CN212274912U - Tunnel structure displacement close-range photography target monitoring system - Google Patents
Tunnel structure displacement close-range photography target monitoring system Download PDFInfo
- Publication number
- CN212274912U CN212274912U CN202021283672.5U CN202021283672U CN212274912U CN 212274912 U CN212274912 U CN 212274912U CN 202021283672 U CN202021283672 U CN 202021283672U CN 212274912 U CN212274912 U CN 212274912U
- Authority
- CN
- China
- Prior art keywords
- measuring station
- tunnel
- image
- focus
- image measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model relates to a photographic target monitoring system in tunnel structure displacement close-range belongs to tunnel image processing field. The system comprises: the system comprises an infrared reflection cooperation mark fixedly installed in a tunnel settlement area to be monitored, an image measuring station and a reference manual cooperation mark frame fixedly arranged in a tunnel stable area. The utility model discloses can subside the low-cost measuring equipment who carries out automation, real-time, long-range, intelligent monitoring to tunnel structure to satisfy the real time monitoring demand at key risk position in a large amount of operation tunnels.
Description
Technical Field
The utility model belongs to tunnel image processing field relates to the photographic target monitoring system of tunnel structure displacement close-range.
Background
In the tunnel which is constructed and operated, the structure of the tunnel needs to be monitored frequently or in real time for the part with higher risk of the geological structure or with disease or deformation, so that potential safety risk can be found and predicted in time, and operations such as reinforcing and supporting can be carried out at any time according to the needs, thereby ensuring the safe operation of the tunnel.
The conventional means generally adopts measuring tools such as a surveying and mapping robot, a total station, a level gauge and the like to periodically survey and map tunnel parts needing important monitoring so as to detect the settlement relative to a stable datum point. However, the above-mentioned settlement monitoring method requires professional surveying and mapping personnel to erect related instruments and equipment when the measurement is performed regularly, which affects the traffic; or the mode of arranging and installing equipment such as a total station and the like at fixed points is adopted for uninterrupted measurement, the cost is high, and the manpower and material resources required to be input are large.
Therefore, with the development of image processing technology and wireless network technology, it is necessary to research a low-cost measuring device capable of automatically, real-time, remotely and intelligently monitoring the settlement of a tunnel structure so as to meet the real-time monitoring requirement of important risk parts in a large number of operating tunnels.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a tunnel structure displacement close-range photography target monitoring system can accomplish to carry out real-time, all-weather, long-range, automatic settlement deformation monitoring measurement to tunnel risk position.
In order to achieve the above purpose, the utility model provides a following technical scheme:
tunnel structure displacement close-range photography target monitoring system, this system includes:
an infrared light reflecting cooperative mark fixedly arranged in a settlement area of the tunnel to be monitored,
an image measuring station for measuring the image of the object,
and a reference manual cooperation sign frame fixedly arranged in the tunnel stable area.
Optionally, the image measuring station is a side-by-side measuring station or a back-to-back measuring station;
wherein the "side-by-side" measurement station satisfies: the reference system manual cooperation mark is erected between the infrared reflection cooperation mark and the image measuring station, and in the image measuring station, a fixed-focus telephoto lens aligned with the infrared reflection cooperation mark and a short-focus fixed-focus lens aligned with the manual cooperation mark are placed facing to the same side;
the 'back-to-back' type measuring station meets the following requirements: the reference system artificial cooperation mark and the infrared reflection cooperation mark are respectively arranged at two sides of the image measuring station, and in the image measuring station, a fixed-focus telephoto lens aligned with the infrared reflection cooperation mark and a short-focus fixed-focus lens aligned with the artificial cooperation mark are respectively arranged in a front-back direction.
Optionally, the image measuring station is a combined measuring station, and the combined measuring station satisfies: the settlement change of a plurality of sections relative to the same datum point is monitored by adding the fixed-focus telephoto lens, so that a combined measuring station is formed and used for monitoring the plurality of sections, and the sections are distributed on different tunnel axial distances.
Optionally, when the image measurement station comprises a plurality of cameras, the relative pose between the different cameras in the fixed connection remains unchanged.
Optionally, the structure of the base and the fixed connection between the plurality of cameras is made of indium steel material, the indium steel material contains iron 64% and nickel 36%, and the indium steel material has a low thermal expansion coefficient between-250 ℃ and +200 ℃.
Optionally, the image measuring station is placed in a thermal insulation box to reduce the rate of temperature change of the image measuring station.
Optionally, the heat insulation box is provided with a plurality of temperature sensors to collect temperature distribution of the heat insulation box in real time, and errors caused by changes of ambient temperature are corrected through a temperature drift model of the monitoring system.
Optionally, dustproof equipment is arranged on observation windows on two sides of the heat preservation box.
