CN113358046B - Visual measurement method and system for shield tail clearance - Google Patents
Visual measurement method and system for shield tail clearance Download PDFInfo
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- CN113358046B CN113358046B CN202110543711.3A CN202110543711A CN113358046B CN 113358046 B CN113358046 B CN 113358046B CN 202110543711 A CN202110543711 A CN 202110543711A CN 113358046 B CN113358046 B CN 113358046B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
Abstract
The invention relates to a visual measurement method and a system for shield tail clearance, which comprises the following steps: mounting two cameras on the shield tail, and determining a characteristic point P on the surface of the duct piece; respectively acquiring images of the duct piece by using two cameras, determining the positions of the characteristic points in the images, and further calculating the horizontal distance and the vertical distance between the characteristic points in the images and the central points of the corresponding images; calculating to obtain the shield tail clearance according to the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece. The invention effectively solves the problems that the sensor is easy to be polluted and the measurement precision is low, avoids the influence of shield tail grease and grouting by utilizing a visual measurement method, ensures the measurement precision, prolongs the service life, reduces the construction cost and improves the construction efficiency.
Description
Technical Field
The invention relates to the field of shield construction, in particular to a visual measurement method and a visual measurement system for a shield tail gap.
Background
With the development and construction of cities, shield construction becomes a common construction method in municipal engineering construction, shield tail clearance refers to a gap between the inner wall of the shield tail of a shield machine and the outer edge of a duct piece, the shield tail clearance is measured in real time, and the method has very important significance for the safe and smooth operation of shield engineering.
At present, most of the sensors measure the gap between the shield tails by using laser or ultrasonic, however, in practical application, the sensors are easily polluted by grease and slurry of the shield tails due to the fact that the sensors need to be installed at positions close to the shield tails, so that the sensors gradually lose effectiveness, need to be cleaned continuously and manually, and the sensors may deviate in the cleaning process to influence the measurement precision.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a visual measurement method and a system for the shield tail clearance, solves the problems that a sensor is easily polluted and the measurement precision is low, avoids the influence of shield tail grease and grouting by using the visual measurement method, ensures the measurement precision, prolongs the service life, reduces the construction cost and improves the construction efficiency.
The technical scheme for realizing the purpose is as follows:
the invention provides a visual measurement method for a shield tail gap, which comprises the following steps:
installing two cameras at the tail of the shield, enabling the two cameras to face the duct piece, and determining a characteristic point P on the surface of the duct piece;
respectively acquiring images of the duct piece by using two cameras, preprocessing the images, determining the positions of the characteristic points in the images, and further calculating the horizontal distance and the vertical distance between the characteristic points in the images and the central points of the corresponding images;
calculating to obtain the shield tail clearance according to the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece.
The invention provides a visual measurement method of a shield tail clearance, which comprises the steps of shooting images of a duct piece through two cameras, calculating the horizontal distance and the vertical distance between a characteristic point in the duct piece and the middle point of the images, and further calculating the shield tail clearance according to the focal length of the cameras, the distance between the cameras, the distance from the cameras to the outer edge of the duct piece and the thickness of the duct piece, so that a sensor is avoided, the problems that the sensor is easy to pollute and the measurement precision is low are solved, the influence of shield tail grease and grouting is avoided by using the visual measurement method, the measurement precision is ensured, the service life is prolonged, the construction cost is reduced, and the construction efficiency is improved.
The visual measurement method for the shield tail clearance is further improved in that the image comprises pixel grids of i rows and j columns, and when the image is preprocessed, the visual measurement method further comprises the following steps:
and processing the image by using a threshold value separation method, wherein the separated image is taken as a binary image, the region with the pixel grid value of 1 in the binary image is taken as a segment region, and the region with the pixel grid value of 0 is taken as a background region.
The visual measurement method for the shield tail clearance is further improved in that when the horizontal distance and the vertical distance from the feature point in the image to the central point of the corresponding image are calculated, the method further comprises the following steps:
establishing an IOJ coordinate system with an origin O coincident with pixel grids of 1 row and 1 column in the image, wherein the extension direction of an I axis is the same as that of the pixel grid rows, and the extension direction of a J axis is the same as that of the pixel grid rows;
and determining the coordinates of the central point of the image and the characteristic point in the image in the IOJ coordinate system, and further calculating the horizontal distance and the vertical distance from the characteristic point in the image to the central point of the corresponding image according to the coordinates of the central point of the image and the coordinates of the characteristic point in the image.
The visual measurement method for the shield tail clearance is further improved in that the characteristic point P of the duct piece is the central point of the duct piece, and when the coordinate of the characteristic point in the image is determined, the visual measurement method further comprises the following steps:
summing the number of lines with the median value of 1 in the image and dividing the sum by the total number of pixel grids in the image to obtain the vertical coordinate of the feature point in the image;
the number of columns in the image with a value of 1 is summed and divided by the total number of pixel bins to obtain the abscissa of the feature point in the image, thereby deriving the coordinates (I, J) of the feature point in the image.
The visual measurement method for the shield tail clearance is further improved in that when the coordinate of the central point of the image is determined, the method further comprises the following steps:
dividing the total line number of the image by 2 to obtain a vertical coordinate of a central point of the image;
dividing the total column number of the image by 2 to obtain the abscissa of the central point of the image, thereby obtaining the coordinate (I) of the central point of the image 0 ,J 0 )。
The visual measurement method for the shield tail clearance is further improved in that the visual measurement method further comprises the following steps:
the calculation formula of the horizontal distance from the feature point in the image to the center point of the corresponding image is as follows:
d＝I-I 0 -1；
the calculation formula of the vertical distance from the feature point in the image to the center point of the corresponding image is as follows:
s＝J 0 -J+1；
wherein d is the horizontal distance from the feature point in the image to the center point of the corresponding image, s is the vertical distance from the feature point in the image to the center point of the corresponding image, I is the abscissa of the feature point in the image, and I is the horizontal distance from the feature point in the image to the center point of the corresponding image 0 Is the abscissa of the center point of the image, J is the ordinate of the feature point in the image, J 0 Is the ordinate of the center point of the image;
substituting the coordinates of the characteristic points in the two images into the two formulas to obtain the horizontal distance and the vertical distance d from the characteristic point in the image shot by the camera on the left side to the central point of the corresponding image l And s l And the horizontal distance and the vertical distance from the feature point in the image shot by the camera on the right side to the center point of the corresponding image are d r And s r 。
The visual measurement method for the shield tail clearance is further improved in that before the shield tail clearance is calculated, the method further comprises the following steps:
establishing an XYZ coordinate system with an origin O' coincident with a midpoint between the two cameras according to d l 、s l 、d r And s r Calculating the spatial coordinates (X) of the feature point P p ,Y p ,Z p ) The calculation formula is as follows:
wherein D is the distance between two cameras, f is the focal length of the cameras, D l Horizontal distance, d, from feature point in image taken by left camera to center point of corresponding image r Horizontal distance s from feature point in image shot by right camera to center point of corresponding image l The vertical distance from the feature point in the image shot by the camera on the left side to the center point of the corresponding image.
The visual measurement method for the shield tail clearance is further improved in that the calculation formula of the shield tail clearance is as follows:
wherein L is the shield tail clearance, H is the distance from the camera to the outer edge of the duct piece, W is the thickness of the duct piece, (X) p ,Y p ,Z p ) Is the spatial coordinates of the feature point P.
The invention also provides a visual measurement system for the shield tail clearance, which comprises:
the two cameras are arranged on the shield tail and face the duct piece;
the data acquisition module is in communication connection with the two cameras to acquire images shot by the cameras and preprocess the images;
the data processing module is in communication connection with the data acquisition module so as to determine the position of the characteristic point P in the image and calculate the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image; and
and the calculation module is in communication connection with the data processing module and is used for calculating a shield tail gap according to the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece.
The visual measurement system for the shield tail clearance is further improved by comprising a display which is in communication connection with the calculation module so as to display the calculated shield tail clearance.
Drawings
Fig. 1 is a diagram showing a correspondence relationship between feature points in an image and actual feature points in the visual measurement method of the shield tail clearance of the present invention.
Fig. 2 is a schematic diagram of the positions of the camera and the duct piece in the shield tail clearance vision measurement method of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention provides a visual measurement method of a shield tail gap, which is characterized in that images of a duct piece are shot through two cameras, the horizontal distance and the vertical distance between a characteristic point in the duct piece and the middle point of the images are calculated, and then the shield tail gap is calculated according to the focal length of the cameras, the distance between the cameras, the distance from the cameras to the outer edge of the duct piece and the thickness of the duct piece, so that a sensor is avoided, the problems that the sensor is easy to be polluted and the measurement precision is low are solved, the influence of shield tail grease and grouting is avoided by using the visual measurement method, the measurement precision is ensured, the service life is prolonged, the construction cost is reduced, and the construction efficiency is improved. The visual measurement method and system for the shield tail clearance of the invention are described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a diagram illustrating a correspondence relationship between feature points in an image and actual feature points in a visual measurement method of a shield tail gap according to the present invention. The method for visually measuring the clearance between the shield tails according to the present invention will be described with reference to fig. 1.
As shown in fig. 1 and fig. 2, the invention provides a visual measurement method for a shield tail clearance, which comprises the following steps:
installing two cameras 11 at the tail of the shield, enabling the two cameras 11 to face a duct piece 12, and determining a characteristic point P on the surface of the duct piece 12;
the method comprises the steps that images of a duct piece 12 are respectively obtained through two cameras 11, preprocessing is conducted on the images, the position of a characteristic point in the images is determined, and then the horizontal distance and the vertical distance between the characteristic point in the images and the center point of the corresponding images are calculated;
calculating to obtain the shield tail clearance according to the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece.
As a preferred embodiment of the present invention, the image includes i rows and j columns of pixel cells, and when the image is preprocessed, the method further includes:
and processing the image by using a threshold value separation method, wherein the separated image is taken as a binary image, the region with the pixel grid value of 1 in the binary image is taken as a segment region, and the region with the pixel grid value of 0 is taken as a background region.
Preferably, the RGB value of each pixel on the image can be obtained, HSV space conversion is performed on the image, and the image is morphologically processed to eliminate the influence of abnormal conditions in the spot segmentation result by using a mathematical morphology method. In the specific operation, a 3 × 3 white square structural element is adopted for morphological filtering, and the binary image obtained by threshold segmentation is opened and closed according to the following formula:
the closed operation can smooth the outline of the light spot, fill holes smaller than the structural elements, and the open operation completely eliminates the object area which cannot contain the structural elements, thereby smoothing the outline of the light spot.
Further, when calculating the horizontal distance and the vertical distance from the feature point in the image to the center point of the corresponding image, the method further includes:
establishing an IOJ coordinate system with an origin O coincident with 1 row and 1 column of pixel grids in the image, wherein the extension direction of an I axis is the same as the extension direction of the number of the pixel grids, and the extension direction of a J axis is the same as the extension direction of the number of the pixel grids;
and determining the coordinates of the central point of the image and the characteristic point in the image in the IOJ coordinate system, and further calculating the horizontal distance and the vertical distance from the characteristic point in the image to the central point of the corresponding image according to the coordinates of the central point of the image and the coordinates of the characteristic point in the image.
Further, the characteristic point P of section of jurisdiction is the central point of section of jurisdiction, and when characteristic point P was the central point of section of jurisdiction, the characteristic point in the image was actually exactly the regional central point of section of jurisdiction, when confirming the coordinate of the characteristic point in the image, still included:
summing the number of lines with the value of 1 in the image and dividing the sum by the total number of pixel grids in the image to obtain the vertical coordinate of the feature point in the image;
the number of columns in the image with a value of 1 is summed and divided by the total number of pixel bins to obtain the abscissa of the feature point in the image, thereby deriving the coordinates (I, J) of the feature point in the image.
Specifically, the coordinates (I, J) of the feature points in the image can be calculated by using the following function:
where n is the total number of pixel bins, i.e., the number of rows whose median is 1 in the image is summed and divided by the total number of pixel bins in the image to obtain the ordinate J of the feature point in the image, and the number of columns whose median is 1 in the image is summed and divided by the total number of pixel bins to obtain the abscissa I of the feature point in the image.
Further, when determining the coordinates of the center point of the image, the method further includes:
dividing the total line number of the image by 2 to obtain a vertical coordinate of a central point of the image;
dividing the total column number of the image by 2 to obtain the abscissa of the central point of the image, thereby obtaining the coordinate (I) of the central point of the image 0 ,J 0 )。
Further, the method also comprises the following steps:
the calculation formula of the horizontal distance from the feature point in the image to the center point of the corresponding image is as follows:
d＝I-I 0 -1；
the calculation formula of the vertical distance from the feature point in the image to the center point of the corresponding image is as follows:
s＝J 0 -J+1；
wherein d is the horizontal distance from the feature point in the image to the center point of the corresponding imageS is the vertical distance from the feature point in the image to the center point of the corresponding image, I is the abscissa of the feature point in the image, I 0 Is the abscissa of the center point of the image, J is the ordinate of the feature point in the image, J 0 Is the ordinate of the center point of the image;
substituting the coordinates of the characteristic points in the two images into the two formulas to obtain the horizontal distance and the vertical distance d from the characteristic point in the image shot by the camera on the left side to the central point of the corresponding image l And s l And the horizontal distance and the vertical distance from the feature point in the image shot by the camera on the right side to the center point of the corresponding image are d r And s r 。
Further, before calculating the shield tail clearance, the method further comprises:
establishing an XYZ coordinate system with the origin O' coincident with the midpoint between the two cameras according to d l 、s l 、d r And s r Calculating the spatial coordinates (X) of the feature point P p ,Y p ,Z p ) Assuming that the imaging planes of the two cameras are located on the same plane s l And s r The same, therefore, the calculation formula is as follows:
wherein D is the distance between two cameras, f is the focal length of the cameras, D l Horizontal distance, d, from feature point in image taken by left camera to center point of corresponding image r Horizontal distance s from feature point in image shot by right camera to center point of corresponding image l The vertical distance from the feature point in the image shot by the camera on the left side to the center point of the corresponding image.
Further, as shown in fig. 2, the formula for calculating the shield tail clearance is as follows:
wherein L is the shield tail clearance, H is the distance from the camera to the outer edge of the duct piece, W is the thickness of the duct piece, (X) p ,Y p ,Z p ) Is the spatial coordinates of the feature point P.
The specific embodiment of the invention is as follows:
installing two cameras at the tail of the shield, wherein the two cameras have the same installation height and face the duct piece, and determining the center of the duct piece as a characteristic point P;
respectively acquiring images of the duct piece by using two cameras, preprocessing the images, acquiring coordinates of feature points in the images in an IOJ coordinate system, acquiring coordinates of image center points in the IOJ coordinate system, and calculating to obtain horizontal distances and vertical distances between the feature points in the images and the corresponding image center points;
and establishing an XYZ coordinate system, calculating the space coordinate of the actual characteristic point P by using a triangle similarity law according to the horizontal distance and the vertical distance between the characteristic points in the two images and the corresponding image central points, and calculating the shield tail clearance according to the space coordinate of the characteristic point P, thereby realizing the detection of the shield tail clearance.
The invention also provides a control system of the shield propulsion system, which comprises:
the two cameras are arranged on the shield tail and face the duct piece;
the data acquisition module is in communication connection with the two cameras to acquire images shot by the cameras and preprocess the images;
the data processing module is in communication connection with the data acquisition module so as to determine the position of the characteristic point P in the image and calculate the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image; and
and the calculation module is in communication connection with the data processing module and is used for calculating a shield tail gap according to the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece.
Specifically, the device further comprises a display which is in communication connection with the computing module and is used for displaying the computed shield tail clearance.
The specific embodiment of the invention is as follows:
installing two cameras at the tail of the shield, wherein the two cameras have the same installation height and face the duct piece, and determining the center of the duct piece as a characteristic point P;
acquiring images of the duct piece shot by the two cameras by using a data acquisition module, and preprocessing the images;
acquiring coordinates of the feature points in the image in an IOJ coordinate system by using a data processing module, acquiring coordinates of the image center point in the IOJ coordinate system, and calculating to obtain the horizontal distance and the vertical distance between the feature points in the image and the corresponding image center point;
an XYZ coordinate system is established, a calculation module is utilized to calculate the space coordinate of an actual characteristic point P according to the horizontal distance and the vertical distance between the characteristic point in the two images and the corresponding image central point by utilizing the triangle similarity law, and then the shield tail gap is calculated according to the space coordinate of the characteristic point P, so that the shield tail gap is detected, and the shield tail gap is displayed through a display.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments should not be construed as limitations of the invention, except insofar as the following claims are interpreted to cover the invention.
Claims (10)
1. A visual measurement method for a shield tail clearance is characterized by comprising the following steps:
installing two cameras at the tail of the shield, enabling the two cameras to face the duct piece, and determining a characteristic point P on the surface of the duct piece;
respectively acquiring images of the duct piece by using the two cameras, preprocessing the images, determining the positions of the feature points in the images, and further calculating the horizontal distance and the vertical distance between the feature points in the images and the center points of the corresponding images;
and calculating the shield tail clearance according to the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece.
2. The visual measurement method of shield tail clearance according to claim 1, wherein the image comprises i rows and j columns of pixel grids, and when the image is preprocessed, the method further comprises:
and processing the image by using a threshold value separation method to separate the image into a binary image, wherein a region with a pixel grid value of 1 in the binary image is a segment region, and a region with a pixel grid value of 0 in the binary image is a background region.
3. The visual measurement method of shield tail clearance according to claim 2, wherein when calculating the horizontal distance and the vertical distance from the feature point in the image to the center point of the corresponding image, further comprising:
establishing an IOJ coordinate system with an origin O coincident with pixel grids of 1 row and 1 column in the image, wherein the extension direction of an I axis is the same as that of the pixel grid rows, and the extension direction of a J axis is the same as that of the pixel grid rows;
and determining the coordinates of the central point of the image and the characteristic points in the image in an IOJ coordinate system, and further calculating the horizontal distance and the vertical distance from the characteristic points in the image to the central point of the corresponding image according to the coordinates of the central point of the image and the coordinates of the characteristic points in the image.
4. The visual measurement method for shield tail clearance according to claim 3, wherein the feature point P of the duct piece is a central point of the duct piece, and when determining the coordinates of the feature point in the image, the method further comprises:
summing the number of rows with a median of 1 in an image and dividing by the total number of pixel bins in the image to obtain the ordinate of the feature point in the image;
summing the number of columns with a value of 1 in the image and dividing by the total number of pixel bins to obtain the abscissa of the feature point in the image, thereby deriving the coordinates (I, J) of the feature point in the image.
5. The visual measurement method of the shield tail clearance of claim 4, wherein when determining the coordinates of the center point of the image, further comprising:
dividing the total number of lines of the image by 2 to obtain a vertical coordinate of a central point of the image;
dividing the total number of columns of the image by 2 to obtain the abscissa of the center point of the image, thereby obtaining the coordinate (I) of the center point of the image 0 ,J 0 )。
6. The visual measurement method of shield tail clearance of claim 5, further comprising:
the calculation formula of the horizontal distance from the feature point in the image to the center point of the corresponding image is as follows:
d＝I-I 0 -1；
the calculation formula of the vertical distance from the feature point in the image to the center point of the corresponding image is as follows:
s＝J 0 -J+1；
wherein d is the horizontal distance from the feature point in the image to the center point of the corresponding image, s is the vertical distance from the feature point in the image to the center point of the corresponding image, I is the abscissa of the feature point in the image, and I is the horizontal distance from the feature point in the image to the center point of the corresponding image 0 Is the abscissa of the center point of the image, J is the ordinate of the feature point in the image, J 0 Is the ordinate of the center point of the image;
substituting the coordinates of the characteristic points in the two images into the two formulas to obtain the horizontal distance and the vertical distance d from the characteristic point in the image shot by the camera on the left side to the central point of the corresponding image l And s l And features in the image taken by the camera on the rightThe horizontal and vertical distances from the feature point to the center point of the corresponding image are d r And s r 。
7. The visual measurement method of the shield tail clearance according to claim 6, wherein before calculating the shield tail clearance, further comprising:
establishing an XYZ coordinate system with an origin O' coincident with a midpoint between the two cameras according to d l 、s l 、d r And s r Calculating the spatial coordinates (X) of the feature points P p ,Y p ,Z p ) The calculation formula is as follows:
wherein D is the distance between two cameras, f is the focal length of the cameras, D l Horizontal distance, d, from feature point in image taken by left camera to center point of corresponding image r Horizontal distance s from the feature point in the image shot by the camera on the right side to the center point of the corresponding image l The vertical distance from the feature point in the image shot by the camera on the left side to the center point of the corresponding image.
8. The visual measurement method of the shield tail clearance according to claim 7, wherein the calculation formula of the shield tail clearance is as follows:
wherein L is the shield tail clearance, H is the distance from the camera to the outer edge of the duct piece, W is the thickness of the duct piece, (X) p ,Y p ,Z p ) Is the spatial coordinates of the feature point P.
9. A shield gap vision measurement system, comprising:
the two cameras are arranged on the shield tail and face the duct piece;
the data acquisition module is in communication connection with the two cameras to acquire images shot by the cameras and preprocess the images;
the data processing module is in communication connection with the data acquisition module so as to determine the position of the characteristic point P in the image and calculate the horizontal distance and the vertical distance between the characteristic point in the image and the central point of the corresponding image; and
and the calculation module is in communication connection with the data processing module and is used for calculating the shield tail clearance according to the horizontal distance and the vertical distance between the characteristic points in the image and the central points of the corresponding image, the focal length f of the cameras, the distance D between the two cameras, the distance H from the cameras to the outer edge of the duct piece and the thickness W of the duct piece.
10. The visual measurement system of a shield gap according to claim 9, further comprising a display communicatively coupled to the calculation module to display the calculated shield tail gap.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106123795A (en) * | 2016-08-24 | 2016-11-16 | 湖南科天健光电技术有限公司 | Gap of the shield tail measuring method based on structural light three-dimensional detection technique and device |
| CN106989683A (en) * | 2017-04-20 | 2017-07-28 | 同济大学 | A kind of shield tail clearance of shield machine vision measuring method |
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