CN114739306B - Deformation measurement method and device, electronic equipment and storage medium - Google Patents

Deformation measurement method and device, electronic equipment and storage medium Download PDF

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CN114739306B
CN114739306B CN202210278203.1A CN202210278203A CN114739306B CN 114739306 B CN114739306 B CN 114739306B CN 202210278203 A CN202210278203 A CN 202210278203A CN 114739306 B CN114739306 B CN 114739306B
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monitoring
monitoring points
image
points
camera
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CN114739306A (en
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尹义贺
于起峰
刘肖琳
张跃强
胡彪
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Shenzhen Ruixiang Technology Co ltd
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Shenzhen University
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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
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The embodiment of the application discloses a deformation measurement method, a deformation measurement device, electronic equipment and a storage medium. The method comprises the following steps: when the mobile platform runs to a first monitoring position, shooting monitoring points in a first to-be-monitored area in the to-be-monitored area through a first camera to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera to obtain a second image; when the vehicle runs to the second monitoring position, the first camera shoots monitoring points in the first area to be monitored to obtain a third image; shooting the monitoring points in the second to-be-detected area by the second camera to obtain a fourth image; determining J from the first and third images 1 A first monitoring point; determining J from the second and fourth images 2 A second monitoring point; obtaining J according to the first image, the second image, the third image and the fourth image 1 First monitoring points J 2 The horizontal displacement and vertical settlement of each first and each second monitoring point in the plurality of second monitoring points.

Description

Deformation measurement method and device, electronic equipment and storage medium
Technical Field
The present disclosure relates to the field of image processing technologies, and in particular, to a deformation measurement method, a deformation measurement device, an electronic device, and a storage medium.
Background
At present, for deformation measurement of large-scale structural engineering, a camera shooting measurement technology of a series-parallel camera network is proposed to realize deformation measurement, on the one hand, the method needs to fix monitoring stations when constructing a camera series network, and for engineering monitoring requirements of large-scale, long-distance and multi-point monitoring, such as urban road settlement monitoring, railway subgrade settlement monitoring, vault settlement of tunnels, arch horizontal convergence deformation monitoring and the like, a large amount of monitoring equipment needs to be arranged, and the equipment input amount is large; on the other hand, the monitoring environment in the field may not be conditioned by the placement of a large number of stationary monitoring stations. Therefore, it is needed to provide a simple, efficient and automatic large-scale structure deformation measuring method which can be applied to all monitoring scenes and can save cost.
Disclosure of Invention
The embodiment of the application provides a deformation measurement method, a deformation measurement device, electronic equipment and a storage medium, which can be applied to all monitoring scenes, save cost, improve deformation measurement efficiency and enhance the simplicity of a measurement system.
In a first aspect, an embodiment of the present application provides a deformation measurement method, where the method is applied to a deformation measurement device, and the deformation measurement device is provided with a camera array and a mobile platform, and the method includes:
When the mobile platform runs to a first monitoring position of the area to be detected, shooting monitoring points in a first area to be detected in the area to be detected through a first camera in the camera array to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite;
when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through a second camera to obtain a fourth image;
determining J from the first and second images 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point, J 1 The first monitoring points are monitoring points contained in the first image and the third image, the J 2 The second monitoring points are monitoring points contained in both the second image and the fourth image;
Obtaining J according to the first image, the second image, the third image and the fourth image 1 The level of each first monitoring point in the first monitoring pointsDisplacement and vertical settlement, J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
In a second aspect, an embodiment of the present application provides a deformation measurement device, where a camera array and a mobile platform are disposed on the deformation measurement device, where the device includes: an acquisition unit and a processing unit;
the acquisition unit is used for shooting monitoring points in a first to-be-detected area in the to-be-detected area through a first camera in the camera array when the mobile platform runs to a first monitoring position of the to-be-detected area, so as to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite;
when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through a second camera to obtain a fourth image;
A processing unit for determining J based on the first image and the second image 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point, J 1 The first monitoring points are monitoring points contained in the first image and the second image, J 2 The second monitoring points are monitoring points contained in both the second image and the fourth image;
obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
In a third aspect, an embodiment of the present application provides an electronic device, including: and a processor coupled to the memory, the memory for storing a computer program, the processor for executing the computer program stored in the memory to cause the electronic device to perform the method as in the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program, the computer program causing a computer to perform the method as in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program, the computer being operable to cause a computer to perform a method as in the first aspect.
The implementation of the embodiment of the application has the following beneficial effects:
it can be seen that in the embodiment of the present application, when the mobile platform travels to the first monitoring position of the area to be detected, the first camera in the camera array photographs the monitoring point in the first area to be detected in the area to be detected, so as to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area by a second camera in the camera array to obtain a second image; when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area by the second camera to obtain a fourth image; then, according to the first image and the second image, J is determined 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point; finally, obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The method for measuring the horizontal displacement and the vertical settlement of each second monitoring point in the second monitoring points based on the camera networking is characterized in that the camera is integrated on a mobile platform, manual intervention is not needed in the measuring process, automatic measurement is realized, a large amount of manpower and material resources are saved, the measuring efficiency is improved, and the simplicity and the flexibility of a measuring system are enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1A is a schematic diagram of a deformation measurement system according to an embodiment of the present application;
FIG. 1B is a schematic diagram of another deformation measurement system according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a deformation measurement method according to an embodiment of the present application;
Fig. 3 is a schematic view of a first image, a second image, a third image, and a fourth image according to an embodiment of the present application, to obtain J 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 A flow diagram of a horizontal displacement amount and vertical settlement amount method of each second monitoring point in the second monitoring points;
fig. 4 is a schematic diagram of a basic principle of camera shooting measurement according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of another deformation measurement method according to an embodiment of the present disclosure;
FIG. 6 is a block diagram of functional units of a deformation measurement device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims and drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, result, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1A, fig. 1A is a schematic diagram of a deformation measurement system according to an embodiment of the present application. The deformation measurement system comprises a deformation measurement device 10, wherein the deformation measurement device 10 is provided with a mobile platform 20, the mobile platform 20 is provided with a camera array 30, at least two cameras with opposite shooting directions are arranged in the camera array 30, each camera in the camera array 30 is fixedly connected with each other, and the model and the focal length of each camera are not limited in this application.
In the embodiment of the present application, when the mobile platform 20 travels to the first monitoring position, the mobile platform 20 will send a control signal to the camera array 30, and after the camera array 30 receives the control signal, the first camera and the second camera will be controlled to shoot the monitoring point; the deformation measuring device 10 will then calculate the vertical settlement amount and the horizontal displacement amount of the monitoring point based on the images captured by the first camera and the second camera.
When the mobile platform in the deformation measurement device 10 travels to the first monitoring position of the area to be measured, shooting the monitoring point in the first area to be measured by a first camera in a camera array integrated on the mobile platform to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite; it should be noted that, in the embodiment of the present application, when the mobile platform in the deformation measurement device 10 travels to the first monitoring position of the area to be measured, the first camera and the second camera in the camera array simultaneously capture the monitoring point in the area to be measured, that is, the first camera captures the monitoring point in the first area to be measured and the second camera captures the monitoring point in the second area to be measured.
Correspondingly, when the mobile platform in the deformation measuring device 10 runs to the second monitoring position of the area to be measured, the first camera shoots the monitoring points in the first area to be measured to obtain a third image, and the second camera shoots the monitoring points in the second area to be measured to obtain a fourth image.
Then, according to the first image and the second image, J is determined 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point; wherein J is 1 The first monitoring points are the monitoring points contained in the first image and the third image, J 2 The second monitoring points are monitoring points contained in both the second image and the fourth image.
Finally, the strain measurement device 10 obtains J from the first, second, third and fourth images 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
Optionally, referring to fig. 1B, fig. 1B is a schematic diagram of another deformation measurement system according to an embodiment of the present application. The deformation measurement system comprises a deformation measurement device 10 and a cloud processing end 40, wherein the deformation measurement device 10 is provided with a mobile platform 20, the mobile platform 20 is provided with a camera array 30, at least two cameras with opposite shooting directions are arranged in the camera array 30, each camera in the camera array 30 is fixedly connected with each other, and the model and the focal length of each camera are not limited in this application.
It should be noted that, the method for acquiring the first image, the second image, the third image and the fourth image by the deformation measurement system shown in fig. 1B is the same as the method for acquiring the first image, the second image, the third image and the fourth image by the deformation measurement system shown in fig. 1A, and will not be described. The deformation measurement system shown in fig. 1B is different from the deformation measurement system shown in fig. 1A in that after obtaining the first image, the second image, the third image and the fourth image, fig. 1B is that the deformation measurement device 10 sends the first image, the second image, the third image and the fourth image to the cloud processing end 40, and then the cloud processing end 40 calculates the vertical settlement amount and the horizontal displacement amount of the monitoring point according to the first image, the second image, the third image and the fourth image.
Further, in the embodiment of the present application, the deformation measurement system shown in fig. 1A or fig. 1B may be applied to deformation monitoring of a large engineering structure such as a highway, a railway, a bridge, a tunnel, etc., for example, a plurality of monitoring positions are set in the tunnel, and a plurality of monitoring points are set on two sides of each monitoring position, then the deformation measurement system calculates the vertical settlement and the horizontal displacement of each monitoring point, then the vertical settlement and the horizontal displacement of the monitoring points may be compared with a first threshold, and if the vertical settlement and the horizontal displacement of the monitoring points are greater than the first threshold, then early warning prompt may be performed to the monitoring center; optionally, after calculating the vertical settlement amount and the horizontal displacement amount of each monitoring point, taking the ratio of the vertical settlement amount of each monitoring point to the time interval of two adjacent inspection as the settlement deformation rate of each monitoring point, taking the ratio of the horizontal displacement amount of each monitoring point to the time interval of two adjacent inspection as the horizontal deformation rate of each monitoring point, comparing the settlement deformation rate and the horizontal deformation rate of each monitoring point with a second threshold value, determining the monitoring point with the settlement deformation rate and/or the horizontal deformation rate being greater than the threshold value as an abnormal monitoring point, and then carrying out early warning prompt on the abnormal monitoring point to the monitoring center so as to repair the abnormal monitoring point; it should be noted that in actual situations, more application scenarios may be involved, which are not listed in this application.
It can be seen that in the embodiment of the present application, when the mobile platform travels to the first monitoring position of the area to be detected, the first camera in the camera array photographs the monitoring point in the first area to be detected in the area to be detected, so as to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area by a second camera in the camera array to obtain a second image; when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area by the second camera to obtain a fourth image; then, according to the first image and the second image, J is determined 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point; finally, obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The method for measuring the horizontal displacement and the vertical settlement of each second monitoring point in the second monitoring points based on the camera networking is characterized in that the camera is integrated on a mobile platform, manual intervention is not needed in the measuring process, automatic measurement is realized, a large amount of manpower and material resources are saved, the measuring efficiency is improved, and the simplicity and the flexibility of a measuring system are enhanced.
Referring to fig. 2, fig. 2 is a flow chart of a deformation measurement method according to an embodiment of the present application. The method is applied to the deformation measuring device 10, and the deformation measuring device 10 is provided with a camera array and a mobile platform. The method includes, but is not limited to, steps 201-204:
201: when the mobile platform runs to a first monitoring position of the area to be detected, shooting monitoring points in a first area to be detected in the area to be detected through a first camera in the camera array to obtain a first image; and shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image.
The monitoring points in the first to-be-monitored area and the monitoring points in the second to-be-monitored area are respectively arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite.
In the embodiment of the present application, the mobile platform may be a mobile monitoring vehicle, a mobile monitoring ship, a mobile aircraft, or the like, and the mobile platform may be provided with a positioning device, such as a mileage encoder, a GPS positioning system, or the like, and may also be provided with a pose measuring device, such as an inertial navigation system, a gyroscope, or the like, which is not limited in this application.
