaging system is composed of three catadioptric systems, as shown in fig. 3, and the three cameras 3 are respectively placed at three vertexes A, B, C of an equilateral triangle. The LED cold light lamps 4 are all connected with the power supply 7.
The data transmission system is composed of a data transmission line 5, pictures shot by the three cameras 3 are stably transmitted to the image acquisition system, and the storage system of the computer 6 stores the shot images in corresponding folders according to the shooting sequence according to the camera number A, B, C. In this embodiment, a wired gigabit network data transmission technology is adopted, which is the prior art, and can effectively solve the problems of large image data volume acquired by an image acquisition system and interference of surrounding rock magnetism on data transmission signals.
The image processing system is mainly used for processing and splicing images by a computer 6. The computer stores multiple programs, and can preprocess, cut and splice the shot images. The preprocessing mainly comprises projection transformation, image filtering, image denoising and distortion correction.
The image is cut according to the catadioptric panoramic imaging principle, as shown in fig. 3, 4 and 5, three cameras 3 are respectively placed on three vertexes of an equilateral triangle, each camera 3 and each hyperboloid lens 2 form a catadioptric system, the visual field range of each system in the vertical direction is 360 degrees, the system can be divided into three areas, namely a right visual area I, a left visual area II and a blind area III, and panoramic images are obtained from different visual field areas of A, B, C systems.
As shown in fig. 4, the coverage imaging visual angle of each catadioptric system is 240 °, an imaging coincidence region iv exists between the imaging regions of the three catadioptric systems, and the position relationship between the imaging coincidence region iv and the drilled and blasted tunnel surrounding rock 11 is shown in fig. 5.
And the image segmentation is mainly performed according to the edge image characteristics of the imaging superposition area IV, the image is segmented into a series of target areas, and finally the primitive is formed. And image splicing is carried out according to the cut elements and according to different angles and a preset position sequence to form a panoramic image of the surrounding rock at a certain position in the tunnel, so that the fracture or joint characteristics of the surrounding rock can be truly reflected. The method can be implemented by selecting the existing algorithm program such as sobel and other algorithms.
Of course, other existing methods may be used for the image processing.
The distance sensor, the rotation angle sensor and the camera 3 are all connected with the computer 6, and the computer is connected with the power supply 7.
The panoramic imaging method based on the vehicle-mounted drilling and blasting tunnel analysis comprises the following steps:
step 1: controlling the tunnel vehicle 8 to reach a preset surrounding rock 11 imaging position, automatically recording initial mileage and driving distance by the system, and transmitting mileage data to the computer 6;
step 2: the length of the vertical telescopic mechanical arm connecting rod 10 is adjusted by a distance sensor to reach a preset height;
and step 3: the rotation of the articulated shaft 9 is adjusted by the corner sensor, so that the position of the imaging surrounding rock, the image acquisition device and the circle center of the articulated shaft 9 are positioned on the same straight line;
and 4, step 4: the length of the other telescopic mechanical arm connecting rod 10 is adjusted by a distance sensor, so that the image acquisition device reaches a preset shooting position;
and 5: the distance sensor records the telescopic length of the telescopic mechanical connecting rod 10, the corner sensor records the angle between the two telescopic mechanical connecting rods 10, and data are transmitted to the computer 6;
step 6: the brightness of the LED cold light lamp 4 is adjusted to realize illumination in the tunnel;
and 7: controlling the three cameras 3 to start and take pictures, transmitting the pictures to the computer 6 through a data transmission line 5, and storing the shot images in corresponding folders according to the serial numbers of the three cameras by the computer storage system according to the shooting sequence;
and 8: the computer 6 performs projection transformation, image filtering, image denoising, distortion correction, edge extraction, cutting and splicing on the image information according to the stored sequence and the existing algorithm program to obtain a surrounding rock panoramic image with high imaging quality and large information quantity;
and step 9: after shooting is finished, controlling the vehicle 8 to continue to run forwards;
and (5) imaging a plurality of surrounding rocks, and repeating the steps 1-8.
