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

technical field

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

Background technique

With the continuous improvement and construction of public infrastructure, the health monitoring technology of large civil structures has also been iteratively upgraded. Among them, the tunnel is one of the common large-scale civil structures, and the subway tunnel is an important tunnel facility in a modern city, and its structural health monitoring has extremely important practical significance. Tunnel deformation refers to the horizontal displacement, vertical displacement and convergence deformation of its segment structure. In the process of tunnel construction and operation, deformation is often one of the main reasons for tunnel cracking and structural failure. When the deformation exceeds the normal range, it will directly affect the structural characteristics of the tunnel, and even damage the tunnel, which seriously threatens the personal safety of construction workers and train operation. Safety.

At present, image measurement is a relatively mature measurement technology that has the advantages of high precision, non-contact, real-time measurement and high-frequency measurement. Reconstruction and other fields have been widely used. For tunnel deformation measurement, the current common technologies mainly include tunnel deformation monitoring technology based on digital photogrammetry technology and tunnel section deformation automatic monitoring technology based on series camera network measurement principle. However, in the process of realizing the present invention, the inventors found that the above-mentioned traditional tunnel deformation measurement technology still has the technical problem of low tunnel deformation measurement performance.

Contents of the invention

Aiming at the problems existing in the above-mentioned traditional methods, the present invention proposes a tunnel deformation measurement method for dynamic networking of slide cameras, a tunnel deformation measurement system for dynamic networking of slide cameras, and a tunnel deformation measurement system that can greatly improve the performance of tunnel deformation measurement. A tunnel deformation measurement device with dynamic networking of slide rail cameras.

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

On the one hand, a tunnel deformation measurement system with dynamic networking of slide cameras is provided, including N slide camera stations fixedly installed along the direction of the tunnel, each slide camera station includes a slide rail and a camera array, and the camera array Slidingly installed on the slide rail, the slide rail is used to guide the sliding and chain networking of the camera array, and N is a positive integer greater than 1;

The camera array includes at least two cameras and at least one pair of cameras has opposite shooting directions. At least two cameras are fixedly connected to each other. The camera array is used to photograph the points to be measured in the area to be measured in the tunnel and obtain the in-plane displacement data of the points to be measured. , The position data and attitude data of the camera station to which it belongs;

The in-plane displacement data of the point to be measured, the position data and attitude data of the station of the slide rail camera are used to determine the deformation of the tunnel area to be measured.

On the other hand, there is also provided a tunnel deformation measurement method for dynamic networking of slide cameras, which is applied to the above-mentioned tunnel deformation measurement system for dynamic networking of slide cameras. The method includes steps:

Obtain camera parameters of the camera array; camera parameters include camera focal length, station installation position and installation attitude;

The sub-pixel positioning method is used to extract the image coordinates of the points to be measured captured by the camera array on the current tunnel section measurement link;

According to the image coordinates of the points to be measured and the camera parameters, the non-linear optimization method is used to solve the pre-stored slide observation equation to obtain the position and attitude changes of the camera station on the slide rail and the in-plane displacement of the common points to be measured; the public points to be measured are two adjacent points The points to be measured in the common field of view of a slide camera station;

According to the position and attitude changes of the slide camera station, solve the pre-stored point displacement equation to obtain the in-plane displacement of the remaining points to be measured except the common points to be measured in the field of view of the slide camera station;

Control the sliding rail camera station to move and scan the point to be measured on the next tunnel section measurement link and return it. According to the image coordinates of the point to be measured and camera parameters, use the nonlinear optimization method to solve the pre-stored sliding rail observation equation to obtain the sliding rail camera station The steps of the position attitude change and the in-plane displacement of the common points to be measured are measured until the in-plane displacements of all the points to be measured in the tunnel are obtained.

In yet another aspect, a tunnel deformation measurement device for dynamic networking of slide cameras is also provided, which is applied to the above-mentioned tunnel deformation measurement system for dynamic networking of slide cameras. The device includes:

The camera parameter module is used to obtain the camera parameters of the camera array; the camera parameters include the focal length of the camera, the installation position of the measuring station and the installation attitude;

The measuring point extraction module is used to extract the image coordinates of the points to be measured of the points to be measured taken by the camera array on the current tunnel section measurement link by using the sub-pixel positioning method;

The first displacement module is used to solve the pre-stored slide rail observation equation by using nonlinear optimization method according to the image coordinates of the point to be measured and the camera parameters to obtain the position and attitude change of the camera station on the slide rail and the in-plane displacement of the public point to be measured; public The point to be measured is the point to be measured in the common field of view of two adjacent sliding rail camera stations;

The second displacement module is used to solve the pre-stored measuring point displacement equation according to the position and attitude change of the sliding rail camera measuring station to obtain the in-plane displacement of the rest of the points to be measured except the common points to be measured in the field of view of the sliding rail camera measuring station;

The scanning control module is used to control the movement of the slide camera station to scan the points to be measured on the next tunnel section measurement link and return to trigger the first displacement module until the in-plane displacement of all points to be measured in the tunnel is measured.

In yet another aspect, a tunnel deformation monitoring device is provided, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the above-mentioned steps of the tunnel deformation measurement method for dynamic networking of slide rail cameras are realized.

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

The above-mentioned tunnel deformation measurement system, method and device for dynamic networking of slide rail cameras, through the image-based network measurement technology, integrates the camera array onto the slide rail as a new dynamic networking inspection station for slide rail cameras , use the camera array on the slide rail to take pictures of the points to be measured in the area to be measured in the tunnel to obtain the in-plane displacement data of the points to be measured, the position data and attitude data of the camera station belonging to the slide rail, so as to measure based on the principle of photogrammetry The inward displacement of the tunnel section at each point to be measured is obtained, and the deformation of the tunnel area to be measured is determined. Utilizing the above-mentioned N sliding rail camera measuring stations fixedly installed along the direction of the tunnel, dynamic chain networking can be carried out, so that all the points to be measured on each transmission measurement link can be surveyed separately, and the automatic deformation of the large-scale area of the tunnel can be realized. , fast and efficient survey, to achieve the purpose of greatly improving the performance of tunnel deformation measurement.