Optionally, the dust-proof device is a wiper.
Optionally, the local coordinate system of the infrared reflective cooperative mark is T, the reference coordinate system is B, the image monitoring station C is formed by fixedly connecting a camera 1 and a camera 2, wherein the camera 1 aims at the infrared reflective cooperative mark, the camera 2 aims at the reference coordinate system, and the corresponding camera coordinate systems are distributed as C1 and C2;
the relative attitude relationship between the two rigid coordinate systems is represented by a rotation matrix R of a three-dimensional space, and the relative position relationship is represented by a three-dimensional translation vector T, namely:
tB＝RT→B·tT
in the computer vision measurement, after internal parameters of a camera are calibrated in advance, for a rigid coordinate system, the attitude relation R between a local coordinate system T of the infrared reflection cooperative mark and a corresponding camera coordinate system C1 is solved by utilizing the principle of single visual attitude observation for a rigid coordinate systemT→C1Attitude relationship R between camera coordinate system C2 and corresponding reference coordinate system BC2→B；
The camera coordinate system C1 and the camera coordinate system C2 are in a fixed connection relationship, and the relative pose relationship RC1→C2The method for calibrating the hands and the eyes of the robot by the calibration frame is obtained, so that the relative rotation matrix R between the local coordinate system T and the reference coordinate system B is finally obtained based on the attitude transfer ruleT→BComprises the following steps:
RT→B＝RT→C1·RC1→C2·RC2→B。
the beneficial effects of the utility model reside in that: the low-cost measuring equipment can automatically, real-timely, remotely and intelligently monitor the settlement of the tunnel structure so as to meet the real-time monitoring requirement of key risk positions in a large number of operating tunnels.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.
Drawings
For the purposes of promoting a better understanding of the objects, features and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic diagram of a "side-by-side" measurement scheme;
FIG. 2 is a schematic diagram of a "back-to-back" measurement scheme;
FIG. 3 is a schematic view of a "side-by-side" measuring station;
FIG. 4 is a schematic view of a "back-to-back" type measuring station;
FIG. 5 is a schematic view of a "combo" measuring station;
FIG. 6 is a schematic view of the design of the incubator;
FIG. 7 is a tunnel structure displacement monitoring process;
FIG. 8 is a diagram of a relative sedimentation amount reference system map.
Reference numerals: 1-infrared reflection cooperative mark, 2-tunnel settlement monitoring belt, 3-reference system cooperative mark frame, 4- "side-by-side" image measuring station, 5- "back-to-back" image measuring station, 6-fixed focus telephoto lens, 7-far focusing infrared laser illuminating light source, 8-high resolution industrial camera 1, 9-short focus telephoto lens, 10-high resolution industrial camera 2, 11-indium steel mounting base, 2-heat preservation box, 13-high resolution industrial camera 3, 14-fixed focus telephoto lens 1, 15-fixed focus telephoto lens 2, 16-far focusing infrared laser illuminating light source 1, 17-far focusing infrared laser illuminating light source 3, 18-heat insulation box, 19-camera 1, 20-camera 2, 21-wiper component 1, 22-wiper assembly 2, 23-power supply and interface, 24-temperature sensor, 25-fan set, 26-reference system, 27-monitoring station.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in any way limiting the scope of the invention; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc., indicating directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Please refer to fig. 1 to 8, which illustrate a system for monitoring a displacement close-range photography target of a tunnel structure. 1 is an infrared reflection cooperative mark, 2 is a tunnel subsidence monitoring belt, 3 is a reference system cooperative mark frame, 4 is a side-by-side image measuring station, 5 is a back-to-back image measuring station, 6 is a fixed focus telephoto lens, 7 is a far focus infrared laser illuminating light source, 8 is a high resolution industrial camera 1, 9 is a short focus fixed focus lens, 10 is a high resolution industrial camera 2, 11 is an indium steel mounting base, 2 is a heat preservation box, 13 is a high resolution industrial camera 3, 14 is a fixed focus telephoto lens 1, 15 is a fixed focus telephoto lens 2, 16 is a far focus infrared laser illuminating light source 1, 17 is a far focus infrared laser illuminating light source 3, 18 is a heat insulation box, 19 is a camera 1, 20 is a camera 2, 21 is a wiper component 1, 22 is a wiper component 2, 23 is a power supply and an interface, 24 is a temperature sensor, 25 is a fan set, 26 is a reference system, and 27 is a monitoring station.
1. System and method
The tunnel structure displacement close-range photography targeted monitoring system is a set of intelligent real-time monitoring system based on image acquisition equipment, and can complete real-time, all-weather, remote and automatic settlement deformation monitoring and measuring on a tunnel risk part.