In the process, the image denoising processing is used for eliminating image noise, and the influence of interference of imaging equipment and external environment noise and the like on the image in the digitization and transmission processes is reduced by using algorithms such as mean filtering, median filtering and the like.
The image segmentation is mainly based on the edge image characteristics of imaging superposition areas formed by two catadioptric systems to be cut, the image is segmented into a series of target areas, and finally primitives are formed. And eliminating the influence caused by color difference and nonuniform exposure among the images through ISP processing and a weight function.
And (3) finding out characteristic points for matching by using an image splicing method based on characteristics. The invention uses HARRIS matrix to detect the angular point, and uses gray ladder correlation and loose matching to find the corresponding point, to realize the accurate splicing of the image. And in the image splicing process, according to the cut elements, splicing is carried out according to different angles and a preset position sequence to form a panoramic image of the surrounding rock at a certain position in the tunnel, so that the fracture or joint characteristics of the surrounding rock can be truly reflected. The method can be implemented by selecting the existing algorithm program such as sobel, SIFT and other algorithms.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides a panorama imaging system based on tunnel is exploded in vehicular brill, characterized by: the method comprises the following steps:
the mobile vehicle is used for carrying out mobile measurement and obtaining the position of a test point of the surrounding rock imaging;
the image acquisition system comprises a spherical transparent protective shell and a plurality of cameras arranged in the spherical transparent protective shell and used for acquiring surrounding rock images of corresponding test points in different directions;
the moving mechanism is arranged on a moving vehicle, bears the image acquisition system and drives the image acquisition system to move to a specified position of the end face of the tunnel;
the data transmission system is used for transmitting the surrounding rock image of the acquisition point to the image processing system;
and the image processing system is used for receiving the surrounding rock image, processing and splicing the image information and forming a complete surrounding rock image at the corresponding imaging position.
2. The vehicle-mounted panoramic imaging system based on the drilling and blasting tunnel as claimed in claim 1, which is characterized in that: and the mobile vehicle is provided with a position sensor for measuring the distance traveled by the mobile vehicle and acquiring a surrounding rock imaging place.
3. The vehicle-mounted panoramic imaging system based on the drilling and blasting tunnel as claimed in claim 1, which is characterized in that: the mobile vehicle is provided with a power supply system, and the power supply system is used for supplying electric energy to the mobile mechanism, the image acquisition system and the image processing system.
4. The vehicle-mounted panoramic imaging system based on the drilling and blasting tunnel as claimed in claim 1, which is characterized in that: the moving mechanism comprises two telescopic mechanical arm connecting rods, an articulated shaft and a driving piece, the two telescopic mechanical arm connecting rods are connected through the articulated shaft, the telescopic mechanical arm connecting rods can rotate around the articulated shaft under the action of the driving piece, displacement in a tunnel section is generated, the height required by surrounding rock shooting is reached, and the image acquisition system is moved to any position of the tunnel section to shoot.
5. The vehicle-mounted panoramic imaging system based on the drilled and blasted tunnel as claimed in claim 4, characterized in that: the articulated shaft is configured with a corner sensor, adjusts the angles of two telescopic mechanical arm connecting rods, and the telescopic mechanical arm connecting rods are configured with a distance sensor.
6. The vehicle-mounted panoramic imaging system based on the drilling and blasting tunnel as claimed in claim 1, which is characterized in that: the image acquisition system comprises three cameras, a hyperboloid lens, an LED cold light lamp and a spherical transparent protective shell, wherein the three cameras are connected through a metal plate and are placed in the spherical transparent protective shell in an equilateral triangle shape, and the LED cold light lamp is arranged between every two adjacent cameras;
a double-curved-surface lens is arranged on the inner wall of the shell of the spherical transparent protective shell and opposite to each camera to form a catadioptric system;
and a rod piece is embedded on the outer side of the metal plate and is connected with the spherical transparent protective shell through the rod piece.
