CN112924465B - Underground well chamber defect detection method and corresponding device thereof - Google Patents
Underground well chamber defect detection method and corresponding device thereof Download PDFInfo
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- CN112924465B CN112924465B CN202110145544.7A CN202110145544A CN112924465B CN 112924465 B CN112924465 B CN 112924465B CN 202110145544 A CN202110145544 A CN 202110145544A CN 112924465 B CN112924465 B CN 112924465B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Abstract
The invention discloses a method for detecting defects of an underground well chamber and a corresponding device thereof, wherein a camera and a laser ranging module can be placed at the center of the well chamber, a straight line is projected on the well chamber through the laser ranging module, then a well wall image, a well top image and a well bottom image are obtained through the camera, the obtained images are subjected to image distortion correction treatment, then the well wall images are seamlessly spliced based on a horizontal line in the images, the spliced well chamber images are calibrated according to the perimeter of the well wall, a defect range is drawn in the calibrated well wall images, and finally a three-dimensional model of the well chamber is established according to the well wall images, the well bottom images, the well top images and the radius with the defect range is drawn.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method for detecting defects of an underground well chamber and a corresponding device thereof.
Background
Underground pipelines are similar to urban 'blood vessels' and are important transportation channels for water, electricity, gas, signals and the like in cities, an underground well chamber is used as a junction for connecting the underground pipelines and is used for branching, turning, reducing and the like of the underground pipelines, the underground well chamber is commonly used for overhauling, dredging, equipment installation and the like of the pipelines, and whether the underground pipelines can normally operate is well related to the structure of the underground well chamber.
After long-term operation, the underground well chamber is easy to have the problems of chemical corrosion, structural damage, well wall falling and the like. The defect measurement of the underground well chamber mainly adopts manual downhole measurement or pipeline periscope (QV) for video detection. The underground environment is severe, or harmful gas exists, or high-voltage electricity danger exists, or water flow is turbulent, the danger of manual underground measurement is large, and the labor cost is high; a pipeline periscope (QV) is adopted for video detection, a camera is placed in a well chamber to shoot videos, the whole condition of the well chamber cannot be displayed, the accurate size of a defect range cannot be measured, and an accurate repairing area cannot be provided for subsequent repairing of the well chamber.
Therefore, it is urgently needed to establish a defect detection method and device with high personnel safety, convenient operation, intuitive expression, accuracy and scalability aiming at the detection and maintenance of underground well chambers.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting defects of an underground well chamber, which can detect the defects and establish a three-dimensional model of the underground well chamber by using live-action pictures of the underground well chamber, and can facilitate operators to accurately and visually determine the defects of the underground well chamber through the three-dimensional model of the underground well chamber.
In a first aspect, an embodiment of the present invention provides a method for detecting a defect in a subterranean well, including:
measuring the radius and the depth of a well chamber through a laser ranging module, wherein the laser ranging module enters the well chamber through a tripod arranged at a well head;
determining a center position of the well chamber according to the radius and the depth;
determining the central position as the shooting position of a camera, wherein the resolution of an image shot by the camera is greater than or equal to 1mm, the laser ranging module is arranged on the camera and can move synchronously along with the camera;
projecting a horizontal line on the wall of the well chamber through a laser ranging module;
continuously shooting the wall of the well in the well chamber for one circle in a rotating manner at the shooting position through the camera, and acquiring well wall images, wherein the overlapping area between the continuous well wall images is more than or equal to twenty percent of the whole image, and the well wall images comprise the horizontal line;
adjusting the shooting angle of the camera, and adopting a downward shooting angle to carry out rotary continuous shooting on the bottom of the well to obtain a bottom-of-well image;
adjusting the shooting angle of the camera, and adopting an upward inclined angle to carry out rotary continuous shooting on the well top to obtain a well top image;
carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image;
respectively splicing the processed bottom hole image and the processed top hole image to obtain a spliced bottom hole image and a spliced top hole image;
arranging the processed borehole wall images according to a shooting sequence to obtain arranged borehole wall images;
selecting characteristic points of overlapping parts in the adjacent borehole wall images based on the sequenced borehole wall images;
performing image matching, embedding, light and color homogenizing on the borehole wall images according to the characteristic points and the horizontal lines in the images, and performing seamless splicing on the borehole wall images; obtaining a spliced borehole wall image;
determining a perimeter of the well chamber from the radius;
carrying out size calibration on the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image;
acquiring the types of the defects in the calibrated spliced borehole wall image, and drawing the range of the defects in the calibrated spliced borehole wall image according to a defect drawing instruction;
and establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image for drawing the defect range, the spliced well bottom image, the spliced well top image and the radius, so that an operator determines the position of the defect in the well chamber according to the three-dimensional model.
In some embodiments, the measuring the radius and depth of the well chamber by the laser ranging module comprises:
the horizontal angle of the camera is rotated, the distance from the camera to the well wall is sequentially obtained from four angles through the laser ranging module, four lengths are obtained, and the difference of each angle between the four angles is 90 degrees horizontally;
determining the radius by calculation of the four lengths;
and adjusting the longitudinal angle of the camera, respectively acquiring the distance from the camera to the top of the well and the distance from the camera to the bottom of the well through the laser ranging module, and determining the depth.
In some embodiments, the performing image distortion correction processing on the borehole wall image, the bottom-hole image, and the top-of-well image to obtain a processed borehole wall image, a processed bottom-hole image, and a processed top-of-well image includes:
performing image distortion correction processing on the well wall image, the well bottom image and the well top image according to a geometric correction formula to obtain a processed well wall image, a processed well bottom image and a processed well top image, wherein the geometric correction formula comprises the following steps:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
wherein u and v are pixel coordinates after correction, x and y are original pixel coordinates of the shot picture, and b 0 、b 1 、b 2 、b 3 、b 4 、b 5 Are coefficients of a polynomial.
