CN117308881A - Detection device and detection method for inclination angle of tunnel inspection and repair cover plate - Google Patents
Detection device and detection method for inclination angle of tunnel inspection and repair cover plate Download PDFInfo
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- CN117308881A CN117308881A CN202311295890.9A CN202311295890A CN117308881A CN 117308881 A CN117308881 A CN 117308881A CN 202311295890 A CN202311295890 A CN 202311295890A CN 117308881 A CN117308881 A CN 117308881A
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- cover plate
- depth
- access
- inclination angle
- boundary point
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- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 238000007689 inspection Methods 0.000 title claims abstract description 8
- 230000008439 repair process Effects 0.000 title claims description 38
- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 238000012423 maintenance Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 13
- 238000013145 classification model Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003066 decision tree Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012706 support-vector machine Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30132—Masonry; Concrete
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a detection device and a detection method for the inclination angle of a tunnel repairing cover plate, and relates to the technical field of image processing. Wherein, this system includes: the first supporting component is arranged on the side wall of the first maintenance channel; the second supporting component is arranged on the side wall of the second maintenance channel; the detection unit comprises a first depth camera, a second depth camera and a calculation module, wherein the first depth camera is connected with the first support component, and the second depth camera is connected with the second support component; the computing module is connected with the control unit and used for acquiring first depth information of the overlook image and second depth information of the front view image, extracting key points on the surface of the access cover plate from the first depth information and the second depth information and computing the inclination angle of the access cover plate. The utility model discloses an automated inspection to the inclination of tunnel access road apron can be realized, the efficiency of detecting the inclination of tunnel access road apron can be improved.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a device and a method for detecting the inclination angle of a tunnel access road cover plate.
Background
Tunnel structure deformation is frequently encountered in tunnel detection to cause the defect of the inclination of the access road cover plate, and the inclination angle and the change of the tunnel structure are required to be measured and tracked and monitored for a long time. At present, the inclination angle is measured by visual inspection or by utilizing the inclination measuring function of the mobile phone, however, the methods are inaccurate and do not meet the standard requirements.
Disclosure of Invention
The invention aims to provide a device and a method for detecting the inclination angle of a tunnel repairing road cover plate, so as to solve the technical problems.
According to an aspect of the embodiments of the present application, there is provided a device for detecting an inclination angle of a tunnel repair road cover plate, including: the first supporting component is arranged on the side wall of the first maintenance channel; the second supporting component is arranged on the side wall of the second maintenance channel, wherein a preset angle is formed between the side wall of the first maintenance channel and the side wall of the second maintenance channel, and the first supporting component and the second supporting component are positioned on the same plane; the detection unit comprises a first depth camera, a second depth camera and a calculation module, wherein the first depth camera is connected with the first support assembly, the second depth camera is connected with the second support assembly, the first depth camera is used for shooting a overlook image of the repair road cover plate, the second depth camera is used for shooting a front view image of the repair road cover plate, and the second depth camera is positioned above the central line of the repair road cover plate; the calculation module is connected with the control unit and is used for acquiring first depth information of the overlook image and second depth information of the front view image, extracting key points on the surface of the access cover plate from the first depth information and the second depth information and calculating the inclination angle of the access cover plate.
According to another aspect of the embodiments of the present application, there is provided a method for detecting an inclination angle of a tunnel repair road cover plate, including: acquiring a overlook image of an access cover plate shot by a first depth camera, wherein the first depth camera is connected with a first supporting component, and the first supporting component is arranged on the side wall of a first access; acquiring a front view image of the access cover plate shot by a second depth camera, wherein the second depth camera is connected with a second supporting component, the second supporting component is arranged on a second access side wall, a preset angle is formed between the first access side wall and the second access side wall, the first supporting component and the second supporting component are positioned on the same plane, and the second depth camera is positioned above the central line of the access cover plate; acquiring first depth information of the top view image and second depth information of the front view image; and extracting key points on the surface of the access cover plate from the first depth information and the second depth information, and calculating the inclination angle of the access cover plate.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the detection device for the inclination angle of the tunnel inspection and repair channel cover plate can be combined with the first support assembly, the second support assembly, the first depth camera, the second depth camera and the calculation module to realize automatic detection of the inclination angle of the tunnel inspection and repair channel cover plate, and can improve the efficiency of detecting the inclination angle of the tunnel inspection and repair channel cover plate;
2. according to the method for detecting the inclination angle of the tunnel repair road cover plate, after the front view image and the overlook image of the repair road cover plate are obtained, the first depth information of the overlook image and the second depth information of the front view image can be combined, so that the automatic detection of the inclination angle of the tunnel repair road cover plate is realized, and the efficiency of detecting the inclination angle of the tunnel repair road cover plate can be improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a block diagram of an alternative tunnel access way cover tilt angle detection device according to an embodiment of the present application;
FIG. 2 is a flowchart of an alternative calculation of an inclination angle of an access panel according to an embodiment of the present application;
fig. 3 is a flowchart of an alternative method for detecting an inclination angle of a tunnel access door according to an embodiment of the present application.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention. It should be noted that the present invention is already in a practical development and use stage.