It should be noted that, the camera array means that a plurality of cameras are fixedly connected to each other, but shooting directions of the cameras may be different, and model numbers and focal lengths of the cameras may also be different, which is not limited in this application. In an embodiment of the present application, the camera array includes at least two cameras, and at least one camera is opposite to the shooting direction of the other cameras. The camera array includes a first camera and a second camera, and the shooting directions of the first camera and the second camera are opposite, for example, the first camera is a rearview camera, the second camera is a forward-looking camera, the rearview camera refers to a camera with the shooting direction opposite to the running direction of the mobile platform, and the forward-looking camera refers to a camera with the shooting direction same as the running direction of the mobile platform.
Correspondingly, the rearview camera and the forward-looking camera shoot marks at monitoring points in the moving process of the mobile platform, namely, the rearview camera shoots marks at the monitoring points in a first to-be-detected area, and the forward-looking camera shoots marks at the monitoring points in a second to-be-detected area; meanwhile, the deformation measuring device 10 synchronously records the position of the mobile platform at the moment of shooting, namely the first monitoring position. Note that the manner of recording the location of the mobile platform may be by manual marking, or may be recording the readings of the mileage encoder, or using a GPS positioning system, etc., which is not limited herein. In addition, for the sign at the monitoring point, for example, natural features of the monitoring point may be used, or a manual cooperation sign may be set at the monitoring point, which is not limited.
202: when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through the second camera to obtain a fourth image.
It should be noted that, in the first monitoring position in step 201, that is, the position of the deformation measurement device 10 when the first camera in the camera array shoots the monitoring point in the first to-be-monitored area and the second camera shoots the monitoring point in the second to-be-monitored area during the first tour from the start point to the end point; correspondingly, the second monitoring position is the position of the deformation measuring device 10 when the first camera in the camera array shoots the monitoring point in the first to-be-monitored area and the second camera shoots the monitoring point in the second to-be-monitored area in the second patrol process from the starting point to the ending point. Here, considering that in the actual situation, the positions of the first camera shooting the monitoring point in the first to-be-detected area and the second camera shooting the monitoring point in the second to-be-detected area in the first inspection process may be different from the positions of the first camera shooting the monitoring point in the first to-be-detected area and the second camera shooting the monitoring point in the second to-be-detected area in the second inspection process, therefore, the first monitoring position and the second monitoring position may be different in the embodiment of the present application, so that the deformation measurement device itself generates the six-degree-of-freedom motion amount.
In addition, the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are set according to preset measurement specification requirements, for example, the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area can be set to be sedimentation measurement points and/or horizontal displacement measurement points, namely, the sedimentation measurement points and the horizontal displacement measurement points which are set can be the same point location or different point locations, and besides, the position and the shape of the monitoring points are not limited.
It should be noted that, when the deformation measurement is performed on the large engineering structure, the deformation measurement can be performed through one-time inspection or multiple-time inspection; it is to be clear that if the monitoring is realized by one-time inspection, the vertical settlement and the horizontal displacement of the monitoring point obtained at the moment are deformation amounts generated by the inspection compared with the reference inspection; if the monitoring point passes through multiple inspection, the multiple inspection is two adjacent inspection, such as first inspection and second inspection, wherein the time interval between two adjacent inspection is not limited in the application, and the vertical settlement and horizontal displacement of the monitoring point obtained at the moment are deformation amounts generated by comparing the second inspection with the first inspection.
203: determining J according to the first image and the third image 1 A first monitoring point; and determining J according to the second image and the fourth image 2 And a second monitoring point.
Wherein J is 1 The first monitoring points are the monitoring points contained in the first image and the third image, namely J is contained in the first image 1 The first monitoring point and the third image also contain J 1 A first monitoring point; j (J) 2 The second monitoring points are the monitoring points contained in the second image and the fourth image, namely J is contained in the second image 2 A second monitoring point and a fourth image also contain J 2 And a second monitoring point.
It should be noted that, in practical application, the monitoring points may be damaged and lost in the process of patrol, so that the number of the monitoring points shot by the cameras in the camera array in the first patrol process is different from the number of the monitoring points shot by the cameras in the camera array in the second patrol process. At a first monitoring position in the first patrol, a first camera shoots monitoring points in a first area to be detected to obtain a first image, and then the number of the monitoring points shot in the first patrol can be determined from the first image; at a second monitoring position in the second patrol, the first camera shoots the monitoring points in the first region to be monitored again to obtain a third image, and then the third image is used for determining Determining the number of the monitoring points shot by the second patrol, if damage or loss of the monitoring points occurs during the second patrol, the number of the monitoring points shot by the second patrol is smaller than the number of the monitoring points shot by the first patrol, which can be understood as that the number of the monitoring points in the first image is larger than J 1 The number of monitoring points in the third image is equal to J 1 Therefore, it is necessary to determine the monitoring points contained in the first image and the third image, i.e. J 1 A first monitoring point. Meanwhile, it should be clear that if the monitoring points are not damaged or lost in the inspection process, the monitoring points in the first image and the third image are the same, and the number is J 1 And each. Similarly, the second camera shoots the monitoring points in the second to-be-detected area to determine J 2 Shooting the monitoring points in the first to-be-detected area by using the principle of the second monitoring points and the first camera to determine J 1 The principle of the first monitoring point is similar and will not be described here again.
204: obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
In the examples of the present application, when the sedimentation measurement point and the horizontal displacement measurement point are the same point, that is, J 1 First monitoring points J 2 Each monitoring point in the second monitoring points is not only a settlement measuring point of the point position of the monitoring point, but also a horizontal displacement measuring point of the point position of the monitoring point, and J can be obtained according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points. As shown in FIG. 3, FIG. 3 provides a method for obtaining J from the first image, the second image, the third image and the fourth image 1 The horizontal displacement of each first monitoring point of the first monitoring points andvertical settlement amount and J 2 A flow chart of a method for horizontal displacement and vertical settlement of each of a plurality of second monitoring points, the method including, but not limited to, steps 301-305:
301: acquisition of J 1 J of first monitoring points in first image 1 First pixel coordinates, and J in the third image 1 And second pixel coordinates.
Wherein J is 1 First pixel coordinates J 1 The first monitoring points are in one-to-one correspondence with J 1 Second pixel coordinates J 1 The first monitoring points are in one-to-one correspondence.
Alternatively, the first image and the third image may be subjected to preprocessing, such as denoising, graying, and then the pixel coordinates may be acquired based on the image after the preprocessing, before the first pixel coordinates and the second pixel coordinates are acquired. Here, obtain J 1 First and second pixel coordinates of a first monitoring point for determining J 1 The location of the first monitoring point in the first image and the third image, where J can be determined using image sub-pixel location techniques 1 The positions of the first monitoring points in the first image and the third image, wherein the image sub-pixel positioning technology may include an adaptive template correlation filtering method, an adaptive threshold barycenter method, a gray map fitting method and the like, which are not limited in the application.
302: for J 1 And obtaining a first vertical variation and a first horizontal variation of any one of the first monitoring points according to the first pixel coordinates and the second pixel coordinates corresponding to the any one of the first monitoring points.
Wherein the first vertical variation is the vertical variation of any one of the first monitoring points in the image, that is, the vertical variation of the first monitoring point occurs in the third image compared with the first image, and the vertical variation can be determined by the first pixel coordinate of the first monitoring point, that is, (x) 1 ,y 1 ) And a second pixel coordinate, i.e. (x) 2 ,y 2 ) Vertical variable table in image coordinate systemThe sign, i.e. the vertical variation is (y) 1 -y 2 ) The method comprises the steps of carrying out a first treatment on the surface of the The first level change is the level change of any one of the first monitoring points in the image, namely the level change of the third image compared with the first image, and the level change can be similarly represented by the level change of the first pixel coordinate and the second pixel coordinate of the first monitoring point in the image coordinate system, namely the level change is (x) 1 -x 2 )。
303: acquisition of J 2 J of second monitoring points in second image 2 Third pixel coordinates, and J in the fourth image 2 And fourth pixel coordinates.
Wherein J is 2 Third pixel coordinates J 2 The second monitoring points are in one-to-one correspondence with J 2 Fourth pixel coordinates J 2 The second monitoring points are in one-to-one correspondence.
Alternatively, the third image and the fourth image may be subjected to preprocessing such as denoising, graying, and then the pixel coordinates may be acquired based on the image after the preprocessing, before the third pixel coordinates and the fourth pixel coordinates are acquired. Here, obtain J 2 A third pixel coordinate and a fourth pixel coordinate of the second monitoring point, aiming at determining J 2 The location of the second monitoring points in the second image and the fourth image, where J can be determined using image sub-pixel location techniques 2 The location of the second monitoring points in the second image and the fourth image is not limited in this application.
304: for J 2 And obtaining a second vertical variation and a second horizontal variation of any one of the second monitoring points according to the third pixel coordinate and the fourth pixel coordinate corresponding to the any one of the second monitoring points.
The second vertical variation is the vertical variation of any one of the second monitoring points in the image, namely the vertical variation of any one of the second monitoring points when the fourth image is compared with the second image; the second horizontal variation is the horizontal variation of any one of the second monitoring points in the image, that is, the horizontal variation of any one of the second monitoring points occurs in comparison with the fourth image and the second image, and it should be noted that the method for obtaining the vertical variation and the horizontal variation of the second monitoring point is similar to the method for obtaining the vertical variation and the horizontal variation of the first monitoring point, and will not be repeated.
305: according to J 1 J corresponding to the first monitoring points 1 First vertical variation and J 1 First level change amount J 2 J corresponding to the second monitoring points 2 Second vertical variation and J 2 Second level change, first angle, second angle, and J of camera array 1 J corresponding to the first monitoring points 1 First object plane resolution, and J 2 J corresponding to the second monitoring points 2 Second object resolution, J 1 First distance, J 2 A second distance and a six-degree-of-freedom motion of the measuring device, determining J 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
The first included angle is an included angle between the optical axis of the first camera and the horizontal plane, and the second included angle is an included angle between the optical axis of the second camera and the horizontal plane; j (J) 1 The first distance is that the first camera is respectively connected with J 1 The distance, J, between each of the first monitoring points 2 The second distance is that the second camera is respectively connected with J 2 The distance between each of the second monitoring points. Note that J 1 First distance and J 2 The second distances are all obtained through pre-calibration.
In addition to J 1 The first object plane resolution is the third image pair J 1 Magnification of first monitoring point, J 2 The second object resolution is the fourth image pair J 2 Magnification of the second monitoring point. Exemplary, as shown in FIG. 4, FIG. 4 provides a schematic diagram of the basic principle of camera shooting measurement, assuming a shooting field of view of W H, a first cameraIs m×n, the size of the photosensitive image is dx×dy, the focal length is f, the object distance is D, and the formula (1) can be obtained according to the similarity relationship shown in fig. 4:
Figure BDA0003556721980000091
the first object plane resolution can be obtained by equation (2) and equation (3):
Figure BDA0003556721980000092
Figure BDA0003556721980000093
wherein R is x And R is y All characterize the first object plane resolution, i.e. R x Characterizing a third image pair J 1 Object plane resolution of the first monitoring points in the horizontal direction, R y Characterizing a third image pair J 1 The object plane resolution of the first monitoring point in the vertical direction, that is, the first object plane resolution includes the object plane resolution in the vertical direction and the object plane resolution in the horizontal direction. Thus, pair J hereinafter 1 When the first monitoring points measure the vertical settlement, the resolution of the first object plane is the resolution of the object plane in the vertical direction, namely R y The method comprises the steps of carrying out a first treatment on the surface of the Pair J 1 When the first monitoring points measure the horizontal displacement, the resolution of the first object plane is the resolution of the object plane in the horizontal direction.
Similarly, the method for calculating the second object plane resolution is similar to the method for calculating the first object plane resolution, and will not be described again here.