The whole system comprises: (1) the infrared light-reflecting cooperative mark is fixedly arranged in a settlement area of the tunnel to be monitored; (2) an image measuring station; (3) and the standard manual cooperation sign frame is fixedly arranged in the stable region of the tunnel.
The overall monitoring layout can be divided into a 'side-by-side' type measurement and a 'back-to-back' type measurement according to the position relationship of the reference system cooperative marking frame and the settlement monitoring belt relative to the graphic measuring station, as shown in fig. 1 and 2.
The "side-by-side" measurement places the reference system cooperative markers between the infrared reflective cooperative markers and the image measurement station where the fixed focus telephoto lens aligned with the infrared reflective cooperative markers and the short focus fixed focus lens aligned with the manual cooperative markers are placed facing the same side, as illustrated in fig. 3.
The "back-to-back" measurement places the reference system artificial cooperation mark and the infrared reflection cooperation mark on both sides of the image measuring station, and in the image measuring station, the fixed-focus telephoto lens aligned with the infrared reflection cooperation mark and the short-focus fixed-focus lens aligned with the artificial cooperation mark are placed facing forward and backward, respectively, as shown in fig. 4.
When a plurality of sections need to be monitored and the sections are distributed on different tunnel axial distances, the settlement change of the plurality of sections relative to the same datum point can be monitored by adding a fixed-focus telephoto lens, so that a combined measuring station is formed, as shown in fig. 5.
In a multi-camera image measurement station, the relative pose between different camera systems that are required to be attached remains unchanged. The base and the fixed connection structure between the camera systems are made of indium steel materials (containing 64% of iron and 36% of nickel and having an extremely low thermal expansion coefficient between-250 ℃ and +200 ℃) with low thermal expansion and cold contraction coefficients, and the image measuring station is placed in a well-designed incubator so as to reduce the change rate of the temperature of the measuring station to the maximum extent. And a plurality of temperature sensors are distributed on the heat preservation box to acquire the temperature distribution of the heat preservation box in real time, and finally, the error caused by the change of the environmental temperature is corrected in a system temperature drift model mode. The insulation can also be a protection case, dustproof equipment such as a windshield wiper can be arranged on observation windows on two sides, and the design is as shown in figure 6:
2. monitoring process
As shown in fig. 7.
3. Relative displacement reference system mapping establishment
The following explains in detail how to map the relative settlement amount of the infrared reflective cooperative mark in the region to be monitored to the reference coordinate system arranged far away from the settlement region, and the schematic diagram of the principle is shown in fig. 8:
the local coordinate system of the infrared reflective cooperative mark to be monitored in fig. 8 is T, the reference coordinate system is B, the image monitoring station C is formed by two digital cameras which are fixedly connected, wherein the camera 1 aims at the infrared reflective cooperative mark, the camera 2 aims at the reference coordinate system, and the corresponding camera coordinate systems are distributed as C1 and C2. The relative attitude relationship between two rigid body coordinate systems can be represented by a rotation matrix R of a three-dimensional space, and the relative position relationship can be represented by a three-dimensional translation vector t, namely:
tB＝RT→B·tT
in the computer vision measurement, when the internal parameters of the camera are calibrated in advance, the coordinate system of the reflecting cooperative mark T and the corresponding monitoring camera seat can be obtained by using the principle of single visual attitude for a rigid coordinate systemAttitude relationship R between the systems C1T→C1In the same way, the posture relation R between the monitoring camera C2 and the corresponding reference coordinate system B can be solved accordinglyC2→BThe camera C1 and the camera C2 are fixedly connected, and the relative pose relationship R between the camerasC1→C2The method can be obtained by carrying out robot hand-eye calibration in advance through a calibration frame, so that the relative rotation matrix R between the coordinate system T of the target to be measured and the reference coordinate system B can be finally obtained based on the attitude transfer ruleT→BComprises the following steps:
RT→B＝RT→C1·RC1→C2·RC2→B
finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.
Claims (8)
1. Tunnel structure displacement close-range photography target monitoring system, its characterized in that: the system comprises:
an infrared light reflecting cooperative mark fixedly arranged in a settlement area of the tunnel to be monitored,
an image measuring station for measuring the image of the object,
and a reference manual cooperation sign frame fixedly arranged in the tunnel stable area.
2. The system according to claim 1, wherein: the image measuring station is a shoulder-to-shoulder measuring station or a back-to-back measuring station;
wherein the "side-by-side" measurement station satisfies: the reference system manual cooperation mark is erected between the infrared reflection cooperation mark and the image measuring station, and in the image measuring station, a fixed-focus telephoto lens aligned with the infrared reflection cooperation mark and a short-focus fixed-focus lens aligned with the manual cooperation mark are placed facing to the same side;
the 'back-to-back' type measuring station meets the following requirements: the reference system artificial cooperation mark and the infrared reflection cooperation mark are respectively arranged at two sides of the image measuring station, and in the image measuring station, a fixed-focus telephoto lens aligned with the infrared reflection cooperation mark and a short-focus fixed-focus lens aligned with the artificial cooperation mark are respectively arranged in a front-back direction.