Optionally, as shown in fig. 1, a device for detecting an inclination angle of a tunnel repair road cover plate provided in the present application includes:
the first supporting component 101 is arranged on the side wall of the first maintenance channel;
the second supporting component 102 is arranged on the side wall of the second overhaul channel, wherein a preset angle is formed between the side wall of the first overhaul channel and the side wall of the second overhaul channel, and the first supporting component and the second supporting component are positioned on the same plane;
in some embodiments of the present application, the first manhole side wall may be perpendicular to the road surface in the tunnel, and the second manhole side wall may be located on both sides of the road surface in the tunnel. Alternatively, the preset angle may include, but is not limited to, 90 degrees, 60 degrees, etc.
In some embodiments of the present application, the first support assembly 101 may be connected with the second support assembly 102. The installation direction of the first support member 101 and the second support member 102 may be set according to a preset angle.
The detection unit 103 comprises a first depth camera, a second depth camera and a calculation module, wherein the first depth camera is connected with the first support assembly, the second depth camera is connected with the second support assembly, the first depth camera is used for shooting a overlook image of the repair road cover plate, the second depth camera is used for shooting a front view image of the repair road cover plate, and the second depth camera is positioned above the central line of the repair road cover plate;
the calculating module 104 is connected to the control unit 105, and is configured to obtain first depth information of the top view image and second depth information of the front view image, extract key points on the surface of the access cover from the first depth information and the second depth information, and calculate an inclination angle of the access cover.
In some embodiments of the present application, the apparatus further comprises: and the display unit is used for displaying and calculating the inclination angle of the access road cover plate.
Based on the embodiment that this application provided, can combine first supporting component, second supporting component, first depth camera, second depth camera and calculation module to realize the automated inspection and the demonstration to the inclination of tunnel access road apron, can improve the efficiency of detecting the inclination of tunnel access road apron.
As an alternative, acquiring the first depth information of the top view image and the second depth information of the front view image includes: identifying a first area of the access road cover plate from the overlook image based on the access road cover plate identification model, and preprocessing the first area to obtain first depth information;
and identifying a second area of the access cover plate from the front view image based on the access cover plate identification model, and preprocessing the second area to obtain second depth information.
In some embodiments of the present application, preprocessing may include converting the first region or the second region into a depth image. The depth image may also be referred to as a distance image, which refers to an image that uses a depth value of each point in a scene acquired by a depth camera as a pixel value, and the depth image may directly reflect the geometry of the access cover plate. Where depth may be the distance from the point in the image to the camera plane.
In some embodiments of the present application, outliers in the first depth information and/or the second depth information may be culled. For example, there may be obstructions on the surface of the access cover plate that may result in points of greater deviation in the first depth information and/or the second depth information, which may be discarded to improve the accuracy of the first depth information as well as the second depth information.
As an alternative, the access way cover plate identification model is trained based on the following steps:
obtaining a sample top view of the repair channel cover plate and a sample front view of the repair channel cover plate, marking the area where the repair channel cover plate is located in the sample top view, and marking the area where the repair channel cover plate is located in the sample front view;
inputting the marked sample top view and sample front view into a classification model for iterative training until the loss function converges;
and taking the trained deep neural network as an access way cover plate recognition model.
In some embodiments of the present application, the sample top view of the access panel and the sample front view of the access panel are images of the access panel taken based on different angles and positions. Classification models may include, but are not limited to, K-nearest neighbor algorithms, support vector machines, decision trees, stochastic classifiers, and gradient lifting classifiers.
In some embodiments of the present application, the classification model is a deep neural network comprising three hidden layers and one output layer, the loss function being a cross entropy loss function.
As an alternative, the key points include a first boundary point, a second boundary point, a third boundary point, and a fourth boundary point, as shown in fig. 2, and extracting the key points on the surface of the access cover from the first depth information and the second depth information and calculating the inclination angle of the access cover includes:
s201, acquiring a first boundary point and a second boundary point of an access road cover plate in a top view image, wherein the connecting line of the first boundary point and the second boundary point is perpendicular to the boundary line of the side wall of the first access road;
s202, a third boundary point and a fourth boundary point of an access road cover plate in the front view image are obtained, wherein the connecting line of the third boundary point and the fourth boundary point is perpendicular to the boundary line of the side wall of the second access road;
s203, acquiring a first depth value of a first boundary point and a second depth value of a second boundary point from the first depth information;
s204, obtaining a third depth value of a third boundary point and a fourth depth value of a fourth boundary point from the second depth information;
and S205, calculating according to the first depth value, the second depth value, the third depth value and the fourth depth value to obtain the inclination angle of the access cover plate.
In some embodiments of the present application, the first and second boundary points may be located at edges of the access panel. The third boundary point and the fourth boundary point may be located at edges of the access panel.
As an alternative, the inclination angle of the access cover is calculated based on the following expression:
the first depth value is D1, the second depth value is D2, the third depth value is D3, the fourth depth value is D4, V1 is the distance between the first boundary point and the second boundary point, V2 is the distance between the third boundary point and the fourth boundary point, ln is the natural logarithm, and B is a constant.
In some embodiments of the present application, B may be, but is not limited to, a number between 0.4 and 0.6. Preferably, B may be 0.51.
As an alternative, the first depth camera comprises at least one of: a structured light depth camera, a binocular vision depth camera, and a time of flight light method depth camera;
the second depth camera includes at least one of: structured light depth cameras, binocular vision depth cameras, and time of flight light method depth cameras.
Optionally, as shown in fig. 3, the method for detecting the inclination angle of the tunnel repair road cover plate provided by the application includes:
acquiring a overlook image of an access cover plate shot by a first depth camera, wherein the first depth camera is connected with a first supporting component, and the first supporting component is arranged on the side wall of the first access;
acquiring a front view image of an access cover plate shot by a second depth camera, wherein the second depth camera is connected with a second supporting component, the second supporting component is arranged on a second access side wall, a preset angle is formed between the first access side wall and the second access side wall, the first supporting component and the second supporting component are positioned on the same plane, and the second depth camera is positioned above the central line of the access cover plate;
acquiring first depth information of a top view image and second depth information of a front view image;
and extracting key points on the surface of the access cover plate from the first depth information and the second depth information, and calculating to obtain the inclination angle of the access cover plate.
The embodiment of the method of the present application may refer to an embodiment implemented by each unit module in the device for detecting an inclination angle of a tunnel repair road cover plate, and will not be described herein. In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
It should be noted that, for simplicity of description, the foregoing embodiments are all illustrated as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (9)
1. Detection device of tunnel inspection and repair road apron inclination, characterized in that includes:
the first supporting component is arranged on the side wall of the first maintenance channel;
the second supporting component is arranged on the side wall of the second overhaul channel, wherein a preset angle is formed between the side wall of the first overhaul channel and the side wall of the second overhaul channel, and the first supporting component and the second supporting component are positioned on the same plane;
the detection unit comprises a first depth camera, a second depth camera and a calculation module, wherein the first depth camera is connected with the first support assembly, the second depth camera is connected with the second support assembly, the first depth camera is used for shooting a overlook image of the repair road cover plate, the second depth camera is used for shooting a front view image of the repair road cover plate, and the second depth camera is located above a central line of the repair road cover plate;
the calculation module is connected with the control unit and is used for acquiring first depth information of the overlook image and second depth information of the forward-looking image, extracting key points on the surface of the access cover plate from the first depth information and the second depth information and calculating the inclination angle of the access cover plate.
2. The device for detecting the inclination angle of the tunnel repair road cover plate according to claim 1, wherein,
the acquiring the first depth information of the top view image and the second depth information of the front view image includes:
identifying a first area of the access cover plate from the overlook image based on an access cover plate identification model, and preprocessing the first area to obtain the first depth information;
and identifying a second area of the access cover plate from the front view image based on the access cover plate identification model, and preprocessing the second area to obtain the second depth information.
3. The device for detecting the inclination angle of the tunnel repair road cover plate according to claim 2, wherein,
the access way cover plate recognition model is obtained based on training of the following steps:
obtaining a sample top view of the access cover plate and a sample front view of the access cover plate, marking the area where the access cover plate is located in the sample top view, and marking the area where the access cover plate is located in the sample front view;
inputting the marked sample top view and the sample front view into a classification model for iterative training until a loss function converges;
and taking the trained classification model as the access way cover plate identification model.
4. The device for detecting the inclination angle of a tunnel repair tunnel cover plate according to claim 3, wherein,
the classification model is a deep neural network comprising three hidden layers and one output layer, the loss function being a cross entropy loss function.
5. The device for detecting the inclination angle of a tunnel repair tunnel cover plate according to claim 4, wherein,
the key points comprise a first boundary point, a second boundary point, a third boundary point and a fourth boundary point, and the key points of the surface of the access cover plate extracted from the first depth information and the second depth information and the inclination angle of the access cover plate calculated by the key points comprise:
acquiring the first boundary point and the second boundary point of the access road cover plate in the overlook image, wherein the connecting line of the first boundary point and the second boundary point is perpendicular to the boundary line of the side wall of the first access road;
acquiring the third boundary point and the fourth boundary point of the access road cover plate in the front view image, wherein the connecting line of the third boundary point and the fourth boundary point is perpendicular to the boundary line of the side wall of the second access road;
acquiring a first depth value of the first boundary point and a second depth value of the second boundary point from the first depth information;
acquiring a third depth value of the third boundary point and a fourth depth value of the fourth boundary point from the second depth information;
and calculating according to the first depth value, the second depth value, the third depth value and the fourth depth value to obtain the inclination angle of the access cover plate.
6. The device for detecting the inclination angle of a tunnel repair tunnel cover plate according to claim 5, wherein,
the inclination angle of the access cover plate is calculated based on the following expression:
the first depth value is D1, the second depth value is D2, the third depth value is D3, the fourth depth value is D4, V1 is the distance between the first boundary point and the second boundary point, V2 is the distance between the third boundary point and the fourth boundary point, ln is the natural logarithm, and B is a constant.
7. The device for detecting the inclination angle of the tunnel repair road cover plate according to claim 1, wherein,
the first depth camera includes at least one of: a structured light depth camera, a binocular vision depth camera, and a time of flight light method depth camera;
the second depth camera includes at least one of: structured light depth cameras, binocular vision depth cameras, and time of flight light method depth cameras.
8. The device for detecting the inclination angle of the tunnel repair road cover according to claim 1, characterized in that the device for detecting the inclination angle of the tunnel repair road cover further comprises:
and the display unit is used for displaying and calculating the inclination angle of the access road cover plate.
9. A method for detecting an inclination angle of a tunnel repair road cover plate, based on the device for detecting an inclination angle of a tunnel repair road cover plate according to any one of claims 1 to 8, characterized by comprising:
acquiring a overlook image of an access cover plate shot by a first depth camera, wherein the first depth camera is connected with a first support assembly, and the first support assembly is arranged on the side wall of a first access;
acquiring a front view image of the access cover plate shot by a second depth camera, wherein the second depth camera is connected with a second supporting component, the second supporting component is arranged on a second access side wall, a preset angle is formed between the first access side wall and the second access side wall, the first supporting component and the second supporting component are positioned on the same plane, and the second depth camera is positioned above the central line of the access cover plate;
acquiring first depth information of the overlook image and second depth information of the front view image;
and extracting key points on the surface of the access cover plate from the first depth information and the second depth information, and calculating to obtain the inclination angle of the access cover plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311295890.9A CN117308881A (en) | 2023-10-09 | 2023-10-09 | Detection device and detection method for inclination angle of tunnel inspection and repair cover plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311295890.9A CN117308881A (en) | 2023-10-09 | 2023-10-09 | Detection device and detection method for inclination angle of tunnel inspection and repair cover plate |
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| CN117308881A true CN117308881A (en) | 2023-12-29 |
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| CN202311295890.9A Withdrawn CN117308881A (en) | 2023-10-09 | 2023-10-09 | Detection device and detection method for inclination angle of tunnel inspection and repair cover plate |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118189898A (en) * | 2024-05-20 | 2024-06-14 | 四川华腾公路试验检测有限责任公司 | System and method for detecting and analyzing inclination angle of tunnel repairing cover plate |
-
2023
- 2023-10-09 CN CN202311295890.9A patent/CN117308881A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118189898A (en) * | 2024-05-20 | 2024-06-14 | 四川华腾公路试验检测有限责任公司 | System and method for detecting and analyzing inclination angle of tunnel repairing cover plate |
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Application publication date: 20231229 |
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