Optionally, in practical situations, the value of the object plane resolution may be obtained by calibrating in the first inspection, that is, in the initial inspection process, or may be obtained by calibrating in any one inspection, or may be obtained by calibrating an average value of object plane resolution values in different inspection processes, which is not limited herein.
Further, in the embodiment of the present application, step 305 specifically includes steps S1-S4:
s1: and obtaining a first equation set corresponding to any one first monitoring point according to the first vertical variable quantity, the first horizontal variable quantity, the first included angle, the first object plane resolution, the first distance and the six-degree-of-freedom motion quantity corresponding to any one first monitoring point.
In the embodiment of the present application, if any one of the first monitoring points is J 1 The mth first monitoring point in the first monitoring points can be obtained by the first equation set through the formula (4):
Figure BDA0003556721980000094
wherein m is greater than or equal to 1 and less than or equal to J 1 Is a whole number of (a) and (b),
Figure BDA0003556721980000095
is J 1 First vertical variation of mth first monitoring point of the first monitoring points,/or- >
Figure BDA0003556721980000096
First level change for mth first monitoring point, +.>
Figure BDA0003556721980000097
A first object plane resolution of the mth first monitoring point, theta B Is a first included angle->
Figure BDA0003556721980000098
For a first distance, +>
Figure BDA0003556721980000099
Vertical settlement of the mth first monitoring point,/th>
Figure BDA00035567219800000910
For the horizontal displacement of the mth first monitoring point,/or->
Figure BDA00035567219800000911
And->
Figure BDA00035567219800000912
Is a six-degree-of-freedom exercise amount, wherein +.>
Figure BDA00035567219800000913
For the settlement of the deformation measuring device 10, < > is>
Figure BDA00035567219800000914
For the roll change of the deformation measuring device 10, < >>
Figure BDA00035567219800000915
For the longitudinal displacement of the deformation measuring device 10 in the direction of travel, +.>
Figure BDA00035567219800000916
For the horizontal displacement of the deformation measuring device 10, < >>
Figure BDA00035567219800000917
For the pitch angle variation of the deformation measuring device 10, < >>
Figure BDA0003556721980000101
Is the yaw variation of the strain gauge 10.
S2: and obtaining a second equation set corresponding to any one second monitoring point according to the second vertical variable quantity, the second horizontal variable quantity, the second included angle, the second object resolution, the second distance and the six-degree-of-freedom motion quantity corresponding to any one second monitoring point.
In the embodiment of the present application, if any one of the second monitoring points is J 2 The nth second monitoring point in the monitoring points can be obtained by the formula (5):
Figure BDA0003556721980000102
wherein n is greater than or equal to 1 and less than or equal to J 2 Is a whole number of (a) and (b),
Figure BDA0003556721980000103
is J 2 Second vertical variation of nth second monitoring point among the second monitoring points,/->
Figure BDA0003556721980000104
Is J 2 Second level change amount of nth second monitoring point among the second monitoring points,/->
Figure BDA0003556721980000105
A second object resolution, θ, for the nth second monitoring point F Is a second included angle->
Figure BDA0003556721980000106
For a second distance, +>
Figure BDA0003556721980000107
Vertical settlement of the nth second monitoring point,/for>
Figure BDA0003556721980000108
For the horizontal displacement of the nth second monitoring point, the six-degree-of-freedom motion quantity comprises
Figure BDA0003556721980000109
And->
Figure BDA00035567219800001010
Is a six-degree-of-freedom exercise amount, wherein +.>
Figure BDA00035567219800001011
For the settlement of the deformation measuring device 10, < > is>
Figure BDA00035567219800001012
For the roll change of the deformation measuring device 10, < >>
Figure BDA00035567219800001013
For the longitudinal displacement of the deformation measuring device 10 in the direction of travel, +.>
Figure BDA00035567219800001014
For the horizontal displacement of the deformation measuring device 10, < >>
Figure BDA00035567219800001015
For the pitch angle variation of the deformation measuring device 10, < >>
Figure BDA00035567219800001016
Is the yaw variation of the strain gauge 10.
S3: according to J 1 J corresponding to the first monitoring points 1 First equation group J 2 J corresponding to the second monitoring points 2 And obtaining a first target equation set and a second target equation set by the second equation set.
In the examples of the present application, J 1 The first sub-equation in each of the first equation sets, for example, the first sub-equation set in the mth first equation set is:
Figure BDA00035567219800001017
And J 2 A first sub-equation in a second set of equations, such as the nth second set of equations, is:
Figure BDA00035567219800001018
combining to obtain a first target equation set; illustratively, the first set of target equations may be derived by equation (6):
Figure BDA0003556721980000111
will J 1 The second sub-equation in each first equation set in the first equation set, for example, the second sub-equation in the mth first equation set is:
Figure BDA0003556721980000112
and J 2 The second sub-equation in each of the second equation sets, for example, the second sub-equation in the nth second equation set, is: />
Figure BDA0003556721980000113
Combining to obtain a second target equation set; illustratively, the first set of target equations may be derived by equation (7):
Figure BDA0003556721980000114
s4: obtaining J according to a first target equation set 1 Vertical settlement and J of each first monitoring point 2 The vertical settlement of each second monitoring point in the second monitoring points is obtained according to a second target equation set 1 The horizontal displacement and J of each first monitoring point 2 The horizontal displacement amount of each of the second monitoring points.
In the examples of the present application, J is calculated from a first set of objective equations 1 Vertical settlement and J of each first monitoring point 2 The vertical settlement of each second monitoring point in the second monitoring points is required to satisfy the first objective equation set to be solved; to calculate J according to the second objective equation set 1 The horizontal displacement and J of each first monitoring point 2 The horizontal displacement of each second monitoring point in the second monitoring points also needs to satisfy the second target equation set for solution.
It should be noted that the first camera shoots the point to be detected in the first area to be detected to obtain J 1 Shooting the points to be detected in the second area to be detected by the first monitoring point and the second camera to obtain J 2 When the second monitoring point is detected, the obtained first target equation set and the second target equation set are required to meet two basic constraints and one optimization constraint, wherein the two basic constraints compriseThe fixed connection constraint refers to that the camera array is fixed on the mobile platform, all cameras included in the camera array in the deformation measuring device 10 have the same six-degree-of-freedom motion quantity at the same monitoring position, for example, a first camera and a second camera in the deformation measuring device 10 have the same six-degree-of-freedom motion quantity at a second monitoring position; the same name constraint means that when the same first monitoring point or the same second monitoring point is shot by different cameras, namely, the first monitoring point is shot by the first camera, the second monitoring point is shot by the second camera, but the vertical settlement amount of the same first monitoring point is the same physical quantity, the vertical settlement amount of the same second monitoring point is the same physical quantity, the horizontal displacement amount of the same first monitoring point is the same physical quantity, the horizontal displacement amount of the same second monitoring point is the same physical quantity, for example, in the same inspection process, the same second monitoring point is shot by the second camera at one first monitoring position, and the vertical settlement amount of the same second monitoring point shot by the first camera and the second camera is the same at the other first monitoring position, and the horizontal displacement amount is the same; if the homonymous constraint is to be satisfied, optionally, it may be assumed that in a process of one-time patrol, that is, in a process from a starting point to an ending point of the mobile platform, all monitoring points in the to-be-detected area are not deformed after being shot by the cameras in the camera array, which is not limited in this application, exemplary, J 2 The second monitoring points will not deform after being photographed by the second camera, so that J is photographed by the first camera 2 Vertical settlement of the second monitoring point and J shot by the second camera 2 The vertical settlement of the second monitoring points is the same. The optimization constraint means that in the running process of the mobile platform, cameras in the camera array continuously shoot synchronously, for example, the first camera and the second camera shoot synchronously continuously, so that the same first monitoring point or the same second monitoring point can be imaged for multiple times, and the vertical settlement amount and the horizontal displacement amount of the same first monitoring point or the same second monitoring point can be obtained through multiple times of measurement, so that adjustment optimization can be achieved.
Further, according to the first set of objective equations and the second objectiveThe standard equation set can be used for listing 2 independent equations every time any first monitoring point or second monitoring point is photographed and imaged. In practical cases, when deformation measurement is performed on a large engineering structure, the deformation measurement can be realized through one-time inspection as mentioned above, and the deformation measurement can also be realized through multiple-time inspection; wherein, in each inspection process, namely, the inspection process from the starting point to the end point, a plurality of monitoring positions can be provided; therefore, if deformation measurement is realized through one-time patrol, the vertical settlement and horizontal displacement of the monitoring point can be obtained by comparing the image shot at each monitoring position in the one-time patrol with the image at the corresponding monitoring position in the reference patrol; if deformation measurement is realized through multiple inspection, such as first inspection and second inspection, the vertical settlement and horizontal displacement of the monitoring point can be obtained by comparing the image obtained by shooting each monitoring position in the second inspection with the image obtained by shooting each corresponding monitoring position in the first inspection. In the embodiment of the application, deformation measurement is implemented through multiple rounds of measurement, that is, in the first round of measurement, a first camera shoots at a first monitoring position to obtain a first image and a second image; in the second inspection process, a second camera shoots a third image and a fourth image at a second monitoring position; then comparing the first image with the third image to obtain J 1 The vertical settlement and horizontal displacement of the first monitoring points; comparing the second image with the fourth image to obtain J 2 Vertical settlement and horizontal displacement of the second monitoring points.
Based on this, the present application will take a plurality of first monitoring positions as an example, to describe whether a plurality of first objective equation sets and second objective equation sets corresponding to the plurality of first monitoring positions have solutions: assuming that the number of the first monitoring positions is a, the total number of marks is E, namely the total number of monitoring points is E, and the marks shot at the a first monitoring positions are G respectively 1 ，G 2 ，G 3 ···G a The number of marks (named marks) photographed by more than one camera is l=g 1 +G 2 +G 3 +···G a E, then the number of the separable equations is: (G) 1 +G 2 +G 3 +···G a ) 2; the number of unknown parameters in the equation set is: 2 x e+6 x a, i.e. the vertical settlement amount comprising E markers, the horizontal displacement amount of E markers and the six degree of freedom movement of 6a deformation measuring devices. Thus, to ensure that the equation set has a solution, it is necessary to satisfy "the number of unique cube passes is not less than the number of unknown parameters", i.e. (G 1 +G 2 +G 3 +···G a ) 2 ∈2 >. Gtoreq.2×e+6×a), and the following steps: l is greater than or equal to 3a, that is, when L is greater than or equal to 3a, each unknown parameter in the equation set can be solved, namely, the vertical settlement and horizontal displacement of E monitoring points and the six-degree-of-freedom motion quantity of the deformation measuring device 10 can be solved.
It should be noted that, if the solved unknown parameters are all relative variable amounts, and if absolute vertical settlement amounts and absolute horizontal displacement amounts of all monitoring points or vertical settlement amounts and horizontal displacement amounts of relative reference points are required to be obtained, any 3 reference points or monitoring points with known 3 vertical settlement amounts and known horizontal displacement amounts are required to be set on the whole monitoring link from the starting point to the ending point, and at this time, when any one reference point or any monitoring point with known vertical settlement amounts and known horizontal displacement amounts is shot by a camera in the camera array, 2 independent equations are also generated. That is, taking the above assumption as an example, the total number of monitoring points is E, then it is necessary to include 3 reference points or 3 monitoring points whose vertical settlement amount and horizontal displacement amount are known, and the specific positions of the 3 reference points or 3 monitoring points whose vertical settlement amount and horizontal displacement amount are known are not limited. Or, if only 1 monitoring position is provided in the first inspection process, namely the first monitoring position, and the two sides of the first monitoring position are respectively set as the monitoring point in the first area to be inspected and the monitoring point in the second area to be inspected, if the damage or loss of the monitoring point in the first area to be inspected and the monitoring point in the second area to be inspected do not occur in the second inspection process, namely the monitoring in the first area to be inspected in the first inspection and the second inspection process The measuring points are J 1 The first monitoring points and the monitoring points in the second to-be-detected area are J 2 A second monitoring point, then the total number of monitoring points is (J 1 +J 2 ) That is, this (J 1 +J 2 ) The monitoring points need to include 3 datum points or 3 monitoring points with known vertical settlement and horizontal displacement.