In some embodiments, the building a three-dimensional model of the well chamber from the stitched borehole wall image, the stitched bottom hole image, the stitched top hole image, and the radius of the calibration mapped defective area comprises:
establishing a cylindrical model of the well chamber according to the radius by using 3ds max software;
pasting the calibrated spliced well wall image drawn with the defective range to the cylindrical model, wherein the starting point is consistent with the starting point direction during shooting;
and respectively pasting the spliced well bottom image and the spliced well top image to the bottom and the top of the cylindrical model, and enabling the rotation image angle to correspond to the well wall image texture.
In some embodiments, the camera comprises a self-high definition wide-angle single lens reflex camera or a micro single wide-angle camera.
In a second aspect, the present invention provides a downhole chamber defect detection apparatus comprising:
the laser ranging module is used for measuring the radius and the depth of a well chamber and enters the well chamber through a tripod arranged at a well head;
a processor for determining a center position of the well chamber from the radius and the depth;
the processor is further configured to determine the central position as a shooting position of a camera, a resolution of an image shot by the camera is greater than or equal to 1mm, the laser ranging module is arranged on the camera, and the laser ranging module can move synchronously along with the camera;
the laser ranging module is also used for projecting a horizontal line on the wall of the well chamber;
the camera is used for continuously shooting the well wall of the well chamber for one circle in a rotating mode at the shooting position to obtain well wall images, wherein the overlapping area between the continuous well wall images is larger than or equal to twenty percent of the whole image, and the well wall images comprise the horizontal line;
the camera is also used for adjusting the shooting angle, and taking a downward shooting angle to carry out rotary continuous shooting on the well bottom to obtain a well bottom image;
the camera is also used for adjusting the shooting angle, and rotating and continuously shooting the well top by adopting an upward inclined angle to obtain a well top image;
the processor is further used for carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image;
the processor is further configured to respectively perform splicing processing on the processed bottom hole image and the processed top hole image to obtain a spliced bottom hole image and a spliced top hole image;
the processor is further used for arranging the processed well wall images according to a shooting sequence to obtain the arranged well wall images;
the processor is further used for selecting characteristic points of the overlapped parts in the adjacent well wall images based on the sequenced well wall images;
the processor is also used for carrying out image matching, embedding, light homogenizing and color homogenizing on the borehole wall images according to the characteristic points and the horizontal lines in the images, and carrying out seamless splicing on the borehole wall images; obtaining a spliced borehole wall image;
the processor is further configured to determine a perimeter of the well chamber based on the radius;
the processor is further used for carrying out size calibration on the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image;
the processor is used for acquiring the types of the defects in the calibrated spliced borehole wall image and drawing the range of the defects in the calibrated spliced borehole wall image according to a defect drawing instruction;
the processor is further used for establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image for drawing the defect range, the spliced well bottom image, the spliced well top image and the radius, so that an operator can determine the position of the defect in the well chamber according to the three-dimensional model.
In some embodiments, the processor is further configured to adjust the camera to a horizontal position;
the processor further configured to rotate a horizontal angle of the camera;
the laser ranging module is further used for sequentially obtaining the distances from the camera to the well wall from four angles to obtain four lengths, and the difference of the horizontal level of each angle among the four angles is 90 degrees;
the processor further configured to determine the radius by calculating the four lengths;
the processor is further configured to adjust a longitudinal angle of the camera;
the laser ranging module is further used for respectively acquiring the distances from the camera to the top of the well and the bottom of the well;
the processor is further configured to determine the depth based on distances from the camera to a top of a well and to a bottom of the well.
In some embodiments, the processor is further specifically configured to:
performing image distortion correction processing on the well wall image, the well bottom image and the well top image according to a geometric correction formula to obtain a processed well wall image, a processed well bottom image and a processed well top image, wherein the geometric correction formula comprises the following steps:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
wherein u and v are pixel coordinates after correction, x and y are original pixel coordinates of the shot picture, b 0 、b 1 、b 2 、b 3 、b 4 、b 5 Is the coefficient of the polynomial.
In some embodiments, the processor is further specifically configured to:
establishing a cylindrical model of the well chamber according to the radius by using 3ds max software;
pasting the calibrated spliced well wall image drawn with the defective range to the cylindrical model, wherein the starting point is consistent with the starting point direction during shooting;
and respectively pasting the spliced well bottom image and the spliced well top image to the bottom and the top of the cylindrical model, and enabling the rotation image angle to correspond to the well wall image texture.
In some embodiments, the camera comprises a self-high-definition wide-angle single lens reflex camera or a micro single wide-angle camera.
In a third aspect, an embodiment of the present invention further provides a network device, which includes a memory and a processor, where the memory stores a computer program, and the processor executes, when calling the computer program in the memory, any one of the steps in the method for detecting a defect in a subterranean well chamber according to the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the steps of any of the methods for detecting defects in a subterranean well chamber provided by embodiments of the present invention.
In the embodiment of the invention, the radius and the depth of a well chamber can be determined through a laser ranging module, the central position of the well chamber can be determined according to the radius and the depth, a straight line is projected on the well chamber through the laser ranging module, then an image of the well wall is obtained at the central position through a camera, the image of the well top and the well bottom of the well chamber are obtained by adjusting the shooting angle of the camera, the obtained images are subjected to image distortion correction, when the well wall images are spliced, the well wall images are sequenced, then the image matching, embedding, light homogenizing and color homogenizing are carried out on the well wall images based on a horizontal line and an overlapped part of adjacent images in the images, the well wall images are seamlessly spliced, the perimeter of the well wall is determined according to the radius of the well chamber, the spliced well chamber images are calibrated according to the perimeter, a defect range is drawn in the calibrated well wall images, the defect range in the well wall images is established in the well wall images, the defect range in the calibrated well wall images is an actual defect range, finally, a three-dimensional model of the well chamber is established according to the well wall images, the well top and the well chamber can be used for determining the defect of the well chamber, and the operation personnel can accurately and accurately measure the defect by the method, and the underground machinery, thereby the method can conveniently detect the defect of the underground three-dimensional model.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a shape of a subterranean well bore provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a subsurface well defect detection apparatus provided by an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for detecting defects in a subterranean well bore according to an embodiment of the present invention;
FIG. 5 is another schematic structural diagram of a subsurface well chamber defect detection apparatus provided by an embodiment of the present invention.
