CN115597514A - Tunnel deformation measurement system, method and device for dynamic networking of slide rail camera - Google Patents

Abstract

The system comprises N sliding rail camera measuring stations fixedly installed along the tunnel direction, each sliding rail camera measuring station comprises a sliding rail and a camera array, the camera array is installed on the sliding rail in a sliding mode, the sliding rails are used for guiding the sliding of the camera array and chain type networking, and N is a positive integer larger than 1. The camera array comprises at least two cameras, the shooting directions of at least one pair of cameras are opposite, the at least two cameras are fixedly connected with each other, and the camera array is used for shooting a point to be measured in a region to be measured of the tunnel and acquiring in-plane displacement data of the point to be measured and position data and posture data of the slide rail camera measuring station. And the in-plane displacement data of the point to be measured, the position data and the posture data of the slide rail camera measuring station are used for determining the deformation condition of the area to be measured in the tunnel. The purpose of greatly improving the tunnel deformation measurement performance is achieved.

Description

Tunnel deformation measurement system, method and device for dynamic networking of slide rail camera

Technical Field

The invention belongs to the technical field of health monitoring of large civil structures, and relates to a tunnel deformation measuring system, method and device for dynamic networking of a slide rail camera.

Background

With the continuous perfection and construction of public infrastructure, the health monitoring technology of the large civil structure is continuously and iteratively upgraded. The tunnel is one of common large-scale civil structures, and the subway tunnel is an important tunnel facility in a modern city, so that the tunnel has extremely important practical significance for monitoring the structural health. The tunnel deformation refers to horizontal displacement, vertical displacement and convergence deformation of a segment structure of the tunnel. In the process of tunnel construction and operation, deformation is one of the main reasons for tunnel cracking and structural failure, and when the deformation exceeds a normal range, the structural characteristics of the tunnel, even the damage of the tunnel, are directly affected, and the personal safety of operation constructors and the train operation safety are seriously threatened.

At present, image measurement is a mature measurement technology which has the advantages of high precision, non-contact, real-time measurement, high-frequency measurement and the like, and is widely applied to the fields of large civil structure displacement deformation measurement, survey and survey, quality monitoring, building construction, three-dimensional reconstruction and the like. For tunnel deformation measurement, the currently common technologies mainly include a tunnel deformation monitoring technology based on a digital photogrammetry technology, an automatic tunnel section deformation monitoring technology based on a series camera network measurement principle, and the like. However, in the process of implementing the present invention, the inventor finds that the above-mentioned conventional tunnel deformation measurement technology still has a technical problem of low tunnel deformation measurement performance.

Disclosure of Invention

Aiming at the problems in the traditional method, the invention provides a tunnel deformation measuring method of a slide rail camera dynamic networking, a tunnel deformation measuring system of the slide rail camera dynamic networking and a tunnel deformation measuring device of the slide rail camera dynamic networking, which can greatly improve the tunnel deformation measuring performance.

In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:

on one hand, the tunnel deformation measuring system for the dynamic networking of the slide rail cameras comprises N slide rail camera measuring stations fixedly installed along the tunnel direction, each slide rail camera measuring station comprises a slide rail and a camera array, the camera array is installed on the slide rail in a sliding mode, the slide rail is used for guiding the sliding and chain networking of the camera array, and N is a positive integer greater than 1;

the camera array comprises at least two cameras, the shooting directions of at least one pair of cameras are opposite, the at least two cameras are fixedly connected with each other, and the camera array is used for shooting a point to be measured in a region to be measured of the tunnel and acquiring in-plane displacement data of the point to be measured and position data and posture data of a slide rail camera measuring station to which the point belongs;

and the in-plane displacement data of the point to be measured, the position data and the posture data of the slide rail camera measuring station are used for determining the deformation condition of the area to be measured in the tunnel.

On the other hand, a tunnel deformation measurement method for the dynamic networking of the sliding rail cameras is further provided, and is applied to the tunnel deformation measurement system for the dynamic networking of the sliding rail cameras, and the method comprises the following steps:

acquiring camera parameters of a camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude;

extracting the coordinates of the image of the point to be measured, which is shot by a camera array on the current tunnel section measuring link, by adopting a sub-pixel positioning method;

according to the image coordinates and the camera parameters of the points to be measured, solving a prestored slide rail observation equation by using a nonlinear optimization method to obtain the position posture change of the slide rail camera measuring station and the in-plane displacement of the common points to be measured; the common point to be measured is a point to be measured in a common view field of two adjacent slide rail camera stations;

according to the position posture change of the slide rail camera measuring station, solving a prestored measuring point displacement equation to obtain the in-plane displacement of the other measuring points to be measured except the common measuring point in the view field of the slide rail camera measuring station;

and controlling the slide rail camera observation station to move and scan the point to be measured on the next tunnel section measuring link, and returning to the step of obtaining the position posture change of the slide rail camera observation station and the in-plane displacement of the public point to be measured by solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinate and the camera parameter of the point to be measured until the in-plane displacement of all the points to be measured in the tunnel is obtained by measurement.

In another aspect, still provide a slide rail camera dynamic network deployment's tunnel deformation measuring device, be applied to foretell slide rail camera dynamic network deployment's tunnel deformation measurement system, the device includes:

the camera parameter module is used for acquiring camera parameters of the camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude;

the measuring point extracting module is used for extracting the coordinates of the image of the point to be measured, which is shot by the camera array on the current tunnel section measuring link, by adopting a sub-pixel positioning method;

the first displacement module is used for solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinates and the camera parameters of the point to be measured to obtain the position and posture change of the slide rail camera station and the in-plane displacement of the common point to be measured; the common point to be measured is a point to be measured in a common view field of two adjacent slide rail camera stations;

the second displacement module is used for solving a prestored measuring point displacement equation according to the position posture change of the slide rail camera measuring station to obtain the in-plane displacement of the rest measuring points except the common measuring point in the view field of the slide rail camera measuring station;

and the scanning control module is used for controlling the slide rail camera measuring station to move and scan the point to be measured on the next tunnel section measuring link and return to trigger the first displacement module until the in-plane displacement of all the points to be measured in the tunnel is obtained through measurement.

On the other hand, the tunnel deformation monitoring equipment comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the tunnel deformation measuring method for the slide rail camera dynamic networking.