Since whether solutions of the first target equation sets and the second target equation sets corresponding to the first monitoring positions are described in consideration of the six-degree-of-freedom motion amounts as the unknown parameters are described, in the embodiments of the present application, any one or more of the six-degree-of-freedom motion amounts may be used as the known parameters, instead of the unknown parameters, in combination with the actual engineering environment, so that the number of the unknown parameters in the first target equation sets and the second target equation sets is reduced. Exemplary, if the mobile platform is a rail-guided monitoring vehicle, the deformation measuring device 10 will measure roll change in the amount of six-free motion
Figure BDA0003556721980000131
Will no longer be an unknown parameter, and can be understood as the roll change +.>
Figure BDA0003556721980000132
The influence of the first and second target equation sets is negligible, that is, only five degrees of freedom motion in the six degrees of freedom motion of the deformation measuring device 10 are unknown parameters, so that the number of unknown parameters in the first and second target equation sets is reduced; alternatively, if the positioning device is mounted on the mobile platform, the deformation measuring device 10 may be provided with +. >
Figure BDA0003556721980000133
Can be obtained by the positioning device, i.e. at this point +.>
Figure BDA0003556721980000134
These three quantities are no longer known as parameters, but are known as parameters, i.e. the six-free movement of the deformation measuring device 10 is nowOnly three degrees of freedom motion in the momentum are unknown parameters, so that the number of the unknown parameters in the first objective equation set and the second objective equation set is reduced; alternatively, if the pose measuring device is mounted on the mobile platform, the deformation measuring device 10 may be provided with +.>
Figure BDA0003556721980000141
And->
Figure BDA0003556721980000142
Can be obtained by the pose measuring device, i.e. at this point +.>
Figure BDA0003556721980000143
And->
Figure BDA0003556721980000144
These three quantities will no longer be known parameters, but will be known parameters, i.e. only three of the six degrees of freedom movements of the deformation measuring device 10 are known parameters, so that the number of unknown parameters in the first and second sets of target equations is reduced. The degree of freedom motion amount, which is a known parameter, among the six degrees of freedom motion amounts is not limited here, or whether the positioning device and the pose measuring device are simultaneously mounted on the moving platform, only the positioning device is mounted, only the pose measuring device is mounted, or the like is not limited; meanwhile, it should be clear that, besides the positioning device, the pose measuring device and the like are installed on the mobile platform, so that the corresponding degree of freedom motion in the six degree of freedom motion is changed from the unknown parameter to the known parameter, the corresponding degree of freedom motion in the six degree of freedom motion can be changed from the unknown parameter to the known parameter in other ways, which will not be listed in the application.
Based on this, if one or more of the six-degree-of-freedom motion amounts are changed from the unknown parameters to the known parameters, the principle of whether the first target equation sets and the second target equation sets corresponding to the first monitoring positions are solved is described at this time, and when the six-degree-of-freedom motion amounts are both unknown parameters, the principle of whether the first target equation sets and the second target equation sets corresponding to the first monitoring positions are solved is described similarly, and will not be described again here.
Referring to fig. 5, fig. 5 is a flow chart illustrating another deformation measurement method according to an embodiment of the present application, including, but not limited to, steps 501-504:
501：J 1 the number of the first monitoring points is even, and J 1 The first monitoring point is formed by J 1 2 third monitoring points and J 1 And/2 fourth monitoring points.
In the practice of the present application, when J 1 The number of the first monitoring points is even, and J 1 The first monitoring point is formed by J 1 2 third monitoring points and J 1 2 fourth monitoring points, i.e. J 1 The first monitoring point comprises J 1 2 sedimentation measurement points and J 2 2 horizontal displacement measuring points, i.e. J 1 The third monitoring points are horizontal sedimentation points J 1 And each of the fourth monitoring points is a settlement measuring point, that is, the settlement measuring point and the horizontal displacement measuring point are not the same point.
502：J 2 The number of the second monitoring points is even, and J 2 The second monitoring point is composed of J 2 2 fifth monitoring points and J 2 And/2 sixth monitoring points.
In the embodiment of the present application, when J 2 The number of the second monitoring points is even, and J 2 The second monitoring point is composed of J 2 2 fifth monitoring points and J 2 2 sixth monitoring points, i.e. J 2 The second monitoring points comprise J 2 2 sedimentation measurement points and J 2 2 horizontal displacement measuring points, i.e. J 2 The/2 fifth monitoring points are all horizontal sedimentation points J 2 The settlement measurement point is not the same point as the horizontal displacement measurement point, i.e., the settlement measurement point and the horizontal displacement measurement point are all settlement measurement points.
503: obtaining J according to the first image, the second image, the third image and the fourth image 1 Each of the/2 third monitoring pointsHorizontal displacement of the third monitoring point and J 2 And/2 horizontal displacement of each of the fifth monitoring points.
In an embodiment of the present application, step 503 includes, but is not limited to, steps A1-A4:
a1: acquisition of J 1 J of/2 third monitoring points in the first image 1 2 fifth pixel coordinates and J in the third image 1 And/2 sixth pixel coordinates.
Wherein J is 1 2 fifth pixel coordinates and J 1 One-to-one correspondence of/2 third monitoring points, J 1 2 sixth pixel coordinates and J 1 And 2 third monitoring points are in one-to-one correspondence.
Alternatively, the first image and the third image may be subjected to preprocessing such as denoising, graying processing, and then the pixel coordinates may be acquired based on the image after the preprocessing, before the fifth pixel coordinates and the sixth pixel coordinates are acquired. Here, obtain J 1 Fifth pixel coordinate and sixth pixel coordinate of 2 third monitoring points for determining J 1 The position of the/2 third monitoring points in the first and third images where J can be determined using image sub-pixel location techniques 1 The location of the/2 third monitoring points in the first image and the third image.
A2: acquisition of J 2 J of 2 fifth monitoring points in the second image 2 2 seventh pixel coordinates and J in the fourth image 2 And/2 eighth pixel coordinates.
Wherein J is 2 2 seventh pixel coordinates and J 2 One-to-one correspondence of/2 fifth monitoring points, J 2 2 eighth pixel coordinates and J 2 And 2 fifth monitoring points are in one-to-one correspondence.
A3: for J 1 Any one of the 2 third monitoring points and J 2 Any one of the 2 fifth monitoring points obtains a third horizontal variation of any one of the third monitoring points according to the fifth pixel coordinate and the sixth pixel coordinate corresponding to any one of the third monitoring points, and according to the seventh pixel coordinate corresponding to any one of the fifth monitoring points And the eighth pixel coordinate is used for obtaining the fourth horizontal variation of any fifth monitoring point.
The third level change amount is the level change amount of any one of the third monitoring points in the image, namely the level change amount of the any one of the third monitoring points when the third image is compared with the first image; the fourth level change is the level change of any one of the corresponding fifth monitoring points in the image, that is, the level change of any one of the corresponding fifth monitoring points in the third image compared with the first image, where the method for obtaining the level change of the third monitoring point and the level change of the fifth monitoring point is similar to the method for obtaining the level change of the first monitoring point, and is not repeated.
A4: according to J 1 J corresponding to/2 third monitoring points 1 Third level of change/2, J 2 J corresponding to 2 fifth monitoring points 2 2 fourth horizontal variables, first and second angles of camera array, and J 1 J corresponding to/2 third monitoring points 1 2 third object plane resolutions, and J 2 J corresponding to 2 fifth monitoring points 2 Resolution of/2 fourth object plane, J 1 Third distance/2, J 2 2 fourth distances and the three degree of freedom motion of the deformation measuring device 10, determine J 1 Horizontal displacement and J of each of the 2 third monitoring points 2 And/2 horizontal displacement of each of the fifth monitoring points.
Wherein J is 1 The third distance is that the first camera is respectively connected with J 1 Distance between each of the 2 third monitoring points, J 2 The fourth distance is that the second camera is respectively connected with J 2 Distance between each of the 2 fifth monitoring points, it should be noted that J 1 Third distance/2 and J 2 The fourth distances/2 are obtained by pre-calibration.
In addition to J 1 The/2 third object plane resolution is the third image pair J 1 Magnification of/2 third monitoring points, J 2 The resolution of the fourth object plane is/2Four image pairs J 2 Magnification of 2 fifth monitoring points.
Further, in embodiments of the present application, step A4 includes, but is not limited to, steps B1-B4:
b1: and obtaining a first equation corresponding to any one third monitoring point according to the third horizontal variation corresponding to any one third monitoring point, the third object plane resolution, the third distance, the first included angle and the three-degree-of-freedom motion quantity.
In the embodiment of the present application, if any one of the third monitoring points is J 1 The first equation can be obtained by equation (8):
Figure BDA0003556721980000161
Wherein Q is greater than or equal to 1 and less than or equal to J 1 An integer of/2,
Figure BDA0003556721980000162
is J 1 Third level change amount of Q-th third monitoring point of 2 third monitoring points,/L->
Figure BDA0003556721980000163
Third object plane resolution for the Q third monitoring point,/third monitoring point>
Figure BDA0003556721980000164
Third distance of the Q third monitoring point,>
Figure BDA0003556721980000165
the horizontal displacement of the Q third monitoring point is theta B Is used for forming a first included angle, and the first included angle is the first included angle,
Figure BDA0003556721980000166
is the motion quantity with three degrees of freedom.
B2: and obtaining a second equation corresponding to any one fifth monitoring point according to the fourth horizontal variation corresponding to any one fifth monitoring point, the fourth object plane resolution, the fourth distance, the second included angle and the three-degree-of-freedom motion quantity.
In the embodiment of the present application, if any one of the fifth monitoring points is J 2 The second equation can be obtained by equation (9):
Figure BDA0003556721980000167
wherein T is greater than or equal to 1 and less than or equal to J 2 An integer of/2,
Figure BDA0003556721980000168
is J 2 Fourth level change amount of T-th fifth monitoring point of 2 fifth monitoring points,/L->
Figure BDA0003556721980000169
Fourth object plane resolution for the T fifth monitoring point, +.>
Figure BDA00035567219800001610
Fourth distance of the T fifth monitoring point,>
Figure BDA00035567219800001611
is the horizontal displacement of the T fifth monitoring point, theta F Is used for forming a second included angle, and the second included angle is the second included angle,
Figure BDA00035567219800001612
Is the motion quantity with three degrees of freedom.
B3: according to J 1 J corresponding to/2 third monitoring points 1 First equation/2 and J 2 J corresponding to 2 fifth monitoring points 2 And 2, obtaining a third target equation set.
In the examples of the present application, J 1 Each of the 2 first equations, for example, the Q-th first equation is:
Figure BDA00035567219800001613
and J 2 Each of the 2 second equations, for example, the T-th second equation is:
Figure BDA00035567219800001614
combining to obtain a third target equation set; illustratively, the third set of target equations may be derived by equation (10):
Figure BDA00035567219800001615
b4: obtaining J according to a third objective equation set 1 Horizontal displacement and J of each of the 2 third monitoring points 2 And/2 horizontal displacement of each of the fifth monitoring points.
In the examples of the present application, J is calculated from a third set of objective equations 1 Horizontal displacement and J of each of the 2 third monitoring points 2 And (3) the horizontal displacement of each of the 2 fifth monitoring points is required to satisfy the third objective equation system to be solved.