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 obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the description that follows, specific embodiments of the present invention are described with reference to steps and symbols executed by one or more computers, unless otherwise indicated. Accordingly, these steps and operations will be referred to herein, in several instances, as being performed by a computer, the computer performing operations including the processing of the computer by electronic signals representing data in a structured form. This action transforms the data or maintains it at locations in the computer's memory system, which may be reconfigured or otherwise altered in a manner well known to those skilled in the art. The data maintains a data structure that is a physical location of the memory that has particular characteristics defined by the data format. However, while the principles of the invention have been described in language specific to above, it is not intended to be limited to the specific details shown, since one skilled in the art will recognize that various steps and operations described below may be implemented in hardware.
The principles of the present invention are operational with numerous other general purpose or special purpose computing, communication environments or configurations. Examples of well known computing systems, environments, and configurations that may be suitable for use with the invention include, but are not limited to, hand-held telephones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe configured computers, and distributed computing environments that include any of the above systems or devices.
The terms "first", "second", and "third", etc. in the present invention are used for distinguishing different objects, not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
Referring to fig. 1, fig. 1 is a schematic view of a shape of a subterranean well chamber in this embodiment, including the well chamber and a well head.
Referring to fig. 2, fig. 2 is a schematic view of an application scenario of the method for detecting a defect of an underground well chamber according to the present embodiment, where a in fig. 2 is a well wall, B is a well bottom, C is a well top, and the device for detecting a defect of an underground well chamber enters the well chamber to acquire an image of the underground well chamber.
Referring to fig. 3, fig. 3 is a schematic view of the underground well defect detection device provided in this embodiment, where the device includes a wireless communication module 1, a tripod connection platform 2, a circular level bubble, a tripod 4, a rigid telescopic rod 5, a fixing screw 6, an intelligent platform 7, a rigid connection rod 8, a camera base 9, a laser ranging module 10, a camera lens 11, a camera 12, and a connection rotation shaft 13.
The detection and data processing part in the device comprises a camera 12, a laser ranging module 10, an intelligent holder 7 and a camera platform 9; wherein the camera 12 and the laser ranging module 10 are integrated on the camera platform 9; the camera platform 9 is arranged on the intelligent cloud deck 7 through a rigid connecting rod 8 and a connecting rotating shaft 13; the intelligent tripod head 7 is fixed with the tripod 4 through the rigid telescopic rod 5; the wireless communication module 1 is connected with the rigid telescopic rod 5; the circular leveling bubble 3 is embedded on the tripod connecting platform 2, the rigid telescopic rod 5 and the tripod 4 are fixed on the tripod connecting platform 2, and the intelligent tripod head 7 can adopt a three-axis tripod head or a combined structure, can support three-axis rotation and can adjust an angle at will; the triaxial rotation function is realized, and different angles are met to shoot the wall of a well of the underground well chamber.
The invention aims to provide a method for detecting defects of underground well chambers, which is a novel method for detecting the defects of the underground well chambers and carrying out three-dimensional modeling based on live-action images, wherein the method can accurately measure the defect range of the well chambers by obtaining the live-action images and the sizes of the well chambers and utilizing the live-action images to carry out the judgment on the types of the defects of the well chambers, and can more intuitively display the overall internal conditions of the well chambers by utilizing the live-action images to provide a basis for the follow-up well chamber restoration; the defects that the existing well detection and modeling method is high in danger, large in labor consumption, high in cost, incapable of accurately measuring the size of the defect range in the well, not visual enough and the like are overcome, and specific steps are shown in the figure 4.
Referring to fig. 4, fig. 4 is a schematic flow chart of a method for detecting defects in a subterranean well. The execution main body of the underground well chamber defect detection method can be the underground well chamber defect detection device provided by the embodiment of the invention or a mobile terminal integrated with the underground well chamber defect detection device, wherein the underground well chamber defect detection device can be realized in a hardware or software mode, and the mobile terminal can be a smart phone, a tablet computer, a palm computer, a notebook computer or the like. The method for detecting the defects of the underground well chamber can comprise the following steps:
401. the radius and depth of the well chamber are measured by a laser ranging module.
Wherein, the laser ranging module enters the well chamber through a tripod arranged at the well head.
Specifically, because the laser ranging module is arranged on the camera and can move synchronously with the camera, the laser ranging module can move the position of the laser ranging module by moving the position of the camera, specifically, the distance from the camera to the well wall is sequentially obtained from four angles by the laser ranging module through rotating the horizontal angle of the camera, so that four lengths are obtained, and the horizontal difference of each angle between the four angles is 90 degrees; determining the radius by calculating the four lengths; and adjusting the longitudinal angle of the camera, and respectively acquiring the distance from the camera to the top of the well and the distance from the camera to the bottom of the well through a laser ranging module to determine the depth.
402. And determining the center position of the well chamber according to the radius and the depth.
In this embodiment, in order to better determine the panoramic image of the well, the camera needs to be disposed at the center of the well, so this step needs to determine the center of the well according to the radius and the depth.
403. The center position is determined as a shooting position of the camera.
The resolution of the image is greater than or equal to 1mm when the camera shoots, and the camera in the embodiment comprises a self-high-definition wide-angle single-lens reflex camera or a micro single wide-angle camera.
404. And projecting a horizontal line on the wall of the well chamber through the laser ranging module.
The horizontal line can be used as a reference line for subsequent image stitching.
405. And rotating the well wall of the well chamber at the shooting position by a camera to continuously shoot a circle, and acquiring a well wall image.
Wherein the overlapping area between successive borehole wall images is greater than or equal to twenty percent of the entire image, the borehole wall images including horizontal lines.
406. And adjusting the shooting angle of the camera, and adopting a downward shooting angle to carry out rotary continuous shooting on the well bottom to obtain a well bottom image.
After the well wall is shot, the intelligent cradle head is controlled to shoot a bottom hole picture, the angle of the camera is adjusted by adjusting the intelligent cradle head, the downward shooting angle is adopted, the camera is rotated to shoot continuously, and shot bottom hole images are spliced to obtain a bottom hole image.
407. And adjusting the shooting angle of the camera, and adopting an upward inclined angle to rotate and continuously shoot the well top to obtain a well top image.
When shooting the well top, because there is the cavity above the well top, can adopt intelligent cloud platform control camera slope upwards to carry out continuous shooting, the image after will shooting is spliced and is obtained the well top image.
408. And carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image.
Because the image imaging process is influenced by various influences such as lens distortion, unparallel space imaging and the like, the shot image needs to be corrected, the image is directly subjected to mathematical simulation, the shot picture is corrected by adopting a geometric correction method, the overall image deformation can be regarded as the comprehensive effect of basic deformation such as translation, scaling, rotation, affine, skewing, bending and the like, therefore, the relation of corresponding points of the images before and after correction can be described by a proper polynomial relation, the embodiment can carry out image distortion correction treatment on the well wall image, the well bottom image and the well top image according to a geometric correction formula to obtain the treated well wall image, the treated well bottom image and the treated well top image, and the geometric correction formula:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ； (1)
in the formula, u and v are pixel coordinates after correction; x and y are original pixel coordinates of a shot photo, b0 and b1 \8230 \ 8230and b5 are coefficients of a polynomial, can be obtained by a least square method according to known control point coordinates, are generally obtained by camera verification in a camera verification yard and are marked on a camera verification certificate.
409. And respectively splicing the processed bottom hole image and the processed top hole image to obtain a spliced bottom hole image and a spliced top hole image.
Determining the starting point and the end point of shooting on the well wall, and carrying out cylindrical projection expansion on the image map to form a plan view
410. And arranging the processed well wall images according to the shooting sequence to obtain the arranged well wall images.
411. And selecting the characteristic points of the overlapped parts in the adjacent well wall images based on the sequenced well wall images.
412. Performing image matching, embedding, light homogenizing and color homogenizing on the well wall image according to the characteristic points and the horizontal line in the image, and performing seamless splicing on the well wall image; and obtaining the spliced borehole wall image.
413. The perimeter of the well chamber is determined from the radius.
414. And (5) calibrating the size of the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image.
Calibrating the high-definition image general diagram of the underground well chamber obtained by image splicing treatment by utilizing the circumference of the underground well chamber;
when the picture is shot, the picture is shot for one circle along the well wall of the underground well chamber, and when the structural joint image is continuously shot, the fixed angle of the camera rotation every time is
Repeat angle of lambdaThe actual circumference of the borehole wall image after one week is calculated by the following formula (2), and the number of pictures to be taken can be calculated by:
S＝2πR (2)
wherein R is the radius of the underground well chamber;
the repetition angle of the lambda two photographs;
s, the actual perimeter of the underground well chamber;
roundup is an upward integer;
n is the number of photos to be shot;
according to the obtained actual length of the underground well chamber corresponding to the imaging in the image, the image is calibrated in absolute scale, and a measurable well wall image can be obtained; the laser horizontal line projected on the image map can be used as a reference line for image splicing;
415. acquiring the types of the defects in the calibrated spliced well wall image, and drawing the range of the defects in the calibrated spliced well wall image according to a defect drawing instruction;
and (3) translating, rotating and scaling the image to enable the projected horizontal line to be a straight line, finishing the image calibration at the moment, and obtaining the defect range on the image, namely the actual defect area on the well wall.
The operator can determine the types of the defects existing in the well wall on the image and store the types into the underground well chamber defect detection device, and the operator can draw the defect range on the calibrated spliced well wall image, specifically, the operator determines the corresponding defect drawing instruction according to the defect position, so that the device draws the defect range in the calibrated spliced well wall image according to the defect drawing instruction.
416. And establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image, the spliced well bottom image, the spliced well top image and the radius for drawing the defect range, so that an operator can determine the position of the defect in the well chamber according to the three-dimensional model.
Specifically, the present embodiment may utilize 3ds max software to build a cylindrical model of the well chamber based on the well chamber radius; pasting the spliced well wall image to a cylinder model, wherein the starting point is consistent with the starting point direction during shooting; pasting bottom and top images to the cylindrical model, and rotating the images by an angle corresponding to the well wall image texture; models of other underground well chambers are built in sequence according to the numbering sequence of the wells.
The invention has the following advantages:
(1) According to the invention, the high-definition live-action image of the underground well chamber is obtained by shooting, so that accurate and visual defect type judgment and range measurement can be carried out on the well wall, the operation is convenient, the labor intensity is low, the efficiency of detecting the defects of the underground well chamber is greatly improved, the detection cost and the safety risk are reduced, and important scientific guidance and support are provided for the precise maintenance of the underground well chamber;
(2) The method obtains a panoramic photo with a measurement scale by taking a high-definition photo of the underground well chamber and then carrying out photo correction, splicing and the like according to the perimeter of the well chamber, can visually and accurately judge the defect type and grade on the photo, can accurately measure the defect area, and is an important basis for detection and maintenance of the underground well chamber;
(3) According to the invention, the underground well chamber realistic three-dimensional model is established, and the shot underground well chamber realistic photos are pasted into the model according to the actual size and the actual position, so that compared with the traditional method which adopts a single well chamber three-dimensional virtual texture, the method is more visual and accurate in model expression.
In the embodiment of the invention, the radius and the depth of a well chamber can be determined through a laser ranging module, the central position of the well chamber is determined according to the radius and the depth, a straight line is projected on the well chamber through the laser ranging module, then an image of a well wall is obtained at the central position through a camera, the image of the well top and the well bottom of the well chamber is obtained by adjusting the shooting angle of the camera, the obtained images are subjected to image distortion correction, when the well wall images are spliced, the well wall images are sequenced, then the well wall images are subjected to image matching, embedding, light homogenizing and color homogenizing based on the horizontal line in the images and the overlapped part of adjacent images, the well wall images are subjected to seamless splicing, the perimeter of the well wall is determined according to the radius of the well chamber, the spliced well chamber images are calibrated according to the perimeter, a defect range is drawn in the calibrated well wall images, the defect range in the calibrated well wall images is the actual defect range of the well wall, and finally, the three-dimensional image model of the well chamber can be established according to the well wall images, the perimeter of the well chamber with the defect range, the well chamber can be determined by visual and the three-dimensional model of the underground well chamber, and the underground operation personnel can conveniently determine the defect of the underground operation.
The method for detecting defects in a subterranean well bore according to the above embodiments is described in further detail below.
The invention is explained in detail by taking the application of the invention to the defect detection of a certain underground drainage well chamber and the establishment of a three-dimensional realistic model as an embodiment, and has the guiding function for the application of the invention to the defect detection of other underground well chambers and the establishment of the three-dimensional realistic model, wherein the three-dimensional realistic model is established for more intuitively determining the position of the well chamber defect.
In the embodiment, the radius of the underground well chamber is 2.5m, the perimeter of the well chamber is 19.634m, and the height of the underground well chamber is 3m; drawing the defect range of the wall of the underground well chamber, measuring the defect area and establishing an underground well chamber real-scene three-dimensional model.
In the embodiment, the device disclosed by the invention is used for detecting the defects of the underground drainage well chamber and establishing the live-action three-dimensional model, and the specific method comprises the following steps:
the method comprises the following steps: acquiring the size and high-definition images of an underground well chamber;
open the well lid, at the well limit hypothesis tripod, the height of three feet of adjustment tripod, the guarantee circle level bubble is placed in the middle, according to the length of the degree of depth adjustment rigidity telescopic link of well room, places the camera in secret well room.
The distance from the camera to the wall of the well in four directions and the distance from the camera to the bottom of the well are measured by controlling the laser ranging module through the intelligent cradle head. Firstly, measuring the distance from the camera to the well wall on one side, then measuring the distance from the camera to the well wall in the other three directions by rotating 90 degrees every time, and calculating the radius of the well chamber through 4 distances; then the camera is rotated downwards by 90 degrees, the distance from the camera to the bottom of the well is measured and compared with the depth of the well chamber; adjusting a camera to the center of the well chamber, and calculating the radius of the well chamber according to the measured parameters;
the method comprises the steps of determining a camera shooting position according to the size of an underground well chamber, arranging the camera at the center of the underground well chamber, starting a laser ranging module, projecting a horizontal line on a well wall to serve as a reference line for splicing subsequent images, and continuously shooting the inner wall of the well chamber in a rotating mode by using the camera, wherein the overlapping of the images is larger than or equal to 20%.
The intelligent cloud deck is controlled to shoot a circle along the wall of the underground well chamber, and when the intelligent cloud deck continuously rotates to shoot, the fixed angle of every rotation of the camera is
The repetition angle is λ, the actual circumference S of the image of the borehole wall after one week is taken can be calculated by the following formula (2), and the number of pictures to be taken can be calculated by the following formula (3):
S＝2πR (2)
wherein R is the radius of the underground well chamber;
the repeated angle of the lambda two pictures;
s actual perimeter of the underground well;
roundup is an upward integer;
n is the number of photos to be shot;
after the well wall is shot, controlling an intelligent cradle head to shoot a bottom hole picture, adopting a downward shooting angle by adjusting the angle of an intelligent cradle head control module, rotating a camera to continuously shoot, and splicing shot bottom hole images; when shooting the well top, because there is the cavity above the well top, can adopt intelligent cloud platform control camera slope upwards to carry out continuous shooting, the image after will shooing is spliced.
Step two: carrying out high-definition image processing on an underground well chamber and measuring the range of well wall defects;
and processing the acquired high-definition images of the underground well chamber in a processing mode of image geometric correction, continuous image splicing and image size correction.
Because the image imaging process is influenced by various influences such as lens distortion, unparallel space imaging and the like, the shot image needs to be corrected, mathematical simulation is directly carried out on the image, a geometric correction method is adopted to correct the shot picture, the overall image deformation can be regarded as the comprehensive effect of basic deformation such as translation, scaling, rotation, affine, skewing, bending and the like, therefore, the relationship of corresponding points of the image before and after correction can be described by using a proper polynomial relationship, and the polynomial geometric correction formula is as follows:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ； (1)
in the formula, u and v are pixel coordinates after correction; x, y are the original pixel coordinates of the taken picture, b 0 、b 1 、b 2、 b 3、 b 4、 b 5 The coefficients of the polynomial can be obtained by a least square method according to the known control point coordinates, and are generally obtained by camera verification in a camera verification field and marked on a camera verification certificate.
And correcting errors in the image shooting process through image geometric correction, and then performing image splicing according to the image characteristic points. Arranging the shot panoramic photo images in sequence, selecting the characteristic points of the adjacent images of the overlapped part, carrying out image matching, inlaying, light evening and color evening by using the characteristic points, and carrying out seamless splicing on the well wall images to obtain a panoramic image of the well wall.
And calculating the perimeter of the well chamber according to the well chamber radius obtained by measurement in the step, performing image absolute scale calibration on an underground well chamber high-definition image general diagram obtained by image splicing treatment, and using the perimeter of the underground well chamber. According to the obtained actual perimeter S corresponding to the imaging of the underground well chamber in the image, the image is calibrated in absolute scale, a well wall image map capable of being measured can be obtained, the projected horizontal line is used as a reference line, the starting point and the end point of shooting on the well wall are determined, and the image map is subjected to cylindrical projection and is expanded into a plane map.
And (3) translating, rotating and scaling the image to enable the projected horizontal line to be a straight line, and finishing the image calibration. And judging the defect type by using the calibrated panoramic image of the well chamber, and measuring the area of the defect range.
Step three: establishing a three-dimensional live-action model;
a cylindrical model of the well chamber was built from the well chamber radius using 3ds max software.
And pasting the spliced well wall image to the cylinder model, wherein the starting point is consistent with the starting point direction during shooting.
And pasting the bottom and top images to the cylindrical model, and rotating the images by an angle corresponding to the image texture of the well wall.
Models of other underground well chambers are built in sequence according to the numbering sequence of the wells.
In order to better implement the underground well chamber defect detection method provided by the embodiment of the invention, the embodiment of the invention also provides a device based on the underground well chamber defect detection method. Wherein the terms are used in the same way as in the method for detecting defects in a subterranean well, and the details of the implementation can be referred to the description of the embodiment of the method.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an underground well defect detection apparatus according to an embodiment of the present invention, where the underground well defect detection apparatus may include a laser ranging module, a camera, and a processor, and the processor in this embodiment may be equivalent to the intelligent pan-tilt shown in fig. 3, where:
the laser ranging module is used for measuring the radius and the depth of a well chamber and enters the well chamber through a tripod arranged at a well head;
a processor for determining a center position of the well chamber from the radius and the depth;
the processor is further configured to determine the central position as a shooting position of a camera, a resolution of an image shot by the camera is greater than or equal to 1mm, the laser ranging module is arranged on the camera, and the laser ranging module can move synchronously along with the camera;
the laser ranging module is also used for projecting a horizontal line on the wall of the well chamber;
the camera is used for continuously shooting the well wall of the well chamber for one circle in a rotating mode at the shooting position to obtain well wall images, wherein the overlapping area between the continuous well wall images is larger than or equal to twenty percent of the whole image, and the well wall images comprise the horizontal line;
the camera is also used for adjusting the shooting angle, and taking a downward shooting angle to carry out rotary continuous shooting on the well bottom to obtain a well bottom image;
the camera is also used for adjusting the shooting angle, and rotating and continuously shooting the well top by adopting an upward inclined angle to obtain a well top image;
the processor is further used for carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image;
the processor is further configured to respectively perform splicing processing on the processed bottom hole image and the processed top hole image to obtain a spliced bottom hole image and a spliced top hole image;
the processor is further used for arranging the processed well wall images according to a shooting sequence to obtain the arranged well wall images;
the processor is further used for selecting the characteristic points of the overlapping parts in the adjacent borehole wall images based on the sequenced borehole wall images;
the processor is also used for carrying out image matching, embedding, light homogenizing and color homogenizing on the borehole wall images according to the characteristic points and the horizontal lines in the images, and carrying out seamless splicing on the borehole wall images; obtaining a spliced borehole wall image;
the processor is further configured to determine a perimeter of the well chamber based on the radius;
the processor is further used for carrying out size calibration on the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image;
the processor is used for acquiring the types of the defects in the calibrated spliced borehole wall image and drawing the range of the defects in the calibrated spliced borehole wall image according to a defect drawing instruction;
the processor is further used for establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image for drawing the defect range, the spliced well bottom image, the spliced well top image and the radius, so that an operator can determine the position of the defect in the well chamber according to the three-dimensional model.
In some embodiments, the processor is further configured to adjust the camera to a horizontal position;
the processor further configured to rotate a horizontal angle of the camera;
the laser ranging module is further used for sequentially obtaining the distances from the camera to the well wall from four angles to obtain four lengths, and the horizontal difference of each angle among the four angles is 90 degrees;
the processor further configured to determine the radius by calculating the four lengths;
the processor is further configured to adjust a longitudinal angle of the camera;
the laser ranging module is further used for respectively acquiring the distances from the camera to the top of the well and the bottom of the well;
the processor is further configured to determine the depth based on distances from the camera to a top of a well and to a bottom of the well.
In some embodiments, the processor is further specifically configured to:
carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image according to a geometric correction formula to obtain a processed well wall image, a processed well bottom image and a processed well top image, wherein the geometric correction formula comprises the following steps:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
wherein u and v are pixel coordinates after correction, x and y are original pixel coordinates of the shot picture, b 0 、b 1 、b 2 、b 3 、b 4 、b 5 Is the coefficient of the polynomial.
In some embodiments, the processor is further specifically configured to:
establishing a cylindrical model of the well chamber according to the radius by using 3ds max software;
pasting the calibrated spliced well wall image drawn with the defective range to the cylindrical model, wherein the starting point is consistent with the starting point direction during shooting;
and respectively pasting the spliced well bottom image and the spliced well top image to the bottom and the top of the cylindrical model, and enabling the rotation image angle to correspond to the well wall image texture.
In some embodiments, the camera comprises a self-high definition wide-angle single lens reflex camera or a micro single wide-angle camera.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
In the above embodiments, the descriptions of the various embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may be referred to the above detailed description of the underground well chamber defect detection method, and are not described herein again.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.
To this end, embodiments of the present invention provide a computer-readable storage medium having stored therein a plurality of instructions that can be loaded by a processor to perform any of the steps in a method for detecting defects in a subterranean well bore provided by embodiments of the present invention. For example, the instructions may perform the steps of:
measuring the radius and the depth of a well chamber through a laser ranging module, wherein the laser ranging module enters the well chamber through a tripod arranged at a well head;
determining a center position of the well chamber according to the radius and the depth;
determining the central position as the shooting position of a camera, wherein the resolution of an image shot by the camera is greater than or equal to 1mm, the laser ranging module is arranged on the camera, and the laser ranging module can move synchronously along with the camera;
projecting a horizontal line on the wall of the well chamber through a laser ranging module;
continuously shooting the wall of the well in the well chamber for one circle in a rotating manner at the shooting position through the camera, and acquiring well wall images, wherein the overlapping area between the continuous well wall images is more than or equal to twenty percent of the whole image, and the well wall images comprise the horizontal line;
adjusting the shooting angle of the camera, and adopting a downward shooting angle to carry out rotary continuous shooting on the well bottom to obtain a well bottom image;
adjusting the shooting angle of the camera, and adopting an upward inclined angle to carry out rotary continuous shooting on the well top to obtain a well top image;
carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image;
respectively splicing the processed bottom-hole image and the processed top-of-well image to obtain a spliced bottom-hole image and a spliced top-of-well image;
arranging the processed borehole wall images according to a shooting sequence to obtain arranged borehole wall images;
selecting characteristic points of the overlapped parts in the adjacent well wall images based on the sequenced well wall images;
performing image matching, embedding, light and color homogenizing on the borehole wall images according to the characteristic points and the horizontal lines in the images, and performing seamless splicing on the borehole wall images; obtaining a spliced borehole wall image;
determining a perimeter of the well chamber from the radius;
carrying out size calibration on the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image;
acquiring the types of the defects in the calibrated spliced well wall image, and drawing the range of the defects in the calibrated spliced well wall image according to a defect drawing instruction;
and establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image for drawing the defect range, the spliced well bottom image, the spliced well top image and the radius, so that an operator determines the position of the defect in the well chamber according to the three-dimensional model.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps of any underground well defect detection method provided by the embodiment of the present invention, the beneficial effects that can be achieved by any underground well defect detection method provided by the embodiment of the present invention can be achieved, which are detailed in the foregoing embodiments and will not be described herein again.
The method for detecting defects of a downhole well and the corresponding device thereof provided by the embodiment of the invention are described in detail, the principle and the embodiment of the invention are explained by applying specific examples, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed, and in summary, the content of the present specification should not be construed as limiting the present invention.
Claims (4)
1. A method of detecting defects in a subterranean well, comprising:
measuring the radius and the depth of a well chamber through a laser ranging module, wherein the laser ranging module enters the well chamber through a tripod arranged at a well head;
determining a center position of the well chamber according to the radius and the depth;
determining the central position as the shooting position of a camera, wherein the resolution of an image shot by the camera is greater than or equal to 1mm, the laser ranging module is arranged on the camera and can move synchronously along with the camera;
projecting a horizontal line on the wall of the well chamber through a laser ranging module;
continuously shooting the wall of the well in the well chamber for one circle in a rotating manner at the shooting position through the camera, and acquiring well wall images, wherein the overlapping area between the continuous well wall images is more than or equal to twenty percent of the whole image, and the well wall images comprise the horizontal line;
adjusting the shooting angle of the camera, and adopting a downward shooting angle to carry out rotary continuous shooting on the bottom of the well to obtain a bottom-of-well image;
adjusting the shooting angle of the camera, and adopting an upward inclined angle to carry out rotary continuous shooting on the well top to obtain a well top image;
carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image;
respectively splicing the processed bottom hole image and the processed top hole image to obtain a spliced bottom hole image and a spliced top hole image;
arranging the processed well wall images according to a shooting sequence to obtain arranged well wall images;
selecting characteristic points of the overlapped parts in the adjacent well wall images based on the arranged well wall images;
performing image matching, embedding, light and color homogenizing on the borehole wall images according to the characteristic points and the horizontal lines in the images, and performing seamless splicing on the borehole wall images; obtaining a spliced borehole wall image;
determining a perimeter of the well chamber from the radius;
carrying out size calibration on the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image;
acquiring the types of the defects in the calibrated spliced borehole wall image, and drawing the range of the defects in the calibrated spliced borehole wall image according to a defect drawing instruction;
establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image, the spliced well bottom image, the spliced well top image and the radius of the drawn defect range, so that an operator determines the position of the defect in the well chamber according to the three-dimensional model;
the radius and the depth of measuring the well chamber through the laser ranging module include:
the horizontal angle of the camera is rotated, the distance from the camera to the well wall is sequentially obtained from four angles through the laser ranging module, four lengths are obtained, and the difference of each angle between the four angles is 90 degrees horizontally;
determining the radius by calculation of the four lengths;
adjusting the longitudinal angle of the camera, respectively acquiring the distance from the camera to the top of the well and the distance from the camera to the bottom of the well through the laser ranging module, and determining the depth;
the image distortion correction processing is carried out to the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image, and the method comprises the following steps:
carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image according to a geometric correction formula to obtain a processed well wall image, a processed well bottom image and a processed well top image, wherein the geometric correction formula comprises the following steps:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
wherein u and v are pixel coordinates after correction, x and y are original pixel coordinates of the shot picture, and b 0 、b 1 、b 2 、b 3 、b 4 、b 5 Is a coefficient of a polynomial;
establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image for drawing the defective range, the spliced well bottom image, the spliced well top image and the radius, comprising:
establishing a cylindrical model of the well chamber according to the radius by using 3ds max software;
pasting the calibrated spliced well wall image with the drawn defective range to a cylinder model, wherein the direction of a starting point is consistent with that of the starting point during shooting;
and respectively sticking the spliced bottom image and the spliced top image to the bottom and the top of the cylindrical model, and rotating the image angle to correspond to the well wall image texture.
2. The method of claim 1, wherein the camera comprises a self-high-definition wide-angle single lens reflex camera or a micro single wide-angle camera.
3. A downhole well defect detection apparatus, comprising:
the laser ranging module is used for measuring the radius and the depth of the well chamber and enters the well chamber through a tripod arranged at a well head;
a processor for determining a center location of the well from the radius and the depth;
the processor is further configured to determine the center position as a shooting position of a camera, a resolution of an image shot by the camera is greater than or equal to 1mm, the laser ranging module is arranged on the camera, and the laser ranging module can move synchronously along with the camera;
the laser ranging module is also used for projecting a horizontal line on the wall of the well chamber;
the camera is used for continuously shooting the well wall of the well chamber for one circle in a rotating mode at the shooting position to obtain well wall images, wherein the overlapping area between the continuous well wall images is larger than or equal to twenty percent of the whole image, and the well wall images comprise the horizontal line;
the camera is also used for adjusting the shooting angle, and taking a downward shooting angle to carry out rotary continuous shooting on the well bottom to obtain a well bottom image;
the camera is also used for adjusting the shooting angle, and rotating and continuously shooting the well top by adopting an upward inclined angle to obtain a well top image;
the processor is further used for carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image to obtain a processed well wall image, a processed well bottom image and a processed well top image;
the processor is further configured to respectively perform splicing processing on the processed bottom hole image and the processed top hole image to obtain a spliced bottom hole image and a spliced top hole image;
the processor is further used for arranging the processed borehole wall images according to a shooting sequence to obtain arranged borehole wall images;
the processor is further used for selecting characteristic points of overlapping parts in the adjacent borehole wall images based on the arranged borehole wall images;
the processor is also used for carrying out image matching, inlaying, light evening and color evening on the well wall image according to the characteristic points and the horizontal line in the image, and carrying out seamless splicing on the well wall image; obtaining a spliced borehole wall image;
the processor is further configured to determine a perimeter of the well from the radius;
the processor is further used for carrying out size calibration on the spliced well wall image according to the perimeter to obtain a calibrated spliced well wall image;
the processor is used for acquiring the types of the defects in the calibrated spliced borehole wall image and drawing the range of the defects in the calibrated spliced borehole wall image according to a defect drawing instruction;
the processor is further used for establishing a three-dimensional model of the well chamber according to the calibrated spliced well wall image, the spliced well bottom image, the spliced well top image and the radius for drawing the defect range, so that an operator can determine the position of the defect in the well chamber according to the three-dimensional model;
the processor is further used for adjusting the camera to a horizontal position;
the processor further configured to rotate a horizontal angle of the camera;
the laser ranging module is further used for sequentially obtaining the distances from the camera to the well wall from four angles to obtain four lengths, and the difference of the horizontal level of each angle among the four angles is 90 degrees;
the processor further configured to determine the radius by calculating the four lengths;
the processor is further configured to adjust a longitudinal angle of the camera;
the laser ranging module is also used for respectively acquiring the distances from the camera to the top of the well and the bottom of the well;
the processor further configured to determine the depth based on distances from the camera to a top of a well and to a bottom of a well;
the processor is further specifically configured to:
carrying out image distortion correction processing on the well wall image, the well bottom image and the well top image according to a geometric correction formula to obtain a processed well wall image, a processed well bottom image and a processed well top image, wherein the geometric correction formula comprises the following steps:
u＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
v＝b 0 +b 1 x+b 2 y+b 3 x 2 +b 4 xy+b 5 y 2 ；
wherein u and v are pixel coordinates after correction, x and y are original pixel coordinates of the shot picture, and b 0 、b 1 、b 2 、b 3 、b 4 、b 5 Is a coefficient of a polynomial;
the processor is further specifically configured to:
establishing a cylindrical model of the well chamber according to the radius by using 3ds max software;
pasting the calibrated spliced well wall image drawn with the defective range to the cylindrical model, wherein the starting point is consistent with the starting point direction during shooting;
and respectively sticking the spliced bottom image and the spliced top image to the bottom and the top of the cylindrical model, and rotating the image angle to correspond to the well wall image texture.
4. The apparatus of claim 3, wherein the camera comprises a self-high-definition wide-angle single lens reflex camera or a micro single wide-angle camera.
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| CN109708618A (en) * | 2018-12-29 | 2019-05-03 | 成都天佑智隧科技有限公司 | A kind of combined type determines the scaling method of photographic scale after three-dimensional reconstruction |
| CN110631555A (en) * | 2019-08-27 | 2019-12-31 | 桂林理工大学 | Historical image ortho-rectification method based on adjustment of second-order polynomial control-point-free area network |
| CN110986998A (en) * | 2019-10-28 | 2020-04-10 | 武汉大学 | Satellite video camera on-orbit geometric calibration method based on rational function model |
| CN110827199A (en) * | 2019-10-29 | 2020-02-21 | 武汉大学 | Tunnel image splicing method and device based on guidance of laser range finder |
| CN111665263A (en) * | 2020-06-11 | 2020-09-15 | 长江空间信息技术工程有限公司(武汉) | Shield diversion tunnel structure seam detection method |
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