One of the above technical solutions has the following advantages and beneficial effects:

the system, the method and the device for measuring the tunnel deformation of the dynamic networking of the slide rail camera integrate the camera array on the slide rail as a new slide rail camera measuring station capable of dynamically networking and patrolling through an image networking measuring technology, and the camera array on the slide rail is used for shooting each point to be measured in a tunnel area to be measured so as to obtain the in-plane displacement data of the point to be measured, the position data, the posture data and the like of the slide rail camera measuring station, so that the in-plane displacement of the tunnel section of each point to be measured is measured based on the photogrammetric principle, and the deformation condition of the tunnel area to be measured is determined. The N slide rail camera stations fixedly installed along the tunnel direction can be used for dynamic chain networking, so that all points to be measured on each transmission measurement link are respectively surveyed, automatic, rapid and efficient survey of large-range regional deformation of the tunnel is realized, and the purpose of greatly improving the tunnel deformation measurement performance is achieved.

Compared with the traditional technology, the method has the advantages that the camera array is integrated on the slide rail, the camera array is guided to move by the slide rail to realize the patrol of a plurality of measuring points, the method for connecting the camera network in series is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the slide rail, the number of required monitoring equipment is greatly reduced, and the simplicity and the flexibility of a monitoring system are improved while the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology are exerted. The image measurement principle is further enriched, and an effective rapid, high-precision and automatic measurement scientific principle and method are provided for the large-range deformation measurement of the tunnel.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a first structural schematic diagram of a tunnel deformation measurement system dynamically networked by a slide rail camera in an embodiment;

fig. 2 is a schematic diagram of a second structure of a tunnel deformation measurement system dynamically networked by a slide rail camera in an embodiment;

FIG. 3 is a third schematic diagram of a tunnel deformation measurement system dynamically networked by slide rail cameras in an embodiment;

FIG. 4 is a schematic view of an installation of a slide rail camera station in one embodiment;

FIG. 5 is a schematic view of another embodiment of a mounting of a slide rail camera station;

fig. 6 is a schematic flow chart of a tunnel deformation measurement method of a slide rail camera dynamic networking in an embodiment;

FIG. 7 is a schematic diagram of a sled camera station rover position 1 in one embodiment;

FIG. 8 is a schematic diagram of a sled camera station rover position 2 in one embodiment;

FIG. 9 is a schematic diagram of a sled camera station rover position 3 in one embodiment;

FIG. 10 is a schematic diagram of a sled camera station rover position 4 in one embodiment;

FIG. 11 is a schematic illustration of a sled camera rover station roving position 5 in one embodiment;

fig. 12 is a schematic flowchart of a tunnel deformation measurement method of a slide rail camera dynamic networking in another embodiment;

fig. 13 is a schematic block structure diagram of a tunnel deformation measurement apparatus of a slide rail camera dynamic networking in an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It should be noted that the terms "first" and "second" etc. in this application are used for distinguishing different objects, and are not used for describing a specific order. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase 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. One skilled in the art will appreciate that the embodiments described herein can be combined with other embodiments. The term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

The image measuring technology is a relatively developed measuring technology, relates to the subject fields of optical measurement, photogrammetry, computer vision and the like, and has the advantages of high precision, long distance, multipoint, dynamic and real-time measurement and the like. The invention provides a design scheme for integrating a camera array on a slide rail based on an image networking measurement technology, realizes the patrol measurement of a plurality of measuring points by moving on the slide rail, expands a series camera network method from a traditional static networking mode based on a fixed platform to a dynamic networking mode based on the slide rail, greatly reduces the number of required monitoring equipment, and improves the simplicity and the flexibility of a monitoring system. The image measurement principle is further enriched, and an effective rapid, high-precision and automatic measurement scientific principle and method are provided for the large-range deformation measurement of the tunnel.

The sliding rail referred to in the present application means that the platform on which the camera array for monitoring is mounted has a movable property, such as but not limited to a one-axis mobile station, a two-axis mobile station, a three-axis mobile station, and the like. The method of the chained camera network can be understood by referring to the related measurement technique of the serial camera in the prior art, and the detailed description is not repeated in the present specification.

The following detailed description of the embodiments of the invention will be made with reference to the accompanying drawings.

In one embodiment, please refer to fig. 1, which provides a dynamic networking tunnel deformation measuring system 100 of slide rail cameras, which includes N slide rail camera stations 12 fixedly installed along a tunnel direction. Each slide rail camera station 12 includes a slide rail 121 and a camera array 123. The camera array 123 is slidably mounted on the slide rail 121. The slide rail 121 is used for guiding the sliding and chain networking of the camera array 123, and N is a positive integer greater than 1. The camera array 123 includes at least two cameras and at least one pair of cameras have opposite shooting directions. At least two cameras are fixedly connected with each other. The camera array 123 is configured to shoot the point 101 to be measured in the area to be measured in the tunnel, and acquire in-plane displacement data of the point 101 to be measured, and position data and posture data of the slide rail camera measurement station 12 to which the point belongs. The in-plane displacement data of the point to be measured 101, the position data and the posture data of the slide rail camera measuring station 12 are used for determining the deformation condition of the area to be measured in the tunnel.

It is understood that the camera array 123 is formed by two or more cameras fixedly mounted on the slide rail 121, and may be calibrated before mounting, so that the relative mounting (e.g., position and/or posture) relationship of each camera does not change during the movement of each camera on the slide rail 121. The number of the slide rail camera stations 12 can be flexibly set according to the section size, the tunnel length and/or the measurement accuracy and the like of the tunnel to be monitored. Similarly, in the camera array 123 on each slide rail camera station 12, the number of cameras and the types of cameras included in the camera array can be flexibly set according to actual monitoring needs. Each slide rail camera survey station 12 can be installed on the monitoring website of reserving in the tunnel with equal interval or unequal interval, specifically can take place the probability and nimble setting according to the deformation of different regions in the tunnel.

At each slide rail camera station 12, at least one pair of cameras with opposite shooting directions are included in the camera array 123, and for convenience of description, the cameras in the camera array 123 can be divided into two types, namely a forward camera array 123 and a backward camera array 123: firstly, dividing cameras with the shooting direction consistent with the tunnel trend into a forward camera array 123 (which can comprise a measuring camera and a monitoring camera (optional) for measuring the point to be measured 101); secondly, a camera with a shooting direction opposite to the tunnel direction is scratched into the backward camera array 123 (which may include the point to be measured 101 measuring camera and the monitoring camera (optional)).

When the camera array 123 on each slide rail camera observation station 12 moves to the current position to measure one or more points 101 to be measured on each tunnel cross section, a common view field exists between two adjacent slide rail camera observation stations 12 in front and back on a transmission measurement link where each slide rail camera observation station 12 of the current chain type network is located, so that the cameras (the forward camera array 123 of the front observation station and the backward camera array 123 of the back observation station) on the two adjacent slide rail camera observation stations 12 in front and back can see the common point 101 to be measured, and the in-plane displacement (the position difference relative to the initial state) of the common point 101 to be measured can be measured, and then the in-plane displacement of other points 101 to be measured (other than the common point 101 to be measured of the front and back observation stations) in the camera view fields in front and back of the two observation stations can be measured quickly.

For internal parameters (such as a focal length of a camera) and external parameters (such as an installation position and an attitude) of the slide rail camera station 12, measurement tools such as a total station existing in the field can be adopted to measure initial coordinates of the point 101 to be measured and installation position coordinates of the station, and methods such as beam adjustment are used to optimally solve the aforementioned parameters of the slide rail 121 camera. The mounting relationship between the camera array 123 and the slide rail 121 can be directly obtained by using methods such as hand-eye calibration and the like existing in the field. After the camera array 123 shoots the point 101 to be measured in the area to be measured in the tunnel, the image coordinates of the point 101 to be measured can be extracted with high precision by using the sub-pixel positioning method existing in the field, and the position data and the posture data of the camera array 123 on each slide rail camera measuring station 12, the in-plane displacement data of the point 101 to be measured and the like are acquired based on the photogrammetry principle. The deformation condition of the area to be measured of the tunnel can be directly monitored by the data obtained by each measurement.

In some embodiments, optionally, the tunnel deformation measurement system 100 dynamically networked by a slide rail camera may perform measurement by using a periodic patrol, and from an initial time of the first measurement, the slide rail 121 controls the camera to patrol the points 101 to be measured between the stations, where a patrol of all the points 101 to be measured is completed, that is, a measurement period. In the initial state, the camera on the slide rail 121 is controlled to complete the patrol of the point to be measured 101, and the measurement time of the point to be measured 101 in this state is recorded as the initial time, or the state within a period of time is used as the average to be taken as the initial state.

The tunnel deformation measuring system 100 based on the dynamic networking of the slide rail camera integrates the camera array 123 on the slide rail 121 to serve as a new slide rail camera measuring station 12 capable of dynamically networking and patrolling through an image networking measuring technology, and the camera array 123 on the slide rail 121 is used for shooting each point 101 to be measured in a tunnel area to be measured so as to obtain in-plane displacement data of the point 101 to be measured, position data and posture data of the slide rail camera measuring station 12 to which the point 101 belongs, and the like, so that the in-plane displacement of the tunnel section of each point 101 to be measured can be measured based on a photogrammetric principle, and the deformation condition of the tunnel area to be measured can be determined. The N slide rail camera survey stations 12 fixedly installed along the tunnel direction can be used for dynamic chain networking, so that all points to be measured 101 on each transmission measurement link can be surveyed, automatic, fast and efficient survey of large-range deformation of the tunnel is achieved, and the purpose of greatly improving the tunnel deformation measurement performance is achieved.

Compared with the traditional technology, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array 123 is integrated on the slide rail 121, the slide rail 121 guides the camera array to move to realize the patrol of a plurality of measuring points, the method for connecting the camera network in series is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the slide rail 121, the number of required monitoring equipment is greatly reduced, and the simplicity and the flexibility of a monitoring system are improved. The image measurement principle is further enriched, and an effective rapid, high-precision and automatic measurement scientific principle and method are provided for large-range deformation measurement of the tunnel.

In one embodiment, the cameras in the camera array 123 include a large-field-of-view monitoring camera for detecting foreign object detachment in the area to be detected in the tunnel.

It can be understood that, in the camera array 123 of each slide rail camera station 12, a large view field monitoring camera may be included, so that the camera array 123 is aligned to the point to be measured 101 more quickly during the movement process on the slide rail 121, and provides visual guidance and a function of detecting the falling of foreign objects in the tunnel during the inspection process, thereby further improving the measurement efficiency and simultaneously realizing the detection of surface defects such as the falling of foreign objects and the damage of the tunnel.

In one embodiment, the camera array 123 includes cameras in which some or all of the cameras have different focal lengths. It can be understood that in the camera array 123 of each slide rail camera station 12, the cameras may be cameras with different focal lengths, and the cameras may also be cameras with the same focal length, and may be specifically determined according to the distance between the point to be measured 101 and the station, for example, but not limited to, the cameras may be divided into three types, namely a near field, a middle field, and a far field, and correspond to the point to be measured 101 that measures the near field, the point to be measured 101 that measures the middle field, and the point to be measured 101 that measures the far field, respectively, where the focal length of the near field camera < the focal length of the middle field camera < the focal length of the far field camera. Thereby, the measurement efficiency can be further improved.

In one embodiment, as shown in fig. 2, the above-mentioned tunnel deformation measuring system 100 of the slide rail camera dynamic network may further include at least two reference points 14. The reference point 14 is located in a transmission measurement network formed by dynamic chain type networking of the N sliding rail camera measurement stations 12 in the tunnel, and the reference point 14 comprises an observation point with an rigid position in a region to be measured in the tunnel, an observation point with known horizontal and vertical displacements in the region to be measured in the tunnel, or a point to be measured 101 with known settlement and horizontal displacement in the region to be measured in the tunnel. The reference points 14 are used to indicate the amount of sway of each slide rail camera station 12.

It can be understood that, in the measurement, considering the influence of the instability of the slide rail camera station 12 itself and the low moving precision on the measurement result, the reference points 14 can also be set: based on the requirements of the dynamic camera networking measurement method, at least two 2 reference points 14 which are strictly fixed or have known horizontal and vertical displacements can be set, the positions of the reference points 14 in the whole monitoring link can be not required, and the reference points 14 can also be points 101 to be measured, of which the settlement amount and the horizontal displacement are known.

The reference point 14 is used for solving the shaking amount of each slide rail camera measuring station 12 according to the known constraint relation in the field, and further the reference point 14 can be used for correcting the in-plane displacement of the measured point 101 to be measured (the specific correction mode can be understood by referring to the existing shake amount-based correction mode in the field), so that the influence of instability and low movement precision of the slide rail camera measuring station 12 on the measurement result is eliminated, and the measurement precision is further improved.

In one embodiment, as shown in fig. 3, the slide rail camera station 12 further comprises an IMU, an electronic water and/or pan-tilt-level mounted on the slide rail 121, the IMU and/or the electronic level for assisting in setting the path and position of movement of the camera array 123 on the slide rail 121. The pan-tilt is used for controlling the camera array 123 to rotate and align the point to be measured 101.

It can be understood that, in this embodiment, the slide rail movement assistor 16 may be further installed on each slide rail camera survey station 12, the slide rail movement assistor 16 may be an IMU, an electronic level meter, or a pan-tilt head, or may be installed at least two of the IMU, the electronic level meter, and the pan-tilt head at the same time, specifically selected according to applicable needs, and the camera array 123 may also be installed on the slide rail 121 through the pan-tilt head at the same time. The camera array 123 on the slide rail camera survey station 12 synchronously shoots the point to be measured 101 in the moving process of the slide rail 121, and the moving path and position of the camera array 123 on the slide rail 121 can be manually set in advance, and can also be read and set according to inertial navigation components such as an IMU (inertial measurement unit) or an electronic level gauge, so that accurate alignment and patrol of the point to be measured 101 are realized, and the measurement efficiency is improved. The pan-tilt can assist in controlling the camera array 123 to align with the point to be measured 101 in the moving process of the slide rail 121 more flexibly, efficiently and accurately.

In addition, the moving position of the camera array 123 on the slide rail 121 during shooting can be recorded, and the moving position can be used for distinguishing different measuring station positions in one patrol process, and provides reference for the correspondence of the slide rail camera measuring station 12 at the same moving position in the two patrol processes.

In one embodiment, the tunnel deformation measurement system 100 dynamically networked by the slide rail cameras may further include a survey point mark. The measuring point marks are arranged at the points to be measured 101 and correspond to the points to be measured 101 one by one, and the measuring point marks are used for marking the points to be measured 101 to the camera array 123.

It is understood that the measuring point marks shot by camera recognition can be used for marking each measuring point 101 to be measured, thereby providing measuring point alignment and shooting efficiency.

In one embodiment, the measurement point mark includes a natural structural feature, a passive reflective mark or an active light-emitting mark on the tunnel segment at the corresponding point to be measured 101.

Optionally, in this embodiment, the measurement point mark may be directly provided by a natural structural feature of the tunnel slice at the to-be-measured point 101, or a specially-arranged passive reflective mark or active light-emitting mark may be adopted. Specifically, the measuring point marks can be round in shape, can also be opposite vertex angle, and can also be square, cross or five-pointed star and other shapes which are easy to recognize. The measuring point mark at each point to be measured 101 can be actively lighted, and can also be based on reflection sunlight or other light sources fixedly installed in a reflection tunnel. Preferably, the station marks can be infrared luminous marks so as to meet the requirement of measurement all day.

In one embodiment, slide rails 121 are disposed along both sides of the tunnel section for guiding the camera array 123 up and down the tunnel section on the slide rails 121. Alternatively, in the above embodiment, in each slide rail camera station 12, the shape of the slide rail 121 may be a straight line, a curved line, or other geometric shapes. In this embodiment, pairs of linear sliding rails 121 may be adopted and installed on both sides of the tunnel section, as shown in fig. 4, the camera array 123 on the sliding rails 121 may move up and down along the tunnel section, so as to realize efficient observation of different positions to-be-measured points in the tunnel section. The slide rail 121 may be a single rail, or a double rail or more than three rails, and may be determined according to the installation and movement requirements of the camera array 123.

In one embodiment, the slide rail 121 is disposed in a tunnel section loop for guiding the camera array 123 to move on the slide rail 121 in the tunnel section loop. Optionally, in this embodiment, an annular slide rail 121 may be adopted and installed on the periphery of the tunnel cross section, as shown in fig. 5, the camera array 123 on the slide rail 121 may move circumferentially along the tunnel cross section, so as to realize efficient observation of the points to be measured at different positions in the tunnel cross section. The slide rail 121 may be a single rail, or a double rail or more than three rails, and may be determined according to the installation and movement requirements of the camera array 123.

In an embodiment, please refer to fig. 6, an embodiment of the present application provides a method for measuring tunnel deformation of a sliding track camera dynamic networking, which is applied to a system for measuring tunnel deformation of a sliding track camera dynamic networking, where the system includes N sliding track camera stations fixedly installed along a tunnel direction, each sliding track camera station includes a sliding track and a camera array, the camera array is slidably installed on the sliding track, the sliding track is used for controlling and guiding sliding and chain networking of the camera array, and N is a positive integer greater than 1; the camera array comprises at least two cameras, the shooting directions of at least one pair of cameras are opposite, the at least two cameras are fixedly connected with each other, and the camera array is used for shooting points to be measured in a tunnel region to be measured.

It will be appreciated that the rigid station camera can be modeled as a perspective projection model, taking the adjacent slide rail camera stations at a certain scanning position (the inspection position 1 of the slide rail camera station shown in fig. 7) as an example, the slide rail camera station S _i Right camera (2)

And slide rail camera survey station S _i+1 Left camera

Can see the common point P to be measured _m,n (n-th point of m-th tunnel cross section) and P _m+1,n (nth point of the (m + 1) th tunnel section), the observation equation can be expressed as:

in the above formula, the first and second carbon atoms are,

as an intrinsic parameter of the camera, R _B,C And T _B,C In order to set the camera in a mounted posture,

which are the initial coordinates of the point to be measured, these parameters can be obtained by off-line calibration,

is a depth factor.

The parameters to be measured include the position and attitude changes of the slide rail camera station (particularly the camera array thereon)

And the displacement deltaP of the point to be measured ^B . Strictly speaking, the attitude of the slide rail camera survey station comprises 6 parameters (translation parameter 3, t is t) _x ,t _y ,t _z (ii) a The attitude parameters are 3, and are alpha, beta and gamma, and the rotation around the axes x, y and z respectively), and the relationship between the attitude angle and the rotation torque matrix is as follows:

where c θ represents cos θ, s θ represents sin θ, θ represents the rotation angle, and θ may be α, β, γ.

In some embodiments, the tunnel deformation mainly includes horizontal displacement, vertical displacement and convergence deformation in a tunnel section (cross section), so that tunnel direction displacement of a point to be measured can be ignored, tunnel direction displacement of a station and rotation (optional) of the station around the tunnel direction can be ignored, and therefore, the measurement model can be simplified, the parameters to be solved of the slide rail camera station are changed into 4 (in-plane displacement, pitch angle and yaw angle, representing position and posture change of the station), and the parameters to be solved of the point to be measured are changed into 2 (in-plane displacement). Optionally, it may be further assumed that the depth of the same point at the front and rear time is not changed, so equation (1) may be simplified to the following pre-stored slide rail observation equation:

wherein,

showing two time instants (t) before and after ₀ ，t ₁ ) Right camera

Measured point p to be measured ^m,n The displacement of (a) is greater than (b),

showing two moments (t) before and after ₀ ，t ₁ ) Left camera

Measured point p to be measured ^m,n A denotes a depth factor, K _C Representing an intrinsic camera parameter, R _B,C The mounting posture of the camera is represented,

showing two moments (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i Is changed in the position of the movable body,

showing two moments (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i+1 Is changed in the position of the movable body,

showing two time instants (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i The change in the posture of the vehicle,

showing two time instants (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i+1 The change in the posture of the vehicle,

slide rail camera station S _i Measured point p to be measured ^m,n Initial coordinates of，

Slide rail camera station S _i+1 Measured point p to be measured ^m,n Is determined by the initial coordinates of the first and second coordinates,

slide rail camera station S _i Measured point p to be measured ^m,n Is detected by the displacement of (a) a,

slide rail camera station S _i+1 Measured point p to be measured ^m,n Displacement of (2).

The method comprises the following processing steps 12 to 20:

step 12, acquiring camera parameters of a camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude.

It can be understood that, for quickly calibrating parameters of the camera on the slide rail, such as internal parameters including focal length and the like, and external parameters including mounting position, mounting posture and the like, the initial coordinates of the point to be measured and the mounting position coordinates of the measuring station can be measured by means of a measuring tool such as a total station, and the parameters of the slide rail camera can be optimized and solved by using methods such as beam adjustment and the like. The installation relation between the camera array and the slide rail can be obtained by using methods such as hand-eye calibration and the like.

And step 14, extracting the coordinates of the image of the point to be measured, which is shot by the camera array on the current tunnel section measuring link, of the point to be measured by adopting a sub-pixel positioning method.

It can be understood that various sub-pixel positioning methods in the prior art can be used for extracting the coordinates of the image of the point to be measured with high precision.

Step 16, solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinates and the camera parameters of the point to be measured to obtain the position and posture change of the slide rail camera measuring station and the in-plane displacement of the common point to be measured; the common point to be measured is the point to be measured in the common view field of the two adjacent slide rail camera measuring stations.

It can be understood that, in practical application, the coordinate change of the image of the point to be measured and the pose change (installation position and installation pose) of the measurement station are both variable quantities, so that the image coordinate of the point to be measured and the pose of the measurement station at an initial time need to be prestored, the measurement station can be controlled to move to a preset position (corresponding to an initial state) at the initial time on the slide rail at the later time, and then the position pose change of the measurement station relative to the preset position at the initial time is solved by using the common point to be measured and the fixed point.

Calculating the pose change of the measuring station and the in-plane displacement of the point to be measured: it can be assumed that there are M (M is greater than a positive integer) slide rail camera stations, each scanning measurement has 2 common points to be measured between the front and rear slide rail camera stations, and there are 8M equations for the current whole transmission measurement link, and the amount to be calculated is 8M +4, so that only the horizontal and vertical displacements (optional: the motionless points with unchanged horizontal and vertical displacements) of 2 points in the transmission measurement link need to be known, an equation system can be constructed by using equation (3), and the position and attitude changes (the attitude difference relative to the initial state after scanning in the same observation field) and the in-plane displacement (the position difference relative to the initial state) of the common points to be measured can be solved simultaneously by using a nonlinear optimization method.

And step 18, solving a prestored measuring point displacement equation according to the position posture change of the slide rail camera measuring station to obtain the in-plane displacement of the other measuring points except the common measuring point in the view field of the slide rail camera measuring station.

It can be understood that the attitude change of the slide rail camera observation station relative to the initial state according to the solution

And

according to a prestored measuring point displacement equation, the in-plane displacement of other measuring points to be measured (other than the common measuring point to be measured of the front and rear measuring stations) in the camera view fields at the front and rear of the camera array on the slide rail can be solved.

In some embodiments, the pre-stored site displacement equation is:

wherein, Δ p represents the in-plane displacement of the rest points to be measured, λ represents the depth factor, K represents the camera internal parameter, R _B,C Which represents the mounting posture of the camera,

showing two time instants (t) before and after ₀ ，t ₁ ) The position of the slide rail camera survey station changes,

represents the initial coordinate, delta P, of the point to be measured at the measuring station of the slide camera ^B Represents the displacement of the common point to be measured,

showing two moments (t) before and after ₀ ，t ₁ ) The attitude of the slide rail camera survey station changes.

In some embodiments, the equation (3) for solving the attitude change of the measurement station of the slide rail camera and the in-plane displacement of the point to be measured can be used for solving the equation (4) for solving the in-plane displacement of the point to be measured according to the solved attitude change of the measurement station of the slide rail camera, the matrix equations (3) and (4) can also be expanded into a form of an equation set (the left sides of the equations are respectively the variable quantities of the image coordinates x and y of the point to be measured), and only the variable quantities in the x direction or the y direction can be taken according to requirements (the corresponding measurement station position and the displacement of the point to be measured only take the horizontal direction or the vertical direction, and the measurement station attitude angle only takes the yaw angle or the pitch angle).

And 20, controlling the slide rail camera survey station to movably scan the points to be measured on the next tunnel section measuring link and returning to the step 16 until the in-plane displacement of all the points to be measured in the tunnel is obtained through measurement.

It can be understood that, in order to implement the full coverage measurement of the point to be measured on the tunnel section, as shown in fig. 8 and fig. 9, the track camera survey position 2 and the track camera survey position 3 are respectively a moving position of the camera array on the survey station, the track camera survey station in the transfer measurement link can be controlled to scan the point to be measured (a scanning track can be set in an initial state, or the camera array on the survey station is guided to move to align with the point to be measured according to the coordinates of the point to be measured extracted from the monitoring camera), and a new transfer measurement link is constructed. The point to be measured solved by the last dynamically constructed transmission measurement link can be used as a control point with known in-plane displacement in the next transmission measurement (optionally, assuming that the displacement of the point to be measured does not change in a short time), the attitude change of the slide rail station relative to the corresponding initial state and the in-plane displacement of the common point to be measured between the front and rear stations need to be measured in the new transmission measurement link, and the in-plane displacement of other points to be measured (not the common point to be measured between the front and rear stations) in the camera view field in the front and rear of the slide rail camera station is solved by using the formula (4) in the same manner according to the solved station attitude change.

As shown in fig. 10 and fig. 11, the above steps 16 to 20 are repeatedly executed until all the points to be measured are measured, and the whole measurement period is finished by the end of the measurement period, the movement of the camera in the slide rail camera station is controlled to realize the coverage measurement of all the points to be measured, and dynamic networking is realized according to the common points to be measured of the front and rear slide rail camera stations, so that the contradiction problems of large measurement range and high precision are effectively solved. Similarly, the next measurement cycle can be executed from the step 14.

According to the tunnel deformation measuring method for the dynamic networking of the slide rail camera, the camera array is integrated on the slide rail to serve as a novel slide rail camera measuring station capable of realizing the dynamic networking patrol measurement based on the image networking measuring technology, the camera array on the slide rail is used for shooting each point to be measured in the tunnel area to be measured so as to obtain the in-plane displacement data of the point to be measured, the position data and the posture data of the slide rail camera measuring station, and the like, so that the in-plane displacement of the tunnel section of each point to be measured can be measured based on the photogrammetric principle, and the deformation condition of the tunnel area to be measured can be determined. The N slide rail camera stations fixedly installed along the tunnel direction can be used for dynamic chain networking, so that all points to be measured on each transmission measurement link are respectively surveyed, automatic, rapid and efficient survey of large-range regional deformation of the tunnel is realized, and the purpose of greatly improving the tunnel deformation measurement performance is achieved.

Compared with the traditional technology, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array is integrated on the slide rail, the camera array is guided to move by the slide rail to realize the patrol of a plurality of measuring points, the method for connecting the camera network in series is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the slide rail, the number of required monitoring equipment is greatly reduced, and the monitoring simplicity and flexibility are improved. The image measurement principle is further enriched, and an effective rapid, high-precision and automatic measurement scientific principle and method are provided for the large-range deformation measurement of the tunnel.

In an embodiment, as shown in fig. 12, the tunnel deformation measurement method for the sliding track camera dynamic networking may further include the steps of:

solving according to a constraint relation corresponding to the set reference point to obtain the shaking amount of each slide rail camera measuring station;

and correcting the in-plane displacement of each corresponding point to be measured by using each shaking amount.

It can be understood that, considering that the slide rail camera observation station is unstable and the moving precision is low to the influence of measuring result, can also set up the benchmark: based on the requirements of a dynamic camera networking measurement method, at least two 2 reference points with known strict motionlessness or horizontal and vertical displacements can be set, the positions of the reference points in the whole monitoring link can be not required, and the reference points can also be points to be measured with known settlement and horizontal displacement.

The shaking amount of each slide rail camera observation station is solved by using the datum points according to the known constraint relation in the field, and then the datum points can be used for correcting the in-plane displacement of the measured point to be measured (the specific correction mode can be understood by referring to the existing shake amount-based correction mode in the field), so that the influence of instability and low movement precision of the slide rail camera observation station on the measurement result is eliminated, and the measurement precision is further improved.

Specifically, the specific implementation flow in this embodiment may be: shooting images at each preset position, calibrating a camera and extracting coordinates of the images of the points to be measured (the coordinates can be recorded as an initial state and are recorded only once). At the subsequent moment, controlling a camera to shoot a preset point (synchronously controlling a plurality of slide rail stations to form a measurement transmission link), simultaneously calculating the platform shaking amount and the in-plane displacement of the common point to be measured (relative to the initial state) by adopting a nonlinear optimization method according to the image coordinate change of the common point to be measured and the image coordinate change of the reference point (the image coordinate of the reference point also changes because the camera shakes), and calculating the in-plane displacement of the non-common point to be measured according to the calculated platform shaking amount and the image coordinate change of the non-common point to be measured; repeating the above steps, controlling the measurement to move to the next preset position, thereby completing the coverage measurement of all points (this step is the measurement operation to be performed in each measurement cycle).

In one embodiment, the sub-pixel localization method may optionally include an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale map fitting method, or a least squares fitting method. It can be understood that the detailed explanation of each sub-pixel positioning method can be understood by referring to the descriptions of the foregoing methods in the prior art, and the detailed description is not repeated in this specification.

It should be understood that although the steps in the flowcharts of fig. 6 and 12 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps of fig. 6 and 12 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Referring to fig. 13, in an embodiment, a device 200 for measuring tunnel deformation of a slide rail camera dynamic network is provided, which can be applied to a system for measuring tunnel deformation of a slide rail camera dynamic network. Every slide rail camera survey station all includes slide rail and camera array, and camera array slidable mounting is on the slide rail. The slide rail is used for guiding the sliding and chain type networking of the camera array, and N is a positive integer larger than 1. The camera array comprises at least two cameras, and at least one pair of cameras have opposite shooting directions. At least two cameras link firmly the setting each other. The camera array is used for shooting points to be measured in the area to be measured of the tunnel.

The tunnel deformation measuring device 200 of the slide rail camera dynamic networking comprises a camera parameter module 11, a measuring point extraction module 13, a first displacement module 15, a second displacement module 17 and a scanning control module 19. The camera parameter module 11 is configured to obtain camera parameters of a camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude. The measuring point extracting module 13 is configured to extract coordinates of an image of the point to be measured, which is shot by the camera array on the current tunnel section measuring link, by using a sub-pixel positioning method. The first displacement module 15 is used for solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinates of the point to be measured and the camera parameters to obtain the position posture change of the slide rail camera observation station and the in-plane displacement of the public point to be measured; the common point to be measured is the point to be measured in the common view field of the two adjacent slide rail camera stations. The second displacement module 17 is used for solving a prestored measuring point displacement equation according to the position posture change of the slide rail camera measuring station to obtain the in-plane displacement of the other measuring points except the common measuring point in the view field of the slide rail camera measuring station. The scanning control module 19 is used for controlling the slide rail camera survey station to move and scan the point to be measured on the next tunnel section measurement link and return to trigger the first displacement module 15 until the in-plane displacement of all the points to be measured in the tunnel is obtained through measurement.

The tunnel deformation measuring device 200 for dynamic networking of the slide rail camera integrates a camera array on a slide rail through cooperation of all modules and based on an image networking measurement technology to serve as a new slide rail camera measuring station capable of dynamically networking and patrolling, and the camera array on the slide rail is used for shooting each point to be measured in a tunnel area to be measured so as to obtain in-plane displacement data of the point to be measured, position data and posture data of the slide rail camera measuring station to which the point to be measured belongs and the like, so that the in-plane displacement of the tunnel section of each point to be measured is measured based on a photogrammetric principle, and the deformation condition of the tunnel area to be measured is determined. The N slide rail camera stations fixedly installed along the tunnel direction can be used for dynamic chain networking, so that all points to be measured on each transmission measurement link are respectively surveyed, automatic, rapid and efficient survey of large-range regional deformation of the tunnel is realized, and the purpose of greatly improving the tunnel deformation measurement performance is achieved.

Compared with the traditional technology, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array is integrated on the slide rail, the camera array is guided to move by the slide rail to realize the patrol of a plurality of measuring points, the method for connecting the camera network in series is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the slide rail, the number of required monitoring equipment is greatly reduced, and the monitoring simplicity and flexibility are improved.

In one embodiment, the tunnel deformation measuring device 200 dynamically networked by the slide rail camera may further include a shake amount module and a displacement correction module. And the shaking amount module is used for solving according to the constraint relation corresponding to the set reference point to obtain the shaking amount of each slide rail camera measuring station. And the displacement correction module is used for correcting the in-plane displacement of each corresponding point to be measured by using each shaking amount.

In one embodiment, the aforementioned sub-pixel localization method may include an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale map fitting method, or a least-squares fitting method.

In one embodiment, the pre-stored slide rail observation equation is:

wherein,

showing two moments (t) before and after ₀ ，t ₁ ) Right camera

Measured point p to be measured ^m,n Is detected by the displacement of (a) a,

showing two moments (t) before and after ₀ ，t ₁ ) Left camera

Measured point p to be measured ^m,n Is a depth factor, K _C Representing an intrinsic camera parameter, R _B,C The mounting posture of the camera is represented,

showing two moments (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i Is changed in the position of the movable body,

showing two time instants (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i+1 Is changed in the position of the movable body,

showing two moments (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i The change in the posture of the vehicle,

showing two time instants (t) before and after ₀ ，t ₁ ) Slide rail camera survey station S _i+1 The change in the posture of (2) is,

slide rail camera station S _i Measured point p to be measured ^m,n Is determined by the initial coordinates of the first and second coordinates,

slide rail camera station S _i+1 Measured point p to be measured ^m,n Is determined by the initial coordinates of the first and second coordinates,

slide rail camera station S _i Measured point p to be measured ^m,n Is detected by the displacement of (a) a,

slide rail camera station S _i+1 Measured point p to be measured ^m,n Displacement of (2).

In one embodiment, the previously stored displacement equation of the measuring point is as follows:

wherein, Δ p represents the in-plane displacement of the rest points to be measured, λ represents the depth factor, K represents the camera internal parameter, R _B,C The mounting posture of the camera is represented,

showing two time instants (t) before and after ₀ ，t ₁ ) The position of the slide rail camera survey station changes,

representing the initial coordinates, Δ P, of the point to be measured at the measuring station of the slide camera ^B Represents the displacement of the common point to be measured,

showing two moments (t) before and after ₀ ，t ₁ ) The attitude of the slide rail camera survey station changes.

For specific limitations of the tunnel deformation measurement apparatus 200 for the sled camera dynamic networking, reference may be made to the corresponding limitations of the tunnel deformation measurement method for the sled camera dynamic networking, which are not described herein again. All or part of the modules in the tunnel deformation measuring device 200 dynamically networked by the slide rail camera can be realized by software, hardware and a combination thereof. The modules may be embedded in a hardware form or a device independent of a specific data processing function, or may be stored in a memory of the device in a software form, so that a processor can call and execute operations corresponding to the modules, where the device may be, but is not limited to, various types of computing devices existing in the art.

In another aspect, a tunnel deformation monitoring device is further provided, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the following processing steps when executing the computer program: acquiring camera parameters of a camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude; extracting the coordinates of the image of the point to be measured, which is shot by a camera array on the current tunnel section measuring link, by adopting a sub-pixel positioning method; according to the image coordinates and the camera parameters of the points to be measured, solving a prestored slide rail observation equation by using a nonlinear optimization method to obtain the position posture change of the slide rail camera measuring station and the in-plane displacement of the common points to be measured; the common point to be measured is a point to be measured in a common view field of two adjacent slide rail camera measuring stations; according to the position posture change of the slide rail camera measuring station, solving a prestored measuring point displacement equation to obtain the in-plane displacement of the other measuring points to be measured except the common measuring point in the view field of the slide rail camera measuring station; and controlling the slide rail camera observation station to move and scan the point to be measured on the next tunnel section measuring link, and returning to the step of obtaining the position posture change of the slide rail camera observation station and the in-plane displacement of the public point to be measured by solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinate and the camera parameter of the point to be measured until the in-plane displacement of all the points to be measured in the tunnel is obtained by measurement.

It can be understood that the tunnel deformation monitoring device includes, in addition to the aforementioned memory and processor, other software and hardware components not listed in this specification, which may be determined according to specific monitoring device models in different application scenarios, and detailed descriptions are not listed in this specification.

In one embodiment, the processor may further implement, when executing the computer program, the additional steps or substeps in each embodiment of the tunnel deformation measurement method for the sliding track camera dynamic networking.

In still another aspect, there is provided a computer readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the processing steps of: acquiring camera parameters of a camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude; extracting the coordinates of the image of the point to be measured, which is shot by a camera array on the current tunnel section measuring link, by adopting a sub-pixel positioning method; according to the image coordinates and the camera parameters of the points to be measured, solving a prestored slide rail observation equation by using a nonlinear optimization method to obtain the position posture change of the slide rail camera measuring station and the in-plane displacement of the common points to be measured; the common point to be measured is a point to be measured in a common view field of two adjacent slide rail camera stations; according to the position posture change of the slide rail camera measuring station, solving a prestored measuring point displacement equation to obtain the in-plane displacement of the other measuring points to be measured except the common measuring point in the view field of the slide rail camera measuring station; and controlling the slide rail camera observation station to move and scan the point to be measured on the next tunnel section measuring link, and returning to the step of obtaining the position posture change of the slide rail camera observation station and the in-plane displacement of the public point to be measured by solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinate and the camera parameter of the point to be measured until the in-plane displacement of all the points to be measured in the tunnel is obtained by measurement.

In an embodiment, when the computer program is executed by the processor, the steps or sub-steps added in each embodiment of the tunnel deformation measurement method for the sliding track camera dynamic networking can also be implemented.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus DRAM (RDRAM), and interface DRAM (DRDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present application, and all of them fall within the scope of the present application. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims (10)

1. A tunnel deformation measuring system for dynamic networking of slide rail cameras is characterized by comprising N slide rail camera measuring stations fixedly installed along a tunnel direction, wherein each slide rail camera measuring station comprises a slide rail and a camera array, the camera array is installed on the slide rail in a sliding mode, the slide rail is used for guiding the sliding and chain networking of the camera array, and N is a positive integer greater than 1;

the camera array comprises at least two cameras, the shooting directions of at least one pair of cameras are opposite, the at least two cameras are fixedly connected with each other, and the camera array is used for shooting a point to be measured in a region to be measured of a tunnel and acquiring in-plane displacement data of the point to be measured and position data and posture data of a slide rail camera station to which the point belongs;

and the in-plane displacement data of the point to be measured, the position data and the posture data of the slide rail camera measuring station are used for determining the deformation condition of the area to be measured of the tunnel.

2. The system for measuring tunnel deformation through dynamic networking of slide rail cameras according to claim 1, further comprising at least two reference points, wherein the reference points are located in a transmission measurement network formed by dynamic chain networking of N slide rail camera stations in the tunnel, and comprise observation points with strictly unmoved positions in the region to be measured in the tunnel, observation points with known horizontal and vertical displacements in the region to be measured in the tunnel, or measurement points with known settlement and horizontal displacements in the region to be measured in the tunnel;

the reference points are used for indicating the shaking amount of each slide rail camera measuring station.

3. The system for measuring tunnel deformation through dynamic networking of sliding track cameras according to claim 1 or 2, wherein the sliding track camera survey station further comprises an IMU, an electronic level gauge and/or a pan-tilt, the IMU, the electronic level gauge and/or the pan-tilt are mounted on the sliding track, the IMU and/or the electronic level gauge are used for assisting in setting the moving path and position of the camera array on the sliding track, and the pan-tilt is used for controlling the camera array to rotate to align with the point to be measured.

4. The tunnel deformation measurement system of the slide rail camera dynamic networking is characterized by further comprising measuring point marks, wherein the measuring point marks are arranged at the points to be measured and correspond to the points to be measured one by one, and the measuring point marks are used for marking the points to be measured to which the camera array belongs.

5. The system for measuring tunnel deformation of sliding rail camera dynamic networking according to claim 1, wherein the sliding rails are disposed along two sides of a tunnel section and used for guiding the camera array to move up and down on the sliding rails along the tunnel section.

6. The system of claim 1, wherein the slide rail is disposed along a tunnel section ring direction, and is configured to guide the camera array to move on the slide rail along the tunnel section ring direction.

7. A tunnel deformation measurement method for dynamic networking of slide rail cameras is characterized by being applied to the tunnel deformation measurement system for dynamic networking of slide rail cameras of any one of claims 1 to 6, and the method comprises the following steps:

acquiring camera parameters of the camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude;

extracting the coordinates of the image of the point to be measured of the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method;

according to the image coordinates of the points to be measured and the camera parameters, solving a prestored slide rail observation equation by using a nonlinear optimization method to obtain the position and attitude change of the slide rail camera measuring station and the in-plane displacement of the common points to be measured; the common point to be measured is a point to be measured in a common view field of two adjacent slide rail camera stations;

according to the position posture change of the slide rail camera measuring station, solving a prestored measuring point displacement equation to obtain the in-plane displacement of the other measuring points to be measured except the public measuring point in the view field of the slide rail camera measuring station;

and controlling the slide rail camera observation station to movably scan the point to be measured on the next tunnel section measurement link, returning to the step of obtaining the position posture change of the slide rail camera observation station and the in-plane displacement of the public point to be measured by solving a prestored slide rail observation equation by using a nonlinear optimization method according to the image coordinate of the point to be measured and the camera parameter until the in-plane displacement of all the points to be measured in the tunnel is obtained through measurement.

8. The tunnel deformation measurement method of the slide rail camera dynamic networking according to claim 7, further comprising the steps of:

solving according to a constraint relation corresponding to the set reference point to obtain the shaking amount of each slide rail camera measuring station;

and correcting the in-plane displacement of each corresponding point to be measured by using each shaking amount.

9. A tunnel deformation measuring device for dynamic networking of slide rail cameras is characterized in that the tunnel deformation measuring device is applied to the tunnel deformation measuring system for dynamic networking of slide rail cameras in any one of claims 1 to 6, and the device comprises:

a camera parameter module for acquiring camera parameters of the camera array; the camera parameters comprise a camera focal length, a survey station installation position and an installation attitude;

the measuring point extracting module is used for extracting the coordinates of the image of the point to be measured, which is shot by the camera array on the current tunnel section measuring link, by adopting a sub-pixel positioning method;

the first displacement module is used for solving a prestored slide rail observation equation by utilizing a nonlinear optimization method according to the image coordinates of the point to be measured and the camera parameters to obtain the position and posture change of the slide rail camera measuring station and the in-plane displacement of the public point to be measured; the common point to be measured is a point to be measured in a common view field of two adjacent slide rail camera measuring stations;

the second displacement module is used for solving a prestored measuring point displacement equation according to the position posture change of the slide rail camera measuring station to obtain the in-plane displacement of the other measuring points except the public measuring point in the view field of the slide rail camera measuring station;

and the scanning control module is used for controlling the slide rail camera measuring station to move and scan the point to be measured on the next tunnel section measuring link and return to trigger the first displacement module until the in-plane displacement of all the points to be measured in the tunnel is obtained through measurement.

10. A tunnel deformation monitoring device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the tunnel deformation measuring method for the sliding track camera dynamic networking according to claim 7 or 8 when executing the computer program.

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