Compared with the traditional technology, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost and long time, the above solution integrates the camera array on the slide rail, and guides the movement of the camera array through the slide rail to realize multiple measurement points The patrol survey, the method of connecting the camera network in series is extended from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail, which greatly reduces the number of monitoring equipment required and improves the simplicity and flexibility of the monitoring system sex. It further enriches the principle of image measurement, and provides an effective scientific principle and method of rapid, high-precision and automatic measurement for large-scale deformation measurement of tunnels.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the traditional technology. Obviously, the accompanying drawings in the following description are only the present invention For some embodiments of the application, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the first structural schematic diagram of the tunnel deformation measurement system of the dynamic networking of the slide camera in one embodiment;

Fig. 2 is a second structural schematic diagram of the tunnel deformation measurement system of the dynamic networking of the slide camera in one embodiment;

Fig. 3 is the third schematic diagram of the tunnel deformation measurement system of the dynamic networking of the slide camera in one embodiment;

Fig. 4 is a schematic diagram of the installation method of the slide rail camera station in an embodiment;

Fig. 5 is the schematic diagram of the installation mode of slide rail camera measuring station in another embodiment;

FIG. 6 is a schematic flow diagram of a method for measuring tunnel deformation in a dynamic networking of slide cameras in an embodiment;

Fig. 7 is a schematic diagram of the station patrol position 1 of the slide camera in one embodiment;

Fig. 8 is a schematic diagram of the station patrol position 2 of the slide camera station in one embodiment;

Fig. 9 is a schematic diagram of the station patrol position 3 of the slide camera in one embodiment;

Fig. 10 is a schematic diagram of the station patrol position 4 of the slide camera in one embodiment;

Fig. 11 is a schematic diagram of the station patrol position 5 of the slide camera in one embodiment;

FIG. 12 is a schematic flowchart of a tunnel deformation measurement method for dynamic networking of slide cameras in another embodiment;

Fig. 13 is a schematic diagram of a module structure of a tunnel deformation measurement device for dynamic networking of slide cameras in an embodiment.

detailed description

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terminology used herein in the description of the application is only for the purpose of describing specific embodiments, and is not intended to limit 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" in this application are used to distinguish different objects, not to describe 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 present invention. The presentation of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are independent or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art will appreciate that the embodiments described herein can be combined with other embodiments. The term "and/or" used in the description of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

Image measurement technology is a relatively mature measurement technology, which involves the fields of optical measurement, photogrammetry and computer vision, and has the advantages of high precision, long distance, multi-point, dynamic and real-time measurement. Based on the image networking measurement technology, the present invention proposes a design scheme of integrating the camera array on the slide rail, and realizes the patrolling of multiple measuring points by moving on the slide rail, and transforms the series camera network method from the traditional one based on a fixed platform The static networking mode is extended to the dynamic networking mode based on slide rails, which greatly reduces the number of monitoring equipment required and improves the simplicity and flexibility of the monitoring system. It further enriches the principle of image measurement, and provides an effective scientific principle and method of rapid, high-precision and automatic measurement for large-scale deformation measurement of tunnels.

The slide track mentioned in this application means that the platform on which the monitoring camera array is installed has a movable nature, such as but not limited to a one-axis mobile platform, a two-axis mobile platform and a three-axis mobile platform. The method of the chain camera network can be understood similarly with reference to the existing series camera related measurement technology in the art, and will not be described in detail in this specification.

The implementation manner of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

In one embodiment, please refer to FIG. 1 , which provides a tunnel deformation measurement system 100 with a dynamic network of slide cameras, including N slide camera stations 12 fixedly installed along the tunnel direction. Each skid camera station 12 includes a skid 121 and a camera array 123 . The camera array 123 is slidably installed on the slide rail 121 . The sliding rail 121 is used to guide 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 to each other. The camera array 123 is used to photograph the points to be measured 101 in the area to be measured of the tunnel, and obtain the in-plane displacement data of the points to be measured 101, the position data and attitude data of the slide camera station 12 to which they belong. The in-plane displacement data of the point to be measured 101, the position data and attitude data of the associated slide camera station 12 are used to determine the deformation of the area to be measured in the tunnel.

It can be understood that the camera array 123 is composed of two or more cameras fixedly connected to each other on the slide rail 121, and can be calibrated before installation so that each camera is relatively installed during the movement on the slide rail 121. (such as position and/or attitude) relationships do not change. The number of slide camera stations 12 can be flexibly set according to the section size, tunnel length and/or measurement accuracy of the tunnel to be monitored. Similarly, the number and types of cameras included in the camera array 123 on each slide camera station 12 can also be flexibly set according to actual monitoring needs. Each slide camera station 12 can be installed on the monitoring stations reserved in the tunnel at equal intervals or at different intervals, and can be flexibly set according to the occurrence probability of deformation in different areas in the tunnel.

On each slide camera station 12, the camera array 123 includes at least a pair of cameras with opposite shooting directions. For the convenience of description, the cameras in the camera array 123 can be divided into a forward camera array 123 and a backward camera array. 123 two categories: one, divide the cameras whose shooting direction is consistent with the direction of the tunnel into the forward camera array 123 (may include measuring cameras and monitoring cameras (optional) for measuring the point 101 to be measured); The cameras in the opposite direction of the tunnel are divided into the rearward camera array 123 (which may include a measurement camera for the point to be measured 101 and a monitoring camera (optional)).

When the camera array 123 on each slide camera station 12 moves to the current position to measure one or several points 101 to be measured on each tunnel section, each slide camera station 12 of the current chain network On the transfer measurement link, there will be a common field of view between the front and rear adjacent two sliding rail camera stations 12, so that the cameras on the front and rear adjacent two sliding rail camera stations 12 (the front of the previous station) The camera array 123 and the rear camera array 123 of the next station) can see the common point to be measured 101, so that after measuring the in-plane displacement (relative to the position difference of the initial state) of the public point to be measured 101, quickly The in-plane displacements of other points to be measured 101 (common points to be measured 101 other than the front and rear stations) in the field of view of the front and rear cameras of the two stations are measured accurately.

For the internal parameters (such as the focal length of the camera) and external parameters (such as the installation position and attitude) of the sliding rail camera station 12, the initial coordinates of the point to be measured 101 and the The coordinates of the installation position of the measuring station, and using methods such as beam adjustment to optimize and solve the aforementioned parameters of the slide rail 121 camera. The installation relationship between the camera array 123 and the slide rail 121 can be directly obtained by methods such as hand-eye calibration in the art. After the camera array 123 takes pictures of the points to be measured 101 in the area to be measured in the tunnel, the existing sub-pixel positioning method in the art can be used to extract the image coordinates of the points to be measured 101 with high precision, and the image coordinates of the points to be measured 101 can be obtained based on the principle of photogrammetry. The position data and attitude data of the upper camera array 123, the in-plane displacement data of the point to be measured 101, and the like. The aforementioned data obtained from each measurement can directly monitor the deformation of the area to be tested in the tunnel.