The first camera shoots J 1 2 third monitoring points and second camera shooting J 2 When the first equation and the second equation are obtained at the fifth monitoring point/2, the two basic constraints and one optimization constraint are also required to be satisfied, wherein it should be noted that the fixed constraint herein refers to that all cameras included in the camera array in the deformation measuring device 10 have the same three-degree-of-freedom motion amount at the same monitoring position, and other constraints except the fixed constraint are not repeated herein.
Further, according to the third objective equation set, 1 independent equation can be listed every time any one of the first monitoring point or the second monitoring point is photographed and imaged. In the embodiment of the application, according to one of the monitoring positions in one inspection, namely the first monitoring position, and setting J at the left side of the first monitoring position 1 2 third monitoring points, the right side is provided with J 2 2 thFive monitoring points are illustrated as examples.
Next, the present application will take a plurality of first monitoring positions as an example, to describe whether a plurality of third objective equations corresponding to the plurality of first monitoring positions have solutions: let the number of first monitoring positions be a 1 The total number of marks is E 1 I.e. the total number of monitoring points is E 1 ，a 1 The number of marks shot at the first monitoring positions is G 11 ，G 21 ，G 31 ···G a1 The number of marks (named marks) shot by more than one camera is L 1 ＝G 11 +G 21 +G 31 +···G a1 -E 1 Then the number of independent equations that can be listed is: (G) 11 +G 21 +G 31 +···G a1 ) The method comprises the steps of carrying out a first treatment on the surface of the The number of unknown parameters in the equation set is: e (E) 1 +3*a 1 I.e. comprising E 1 Horizontal displacement of the individual marks and 3a 1 The three degrees of freedom motion of the deformation measuring device. Thus, to ensure that the equation set has a solution, it is necessary to satisfy "the number of unique cube passes is not less than the number of unknown parameters", i.e. (G 11 +G 21 +G 31 +···G a1 )≥(E 1 +3*a 1 ) And (3) finishing to obtain: l (L) 1 ≥3a 1 That is, when L is satisfied 1 ≥3a 1 At the time, E can be obtained 1 The amount of horizontal displacement of the individual monitoring points and the amount of three degrees of freedom movement of the deformation measuring device 10.
If the absolute horizontal displacement amounts of all the monitoring points or the horizontal displacement amounts of the relative reference points are required to be obtained, any 3 reference points or monitoring points with known 3 horizontal displacement amounts need to be set on the whole monitoring link from the start point to the end point, and at this time, when any one reference point or any monitoring point with known horizontal displacement amount is shot by the cameras in the camera array, 1 independent equation is also generated.
Since whether the solutions of the third objective equation sets corresponding to the first monitoring positions are described in consideration of the five-degree-of-freedom motion amounts as the unknown parameters are all described, in the embodiments of the present application, any one or more of the five-degree-of-freedom motion amounts may be used as the known parameters instead of the unknown parameters in combination with the actual engineering environment, so that the number of the unknown parameters in the third objective equation sets is reduced. The manner in which the motion amount of the corresponding degree of freedom in the five-degree-of-freedom motion amount of the deformation measuring device 10 is changed from the unknown parameter to the known parameter is similar to the manner in which the motion amount of the corresponding degree of freedom in the six-degree-of-freedom motion amount of the deformation measuring device 10 is changed from the unknown parameter to the known parameter, and will not be repeated here.
Based on this, if one or more of the five-degree-of-freedom motion amounts are changed from the unknown parameters to the known parameters, the principle of whether the third target equation sets corresponding to the first monitoring positions are solved and the principle of whether the first target equation sets corresponding to the first monitoring positions and the second target equation sets corresponding to the six-degree-of-freedom motion amounts are solved are similar when the two are both unknown parameters, and are not described herein.
504: obtaining J according to the first image, the second image, the third image and the fourth image 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and J 2 Vertical settlement of each of the 2 sixth monitoring points.
In an embodiment of the present application, step 504 includes, but is not limited to, steps C1-C4:
c1: acquisition of J 1 J of/2 fourth monitoring points in the first image 1 2 ninth pixel coordinates, and J in the third image 1 And/2 tenth pixel coordinates.
Wherein J is 1 2 ninth pixel coordinates and J 1 One-to-one correspondence of/2 fourth monitoring points, J 1 2 tenth pixel coordinates and J 1 And 2 fourth monitoring points are in one-to-one correspondence.
C2: acquisition of J 2 J of/2 sixth monitoring points in the second image 2 2 eleventh pixel coordinates, and J in the fourth image 1 And/2 twelfth pixel coordinates.
Wherein the method comprises the steps of，J 2 2 eleventh pixel coordinates and J 2 One-to-one correspondence of/2 sixth monitoring points, J 1 2 twelfth pixel coordinates and J 2 And 2 sixth monitoring points are in one-to-one correspondence.
And C3: for J 1 Any one fourth monitoring point of 2 fourth monitoring points and J 2 And (2) any one of the sixth monitoring points, obtaining a third vertical variation of any one of the fourth monitoring points according to the ninth pixel coordinate and the tenth pixel coordinate corresponding to any one of the fourth monitoring points, and obtaining a fourth vertical variation of any one of the sixth monitoring points according to the eleventh pixel coordinate and the twelfth pixel coordinate corresponding to any one of the sixth monitoring points.
The third vertical variation is the vertical variation of any one of the fourth monitoring points in the image, namely the vertical variation of the any one of the fourth monitoring points when the fourth image is compared with the second image; the fourth vertical variation is the vertical variation of any one of the sixth monitoring points in the image, that is, the vertical variation of any one of the sixth monitoring points occurs when the fourth image is compared with the second image, and the method for obtaining the vertical variation of the fourth monitoring point and the vertical variation of the sixth monitoring point is similar to the method for obtaining the vertical variation of the first monitoring point, and is not repeated.
And C4: according to J 1 J corresponding to 2 fourth monitoring points 1 Third vertical variation/2, J 2 J corresponding to/2 sixth monitoring points 2 2 fourth vertical variables, first and second angles of camera array, and J 1 J corresponding to 2 fourth monitoring points 1 2 fifth object plane resolution, and J 2 J corresponding to/2 sixth monitoring points 2 Resolution of/2 sixth object plane, J 1 2 fifth distances, J 2 2 sixth distances and five degree of freedom motion of the deformation measuring device 10, determine J 1 Vertical settlement amount and J of each fourth monitoring point of the 2 fourth monitoring points 2 Vertical settlement of each of the 2 sixth monitoring points.
Wherein J is 1 2 fifthThe distance is that the first camera is respectively connected with J 1 Distance between each of the 2 fourth monitoring points, J 2 The sixth distance is that the second camera is respectively connected with J 2 Distance between each of the 2 sixth monitoring points, J 1 2 fifth distances sum J 2 And (2) the sixth distances are all obtained by pre-calibration.
In addition to J 1 The resolution of the fifth object plane is/2 of the third image pair J 1 Magnification of/2 fourth monitoring points, J 2 2 sixth object plane resolution is fourth image pair J 2 Magnification of 2 sixth monitoring points.
Optionally, in practical situations, the value of the object plane resolution may be obtained by calibrating in the first inspection, that is, in the initial inspection process, or may be obtained by calibrating in any one inspection, or may be obtained by calibrating an average value of object plane resolution values in different inspection processes, which is not limited herein.
In an embodiment of the present application, step C4 includes, but is not limited to, steps D1-D4:
d1: and obtaining a third equation corresponding to any one fourth monitoring point according to the third vertical variable quantity, the fifth object plane resolution, the fifth distance and the five-degree-of-freedom motion quantity corresponding to the any one fourth monitoring point.
In the embodiment of the present application, if any one of the fourth monitoring points is J 1 And (3) a third equation can be obtained through a formula (11) if the U-th fourth monitoring point in the 2 fourth monitoring points is:
Figure BDA0003556721980000191
wherein U is greater than or equal to 1 and less than or equal to J 1 An integer of/2,
Figure BDA0003556721980000192
is J 1 Third vertical variation of the U-th fourth monitoring point of the 2 fourth monitoring points,/L->
Figure BDA0003556721980000193
Fifth object plane resolution for the fifth fourth monitoring point, +.>
Figure BDA0003556721980000194
Fifth distance of the U fourth monitoring point,>
Figure BDA0003556721980000195
is the vertical settlement of the U-th fourth monitoring point, theta B Is used for forming a first included angle, and the first included angle is the first included angle,
Figure BDA0003556721980000196
and->
Figure BDA0003556721980000197
Is a five degree of freedom motion.
D2: and obtaining a fourth equation corresponding to any one of the sixth monitoring points according to the fourth vertical variation corresponding to any one of the sixth monitoring points, the sixth object plane resolution, the sixth distance and the five-degree-of-freedom motion quantity.
In the embodiment of the present application, if any one of the sixth monitoring points is J 2 2 sixth monitoring points W sixth monitoring points, the fourth equation can be obtained by the formula (12):
Figure BDA0003556721980000198
wherein W is greater than or equal to 1 and less than or equal to J 2 An integer of/2,
Figure BDA0003556721980000199
is J 2 Fourth vertical variation of the W-th sixth monitoring point of the 2 sixth monitoring points,/L->
Figure BDA00035567219800001910
Sixth object plane resolution for the W sixth monitoring point, +.>
Figure BDA00035567219800001911
A sixth distance of the W sixth monitoring point,>
Figure BDA00035567219800001912
vertical settlement of the W sixth monitoring point, theta F Is used for forming a second included angle, and the second included angle is the second included angle,
Figure BDA00035567219800001913
and->
Figure BDA00035567219800001914
Is a five degree of freedom motion.
D3: according to J 1 J corresponding to 2 fourth monitoring points 1 Third equation/2 and J 2 J corresponding to/2 sixth monitoring points 2 And 2, obtaining a fourth target equation set.
In the examples of the present application, J 1 Each of the/2 third equations, such as the U-th third equation, is:
Figure BDA00035567219800001915
and J 2 Each of the 2 fourth equations, for example, the W fourth equation is:
Figure BDA00035567219800001916
Combining to obtain a fourth target equation set; illustratively, the fourth set of objective equations may be derived by equation (13):
Figure BDA0003556721980000201
d4: obtaining J according to a fourth objective equation set 1 Vertical displacement and J of each of the 2 fourth monitoring points 2 Vertical displacement of each of the 2 sixth monitoring points.
In the embodiments of the present application, it is intended that according to the fourth aspectThe standard equation sets to find J 1 Vertical displacement and J of each of the 2 fourth monitoring points 2 And (3) the vertical displacement of each of the 2 sixth monitoring points is required to satisfy the fourth objective equation set for solution.
The first camera shoots J 1 2 fourth monitoring points and second camera shooting J 2 When the third equation and the fourth equation are obtained at the sixth monitoring point/2, the above two basic constraints and one optimization constraint are also required to be satisfied, wherein it should be noted that the fixed constraint herein refers to that all cameras included in the camera array in the deformation measuring device 10 have the same amount of motion with five degrees of freedom at the same monitoring position, and other constraints except the fixed constraint are not repeated herein.
Further, according to the fourth objective equation set, 1 independent equation can be listed every time any one of the fourth monitoring point or the sixth monitoring point is imaged. In the embodiment of the application, the method is based on one monitoring position in one inspection, namely a first monitoring position, and J is arranged at the left side of the first monitoring position 1 2 fourth monitoring points, the right side is provided with J 2 The/2 sixth monitoring points are illustrated as examples.
Next, the present application will take a plurality of first monitoring positions as an example, to describe whether a plurality of fourth objective equations corresponding to the plurality of first monitoring positions have solutions: let the number of first monitoring positions be a 2 The total number of marks is E 2 I.e. the total number of monitoring points is E 2 ，a 2 The number of marks shot at the first monitoring positions is G 12 ，G 22 ，G 32 ···G a2 The number of marks (named marks) shot by more than one camera is L 2 ＝G 12 +G 22 +G 32 +···G a2 -E 2 Then the number of independent equations that can be listed is: (G) 12 +G 22 +G 32 +···G a2 ) The method comprises the steps of carrying out a first treatment on the surface of the The number of unknown parameters in the equation set is: e (E) 2 +5*a 2 I.e. comprising E 2 Horizontal displacement of the individual marks and 3a 2 Individual deformationsThe five degree of freedom motion of the device 10 is measured. Thus, to ensure that the equation set has a solution, it is necessary to satisfy "the number of unique cube passes is not less than the number of unknown parameters", i.e. (G 12 +G 22 +G 32 +···G a2 )≥(E 2 +5*a 2 ) And (3) finishing to obtain: l (L) 2 ≥5a 2 That is, when L is satisfied 2 ≥5a 2 At the time, E can be obtained 2 The amount of vertical displacement of the individual monitoring points and the amount of five degrees of freedom movement of the deformation measuring device 10.
It should be noted that, if the solved unknown parameters are all relative variable amounts, and absolute vertical displacement amounts of all monitoring points or vertical displacement amounts of relative reference points need to be obtained, then any 5 reference points or monitoring points with known 5 vertical displacement amounts need to be set on the whole monitoring link from the starting point to the end point, and at this time, when a camera in the camera array shoots any one reference point or any monitoring point with known vertical displacement amount, 1 independent equation will also be generated.
Because whether the solutions of the fourth objective equation sets corresponding to the first monitoring positions are described in consideration of the three-degree-of-freedom motion amounts as the unknown parameters are described, in the embodiments of the present application, any one or more of the three-degree-of-freedom motion amounts may be used as the known parameters instead of the unknown parameters in combination with the actual engineering environment, so that the number of the unknown parameters in the fourth objective equation sets is reduced. The manner of changing the motion amount of the corresponding degree of freedom from the unknown parameter to the known parameter in the motion amount of three degrees of freedom of the deformation measuring device 10 is similar to the manner of changing the motion amount of the corresponding degree of freedom from the unknown parameter to the known parameter in the motion amount of six degrees of freedom of the deformation measuring device 10, and will not be repeated here.
Based on this, if one or more of the three-degree-of-freedom motion amounts is changed from the unknown parameter to the known parameter, the principle of whether the fourth target equation sets corresponding to the first monitoring positions are solved and the principle of whether the first target equation sets corresponding to the first monitoring positions and the second target equation sets are solved are similar when the six-degree-of-freedom motion amounts are both unknown parameters are described.
Referring to fig. 6, fig. 6 is a functional unit block diagram of a deformation measuring device according to an embodiment of the present application. The strain measurement device 600 includes: an acquisition unit 601 and a processing unit 602;
the acquiring unit 601 is configured to, when the mobile platform travels to a first monitoring position of the area to be detected, shoot, by using a first camera in the camera array, a monitoring point in a first area to be detected in the area to be detected, and obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite;
when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through a second camera to obtain a fourth image;
determining J according to the first image and the third image 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point, J 1 The first monitoring points are the monitoring points contained in the first image and the third image, J 2 The second monitoring points are monitoring points contained in both the second image and the fourth image;
a processing unit 602 for obtaining J based on the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
In one embodiment of the present application, J is obtained from the first image, the second image, the third image, and the fourth image 1 The horizontal displacement and the vertical displacement of each first monitoring point in the first monitoring pointsSedimentation amount and J 2 The processing unit 602 is specifically configured to:
acquisition of J 1 J of first monitoring points in first image 1 A first pixel coordinate;
acquisition of J 1 J of first monitoring points in third image 1 A second pixel coordinate;
for J 1 Any one of the first monitoring points obtains a first vertical variation and a first horizontal variation of the any one of the first monitoring points according to the first pixel coordinates and the second pixel coordinates corresponding to the any one of the first monitoring points;
Acquisition of J 2 J of second monitoring points in second image 2 A third pixel coordinate;
acquisition of J 2 J of second monitoring points in fourth image 2 Fourth pixel coordinates;
for J 2 Any one of the second monitoring points obtains a second vertical variation and a second horizontal variation of the any one of the second monitoring points according to a third pixel coordinate and a fourth pixel coordinate corresponding to the any one of the second monitoring points;
according to J 1 J corresponding to the first monitoring points 1 First vertical variation and J 1 First level change amount J 2 J corresponding to the second monitoring points 2 Second vertical variation and J 2 Second level change, first angle, second angle, and J of camera array 1 J corresponding to the first monitoring points 1 First object plane resolution, and J 2 J corresponding to the second monitoring points 2 Second object resolution, J 1 First distance, J 2 A second distance and a six-degree-of-freedom motion of the measuring device, determining J 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each second monitoring point in the plurality of second monitoring points, whereinAn included angle is the included angle between the optical axis of the first camera and the horizontal plane, a second included angle is the included angle between the optical axis of the second camera and the horizontal plane, J 1 The first distance is that the first camera is respectively connected with J 1 The distance, J, between each of the first monitoring points 2 The second distance is that the second camera is respectively connected with J 2 The distance between each of the second monitoring points.
In one embodiment of the present application, the method according to J 1 J corresponding to the first monitoring points 1 First vertical variation and J 1 First level change amount J 2 J corresponding to the second monitoring points 2 Second vertical variation and J 2 Second level change, first angle, second angle, and J of camera array 1 J corresponding to the first monitoring points 1 First object plane resolution, and J 2 J corresponding to the second monitoring points 2 Second object resolution, J 1 First distance, J 2 A second distance and a six-degree-of-freedom motion of the measuring device, determining J 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The processing unit 602 is specifically configured to:
obtaining a first equation group corresponding to any one first monitoring point according to the first vertical variable quantity, the first horizontal variable quantity, the first included angle, the first object plane resolution, the first distance and the six-degree-of-freedom motion quantity corresponding to any one first monitoring point;
Obtaining a second equation set corresponding to any one second monitoring point according to the second vertical variable quantity, the second horizontal variable quantity, the second included angle, the second object resolution, the second distance and the six-degree-of-freedom motion quantity corresponding to any one second monitoring point;
according to J 1 J corresponding to the first monitoring points 1 First equation group J 2 J corresponding to the second monitoring points 2 Obtaining a first target equation set and a second target equation set by the second equation set;
obtaining J according to a first target equation set 1 Vertical settlement and J of each first monitoring point 2 The vertical settlement of each second monitoring point in the second monitoring points is obtained according to a second target equation set 1 The horizontal displacement and J of each first monitoring point 2 The horizontal displacement amount of each of the second monitoring points.
In one embodiment of the present application, J is obtained from the first image, the second image, the third image, and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The processing unit 602 is specifically configured to:
J 1 The number of the first monitoring points is even, and J 1 The first monitoring point is formed by J 1 2 third monitoring points and J 1 2 fourth monitoring points;
J 2 the number of the second monitoring points is even, and J 2 The second monitoring point is composed of J 2 2 fifth monitoring points and J 2 2 sixth monitoring points;
obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and J of each third monitoring point of the 2 third monitoring points 2 Horizontal displacement of each of the 2 fifth monitoring points, and J 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and J 2 Vertical settlement of each of the 2 sixth monitoring points.
In one embodiment of the present application, J is obtained from the first image, the second image, the third image, and the fourth image 1 Horizontal displacement and J of each third monitoring point of the 2 third monitoring points 2 Horizontal displacement of each of the 2 fifth monitoring points, and J 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and J 2 2 sixth monitorsIn terms of the vertical settlement of each sixth monitoring point in the measuring points, the processing unit 602 is specifically configured to:
acquisition of J 1 J of/2 third monitoring points in the first image 1 2 fifth pixel coordinates and J in the third image 1 2 sixth pixel coordinates;
acquisition of J 2 J of 2 fifth monitoring points in the second image 2 2 seventh pixel coordinates and J in the fourth image 2 2 eighth pixel coordinates;
for J 1 Any one of the 2 third monitoring points and J 2 Any one fifth monitoring point of the 2 fifth monitoring points obtains a third horizontal variation of any one third monitoring point according to a fifth pixel coordinate and a sixth pixel coordinate corresponding to any one third monitoring point, and obtains a fourth horizontal variation of any one fifth monitoring point according to a seventh pixel coordinate and an eighth pixel coordinate corresponding to any one fifth monitoring point;
acquisition of J 1 J of/2 fourth monitoring points in the first image 1 2 ninth pixel coordinates and J in the third image 1 2 tenth pixel coordinates;
acquisition of J 2 J of/2 sixth monitoring points in the second image 2 2 eleventh pixel coordinates and J in fourth image 2 2 twelfth pixel coordinates;
for J 1 Any one fourth monitoring point of 2 fourth monitoring points and J 2 Any one of the sixth monitoring points is/are/is obtained according to the ninth pixel coordinate and the tenth pixel coordinate corresponding to any one of the fourth monitoring points, so that the third vertical variation of any one of the fourth monitoring points is obtained according to the eleventh pixel coordinate and the twelfth pixel coordinate corresponding to any one of the sixth monitoring points;
According to J 1 J corresponding to/2 third monitoring points 1 Third level of change/2, J 2 J corresponding to 2 fifth monitoring points 2 2 fourth level change amount, phaseFirst and second angles of the machine array, and J 1 J corresponding to/2 third monitoring points 1 2 third object plane resolutions, and J 2 J corresponding to 2 fifth monitoring points 2 Resolution of/2 fourth object plane, J 1 Third distance/2, J 2 2 fourth distances and the three-degree-of-freedom motion quantity of the measuring device, and determining J 1 Horizontal displacement and J of each of the 2 third monitoring points 2 The horizontal displacement of each fifth monitoring point of the 2 fifth monitoring points, wherein the first included angle is the included angle between the optical axis of the first camera and the horizontal plane, the second included angle is the included angle between the optical axis of the second camera and the horizontal plane, J 1 The third distance is that the first camera is respectively connected with J 1 Distance between each of the 2 third monitoring points, J 2 The second distance is that the second camera is respectively connected with J 2 Distance between each of the 2 fifth monitoring points;
according to J 1 J corresponding to 2 fourth monitoring points 1 Third vertical variation/2, J 2 J corresponding to/2 sixth monitoring points 2 2 fourth vertical variables, first and second angles of camera array, and J 1 J corresponding to 2 fourth monitoring points 1 2 fifth object plane resolution, and J 2 J corresponding to/2 sixth monitoring points 2 Resolution of/2 sixth object plane, J 1 2 fifth distances, J 2 2 sixth distances and five degree of freedom motion of the measuring device, determining J 1 Vertical settlement amount and J of each fourth monitoring point of the 2 fourth monitoring points 2 The vertical settlement of each of the 2 sixth monitoring points, wherein the first included angle is the included angle between the optical axis of the first camera and the horizontal plane, the second included angle is the included angle between the optical axis of the second camera and the horizontal plane, J 1 The first distance is that the first camera is respectively connected with J 1 Distance between each of the 2 fourth monitoring points, J 2 The second distance is that the second camera is respectively connected with J 2 Distance between each of the 2 sixth monitoring points.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, the electronic device 700 includes a transceiver 701, a processor 702, and a memory 703. Which are connected by a bus 704. The memory 703 is used for storing computer programs and data, and the data stored in the memory 703 can be transferred to the processor 702.
The processor 702 is configured to read the computer program in the memory 703 to perform the following operations:
the control transceiver 701 is configured to shoot a monitoring point in a first to-be-detected area in the to-be-detected area through a first camera in the camera array when the mobile platform travels to a first monitoring position in the to-be-detected area, so as to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite;
when the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through a first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through a second camera to obtain a fourth image;
determining J according to the first image and the third image 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point, J 1 The first monitoring points are the monitoring points contained in the first image and the third image, J 2 The second monitoring points are monitoring points contained in both the second image and the fourth image;
obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The horizontal displacement and vertical settlement of each of the second monitoring points.
In one embodiment of the present application, the first, second, third and fourth images are displayed in accordance with the first, second, third and fourth imagesObtaining J of image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The processor 702 is specifically configured to perform the following steps in terms of the horizontal displacement and the vertical settlement of each of the second monitoring points:
acquisition of J 1 J of first monitoring points in first image 1 A first pixel coordinate;
acquisition of J 1 J of first monitoring points in third image 1 A second pixel coordinate;
for J 1 Any one of the first monitoring points obtains a first vertical variation and a first horizontal variation of the any one of the first monitoring points according to the first pixel coordinates and the second pixel coordinates corresponding to the any one of the first monitoring points;
Acquisition of J 2 J of second monitoring points in second image 2 A third pixel coordinate;
acquisition of J 2 J of second monitoring points in fourth image 2 Fourth pixel coordinates;
for J 2 Any one of the second monitoring points obtains a second vertical variation and a second horizontal variation of the any one of the second monitoring points according to a third pixel coordinate and a fourth pixel coordinate corresponding to the any one of the second monitoring points;
according to J 1 J corresponding to the first monitoring points 1 First vertical variation and J 1 First level change amount J 2 J corresponding to the second monitoring points 2 Second vertical variation and J 2 Second level change, first angle, second angle, and J of camera array 1 J corresponding to the first monitoring points 1 First object plane resolution, and J 2 J corresponding to the second monitoring points 2 Second object resolution, J 1 First distance, J 2 A second distance and a six-degree-of-freedom motion of the measuring device, determining J 1 The horizontal displacement and vertical settlement of each first monitoring point in the first monitoring points toJ 2 The horizontal displacement and vertical settlement of each second monitoring point in the second monitoring points, wherein the first included angle is the included angle between the optical axis of the first camera and the horizontal plane, the second included angle is the included angle between the optical axis of the second camera and the horizontal plane, J 1 The first distance is that the first camera is respectively connected with J 1 The distance, J, between each of the first monitoring points 2 The second distance is that the second camera is respectively connected with J 2 The distance between each of the second monitoring points.
In one embodiment of the present application, the method according to J 1 J corresponding to the first monitoring points 1 First vertical variation and J 1 First level change amount J 2 J corresponding to the second monitoring points 2 Second vertical variation and J 2 Second level change, first angle, second angle, and J of camera array 1 J corresponding to the first monitoring points 1 First object plane resolution, and J 2 J corresponding to the second monitoring points 2 Second object resolution, J 1 First distance, J 2 A second distance and a six-degree-of-freedom motion of the measuring device, determining J 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The processor 702 is specifically configured to perform the following steps in terms of the horizontal displacement and the vertical settlement of each of the second monitoring points:
obtaining a first equation group corresponding to any one first monitoring point according to the first vertical variable quantity, the first horizontal variable quantity, the first included angle, the first object plane resolution, the first distance and the six-degree-of-freedom motion quantity corresponding to any one first monitoring point;
Obtaining a second equation set corresponding to any one second monitoring point according to the second vertical variable quantity, the second horizontal variable quantity, the second included angle, the second object resolution, the second distance and the six-degree-of-freedom motion quantity corresponding to any one second monitoring point;
according to J 1 J corresponding to the first monitoring points 1 First equation group J 2 J corresponding to the second monitoring points 2 Obtaining a first target equation set and a second target equation set by the second equation set;
obtaining J according to a first target equation set 1 Vertical settlement and J of each first monitoring point 2 The vertical settlement of each second monitoring point in the second monitoring points is obtained according to a second target equation set 1 The horizontal displacement and J of each first monitoring point 2 The horizontal displacement amount of each of the second monitoring points.
In one embodiment of the present application, J is obtained from the first image, the second image, the third image, and the fourth image 1 Horizontal displacement and vertical settlement of each first monitoring point of the first monitoring points, and J 2 The processor 702 is specifically configured to perform the following steps in terms of the horizontal displacement and the vertical settlement of each of the second monitoring points:
J 1 The number of the first monitoring points is even, and J 1 The first monitoring point is formed by J 1 2 third monitoring points and J 1 2 fourth monitoring points;
J 2 the number of the second monitoring points is even, and J 2 The second monitoring point is composed of J 2 2 fifth monitoring points and J 2 2 sixth monitoring points;
obtaining J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement and J of each third monitoring point of the 2 third monitoring points 2 Horizontal displacement of each of the 2 fifth monitoring points, and J 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and J 2 Vertical settlement of each of the 2 sixth monitoring points.
In one embodiment of the present application, J is obtained from the first image, the second image, the third image, and the fourth image 1 Horizontal displacement and J of each third monitoring point of the 2 third monitoring points 2 Each of the/2 fifth monitoring pointsLevel displacement of monitoring point and J 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and J 2 The processor 702 is specifically configured to perform the following steps in terms of the vertical settlement amount of each of the 2 sixth monitoring points:
Acquisition of J 1 J of/2 third monitoring points in the first image 1 2 fifth pixel coordinates and J in the third image 1 2 sixth pixel coordinates;
acquisition of J 2 J of 2 fifth monitoring points in the second image 2 2 seventh pixel coordinates and J in the fourth image 2 2 eighth pixel coordinates;
for J 1 Any one of the 2 third monitoring points and J 2 Any one fifth monitoring point of the 2 fifth monitoring points obtains a third horizontal variation of any one third monitoring point according to a fifth pixel coordinate and a sixth pixel coordinate corresponding to any one third monitoring point, and obtains a fourth horizontal variation of any one fifth monitoring point according to a seventh pixel coordinate and an eighth pixel coordinate corresponding to any one fifth monitoring point;
acquisition of J 1 J of/2 fourth monitoring points in the first image 1 2 ninth pixel coordinates and J in the third image 1 2 tenth pixel coordinates;
acquisition of J 2 J of/2 sixth monitoring points in the second image 2 2 eleventh pixel coordinates and J in fourth image 2 2 twelfth pixel coordinates;
for J 1 Any one fourth monitoring point of 2 fourth monitoring points and J 2 Any one of the sixth monitoring points is/are/is obtained according to the ninth pixel coordinate and the tenth pixel coordinate corresponding to any one of the fourth monitoring points, so that the third vertical variation of any one of the fourth monitoring points is obtained according to the eleventh pixel coordinate and the twelfth pixel coordinate corresponding to any one of the sixth monitoring points;
According to J 1 J corresponding to/2 third monitoring points 1 Third level of change/2, J 2 J corresponding to 2 fifth monitoring points 2 2 fourth horizontal variables, first and second angles of camera array, and J 1 J corresponding to/2 third monitoring points 1 2 third object plane resolutions, and J 2 J corresponding to 2 fifth monitoring points 2 Resolution of/2 fourth object plane, J 1 Third distance/2, J 2 2 fourth distances and the three-degree-of-freedom motion quantity of the measuring device, and determining J 1 Horizontal displacement and J of each of the 2 third monitoring points 2 The horizontal displacement of each fifth monitoring point of the 2 fifth monitoring points, wherein the first included angle is the included angle between the optical axis of the first camera and the horizontal plane, the second included angle is the included angle between the optical axis of the second camera and the horizontal plane, J 1 The third distance is that the first camera is respectively connected with J 1 Distance between each of the 2 third monitoring points, J 2 The second distance is that the second camera is respectively connected with J 2 Distance between each of the 2 fifth monitoring points;
according to J 1 J corresponding to 2 fourth monitoring points 1 Third vertical variation/2, J 2 J corresponding to/2 sixth monitoring points 2 2 fourth vertical variables, first and second angles of camera array, and J 1 J corresponding to 2 fourth monitoring points 1 2 fifth object plane resolution, and J 2 J corresponding to/2 sixth monitoring points 2 Resolution of/2 sixth object plane, J 1 2 fifth distances, J 2 2 sixth distances and five degree of freedom motion of the measuring device, determining J 1 Vertical settlement amount and J of each fourth monitoring point of the 2 fourth monitoring points 2 The vertical settlement of each of the 2 sixth monitoring points, wherein the first included angle is the included angle between the optical axis of the first camera and the horizontal plane, the second included angle is the included angle between the optical axis of the second camera and the horizontal plane, J 1 The first distance is that the first camera is respectively connected with J 1 Distance between each of the 2 fourth monitoring points, J 2 The second distance is/2Cameras are respectively connected with J 2 Distance between each of the 2 sixth monitoring points.
Specifically, the transceiver 701 may be the acquisition unit 601 of the deformation measuring device 600 of the embodiment of fig. 6, and the processor 702 may be the processing unit 602 of the deformation measuring device 600 of the embodiment of fig. 6.
It should be understood that the electronic device in the present application may include a smart Phone (such as an Android mobile Phone, an iOS mobile Phone, a Windows Phone mobile Phone, etc.), a tablet computer, a palm computer, a notebook computer, a mobile internet device MID (Mobile Internet Devices, abbreviated as MID) or a wearable device, etc. The above-described electronic devices are merely examples and are not intended to be exhaustive and include, but are not limited to, the above-described electronic devices. In practical applications, the electronic device may further include: intelligent vehicle terminals, computer devices, etc.
The present application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement some or all of the steps of any one of the deformation measurement methods described in the above method embodiments.
The present application also provides a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the deformation measurement methods described in the method embodiments above.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required in the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, such as a division of units, merely a division of logic functions, and there may be additional divisions in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units described above may be implemented either in hardware or in software program modules.
The integrated units, if implemented in the form of software program modules and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.
The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the contents of the present specification should not be construed as limiting the present application in summary.

Claims (8)

1. A deformation measurement method, characterized in that the method is applied to a deformation measurement device, the deformation measurement device is provided with a camera array and a mobile platform, and the method comprises:
when the mobile platform runs to a first monitoring position of an area to be detected, shooting monitoring points in a first area to be detected in the area to be detected through a first camera in the camera array to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite;
When the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through the first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through the second camera to obtain a fourth image;
determining J according to the first image and the third image 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point, wherein the J 1 The first monitoring points are monitoring points contained in the first image and the third image, the J 2 The second monitoring points are monitoring points contained in the second image and the fourth image;
acquiring the J 1 J of first monitoring points in the first image 1 A first pixel coordinate;
acquiring the J 1 J of first monitoring points in the third image 1 A second pixel coordinate;
for said J 1 Any one first monitoring point in the first monitoring points is obtained according to the first pixel coordinates and the second pixel coordinates corresponding to the any one first monitoring point;
Acquiring the J 2 J of second monitoring points in the second image 2 A third pixel coordinate;
acquiring the J 2 J of second monitoring points in the fourth image 2 Fourth pixel coordinates;
for said J 2 Any one of the second monitoring points is obtained according to the third pixel coordinate and the fourth pixel coordinate corresponding to the any one of the second monitoring points;
obtaining a first equation set corresponding to any one first monitoring point according to a first vertical variable quantity, a first horizontal variable quantity, a first included angle, a first object plane resolution, a first distance and a six-degree-of-freedom motion quantity of the deformation measuring device, wherein the first included angle is an included angle between an optical axis of the first camera and a horizontal plane, the first distance is a distance between the first camera and any one first monitoring point, and the first object plane resolution is an amplification factor of the third image to the any one first monitoring point;
obtaining a second equation set corresponding to any one second monitoring point according to a second vertical variable quantity, a second horizontal variable quantity, a second included angle, a second object surface resolution, a second distance and the six-degree-of-freedom motion quantity, wherein the second included angle is an included angle between an optical axis of the second camera and a horizontal plane, the second distance is a distance between the second camera and any one second monitoring point, and the second object surface resolution is an amplification factor of the fourth image to the any one second monitoring point;
According to the J 1 J corresponding to the first monitoring points 1 First set of equations and the J 2 J corresponding to the second monitoring points 2 Obtaining a first target equation set and a second target equation set by the second equation set;
obtaining the J according to the first target equation set 1 The vertical settlement of each first monitoring point in the first monitoring points and the J 2 The vertical settlement of each second monitoring point in the second monitoring points is obtained according to the second target equation set 1 The horizontal displacement of each first monitoring point and the J 2 The horizontal displacement amount of each of the second monitoring points.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the J is 1 The number of the first monitoring points is even, and the J 1 The first monitoring point is formed by J 1 2 third monitoring points and J 1 2 fourth monitoring points;
the J is 2 The number of the second monitoring points is even, and theJ 2 The second monitoring point is composed of J 2 2 fifth monitoring points and J 2 2 sixth monitoring points;
the J is obtained according to the first image, the second image, the third image and the fourth image 1 The horizontal displacement and vertical settlement of each first monitoring point in the first monitoring points, and the J 2 The horizontal displacement amount and the vertical settlement amount of each of the second monitoring points include:
obtaining the J according to the first image, the second image, the third image and the fourth image 1 Horizontal displacement of each third monitoring point of the 2 third monitoring points and the J 2 Horizontal displacement of each of 2 fifth monitoring points, and the J 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and the J 2 Vertical settlement of each of the 2 sixth monitoring points.
3. The method of claim 2, wherein the J is derived from the first image, the second image, the third image, and the fourth image 1 Horizontal displacement of each third monitoring point of the 2 third monitoring points and the J 2 Horizontal displacement of each of 2 fifth monitoring points, and the J 1 Vertical settlement of each fourth monitoring point of the 2 fourth monitoring points and the J 2 The vertical settlement amount of each of the 2 sixth monitoring points includes:
acquiring the J 1 J of/2 third monitoring points in the first image 1 2 fifth pixel coordinates and J in the third image 1 2 sixth pixel coordinates;
acquiring the J 2 J of 2 fifth monitoring points in the second image 2 2 seventh pixel coordinates and J in the fourth image 2 2 eighth pixel coordinates;
for said J 1 Any of the/2 third monitoring pointsA third monitoring point and the J 2 Any one fifth monitoring point of the 2 fifth monitoring points, according to a fifth pixel coordinate and a sixth pixel coordinate corresponding to the any one third monitoring point, obtaining a third horizontal variation of the any one third monitoring point, and according to a seventh pixel coordinate and an eighth pixel coordinate corresponding to the any one fifth monitoring point, obtaining a fourth horizontal variation of the any one fifth monitoring point;
acquiring the J 1 J of/2 fourth monitoring points in the first image 1 2 ninth pixel coordinates and J in the third image 1 2 tenth pixel coordinates;
acquiring the J 2 J of/2 sixth monitoring points in the second image 2 2 eleventh pixel coordinates and J in the fourth image 2 2 twelfth pixel coordinates;
for said J 1 Any one fourth monitoring point among 2 fourth monitoring points and the J 2 Any one sixth monitoring point of the 2 sixth monitoring points, according to the ninth pixel coordinate and the tenth pixel coordinate corresponding to the any one fourth monitoring point, obtaining a third vertical variation of the any one fourth monitoring point, and according to the eleventh pixel coordinate and the twelfth pixel coordinate corresponding to the any one sixth monitoring point, obtaining a fourth vertical variation of the any one sixth monitoring point;
According to the J 1 J corresponding to/2 third monitoring points 1 2 third level of change, said J 2 J corresponding to 2 fifth monitoring points 2 2 fourth horizontal variables, first and second angles of the camera array, and J 1 J corresponding to/2 third monitoring points 1 2 third object plane resolutions, and the J 2 J corresponding to 2 fifth monitoring points 2 Resolution of/2 fourth object plane, J 1 Third distance/2, J 2 2 fourth distances and the three-degree-of-freedom motion of the measuring device, determining the J 1 Horizontal displacement of each of the 2 third monitoring points and the J 2 2 thThe horizontal displacement of each fifth monitoring point in the five monitoring points, wherein the first included angle is an included angle between the optical axis of the first camera and the horizontal plane, the second included angle is an included angle between the optical axis of the second camera and the horizontal plane, and the J is that 1 The third distances of/2 are that the first camera is respectively connected with the J 1 Distance between each of the 2 third monitoring points, J 2 And/2 second distances are respectively equal to J 2 Distance between each of the 2 fifth monitoring points;
according to the J 1 J corresponding to 2 fourth monitoring points 1 2 third vertical variables, the J 2 J corresponding to/2 sixth monitoring points 2 2 fourth vertical variables, first and second angles of the camera array, and J 1 J corresponding to 2 fourth monitoring points 1 2 fifth object plane resolutions, and the J 2 J corresponding to/2 sixth monitoring points 2 Resolution of/2 sixth object plane, J 1 2 fifth distances, J 2 2 sixth distances and the five degree of freedom motion of the measuring device, determining the J 1 Vertical settlement of each of the 2 fourth monitoring points and the J 2 The vertical settlement of each sixth monitoring point of the 2 sixth monitoring points, wherein the first included angle is the included angle between the optical axis of the first camera and the horizontal plane, the second included angle is the included angle between the optical axis of the second camera and the horizontal plane, and the J 1 The first distance is that the first camera is respectively connected with the J 1 Distance between each of 2 fourth monitoring points, said J 2 And/2 second distances are respectively equal to J 2 Distance between each of the 2 sixth monitoring points.
4. A method according to claim 3, wherein said method is according to said J 1 J corresponding to/2 third monitoring points 1 2 third level of change, said J 2 J corresponding to 2 fifth monitoring points 2 2 fourth level changeA first included angle, a second included angle of the camera array, and the J 1 J corresponding to/2 third monitoring points 1 2 third object plane resolutions, and the J 2 J corresponding to 2 fifth monitoring points 2 Resolution of/2 fourth object plane, J 1 Third distance/2, J 2 2 fourth distances and the three-degree-of-freedom motion of the measuring device, determining the J 1 Horizontal displacement of each of the 2 third monitoring points and the J 2 The horizontal displacement amount of each of the 2 fifth monitoring points includes:
obtaining a first equation corresponding to any one third monitoring point according to the third horizontal variation corresponding to the any one third monitoring point, the third object plane resolution, the third distance, the first included angle and the three-degree-of-freedom motion quantity;
obtaining a second equation corresponding to any one fifth monitoring point according to the fourth horizontal variation corresponding to the any one fifth monitoring point, the fourth object plane resolution, the fourth distance, the second included angle and the three-degree-of-freedom motion quantity;
According to the J 1 J corresponding to/2 third monitoring points 1 First equation/2 and J 2 J corresponding to 2 fifth monitoring points 2 2, obtaining a third target equation set;
obtaining the J according to the third objective equation set 1 Horizontal displacement of each of the 2 third monitoring points and the J 2 And/2 horizontal displacement of each of the fifth monitoring points.
5. The method according to claim 3 or 4, wherein said step of providing said J 1 J corresponding to 2 fourth monitoring points 1 2 third vertical variables, the J 2 J corresponding to/2 sixth monitoring points 2 2 fourth vertical variables, first and second angles of the camera array, and J 1 J corresponding to 2 fourth monitoring points 1 2 fifth object plane resolutions, and the J 2 J corresponding to/2 sixth monitoring points 2 Resolution of/2 sixth object plane, J 1 2 fifth distances, J 2 2 sixth distances and the five degree of freedom motion of the measuring device, determining the J 1 Vertical settlement of each of the 2 fourth monitoring points and the J 2 Vertical settlement amount of each of the 2 sixth monitoring points, including:
obtaining a third equation corresponding to any one fourth monitoring point according to the third vertical variable quantity, the fifth object plane resolution, the fifth distance, the first included angle and the five-degree-of-freedom motion quantity corresponding to the any one fourth monitoring point;
Obtaining a fourth equation corresponding to any one sixth monitoring point according to the fourth vertical variation corresponding to the any one sixth monitoring point, the sixth object plane resolution, the sixth distance, the second included angle and the five-degree-of-freedom motion quantity;
according to the J 1 J corresponding to 2 fourth monitoring points 1 2 third equations and J 2 J corresponding to/2 sixth monitoring points 2 2 fourth equations to obtain a fourth target equation set;
obtaining the J according to the fourth objective equation set 1 Vertical settlement of each of the 2 fourth monitoring points and the J 2 Vertical settlement of each of the 2 sixth monitoring points.
6. A deformation measurement device, characterized in that, be provided with camera array and moving platform on the deformation measurement device, the device includes: an acquisition unit and a processing unit;
the acquisition unit is used for shooting monitoring points in a first area to be detected in the area to be detected through a first camera in the camera array when the mobile platform runs to a first monitoring position of the area to be detected, so as to obtain a first image; shooting monitoring points in a second to-be-detected area in the to-be-detected area through a second camera in the camera array to obtain a second image, wherein the monitoring points in the first to-be-detected area and the monitoring points in the second to-be-detected area are arranged on two sides of the first monitoring position, and shooting directions of the first camera and the second camera are opposite;
When the mobile platform runs to a second monitoring position of the area to be detected, shooting monitoring points in the first area to be detected through the first camera to obtain a third image; shooting the monitoring points in the second to-be-detected area through the second camera to obtain a fourth image;
the processing unit is used for determining J according to the first image and the third image 1 A first monitoring point; and determining J according to the second image and the fourth image 2 A second monitoring point, wherein the J 1 The first monitoring points are monitoring points contained in the first image and the third image, the J 2 The second monitoring points are monitoring points contained in the second image and the fourth image;
acquiring the J 1 J of first monitoring points in the first image 1 A first pixel coordinate;
acquiring the J 1 J of first monitoring points in the third image 1 A second pixel coordinate;
for said J 1 Any one first monitoring point in the first monitoring points is obtained according to the first pixel coordinates and the second pixel coordinates corresponding to the any one first monitoring point;
Acquiring the J 2 J of second monitoring points in the second image 2 A third pixel coordinate;
acquiring the J 2 J of second monitoring points in the fourth image 2 Fourth pixel coordinates;
for said J 2 Any one of the second monitoring points is obtained according to the third pixel coordinate and the fourth pixel coordinate corresponding to the any one of the second monitoring pointsA second vertical variation and a second horizontal variation of the any one of the second monitoring points;
obtaining a first equation set corresponding to any one first monitoring point according to a first vertical variable quantity, a first horizontal variable quantity, a first included angle, a first object plane resolution, a first distance and a six-degree-of-freedom motion quantity of the deformation measuring device, wherein the first included angle is an included angle between an optical axis of the first camera and a horizontal plane, the first distance is a distance between the first camera and any one first monitoring point, and the first object plane resolution is an amplification factor of the third image to the any one first monitoring point;
obtaining a second equation set corresponding to any one second monitoring point according to a second vertical variable quantity, a second horizontal variable quantity, a second included angle, a second object surface resolution, a second distance and the six-degree-of-freedom motion quantity, wherein the second included angle is an included angle between an optical axis of the second camera and a horizontal plane, the second distance is a distance between the second camera and any one second monitoring point, and the second object surface resolution is an amplification factor of the fourth image to the any one second monitoring point;
According to the J 1 J corresponding to the first monitoring points 1 First set of equations and the J 2 J corresponding to the second monitoring points 2 Obtaining a first target equation set and a second target equation set by the second equation set;
obtaining the J according to the first target equation set 1 The vertical settlement of each first monitoring point in the first monitoring points and the J 2 The vertical settlement of each second monitoring point in the second monitoring points is obtained according to the second target equation set 1 The horizontal displacement of each first monitoring point and the J 2 The horizontal displacement amount of each of the second monitoring points.
7. An electronic device, comprising: a processor and a memory, the processor being connected to the memory, the memory being for storing a computer program, the processor being for executing the computer program stored in the memory to cause the electronic device to perform the method of any one of claims 1-5.
8. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program, which is executed by a processor to implement the method of any of claims 1-5.
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