3. The system according to claim 1, wherein: the image measuring station is a combined measuring station, and the combined measuring station meets the following requirements: the settlement change of a plurality of sections relative to the same datum point is monitored by adding the fixed-focus telephoto lens, so that a combined measuring station is formed and used for monitoring the plurality of sections, and the sections are distributed on different tunnel axial distances.
4. The system according to claim 1, wherein: when the image measurement station comprises a plurality of cameras, the relative pose between the different cameras in the fixed connection remains unchanged.
5. The system of claim 4, wherein the system comprises: the image measuring station is placed in a heat-preserving box to reduce the temperature change rate of the image measuring station.
6. The system of claim 5, wherein: the temperature sensors are distributed on the heat preservation box to collect the temperature distribution of the heat preservation box in real time, and errors caused by the change of the environmental temperature are corrected through a temperature drift model of the monitoring system.
7. The system of claim 5, wherein: and dustproof equipment is arranged on observation windows on two sides of the heat preservation box.
8. The system of claim 7, wherein: the dustproof equipment is a windshield wiper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021283672.5U CN212274912U (en) | 2020-07-03 | 2020-07-03 | Tunnel structure displacement close-range photography target monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021283672.5U CN212274912U (en) | 2020-07-03 | 2020-07-03 | Tunnel structure displacement close-range photography target monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212274912U true CN212274912U (en) | 2021-01-01 |
Family
ID=73899612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021283672.5U Expired - Fee Related CN212274912U (en) | 2020-07-03 | 2020-07-03 | Tunnel structure displacement close-range photography target monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212274912U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111623750A (en) * | 2020-07-03 | 2020-09-04 | 招商局重庆交通科研设计院有限公司 | Tunnel structure displacement close-range photography target monitoring system |
-
2020
- 2020-07-03 CN CN202021283672.5U patent/CN212274912U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111623750A (en) * | 2020-07-03 | 2020-09-04 | 招商局重庆交通科研设计院有限公司 | Tunnel structure displacement close-range photography target monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111623750A (en) | Tunnel structure displacement close-range photography target monitoring system | |
| CN102798350B (en) | Method, device and system for measuring deflection of arm support | |
| FI74556C (en) | FOERFARANDE FOER TREDIMENSIONELL OEVERVAKNING AV ETT MAOLUTRYMME. | |
| CN101738161B (en) | Equipment and method for measuring six-dimensional pose of moving object | |
| CN111964694B (en) | Laser range finder calibration method for three-dimensional measurement | |
| CN102778207B (en) | A kind of measuring method, Apparatus and system of structural member ess-strain | |
| CN108269286B (en) | Multi-camera pose association method based on combined three-dimensional signs | |
| CN108828555B (en) | Accurate measurement method, system and device based on coordinate transformation | |
| CN112330745B (en) | Tunnel portal side elevation slope stability monitoring and early warning system and method based on binocular vision | |
| CN109443321B (en) | Series-parallel camera network measurement method for monitoring deformation of large-scale structure | |
| CN106091946A (en) | Self-calibration measurement apparatus and method for bridge deformation or displacement parameter | |
| CN102798456B (en) | Method, device and system for measuring working range of engineering mechanical arm frame system | |
| CN112985374B (en) | Positioning method, positioning assembly and positioning system | |
| Mi et al. | A vision-based displacement measurement system for foundation pit | |
| CN210773935U (en) | Mining three-dimensional laser digital measuring instrument | |
| CN212274912U (en) | Tunnel structure displacement close-range photography target monitoring system | |
| CN204495331U (en) | A kind of noncontact tunnel sedimentation vision measurement device | |
| CN102854138A (en) | Visibility measuring system and method based on digital camera shooting method | |
| AU774749B2 (en) | Method and apparatus for calibrating positions of a plurality of first light sources on a first part | |
| Huang et al. | Measurement method and recent progress of vision-based deflection measurement of bridges: A technical review | |
| Konyakhin et al. | Optic-electronic systems for measurement a position of radio-telescope components | |
| CN116132814B (en) | Submarine immersed tube splicing structure information acquisition equipment, acquisition method, device and equipment | |
| CN101000240A (en) | Angle measuring probe for motion optical target | |
| CN210742498U (en) | Unmanned aerial vehicle relative pose measuring system for glass curtain wall cleaning operation | |
| CN114859327A (en) | Calibration method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210101 Termination date: 20210703 |