In some implementations, optionally, the tunnel deformation measurement system 100 of the above-mentioned sliding rail camera dynamic network can adopt a periodic patrol method to measure, and from the initial moment of the first measurement, the camera is controlled by the sliding rail 121 to measure the station. The to-be-measured points 101 in between are patrolled, and the completion of all to-be-measured points 101 to be surveyed constitutes a measurement cycle. In the initial state, control the camera on the sliding rail 121 to complete the survey of the point to be measured 101, and record the measurement time of the point to be measured 101 in this state as the initial time, or use the state within a period of time as the average to take it as the initial state .

The above-mentioned tunnel deformation measurement system 100 with dynamic networking of slide rail cameras integrates the camera array 123 onto the slide rail 121 through the image-based network measurement technology as a new dynamic networking inspection station 12 of slide rail cameras. , using the camera array 123 on the slide rail 121 to photograph each point to be measured 101 in the area to be measured in the tunnel to obtain the in-plane displacement data of the point to be measured 101, the position data and attitude data of the camera station 12 of the slide rail to which it belongs, so that Based on the principle of photogrammetry, the inward displacement of the tunnel section at each point 101 to be measured is measured, and the deformation of the tunnel area to be measured is determined. Utilizing the above-mentioned N sliding rail camera measuring stations 12 fixedly installed along the direction of the tunnel, dynamic chain networking can be carried out, so that all the points 101 to be measured on each transmission and measurement link can be surveyed respectively, and the large-scale area deformation of the tunnel can be realized The automatic, fast and efficient survey has achieved the purpose of greatly improving the performance of tunnel deformation measurement.

Compared with the traditional technology, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost, and long time, the above solution integrates the camera array 123 on the slide rail 121, and guides the movement of the camera array through the slide rail 121 to realize multiple The survey of each measuring point expands the method of cascading the camera network from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail 121, which greatly reduces the number of monitoring equipment required and improves the monitoring system. Simplicity and flexibility. It further enriches the principle of image measurement, and provides an effective scientific principle and method of rapid, high-precision and automatic measurement for large-scale deformation measurement of tunnels.

In one embodiment, the cameras in the camera array 123 include a monitoring camera with a large field of view, and the monitoring camera with a large field of view is used to detect foreign matter falling off in the area to be tested in the tunnel.

It can be understood that in the camera array 123 of each sliding rail camera station 12, a large field of view monitoring camera can be included, so that the camera array 123 can be aligned with the point to be measured 101 more quickly during the movement process on the sliding rail 121. In the process, it provides visual guidance and detection of foreign matter falling off in the tunnel, so as to further improve the measurement efficiency and realize the detection of surface defects such as foreign matter falling off and tunnel damage.

In one embodiment, among the cameras included in the camera array 123 , some or all of the cameras have different focal lengths. It can be understood that in the camera array 123 of each slide camera station 12, the cameras can be cameras with different focal lengths, or some of the cameras can have the same focal length. Determine the distance of the station, for example but not limited to, the cameras can be divided into three categories: near field, middle field and far field, which correspond to measuring the near-field to-be-measured point 101, the middle-field to-be-measured point 101 and the far-field to-be-measured point 101, wherein, the focal length of the near-field camera<the focal length of the mid-field camera<the focal length of the far-field camera. Thereby, the measurement efficiency can be further improved.

In an embodiment, as shown in FIG. 2 , the above-mentioned tunnel deformation measurement system 100 for dynamically networking slide rail cameras may further include at least two reference points 14 . The reference point 14 is located in the transfer measurement network formed by the dynamic chain networking of N sliding rail camera stations 12 in the tunnel. An observation point with known vertical displacement or a measured point 101 with known settlement and horizontal displacement in the area to be measured of the tunnel. The reference point 14 is used to indicate the shaking amount of each slide camera station 12 .

It can be understood that in the measurement, considering the influence of the instability of the slide camera station 12 itself and the low movement accuracy on the measurement results, a reference point 14 can also be set: based on the requirements of the camera dynamic networking measurement method, at least two can be set Two reference points 14 that are strictly stationary or whose horizontal and vertical displacements are known, the position of the reference point 14 in the entire monitoring link may not be required, and the reference point 14 may also be a waiting area with known settlement and horizontal displacement. Measuring point 101.

According to the constraints known in the art, the reference point 14 is used to solve the shaking amount of each slide camera station 12, and then it can be used to correct the in-plane displacement of the measured point 101 to be measured (the specific correction method can refer to this document) The correction method based on the shaking amount existing in the field can be understood in the same way), to eliminate the influence of the instability of the slide camera station 12 itself and the low movement accuracy on the measurement results, thereby further improving the measurement accuracy.

In one embodiment, as shown in FIG. 3 , the slide rail camera station 12 also includes an IMU, an electronic water level and/or a pan-tilt, and the IMU, an electronic level and/or a pan-tilt are installed on the slide rail 121, and the IMU and /or an electronic level is used to assist in setting the moving path and position of the camera array 123 on the sliding rail 121 . The pan/tilt is used to control the rotation of the camera array 123 to align with the point 101 to be measured.

It can be understood that in this embodiment, a slide rail movement aid 16 can also be installed on each slide rail camera measuring station 12, and the slide rail movement aid 16 can be an IMU, an electronic level or a cloud platform, and an IMU, At least two of the electronic level and the pan/tilt are selected according to the needs of the application. The camera array 123 can also be installed on the slide rail 121 through the pan/tilt at the same time. The camera array 123 on the slide rail camera station 12 synchronously photographs the point 101 to be measured during the movement 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, or can be set according to IMU, etc. The inertial navigation component or the electronic level is used to set the reading, so as to realize the precise alignment and survey of the points to be measured 101, and improve the measurement efficiency. The pan/tilt can more flexibly, efficiently and accurately assist in controlling the camera array 123 to align with the point to be measured 101 during the movement of the slide rail 121 .

In addition, recording the moving position of the camera array 123 on the sliding rail 121 when shooting can also be used to distinguish different station positions during a survey, and for the two surveying processes before and after, the sliding rail camera at the same moving position The correspondence of station 12 is provided for reference.

In an embodiment, the above-mentioned tunnel deformation measurement system 100 with dynamic networking of slide rail cameras may also include a measurement point mark. The measuring point mark is set at the point to be measured 101 and corresponds to the point to be measured 101 one by one, and the mark of the measuring point is used to mark the corresponding point to be measured 101 to the camera array 123 .

It can be understood that each point to be measured 101 can be marked with a point mark identified and photographed by a camera, so as to improve the efficiency of point alignment and shooting.

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

Optionally, in this embodiment, the measurement point mark can be directly served by the natural structural features on the tunnel segment at the corresponding point 101 to be measured, or a specially set passive reflective mark or active luminous mark can also be used. Specifically, the measuring point mark may be circular in shape, or diagonal in shape, or an easily recognizable shape such as a square, a cross, or a five-pointed star. The measuring point mark at each point to be measured 101 can emit light actively, or rely on reflected sunlight or other light sources fixedly installed in the reflective tunnel. Preferably, the measuring point mark can be an infrared luminescent mark, so as to meet the requirement of all-day measurement.

In one embodiment, the sliding rails 121 are deployed along both sides of the tunnel section, and are used to guide the camera array 123 to move up and down along the tunnel section on the sliding rails 121 . Optionally, in the above embodiments, in each slide rail camera station 12, the shape of the slide rail 121 may be straight, curved or other geometric shapes. In this embodiment, a pair of linear slide rails 121 can be used and installed on both sides of the tunnel section, as shown in Figure 4, the camera array 123 on the slide rail 121 can move up and down along the tunnel section to realize tunnel Efficient observation of points to be measured at different positions within the section. The slide rail 121 can be a single rail, double rails or more than three rails, which can be determined according to the installation and movement requirements of the camera array 123 .

In one embodiment, the slide rail 121 is arranged circumferentially along the tunnel section, and is used to guide the camera array 123 to move on the slide rail 121 circumferentially along the tunnel section. Optionally, in this embodiment, an annular slide rail 121 can be used and installed on the peripheral side of the tunnel section, as shown in FIG. 5 , the camera array 123 on the slide rail 121 can be moved circumferentially along the tunnel section. , to achieve efficient observation of the points to be measured at different positions in the tunnel section. The slide rail 121 can be a single rail, double rails or more than three rails, which can be determined according to the installation and movement requirements of the camera array 123 .

In one embodiment, please refer to FIG. 6. The embodiment of the present application provides a tunnel deformation measurement method for dynamic networking of slide cameras, which is applied to a tunnel deformation measurement system for dynamic networking of slide cameras. The system includes N sliding rail camera stations fixedly installed in the direction of the tunnel. Each sliding rail camera station includes a sliding rail and a camera array. The camera array is slidably installed on the sliding rail. The sliding rail is used to control and guide the sliding and chaining Networking, N is a positive integer greater than 1; the camera array includes at least two cameras and at least one pair of cameras shoots in opposite directions, and at least two cameras are fixedly connected to each other, and the camera array is used to shoot the to-be-tested objects in the tunnel to-be-tested area point.

和滑轨相机测站S_i+1的左相机

能够看到公共待测点P_m,n(第m个隧道断面的第n个点)和P_m+1,n(第m+1个隧道断面的第n个点)，观测方程可以使用如下共线方程表示为：It can be understood that the strict station camera can be modeled as a perspective projection model. Taking a scanning position of an adjacent slide camera station (station survey position 1 shown in Figure 7) as an example, the slide Right camera of camera station S _i

and the left camera of the slide camera station S _i+1

It is possible to see the public points to be measured P _m,n (the nth point of the mth tunnel section) and P _m+1,n (the nth point of the m+1th tunnel section), the observation equation can be used as follows The collinear equation is expressed as:

为相机内参数，R_B,C和T_B,C为相机安装姿态，

为待测点的初始坐标，这些参数可以通过离线标定得到，

为深度因子。In the above formula,

is the internal parameters of the camera, R _B,C and T _B,C are the camera installation attitude,

is the initial coordinates of the points to be measured, these parameters can be obtained through offline calibration,

is the depth factor.

以及待测点的位移ΔP^B。严格意义上，滑轨相机测站的姿态包含6个参数(平移参数3个，为t_x,t_y,t_z；姿态参数3个，为α,β,γ，分别绕x,y,z轴的旋转)，姿态角同旋转矩阵之间的关系如下：The parameters to be measured include the position and attitude changes of the slide camera station (specifically, the camera array on it)

And the displacement ΔP ^B of the point to be measured. Strictly speaking, the attitude of the slide camera station contains 6 parameters (3 translation parameters, which are t _x , t _y , t _z ; 3 attitude parameters, which are α, β, γ, respectively around x, y, z axis rotation), the relationship between the attitude angle and the rotation matrix is as follows:

Among them, cθ represents cosθ, sθ represents sinθ, θ refers to the rotation angle, and θ can be α, β, γ.

In some embodiments, the tunnel deformation is mainly horizontal displacement, vertical displacement and convergence deformation in the tunnel section (section), so the tunnel displacement of the point to be measured, the tunnel displacement of the measuring station and the rotation of the measuring station around the tunnel can be ignored ( Optional), thus, the above-mentioned measurement model can be simplified, and the parameters to be obtained of the slide camera station become four (in-plane displacement, pitch angle and yaw angle, which represent the position and attitude change of the station), and the to-be-measured The parameters to be solved for the point become 2 (in-plane displacement). Optionally, it can be further assumed that the depth of the same point at two moments before and after is therefore unchanged, so formula (1) can be simplified to the following pre-stored slide rail observation equation:

表示前后两个时刻(t₀，t₁)右相机

测量的待测点p^m,n的位移，

表示前后两个时刻(t₀，t₁)左相机

测量的待测点p^m,n的位移，λ表示深度因子，K_C表示相机内参数，R_B,C表示相机安装姿态，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i的位置变化，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i+1的位置变化，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i的姿态变化，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i+1的姿态变化，

表示滑轨相机测站S_i测量的待测点p^m,n的初始坐标，

表示滑轨相机测站S_i+1测量的待测点p^m,n的初始坐标，

表示滑轨相机测站S_i测量的待测点p^m,n的位移，

表示滑轨相机测站S_i+1测量的待测点p^m,n的位移。in,

Indicates the right camera at two moments before and after (t ₀ , t ₁ )

The measured displacement of the point to be measured p ^m,n ,

Indicates the left camera at two moments before and after (t ₀ , t ₁ )

The measured displacement of the point p ^m,n to be measured, λ represents the depth factor, K _C represents the internal parameters of the camera, R _{B, C} represents the camera installation attitude,

Indicates the position change of the slide camera station S _i at two moments before and after (t ₀ , t ₁ ),

Indicates the position change of the slide camera station S _i+1 at two moments before and after (t ₀ , t ₁ ),

Indicates the attitude change of the slide camera station S _i at two moments before and after (t ₀ , t ₁ ),

Indicates the attitude change of the sliding rail camera station S _i+1 at two moments before and after (t ₀ , t ₁ ),

Indicates the initial coordinates of the point to be measured p ^m,n measured by the slide camera station S _i ,

Indicates the initial coordinates of the point to be measured p ^m,n measured by the slide camera station S _i+1 ,

Indicates the displacement of the point to be measured p ^m,n measured by the slide camera station S _i ,

Indicates the displacement of the point to be measured p ^m,n measured by the slide camera station S _i+1 .

The above method includes the following processing steps 12 to 20:

Step 12, obtain the camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation attitude.

It can be understood that in order to quickly calibrate the parameters of the camera on the slide rail, such as internal parameters such as focal length and external parameters such as installation position and installation attitude, the initial coordinates of the points to be measured and the installation of the station can be measured with the help of measuring tools such as total stations Position coordinates, and use beam adjustment and other methods to optimize and solve the parameters of the sliding camera. The installation relationship between the camera array and the slide rail can be obtained by methods such as hand-eye calibration.

Step 14, using the sub-pixel positioning method to extract the image coordinates of the points to be measured captured by the camera array on the current tunnel section measurement link.

It can be understood that various existing sub-pixel positioning methods can be used to extract the image coordinates of the point to be measured with high precision.

Step 16, according to the image coordinates of the points to be measured and the parameters of the camera, the non-linear optimization method is used to solve the pre-stored sliding rail observation equation to obtain the position and attitude changes of the camera station on the sliding rail and the in-plane displacement of the common points to be measured; the public points to be measured are The point to be measured in the common field of view of two adjacent slide camera stations.

It can be understood that in practical applications, the change of the image coordinates of the point to be measured and the change of the station pose (installation position and installation attitude) are all changes, so it is necessary to pre-store the image coordinates of the point to be measured and the pose of the station at the initial moment. The camera station can be controlled at any time to move to the preset position at the initial moment (corresponding to the initial state), and then the position of the station relative to the preset position at the initial moment can be calculated by using the public points to be measured and fixed points Posture changes.

For the calculation of the position and orientation change of the station and the in-plane displacement of the point to be measured: it can be assumed that there are M stations of the slide camera camera (M is greater than a positive integer), and each scan measurement has a distance between the front and rear slide camera stations 2 public points to be measured, then there are 8M equations for the entire current transfer measurement link, and there are 8M+4 to-be-required quantities, so it is only necessary to know the horizontal and vertical displacements of the 2 points in the transfer measurement link ( Optional: fixed point with constant horizontal and vertical displacement), then formula (3) can be used to construct the equation system, and the position and attitude changes of the sliding rail camera station can be solved simultaneously by nonlinear optimization method (the same observation field of view , the attitude difference relative to the initial state after scanning) and the in-plane displacement of the common points to be measured (the position difference relative to the initial state).

Step 18, according to the position and attitude changes of the slide camera station, solve the pre-stored point displacement equation to obtain the in-plane displacements of other points to be measured except the common points to be measured in the field of view of the slide camera station.

和

根据预存的测点位移方程便可求解出滑轨上相机阵列前后方相机视场内其他待测点(非前后测站公共待测点)的面内位移。It can be understood that according to the attitude change of the solved slide camera station relative to the initial state

and

According to the pre-stored measuring point displacement equation, the in-plane displacement of other points to be measured (not the common points to be measured at the front and rear measuring stations) in the field of view of the camera array on the slide rail can be solved.

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

表示前后两个时刻(t₀，t₁)滑轨相机测站的位置变化，

表示滑轨相机测站测量的待测点的初始坐标，ΔP^B表示公共待测点的位移，

表示前后两个时刻(t₀，t₁)滑轨相机测站的姿态变化。Among them, Δp represents the in-plane displacement of the remaining points to be measured, λ represents the depth factor, K represents the internal parameters of the camera, R _{B, C} represent the camera installation attitude,

Indicates the position change of the slide camera station at two moments before and after (t ₀ , t ₁ ),

Indicates the initial coordinates of the points to be measured measured by the slide camera station, ΔP ^B represents the displacement of the common points to be measured,

Indicates the attitude change of the slide camera station at two moments before and after (t ₀ , t ₁ ).

In some embodiments, the equation (3) for solving the attitude change of the slide camera station and the in-plane displacement of the point to be measured can be solved according to the attitude change of the slide camera station to be solved for the in-plane displacement of the point to be measured The equation (4) of the matrix equation (3) and (4) can also be expanded into the form of a system of equations (the left side of the equation is the change of the image coordinates x and y of the point to be measured), or only x can be taken as needed The amount of change in the direction or y direction (the corresponding station position and the displacement of the point to be measured are only taken in the horizontal or vertical direction, and the attitude angle of the station is only taken in the yaw angle or pitch angle).

Step 20, control the slide camera station to move and scan the points to be measured on the next tunnel section measurement link and return to step 16 until the in-plane displacement of all points to be measured in the tunnel is measured.

It can be understood that in order to realize the full-coverage measurement of the points to be measured in the tunnel section, as shown in Fig. 8 and Fig. 9, respectively, the surveying position 2 of the sliding rail camera station and the surveying position 3 of the station surveying station of the sliding rail camera refer to the surveying station The mobile position of the upper camera array can be controlled to scan the points to be measured by the slide camera station in the transfer measurement link (the scanning track can be set in the initial state, or the camera can be guided on the station according to the coordinates of the measured points extracted from the monitoring camera The array is moved to align with the point to be measured), and a new transmission measurement link is constructed. The points to be measured solved by the last dynamically constructed transfer measurement link can be used as control points with known in-plane displacements in the next transfer measurement (optional, assuming that the displacement of the points to be measured does not change in a short period of time), In the new transfer measurement link, it is necessary to measure the attitude change of the slide track station relative to its corresponding initial state, and the in-plane displacement of the common points to be measured between the front and rear stations, and according to the solved attitude change of the station, Similarly, use the above formula (4) to solve the in-plane displacement of other points to be measured (not the common points to be measured between the front and rear stations) in the field of view of the front and rear cameras of the slide camera station.

As shown in Figure 10 and Figure 11, they are the station inspection position 4 of the sliding rail camera and the inspection station inspection position 5 of the sliding rail camera. Similarly, repeat the above steps 16 to 20 until all the points to be measured are measured. At this point, a measurement cycle is over, and the entire measurement cycle controls the movement of the camera in the slide camera station to achieve coverage measurement of all points to be measured, and realizes dynamic networking according to the public points to be measured of the front and rear slide camera stations, thereby effectively solving large-scale problems. The conflicting problem of measuring range and high precision. Similarly, the next measurement period can be executed from step 14 above.

The tunnel deformation measurement method of the above-mentioned sliding rail camera dynamic networking, through the image-based network measurement technology, integrates the camera array on the sliding rail as a new dynamic networking survey station of the sliding rail camera, using the sliding rail The upper camera array shoots the points to be measured in the area to be measured in the tunnel to obtain the in-plane displacement data of the points to be measured, the position data and attitude data of the station of the slide rail camera, etc., so as to obtain the measurement points based on the principle of photogrammetry. The inward displacement of the tunnel section of the point determines the deformation of the tunnel area to be measured. Utilizing the above-mentioned N sliding rail camera measuring stations fixedly installed along the direction of the tunnel, dynamic chain networking can be carried out, so that all the points to be measured on each transmission measurement link can be surveyed separately, and the automatic deformation of the large-scale area of the tunnel can be realized. , fast and efficient survey, to achieve the purpose of greatly improving the performance of tunnel deformation measurement.

Compared with the traditional technology, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost, and long time, the above solution integrates the camera array on the slide rail, and guides the movement of the camera array through the slide rail to realize multiple measurement points The patrol survey, the method of connecting the camera network in series is extended from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail, which greatly reduces the number of monitoring equipment required and improves the simplicity and flexibility of monitoring. . It further enriches the principle of image measurement, and provides an effective scientific principle and method of rapid, high-precision and automatic measurement for large-scale deformation measurement of tunnels.

In one embodiment, as shown in FIG. 12, the tunnel deformation measurement method of the above-mentioned dynamic networking of slide cameras may further include the steps:

According to the constraint relationship corresponding to the set datum point, the shaking amount of each slide camera station is obtained by solving;

The in-plane displacements of the corresponding points to be measured are corrected by using the shaking amounts respectively.

It can be understood that, considering the influence of the instability of the slide camera observation station itself and the low movement accuracy on the measurement results, it is also possible to set a reference point: based on the requirements of the camera dynamic networking measurement method, at least two strictly stationary or The reference point with known horizontal and vertical displacement, the position of the reference point in the entire monitoring link may not be required, and the reference point can also be a point to be measured with known settlement and horizontal displacement.

According to the constraints known in the art, the datum point is used to solve the shaking amount of each slide camera observation station, and then it can be used to correct the in-plane displacement of the measured point to be measured (the specific correction method can refer to the existing The correction method based on the shaking amount is understood in the same way), and the influence of the instability of the slide camera observation station itself and the low movement accuracy on the measurement results are eliminated, thereby further improving the measurement accuracy.

Specifically, the specific implementation process in this embodiment can be: taking images at various preset positions, calibrating the camera, and extracting the image coordinates of the points to be measured (which can be recorded as the initial state, and only need to be recorded once). At the subsequent moment, control the camera to the preset point to take pictures (synchronously control multiple slide rail stations to form a measurement transmission link), according to the changes in the image coordinates of the public points to be measured and the image coordinates of the reference point (due to the shaking of the camera, the The image coordinates of the reference point will also change), and the non-linear optimization method is used to simultaneously calculate the platform shaking amount and the in-plane displacement of the public to-be-measured point (this is a change relative to the initial state), according to the calculated platform shaking amount combined with the non-public to-be-measured The image coordinates of the measuring points change, and the in-plane displacement of the non-public points to be measured is calculated; repeat the above steps, and control the measurement to move to the next preset position, thus completing the coverage measurement of all points (this step will be carried out in each measurement cycle measurement operation).

In an embodiment, optionally, the sub-pixel positioning method may include an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale image fitting method, or a least squares matching method. It can be understood that the specific explanations of each sub-pixel positioning method can be understood with reference to the introduction of the aforementioned various methods in the prior art in the art, and will not be repeated in this specification.

It should be understood that although the various steps in the flow charts of FIG. 6 and FIG. 12 are shown sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in FIG. 6 and FIG. 12 may include a plurality of sub-steps or stages, and these sub-steps or stages are not necessarily executed at the same time, but may be executed at different moments, and these sub-steps or stages The order of execution is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

Please refer to Fig. 13. In one embodiment, a tunnel deformation measurement device 200 for dynamic networking of slide cameras is provided, which can be applied to a tunnel deformation measurement system for dynamic networking of slide cameras. Fixed installation of N slide camera stations. Each sliding rail camera station includes a sliding rail and a camera array, and the camera array is slidably mounted on the sliding rail. The slide rail is used to guide the sliding and chain networking of the camera array, and N is a positive integer greater than 1. The camera array includes at least two cameras, and at least one pair of cameras have opposite shooting directions. At least two cameras are fixedly connected to each other. The camera array is used to photograph the points to be measured in the area to be tested of the tunnel.

The tunnel deformation measurement device 200 of the dynamic networking of slide rail cameras includes a camera parameter module 11 , a measurement point extraction module 13 , a first displacement module 15 , a second displacement module 17 and a scanning control module 19 . Wherein, the camera parameter module 11 is used to obtain the camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation attitude. The measuring point extraction module 13 is used to extract the image coordinates of the points to be measured captured by the camera array on the current tunnel section measurement link by using the sub-pixel positioning method. The first displacement module 15 is used to solve the pre-stored slide rail observation equation according to the image coordinates of the point to be measured and the camera parameters using a nonlinear optimization method to obtain the position and posture change of the slide rail camera station and the in-plane displacement of the public point to be measured; public The point to be measured is the point to be measured in the common field of view of two adjacent slide camera stations. The second displacement module 17 is used to solve the pre-stored measuring point displacement equation according to the position and attitude changes of the sliding camera station to obtain the in-plane displacements of other points to be measured except the common points to be measured in the field of view of the sliding camera station. The scan control module 19 is used to control the slide camera station to move to scan the points 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 points to be measured in the tunnel is measured.

The above-mentioned tunnel deformation measurement device 200 with dynamic networking of slide cameras, through the cooperation of various modules, based on the image networking measurement technology, integrates the camera array into the slide rail as a new dynamic network inspection slide camera Measuring station, use the camera array on the sliding rail to take pictures of the points to be measured in the area to be measured in the tunnel to obtain the in-plane displacement data of the points to be measured, the position data and attitude data of the station of the camera on the sliding rail, etc., so that based on photogrammetry The principle measurement obtains the inward displacement of the tunnel section at each point to be measured, and determines the deformation of the tunnel area to be measured. Utilizing the above-mentioned N sliding rail camera measuring stations fixedly installed along the direction of the tunnel, dynamic chain networking can be carried out, so that all the points to be measured on each transmission measurement link can be surveyed separately, and the automatic deformation of the large-scale area of the tunnel can be realized. , fast and efficient survey, to achieve the purpose of greatly improving the performance of tunnel deformation measurement.

Compared with the traditional technology, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost, and long time, the above solution integrates the camera array on the slide rail, and guides the movement of the camera array through the slide rail to realize multiple measurement points The patrol survey, the method of connecting the camera network in series is extended from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail, which greatly reduces the number of monitoring equipment required and improves the simplicity and flexibility of monitoring. .

In an embodiment, the above-mentioned tunnel deformation measuring device 200 with a dynamic network of slide rail cameras may further include a shaking amount module and a displacement correction module. Among them, the shaking amount module is used to solve the shaking amount of each slide camera station according to the constraint relationship corresponding to the set reference point. 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 foregoing sub-pixel positioning method may include an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale image fitting method, or a least squares matching method.

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

表示前后两个时刻(t₀，t₁)右相机

测量的待测点p^m,n的位移，

表示前后两个时刻(t₀，t₁)左相机

测量的待测点p^m,n的位移，λ表示深度因子，K_C表示相机内参数，R_B,C表示相机安装姿态，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i的位置变化，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i+1的位置变化，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i的姿态变化，

表示前后两个时刻(t₀，t₁)滑轨相机测站S_i+1的姿态变化，

表示滑轨相机测站S_i测量的待测点p^m,n的初始坐标，

表示滑轨相机测站S_i+1测量的待测点p^m,n的初始坐标，

表示滑轨相机测站S_i测量的待测点p^m,n的位移，

表示滑轨相机测站S_i+1测量的待测点p^m,n的位移。in,

Indicates the right camera at two moments before and after (t ₀ , t ₁ )

The measured displacement of the point to be measured p ^m,n ,

Indicates the left camera at two moments before and after (t ₀ , t ₁ )

The measured displacement of the point p ^m,n to be measured, λ represents the depth factor, K _C represents the internal parameters of the camera, R _{B, C} represents the camera installation attitude,

Indicates the position change of the slide camera station S _i at two moments before and after (t ₀ , t ₁ ),

Indicates the position change of the slide camera station S _i+1 at two moments before and after (t ₀ , t ₁ ),

Indicates the attitude change of the slide camera station S _i at two moments before and after (t ₀ , t ₁ ),

Indicates the attitude change of the sliding rail camera station S _i+1 at two moments before and after (t ₀ , t ₁ ),

Indicates the initial coordinates of the point to be measured p ^m,n measured by the slide camera station S _i ,

Indicates the initial coordinates of the point to be measured p ^m,n measured by the slide camera station S _i+1 ,

Indicates the displacement of the point to be measured p ^m,n measured by the slide camera station S _i ,

Indicates the displacement of the point to be measured p ^m,n measured by the slide camera station S _i+1 .

In one embodiment, the aforementioned pre-stored measuring point displacement equation is:

表示前后两个时刻(t₀，t₁)滑轨相机测站的位置变化，

表示滑轨相机测站测量的待测点的初始坐标，ΔP^B表示公共待测点的位移，

表示前后两个时刻(t₀，t₁)滑轨相机测站的姿态变化。Among them, Δp represents the in-plane displacement of the remaining points to be measured, λ represents the depth factor, K represents the internal parameters of the camera, R _{B, C} represent the camera installation attitude,

Indicates the position change of the slide camera station at two moments before and after (t ₀ , t ₁ ),

Indicates the initial coordinates of the points to be measured measured by the slide camera station, ΔP ^B represents the displacement of the common points to be measured,

Indicates the attitude change of the slide camera station at two moments before and after (t ₀ , t ₁ ).

For the specific limitations of the tunnel deformation measurement device 200 for dynamic networking of slide cameras, refer to the corresponding limitations of the tunnel deformation measurement method for dynamic networking of slide cameras above, and will not be repeated here. Each module in the above-mentioned tunnel deformation measuring device 200 of dynamic networking of slide rail cameras can be implemented in whole or in part by software, hardware and combinations thereof. The above-mentioned modules can be embedded in or independent of specific data processing functions in the form of hardware, and can also be stored in the memory of the aforementioned devices in the form of software, so that the processor can call and execute the corresponding operations of the above-mentioned modules. The aforementioned devices can be but It is not limited to various types of computing devices existing in the art.

In yet another aspect, a tunnel deformation monitoring device is also provided, including a memory and a processor, the memory stores a computer program, and the processor implements the following processing steps when executing the computer program: acquire camera parameters of the camera array; camera parameters include camera focal length, measurement Station installation position and installation posture; use sub-pixel positioning method to extract the image coordinates of the points to be measured taken by the camera array on the current tunnel section measurement link; according to the image coordinates of the points to be measured and camera parameters, use nonlinear optimization The method solves the pre-stored sliding rail observation equation to obtain the position attitude change of the sliding rail camera station and the in-plane displacement of the common point to be measured; the common point to be measured is the object to be measured in the common field of view of two adjacent sliding rail camera stations point; according to the position and attitude changes of the slide camera station, solve the pre-stored point displacement equation to obtain the in-plane displacement of the rest of the points to be measured in the field of view of the slide camera station except the common points to be measured; control the slide camera to measure The station moves to scan the point to be measured on the next tunnel section measurement link and returns. According to the image coordinates of the point to be measured and the camera parameters, the nonlinear optimization method is used to solve the pre-stored sliding rail observation equation to obtain the position and attitude changes of the sliding rail camera station and The step of common in-plane displacement of the points to be measured is until the in-plane displacements of all the points to be measured in the tunnel are measured.

It can be understood that, in addition to the memory and processor mentioned above, the above-mentioned tunnel deformation monitoring equipment also includes other software and hardware components not listed in this manual, which can be determined according to the specific monitoring equipment model in different application scenarios. Then list the details one by one.

In one embodiment, when the processor executes the computer program, the added steps or sub-steps in the above embodiments of the tunnel deformation measurement method for dynamic networking of slide cameras can also be implemented.

In another aspect, a computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the following processing steps are realized: obtaining camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation posture; use the sub-pixel positioning method to extract the image coordinates of the points to be measured captured by the camera array on the current tunnel section measurement link; according to the image coordinates of the points to be measured and camera parameters, use the nonlinear optimization method to solve the pre-stored Observation equation of the sliding rail to obtain the position attitude change of the sliding rail camera 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 field of view of two adjacent sliding rail camera stations; according to The position and attitude of the slide camera station changes, and the pre-stored point displacement equation is solved to obtain the in-plane displacement of the rest of the points to be measured in the field of view of the slide camera station except the common points to be measured; control the slide camera station to move and scan Measure the point to be measured on the next tunnel section and return it. According to the image coordinates of the point to be measured and the camera parameters, use the nonlinear optimization method to solve the pre-stored slide rail observation equation to obtain the position and attitude changes of the slide rail camera station and the public to be measured The step of in-plane displacement of points until the in-plane displacement of all points to be measured in the tunnel is obtained.

In one embodiment, when the computer program is executed by the processor, the additional steps or sub-steps in the above embodiments of the tunnel deformation measurement method for dynamic networking of slide cameras can also be implemented.

Those of ordinary skill in the art can understand that realizing all or part of the processes in the methods of the above embodiments can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a non-volatile computer-readable storage medium , when the computer program is executed, it may include the procedures of the embodiments of the above-mentioned methods. Wherein, any references to memory, storage, database or other media used in the various embodiments provided in the present application may include non-volatile and/or volatile memory. Nonvolatile 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 many forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Chain Synchlink DRAM (SLDRAM), memory bus dynamic random access memory (Rambus DRAM, RDRAM for short) and interface dynamic random access memory (DRDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, all of which belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims (10)

1. A tunnel deformation measurement system for dynamic networking of slide cameras, characterized in that it comprises N slide camera stations fixedly installed along the tunnel direction, each of said slide camera stations including slide rails and cameras Array, the camera array is slidably mounted on the slide rail, the slide rail is used to guide the sliding and chain networking of the camera array, and N is a positive integer greater than 1; The camera array includes at least two cameras and at least one pair of cameras has opposite shooting directions. The at least two cameras are fixedly connected to each other. The in-plane displacement data of the point to be measured, the position data and attitude data of the station of the slide camera to which it belongs; The in-plane displacement data of the point to be measured, the position data and attitude data of the station of the slide camera to which it belongs are used to determine the deformation of the area to be measured in the tunnel. 2. The tunnel deformation measurement system of the dynamic networking of slide cameras according to claim 1, further comprising at least two reference points, the reference points being located in the tunnel by N slide cameras In the transfer measurement network formed by the dynamic chain network of measuring stations, the reference points include the observation points in the area to be measured of the tunnel that are strictly fixed, and the observation points in which the horizontal and vertical displacements in the area to be measured of the tunnel are known. point or a point to be measured in which the settlement and horizontal displacement are known in the area to be measured of the tunnel; The reference point is used to indicate the shaking amount of each slide camera station. 3. The tunnel deformation measurement system of the dynamic networking of the slide camera according to claim 1 or 2, wherein the slide camera station also includes an IMU, an electronic level and/or a cloud platform, the IMU, The electronic level and/or the cloud platform are installed on the slide rail, the IMU and/or the electronic level are used to assist in setting the moving path and position of the camera array on the slide rail to which it belongs, and the cloud The stage is used to control the rotation of the camera array to align with the point to be measured. 4. The tunnel deformation measurement system according to claim 3, wherein the tunnel deformation measurement system of dynamic networking of slide rail cameras, further comprising a measuring point mark, the measuring point mark being arranged at the point to be measured and connected to the point to be measured The points correspond to one by one, and the measuring point marks are used to mark the corresponding points to be measured to the camera array. 5. The tunnel deformation measurement system for dynamic networking of slide rail cameras according to claim 1, wherein the slide rail is deployed along both sides of the tunnel section for guiding the camera array along the slide rail along the The tunnel section moves up and down. 6. The tunnel deformation measurement system for dynamic networking of slide rail cameras according to claim 1, wherein the slide rail is deployed circumferentially along the section of the tunnel for guiding the camera array along the slide rail along the The tunnel section moves in a circular direction. 7. A tunnel deformation measurement method for dynamic networking of slide cameras, characterized in that it is applied to the tunnel deformation measurement system for dynamic networking of slide cameras according to any one of claims 1 to 6, said method comprising steps : Obtain the camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation attitude; Using a sub-pixel positioning method to extract the image coordinates of the points to be measured captured by the camera array on the current tunnel section measurement link; According to the image coordinates of the points to be measured and the camera parameters, the nonlinear optimization method is used to solve the pre-stored sliding rail observation equation to obtain the position and posture changes of the sliding rail camera station and the in-plane displacement of the common points to be measured; The common point to be measured is the point to be measured in the public field of view of two adjacent slide rail camera stations; According to the position attitude change of the slide camera station, solving the pre-stored measuring point displacement equation obtains the in-plane displacement of the remaining points to be measured other than the common points to be measured in the field of view of the slide camera station; Control the slide camera station to move and scan the point to be measured on the next tunnel section measurement link and return the image coordinates of the point to be measured and the camera parameters, and use a nonlinear optimization method to solve the prestored The step of obtaining the position attitude change of the slide rail camera station and the in-plane displacement of the common points to be measured by the slide rail observation equation, until the in-plane displacement of all the points to be measured in the tunnel is obtained by measurement. 8. The tunnel deformation measurement method of the dynamic networking of slide rail cameras according to claim 7, further comprising the steps of: According to the constraint relationship corresponding to the set datum point, the shaking amount of each said slide rail camera station is obtained by solving; The in-plane displacements of the corresponding points to be measured are corrected by using the shaking amounts respectively. 9. A tunnel deformation measurement device for dynamic networking of slide cameras, characterized in that it is applied to the tunnel deformation measurement system for dynamic networking of slide cameras according to any one of claims 1 to 6, the device comprising: A camera parameter module, configured to obtain camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation attitude; The measuring point extraction module is used to extract the image coordinates of the points to be measured of the points to be measured captured by the camera array on the current tunnel section measurement link by using a sub-pixel positioning method; The first displacement module is used to solve the pre-stored 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 and posture change of the camera station on the slide rail and the public point to be measured The in-plane displacement; the common point to be measured is the point to be measured in the public field of view of two adjacent slide rail camera stations; The second displacement module is used to solve the pre-stored measuring point displacement equation according to the position and attitude changes of the sliding camera station to obtain the rest of the points to be measured other than the common points to be measured in the field of view of the sliding camera station The in-plane displacement of the point; The scanning control module is used to control the movement of the slide camera station to scan the points to be measured on the next tunnel section measurement link and return to trigger the first displacement module until the measurements of all the points to be measured in the tunnel are obtained. in-plane displacement. 10. A tunnel deformation monitoring device, comprising a memory and a processor, the memory stores a computer program, it is characterized in that, when the processor executes the computer program, the sliding rail camera dynamics described in claim 7 or 8 is realized The steps of the tunnel deformation measurement method for networking.

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