7. The vehicle-mounted panoramic imaging system based on the drilling and blasting tunnel as claimed in claim 1, which is characterized in that: the data transmission system comprises a plurality of data transmission lines and transmits the pictures obtained by the image acquisition system to the image processing system.
8. The vehicle-mounted panoramic imaging system based on the drilling and blasting tunnel as claimed in claim 1, which is characterized in that: the image processing system comprises a processor and a memory, wherein the processor is configured to receive surrounding rock image information, perform image preprocessing and image cutting and splicing, and form a panoramic image of surrounding rock at a certain position in the tunnel; the memory is used for storing the images shot by each camera according to the serial number of the camera and the shooting sequence.
9. The vehicle-mounted panoramic imaging system based on the drilled and blasted tunnel as claimed in claim 5, characterized in that: and the processor is connected with the rotation angle sensor and the distance sensor.
10. Method of operation based on a system according to any of claims 1-9, characterized in that: the method comprises the following steps:
controlling the mobile vehicle to reach a preset surrounding rock imaging position, and recording the driving mileage;
adjusting the moving mechanism to enable the image acquisition system to reach a shooting position with a preset height, and recording the telescopic length and the rotating angle of the moving mechanism at the moment;
controlling lighting according to the environment in the tunnel;
controlling each camera to start and shoot, and storing shot images according to the serial number of the camera and the shooting sequence;
and according to the stored sequence, carrying out projection transformation, image filtering, image denoising, distortion correction, edge extraction, cutting and splicing on the image information to obtain the surrounding rock panoramic image with high imaging quality and large information quantity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011622488.3A CN112822359B (en) | 2020-12-30 | 2020-12-30 | Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011622488.3A CN112822359B (en) | 2020-12-30 | 2020-12-30 | Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112822359A true CN112822359A (en) | 2021-05-18 |
| CN112822359B CN112822359B (en) | 2022-03-25 |
Family
ID=75854631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011622488.3A Active CN112822359B (en) | 2020-12-30 | 2020-12-30 | Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112822359B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020034020A1 (en) * | 1996-06-24 | 2002-03-21 | Be Here Corporation | Panoramic imaging arrangement |
| US20020080017A1 (en) * | 2000-10-11 | 2002-06-27 | Kiyoshi Kumata | Surround surveillance apparatus for mobile body |
| US20070217782A1 (en) * | 2006-03-17 | 2007-09-20 | Mccutchen David | Spinning camera enclosure for environmental protection |
| CN101414054A (en) * | 2008-11-21 | 2009-04-22 | 浙江大学 | Device and method for implementing stereo imaging by overall view ring belt imaging lens |
| CN101487703A (en) * | 2009-02-13 | 2009-07-22 | 浙江工业大学 | Fast full-view stereo photography measuring apparatus |
| CN102080969A (en) * | 2010-12-16 | 2011-06-01 | 哈尔滨工程大学 | Apparatus for rapidly correcting installation position of panoramic vision measuring system |
| CN103047930A (en) * | 2012-12-05 | 2013-04-17 | 上海同岩土木工程科技有限公司 | Vehicle-mounted subway tunnel disease data automatic acquisition system |
| CN106053475A (en) * | 2016-05-24 | 2016-10-26 | 浙江工业大学 | Tunnel disease full-section dynamic rapid detection device based on active panoramic vision |
| CN106841216A (en) * | 2017-02-28 | 2017-06-13 | 浙江工业大学 | Tunnel defect automatic identification equipment based on panoramic picture CNN |
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
| CN110989024A (en) * | 2019-12-17 | 2020-04-10 | 山东大学 | TBM tunnel fault broken zone forecasting system and method based on rock mineral analysis |
-
2020
- 2020-12-30 CN CN202011622488.3A patent/CN112822359B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020034020A1 (en) * | 1996-06-24 | 2002-03-21 | Be Here Corporation | Panoramic imaging arrangement |
| US20020080017A1 (en) * | 2000-10-11 | 2002-06-27 | Kiyoshi Kumata | Surround surveillance apparatus for mobile body |
| US20070217782A1 (en) * | 2006-03-17 | 2007-09-20 | Mccutchen David | Spinning camera enclosure for environmental protection |
| CN101414054A (en) * | 2008-11-21 | 2009-04-22 | 浙江大学 | Device and method for implementing stereo imaging by overall view ring belt imaging lens |
| CN101487703A (en) * | 2009-02-13 | 2009-07-22 | 浙江工业大学 | Fast full-view stereo photography measuring apparatus |
| CN102080969A (en) * | 2010-12-16 | 2011-06-01 | 哈尔滨工程大学 | Apparatus for rapidly correcting installation position of panoramic vision measuring system |
| CN103047930A (en) * | 2012-12-05 | 2013-04-17 | 上海同岩土木工程科技有限公司 | Vehicle-mounted subway tunnel disease data automatic acquisition system |
| CN106053475A (en) * | 2016-05-24 | 2016-10-26 | 浙江工业大学 | Tunnel disease full-section dynamic rapid detection device based on active panoramic vision |
| CN106841216A (en) * | 2017-02-28 | 2017-06-13 | 浙江工业大学 | Tunnel defect automatic identification equipment based on panoramic picture CNN |
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
| CN110989024A (en) * | 2019-12-17 | 2020-04-10 | 山东大学 | TBM tunnel fault broken zone forecasting system and method based on rock mineral analysis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112822359B (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7460980B2 (en) | Method for the control of a pipe inspection system and for the evaluation of the inspection data | |
| CN108303426B (en) | Cable tunnel defect nondestructive rapid detection device and detection method thereof | |
| CN109737981B (en) | Unmanned vehicle target searching device and method based on multiple sensors | |
| CN112173103B (en) | Detection device and method for tunnel working face constructed by drilling and blasting method | |
| CN112329531B (en) | Linear array binocular imaging system for pipe gallery apparent disease detection and working method | |
| CN114113118B (en) | Rapid detection device and detection method for subway tunnel lining crack leakage water disease | |
| CN114838668B (en) | Tunnel displacement monitoring method and system | |
| CN108564628A (en) | A kind of cutterhead vision positioning orientation system towards development machine automation | |
| WO2021043308A1 (en) | Image identification and analysis-based system and method for predicting quartz content of surrounding rock in tunnel | |
| CN114067094A (en) | Multispectral camera system for rock drilling jumbo and intelligent surrounding rock identification method | |
| CN112598755A (en) | Intelligent face analysis method based on drill jumbo | |
| JP2007036756A (en) | Monitoring camera system for linking all-around camera of fixed visual angle with narrow angle camera which can control the direction of visual point | |
| CN112785709A (en) | TBM (tunnel boring machine) carrying type surrounding rock fracture reconstruction identification method and device, storage medium and equipment | |
| CN115578315A (en) | Bridge strain close-range photogrammetry method based on unmanned aerial vehicle image | |
| CN109115434A (en) | A kind of tunnel health monitoring systems and method | |
| CN112822359B (en) | Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel | |
| CN112734640B (en) | Image acquisition device, processing system and panoramic image stitching method for hole drilling and explosion | |
| CN114279324A (en) | All-dimensional intelligent detection method for appearance quality of prefabricated part | |
| KR102567163B1 (en) | System for operating an imaging device, damage analysis and evaluation of structures | |
| CN113624218B (en) | Automatic astronomical orientation method based on image processing | |
| CN213934917U (en) | Examinee behavior monitoring device | |
| CN212459453U (en) | Subway tunnel disease intelligent monitoring device | |
| CN210638686U (en) | Crime scene three-dimensional modeling vehicle | |
| CN109612440B (en) | Calibration object profile analysis method based on oblique photography | |
| CN116188348A (en) | Crack detection method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |