CN111043983A

CN111043983A - Tunnel section deformation monitoring method and related device

Info

Publication number: CN111043983A
Application number: CN202010023132.1A
Authority: CN
Inventors: 刘肖琳; 于起峰; 张跃强; 丁晓华
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2020-01-09
Filing date: 2020-01-09
Publication date: 2020-04-21
Anticipated expiration: 2040-01-09
Also published as: CN111043983B

Abstract

The application discloses a tunnel section deformation monitoring method and a related device, which are applied to a camera measurement system comprising at least one camera observation station, wherein each camera observation station in the at least one camera observation station comprises a measurement camera array and a reference transfer camera, and the method comprises the following steps: obtaining a shake amount of each camera observation station by at least one reference transfer camera of each camera observation station; performing section deformation measurement on a plurality of points to be measured corresponding to each camera observation station through a measurement camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station, wherein the plurality of points to be measured are located in the operation range of the tunnel to be measured; and correcting the plurality of initial section deformation sets corresponding to each camera observation station according to the shaking amount of each camera observation station to obtain a plurality of final section deformation sets. By the adoption of the method and the device, accuracy of tunnel section deformation measurement is improved.

Description

Tunnel section deformation monitoring method and related device

Technical Field

The application relates to the technical field of tunnel monitoring, in particular to a tunnel section deformation monitoring method and a related device.

Background

At present, tunnel section deformation monitoring methods include a contact measurement method and a non-contact measurement method. Because the contact-type measurement method and the non-contact-type measurement method only consider the influence of the deformation of the tunnel section, the accuracy of the tunnel section deformation monitoring method for the tunnel section deformation measurement needs to be further improved.

Disclosure of Invention

The embodiment of the application provides a tunnel section deformation monitoring method and a related device, which are used for improving the accuracy of tunnel section deformation measurement.

In a first aspect, an embodiment of the present application provides a tunnel section deformation monitoring method, which is applied to a camera measurement system including at least one camera observation station, where each camera observation station in the at least one camera observation station includes a measurement camera array and a reference transfer camera, and the method includes:

obtaining a shake amount of each camera observation station by at least one reference transfer camera of each camera observation station;

performing section deformation measurement on a plurality of points to be measured corresponding to each camera observation station through a measurement camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station, wherein the plurality of initial section deformation sets correspond to the plurality of points to be measured one by one, and the plurality of points to be measured are positioned in the operation range of a tunnel to be measured;

and correcting the plurality of initial section deformation sets corresponding to each camera observation station according to the shaking amount of each camera observation station to obtain a plurality of final section deformation sets, wherein the plurality of final section deformation sets correspond to the plurality of initial section deformation sets one by one.

In a second aspect, an embodiment of the present application provides a tunnel section deformation monitoring device, which is applied to a camera measurement system including at least one camera observation station, where each camera observation station in the at least one camera observation station includes a measurement camera array and a reference transfer camera, and the device includes:

a first obtaining unit configured to obtain a shake amount of each camera observation station by at least one reference transfer camera of each camera observation station;

the second obtaining unit is used for performing section deformation measurement on the corresponding multiple points to be measured through the measuring camera array of each camera observation station to obtain multiple initial section deformation sets corresponding to each camera observation station, the multiple initial section deformation sets correspond to the multiple points to be measured in a one-to-one mode, and the multiple points to be measured are located in the operation range of the tunnel to be measured;

and the correcting unit is used for correcting the plurality of initial section deformation sets corresponding to each camera observation station according to the shaking amount of each camera observation station to obtain a plurality of final section deformation sets, and the plurality of final section deformation sets correspond to the plurality of initial section deformation sets one by one.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and where the program includes instructions for performing some or all of the steps in the method according to the first aspect of the embodiment of the present application.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium for storing a computer program, where the computer program is executed by a processor to implement some or all of the steps described in the method of the first aspect of the embodiments of the present application.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the method of the first aspect of embodiments of the present application. The computer program product may be a software installation package.

Compared with the conventional tunnel section deformation monitoring method which only considers the influence of tunnel section deformation and does not consider the influence of instability of the camera observation stations on tunnel section deformation measurement, in the embodiment of the application, the shaking amount of each camera observation station is firstly obtained, then a plurality of initial section deformation amount sets corresponding to each camera observation station are obtained, and finally the plurality of initial section deformation amount sets corresponding to each camera observation station are corrected based on the shaking amount of each camera observation station to obtain a plurality of final section deformation amount sets. The influence of instability of the camera observation station on the deformation measurement of the tunnel section is eliminated, so that the accuracy of the deformation measurement of the tunnel section is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the background art of the present application, the drawings required to be used in the embodiments or the background art of the present application will be described below.

Fig. 1A is a schematic flowchart of a tunnel section deformation monitoring method according to an embodiment of the present application;

fig. 1B is a schematic diagram of a camera measurement system provided in an embodiment of the present application;

fig. 1C is a schematic view of another camera measurement system provided in the embodiments of the present application;

fig. 2 is a schematic flowchart of another tunnel section deformation monitoring method provided in an embodiment of the present application;

fig. 3 is a functional unit block diagram of a tunnel section deformation monitoring device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference in the specification 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 specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Electronic devices may include various handheld devices, vehicle mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem with wireless communication capabilities, as well as various forms of User Equipment (UE), Mobile Stations (MS), terminal equipment (TD), and so forth.

The following describes embodiments of the present application in detail.

Referring to fig. 1A, fig. 1A is a schematic flowchart of a tunnel section deformation monitoring method provided in an embodiment of the present application, where the tunnel section deformation monitoring method is applied to a camera measurement system including at least one camera observation station, each camera observation station in the at least one camera observation station includes a measurement camera array and a reference transfer camera, and the tunnel section deformation monitoring method includes

steps

101 and 103, which are specifically as follows:

101: the tunnel section deformation monitoring device obtains the shaking amount of each camera observation station through at least one reference transfer camera of each camera observation station.

In some possible embodiments, the number of the at least one camera observation station is N, where N is an integer greater than 1, and the tunnel section deformation monitoring device obtains the shake amount of each camera observation station through the at least one reference transfer camera of each camera observation station, including:

the tunnel section deformation monitoring device observes (N-1) sign units through N cameras included by N reference transmission cameras to obtain an initial rigid body transformation matrix of any two adjacent reference transmission cameras in the N reference transmission cameras, wherein the initial rigid body transformation matrix comprises a rotation matrix and a translation vector;

the tunnel section deformation monitoring device acquires a target reference transfer camera, wherein the target reference transfer camera is any one of N reference transfer cameras;

the tunnel section deformation monitoring device obtains a final rigid body transformation matrix from a target reference transmission camera to each reference transmission camera according to an initial rigid body transformation matrix of any two adjacent reference transmission cameras in the N reference transmission cameras and a pre-stored rigid body transformation relation formula, wherein each reference transmission camera is any one of the N reference transmission cameras;

the tunnel section deformation monitoring device obtains a pitch angle, a yaw angle, a middle section horizontal direction displacement amount and a middle section vertical direction displacement amount corresponding to a camera observation station where each reference transmission camera is located according to a final rigid body transformation matrix from the target reference transmission camera to each reference transmission camera, and determines the pitch angle, the yaw angle, the middle section horizontal direction displacement amount and the middle section vertical direction displacement amount corresponding to the camera observation station where each reference transmission camera is located as a shaking amount of each camera observation station.

The tunnel section deformation monitoring device observes a mark unit included by a next-stage reference transmission camera through a camera included by a previous-stage reference transmission camera to obtain a rotation matrix and a translation vector from the previous-stage reference transmission camera to the next-stage reference transmission camera, wherein the previous-stage reference transmission camera and the next-stage reference transmission camera are any two adjacent reference transmission cameras in N reference transmission cameras; the tunnel section deformation monitoring device obtains an initial rigid body transformation matrix from the upper-stage reference transmission camera to the lower-stage reference transmission camera according to the rotation matrix and the translation vector from the upper-stage reference transmission camera to the lower-stage reference transmission camera.

For example, if the rotation matrix of the i-th level reference transfer camera to the (i +1) -th level reference transfer camera is⁽ⁱ⁺¹⁾R_iAnd a translation vector of⁽ⁱ⁺¹⁾t_iThen the initial rigid body transformation matrix of the ith stage reference transfer camera to the (i +1) th stage reference transfer camera is

The rigid body transformation relation formula is stored in the tunnel section deformation monitoring device in advance, and the rigid body transformation relation formula is as follows:

^lH_ka final rigid body transformation matrix for the kth fiducial transfer camera to the l-th level fiducial transfer camera.

The tunnel section deformation monitoring device analyzes a rotation matrix included in a final rigid body transformation matrix from the target reference transmission camera to each reference transmission camera to obtain a pitch angle theta and a yaw angle of a camera observation station where each reference transmission camera is located

Horizontal displacement deltax of middle section_cAnd a vertical displacement amount deltay of the intermediate section_c。

It can be seen that, in this example, an initial rigid body transformation matrix of any two adjacent reference transfer cameras among the N reference transfer cameras is obtained first, then a final rigid body transformation matrix of the target reference transfer camera to each reference transfer camera is obtained according to the initial rigid body transformation matrix and the rigid body transformation relation formula of any two adjacent reference transfer cameras among the N reference transfer cameras, and finally a pitch angle, a yaw angle, an intermediate section horizontal direction displacement amount and an intermediate section vertical direction displacement amount of a camera observation station where each reference transfer camera is located, which are obtained according to the final rigid body transformation matrix of the target reference transfer camera to each reference transfer camera, are determined as a shake amount of each camera observation station. And correcting the plurality of initial section deformation sets corresponding to each camera observation station based on the shaking amount of each camera observation station to obtain a plurality of final section deformation sets. The influence of instability of the camera observation station on the deformation measurement of the tunnel section is eliminated, so that the accuracy of the deformation measurement of the tunnel section is improved.

102: the tunnel section deformation monitoring device carries out section deformation measurement on a plurality of points to be measured corresponding to the tunnel section deformation monitoring device through a measuring camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station, the initial section deformation sets correspond to the points to be measured one by one, and the points to be measured are located in the operation range of the tunnel to be measured.

The tunnel section deformation monitoring device measures section deformation of a plurality of points to be measured corresponding to a measuring camera array through the measuring camera array of each camera observation station by using a section deformation measuring algorithm to obtain a plurality of initial section deformation sets corresponding to each camera observation station; the section deformation measuring algorithm is used for measuring the section deformation of the tunnel, and is not limited.

The plurality of points to be measured may include a near-field point to be measured, a mid-field point to be measured, and a far-field point to be measured.

In some possible embodiments, the measuring camera array comprises a plurality of measuring cameras, the focal lengths of the measuring cameras are different, and the measuring cameras correspond to the points to be measured one by one; the reference transfer camera includes a camera and a flag unit; the measuring camera array meets a first precondition of a camera observation station where the measuring camera array is located; the reference transfer camera meets a second precondition of a camera observation station where the reference transfer camera is located;

the first precondition comprises a magnification of each measuring camera in the plurality of measuring cameras relative to a point to be measured corresponding to the measuring camera, a horizontal distance between each measuring camera and the point to be measured corresponding to the measuring camera, and a position and posture parameter of each measuring camera relative to a camera observation station where the measuring camera is located;

the second precondition comprises position and attitude parameters of the camera relative to the camera observation station where the camera observation station is located and position and attitude parameters of the mark unit relative to the camera observation station where the mark unit is located.

The plurality of measurement cameras may include a near-field measurement camera, a mid-field measurement camera, and a far-field measurement camera; the focal length is short: the near field measuring camera is smaller than the middle field measuring camera and is smaller than the far field measuring camera; the near-field measuring camera corresponds to the near-field point to be measured, the middle-field measuring camera corresponds to the middle-field measuring point, and the far-field measuring camera corresponds to the far-field point to be measured.

The shape of the marking unit can be round, opposite vertex angle and cross, the marking unit can actively emit light and can also be imaged by means of emitting sunlight or other light sources. The marking unit is preferably a marking unit of infrared light.

The magnification of each measuring camera relative to the corresponding point to be measured, the horizontal distance of each measuring camera relative to the corresponding point to be measured and the position and posture parameters of each measuring camera relative to the camera observation station where the measuring camera is located are all configured in advance by a measuring person, and each measuring camera is one of a plurality of measuring cameras included in the measuring camera array of each camera observation station.

The position and posture parameters of the camera relative to the camera observation station where the camera observation station is located and the position and posture parameters of the mark unit relative to the camera observation station where the mark unit is located are pre-configured by a surveying staff, the camera transmits the camera included in the camera for the benchmark of each camera observation station, and the mark unit transmits the mark unit included in the camera for the benchmark of each camera observation station.

As can be seen, in this example, since the measuring camera array satisfies the first precondition of the camera observation station where the measuring camera array is located, and the reference transferring camera satisfies the second precondition of the camera observation station where the reference transferring camera is located, the obtained initial cross-section deformation sets and the obtained shaking amount of each camera observation station corresponding to each camera observation station are more accurate. And then a plurality of final section deformation sets that obtain are more accurate, help improving tunnel section deformation measuring accuracy like this.

For example, as shown in fig. 1B, fig. 1B is a schematic diagram of a camera measurement system provided in an embodiment of the present application, where the camera measurement system includes three camera observation stations, each of the three camera observation stations includes a measurement camera array and a reference transfer camera, the measurement camera array includes a near-field measurement camera, a middle-field measurement camera, and a far-field measurement camera, the reference transfer camera includes a camera and a mark unit, the near-field measurement camera corresponds to a near-field point to be measured, the middle-field measurement camera corresponds to a middle-field point to be measured, the far-field measurement camera corresponds to a far-field point to be measured, and an observation direction of the three measurement camera arrays is the same as an observation direction of the three reference transfer cameras.

In some possible embodiments, the tunnel section deformation monitoring device performs section deformation measurement on a plurality of points to be measured corresponding to each camera observation station through a measurement camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station, and the method includes:

the tunnel section deformation monitoring device carries out sub-pixel positioning on a preset point set to be measured through each measuring camera to obtain the point to be measured corresponding to each measuring camera, and each measuring camera is one of a plurality of measuring cameras included in a measuring camera array of each camera observation station;

the tunnel section deformation monitoring device carries out section deformation tracking measurement on the corresponding point to be measured through each measuring camera to obtain the horizontal displacement of the initial section and the vertical displacement of the initial section corresponding to each measuring camera, and determines the horizontal displacement of the initial section and the vertical displacement of the initial section corresponding to each measuring camera as the initial section deformation set corresponding to each measuring camera;

the tunnel section deformation monitoring device determines all initial section deformation sets corresponding to a plurality of measuring cameras included in the measuring camera array of each camera observation station as a plurality of initial section deformation sets corresponding to each camera observation station.

The tunnel section deformation monitoring device carries out sub-pixel positioning on a preset point to be measured set through each measuring camera by using a sub-pixel positioning algorithm to obtain the point to be measured corresponding to each measuring camera; the sub-pixel positioning algorithm may include an adaptive filtering algorithm, an adaptive threshold algorithm, a gray image fitting algorithm, and a least square matching algorithm.

As can be seen, in this example, each measuring camera performs sub-pixel positioning on a preset point to be measured set to obtain a point to be measured corresponding to each measuring camera, then each measuring camera performs section deformation tracking measurement on the point to be measured corresponding to each measuring camera to obtain an initial section horizontal direction displacement amount and an initial section vertical direction displacement amount (and an initial section deformation amount set) corresponding to each measuring camera, and finally, all initial section deformation amount sets corresponding to a plurality of measuring cameras included in a measuring camera array of each camera observation station are determined as a plurality of initial section deformation amount sets corresponding to each camera observation station. And correcting the plurality of initial section deformation sets corresponding to each camera observation station based on the shaking amount of each camera observation station to obtain a plurality of final section deformation sets. The influence of instability of the camera observation station on the deformation measurement of the tunnel section is eliminated, so that the accuracy of the deformation measurement of the tunnel section is improved.

103: the tunnel section deformation monitoring device corrects a plurality of initial section deformation sets corresponding to each camera observation station according to the shaking amount of each camera observation station to obtain a plurality of final section deformation sets, and the plurality of final section deformation sets correspond to the plurality of initial section deformation sets one by one.

In some possible embodiments, the tunnel section deformation monitoring device corrects a plurality of initial section deformation sets corresponding to each camera observation station according to the amount of shake of each camera observation station to obtain a plurality of final section deformation sets, including:

the tunnel section deformation monitoring device obtains a plurality of final section horizontal direction displacement amounts corresponding to each camera observation station according to a yaw angle and a middle section horizontal direction displacement amount corresponding to each camera observation station, a plurality of initial section horizontal direction displacement amounts corresponding to each camera observation station and a prestored section horizontal deformation correction formula, wherein the plurality of final section horizontal direction displacement amounts correspond to the plurality of initial section horizontal direction displacement amounts one by one;

the tunnel section deformation monitoring device obtains a plurality of final section vertical direction displacement amounts corresponding to each camera observation station according to a pitch angle and a middle section vertical direction displacement amount corresponding to each camera observation station, a plurality of initial section vertical direction displacement amounts corresponding to each camera observation station and a prestored section vertical deformation correction formula, wherein the plurality of final section vertical direction displacement amounts correspond to the plurality of initial section vertical direction displacement amounts one by one;

and the tunnel section deformation monitoring device determines a plurality of final section horizontal direction displacement amounts and a plurality of final section vertical direction displacement amounts corresponding to each camera observation station as a plurality of final section deformation sets corresponding to each camera observation station.

The horizontal deformation of section correction formula is prestored in tunnel section deformation monitoring device, if the horizontal direction displacement of a plurality of initial sections that each camera observation station corresponds includes the horizontal direction displacement of initial section that the near field measurement camera corresponds, the horizontal direction displacement of initial section that the midfield measurement camera corresponds and the horizontal direction displacement of initial section that the far field measurement camera corresponds, then the horizontal deformation of section correction formula is:

for the horizontal displacement of the final section corresponding to the near-field measurement camera included in the camera observation station where the m-th level reference transfer camera is located,

the magnification of a near-field measuring camera and a corresponding point to be measured which are included in a camera observation station where the mth-level reference transfer camera is positioned,

for the displacement amount of the original section in the horizontal direction corresponding to the near-field measuring camera included in the camera observation station where the mth-level reference transfer camera is located,

the horizontal displacement of the middle section corresponding to the observation station of the camera where the camera is located is transferred for the mth level reference,

the horizontal distance between a near-field measuring camera and a corresponding point to be measured in a camera observation station where the mth-level reference transfer camera is located is measured,

and the m-th level reference transfer camera is one of the N reference transfer cameras and is a yaw angle corresponding to the camera observation station where the m-th level reference transfer camera is located.

The camera observation station for the m-th level reference transfer camera comprisesThe final section corresponding to the midfield measuring camera is displaced in the horizontal direction,

the magnification of a midfield measuring camera and a corresponding point to be measured which are included in a camera observation station where the mth level reference transfer camera is located,

for the m-level reference transfer camera, the horizontal displacement of the initial section corresponding to the midfield measuring camera included in the camera observation station,

the horizontal distance between a midfield measuring camera and a corresponding point to be measured, which are included in a camera observation station where the mth level benchmark transfer camera is located,

and transferring the yaw angle corresponding to the camera observation station where the camera is located for the mth level reference.

The final section horizontal displacement corresponding to the far-field measuring camera included in the camera observation station where the m-th level reference transfer camera is positioned,

the magnification of a far-field measuring camera and a corresponding point to be measured which are included in a camera observation station where the camera is positioned are transferred for the mth level benchmark,

the horizontal displacement of the initial section corresponding to a far-field measuring camera included in a camera observation station where the mth-level reference transfer camera is located is obtained,

the horizontal distance between a far-field measuring camera and a corresponding point to be measured which are included in a camera observation station where the m-th level reference transfer camera is positioned,

The vertical deformation of section correction formula is prestored in tunnel section deformation monitoring devices, and if a plurality of initial section vertical direction displacement amounts that each camera observation station corresponds include the initial section vertical direction displacement amount that the near field measurement camera corresponds, the initial section vertical direction displacement amount that the midfield measurement camera corresponds and the initial section vertical direction displacement amount that the far field measurement camera corresponds, then the vertical deformation of section correction formula is:

for the final cross-section vertical displacement corresponding to the near-field measurement camera included in the camera observation station where the m-th level reference transfer camera is located,

passing camera view of camera location for mth level referenceThe near field measuring camera included in the station and the magnification of the point to be measured corresponding to the near field measuring camera,

for the initial vertical cross-section displacement corresponding to the near-field measurement camera included in the camera observation station where the mth-level reference transfer camera is located,

transferring the vertical displacement of the middle section corresponding to the observation station of the camera where the camera is located for the mth level reference,

and the m-th level reference transfer camera is one of the N reference transfer cameras and is a corresponding pitch angle of a camera observation station where the m-th level reference transfer camera is located.

For the final cross-section vertical displacement corresponding to the midfield measuring camera included in the camera observation station where the mth-level reference transfer camera is positioned,

for the m-level reference transfer camera, the corresponding initial cross section vertical direction displacement of the midfield measurement camera in the camera observation station is located,

for the middle corresponding to the camera observation station where the mth level reference transfer camera is positionedThe displacement amount of the cross section in the vertical direction,

and transferring the pitch angle corresponding to the camera observation station where the camera is located for the mth level reference.

The final cross section vertical direction displacement corresponding to the far-field measuring camera included in the camera observation station where the mth level reference transfer camera is positioned,

the displacement amount of the original vertical section corresponding to a far-field measuring camera included in a camera observation station where the mth-level reference transfer camera is located is obtained,

As can be seen, in this example, a plurality of final cross-section horizontal direction displacement amounts corresponding to each camera observation station are obtained based on the yaw angle and the intermediate cross-section horizontal direction displacement amount corresponding to each camera observation station, a plurality of initial cross-section horizontal direction displacement amounts corresponding to each camera observation station, and the cross-section horizontal deformation correction formula, a plurality of final cross-section vertical direction displacement amounts corresponding to each camera observation station are obtained based on the pitch angle and the intermediate cross-section vertical direction displacement amount corresponding to each camera observation station, a plurality of initial cross-section vertical direction displacement amounts corresponding to each camera observation station, and the cross-section vertical deformation correction formula, and a plurality of final cross-section horizontal direction displacement amounts and a plurality of final cross-section vertical direction displacement amounts corresponding to each camera observation station are determined as a plurality of final cross-section deformation sets corresponding to each camera observation station. The influence of instability of the camera observation station on the deformation measurement of the tunnel section is eliminated, so that the accuracy of the deformation measurement of the tunnel section is improved.

In some possible embodiments, the reference transferring camera includes a camera that is any one of a plurality of measuring cameras included in a measuring camera array of a camera observation station where the reference transferring camera is located.

In some possible embodiments, the reference transfer camera is a measurement platform for measuring a shake amount of a camera observation station where the measurement platform is located.

In some possible embodiments, the at least one array of measurement cameras has a same direction of view as the at least one reference transfer camera; alternatively, the observation direction of the at least one array of measurement cameras is opposite to the observation direction of the at least one reference transfer camera.

For example, as shown in fig. 1C, fig. 1C is a schematic diagram of another camera measurement system provided in this embodiment of the present application, where the camera measurement system includes three camera observation stations, each of the three camera observation stations includes a measurement camera array and a reference transfer camera, the measurement camera array includes a near-field measurement camera, a middle-field measurement camera, and a far-field measurement camera, the reference transfer camera includes a camera and a mark unit, the near-field measurement camera corresponds to a near-field point to be measured, the middle-field measurement camera corresponds to a middle-field point to be measured, the far-field measurement camera corresponds to a far-field point to be measured, and an observation direction of the three measurement camera arrays is opposite to an observation direction of the three reference transfer cameras.

Consistent with the embodiment shown in fig. 1A, please refer to fig. 2, and fig. 2 is a schematic flowchart of another tunnel section deformation monitoring method provided in the embodiment of the present application, where the tunnel section deformation monitoring method is applied to a camera measurement system including at least one camera observation station, each camera observation station in the at least one camera observation station includes a measurement camera array and a reference transfer camera, the number of the at least one camera observation station is N, and N is an integer greater than 1, and the tunnel section deformation monitoring method includes

steps

201 and 208, and specifically includes the following steps:

201: the tunnel section deformation monitoring device observes (N-1) sign units through N cameras included by N reference transmission cameras to obtain initial rigid body transformation matrixes of any two adjacent reference transmission cameras in the N reference transmission cameras, wherein the initial rigid body transformation matrixes comprise rotation matrixes and translation vectors.

202: the tunnel section deformation monitoring device acquires a target reference transfer camera, wherein the target reference transfer camera is any one of N reference transfer cameras.

203: the tunnel section deformation monitoring device obtains a final rigid body transformation matrix from a target reference transmission camera to each reference transmission camera according to an initial rigid body transformation matrix of any two adjacent reference transmission cameras in the N reference transmission cameras and a pre-stored rigid body transformation relation formula, wherein each reference transmission camera is any one of the N reference transmission cameras.

204: the tunnel section deformation monitoring device obtains a pitch angle, a yaw angle, a middle section horizontal direction displacement amount and a middle section vertical direction displacement amount corresponding to a camera observation station where each reference transmission camera is located according to a final rigid body transformation matrix from the target reference transmission camera to each reference transmission camera, and determines the pitch angle, the yaw angle, the middle section horizontal direction displacement amount and the middle section vertical direction displacement amount corresponding to the camera observation station where each reference transmission camera is located as a shaking amount of each camera observation station.

205: the tunnel section deformation monitoring device carries out section deformation measurement on a plurality of points to be measured corresponding to the tunnel section deformation monitoring device through a measuring camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station, the plurality of initial section deformation sets comprise a plurality of initial section horizontal direction displacement amounts and a plurality of initial section vertical direction displacement amounts, the plurality of initial section deformation sets correspond to the plurality of points to be measured one by one, and the plurality of points to be measured are located in an operation range of the tunnel to be measured.

206: the tunnel section deformation monitoring device obtains a plurality of final section horizontal direction displacement amounts corresponding to each camera observation station according to a yaw angle and a middle section horizontal direction displacement amount corresponding to each camera observation station, a plurality of initial section horizontal direction displacement amounts corresponding to each camera observation station and a prestored section horizontal deformation correction formula, wherein the plurality of final section horizontal direction displacement amounts correspond to the plurality of initial section horizontal direction displacement amounts one by one.

207: the tunnel section deformation monitoring device obtains a plurality of final section vertical direction displacement amounts corresponding to each camera observation station according to a pitch angle and a middle section vertical direction displacement amount corresponding to each camera observation station, a plurality of initial section vertical direction displacement amounts corresponding to each camera observation station and a prestored section vertical deformation correction formula, wherein the plurality of final section vertical direction displacement amounts correspond to the plurality of initial section vertical direction displacement amounts one by one.

208: and the tunnel section deformation monitoring device determines a plurality of final section horizontal direction displacement amounts and a plurality of final section vertical direction displacement amounts corresponding to each camera observation station as a plurality of final section deformation sets corresponding to each camera observation station.

It should be noted that, for the specific implementation of the steps of the method shown in fig. 2, reference may be made to the specific implementation of the method described above, and a description thereof is omitted here.

The above embodiments mainly introduce the scheme of the embodiments of the present application from the perspective of the method-side implementation process. It is understood that, in order to implement the above functions, the tunnel section deformation monitoring device includes a hardware structure and/or a software module corresponding to each function. Those of skill in the art would readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

According to the embodiment of the application, the functional units of the tunnel section deformation monitoring device can be divided according to the method example, for example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The integrated unit can be realized in a form of hardware or a form of software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

The following is an embodiment of the apparatus of the present application, which is used to execute the method implemented by the embodiment of the method of the present application. Referring to fig. 3, fig. 3 is a block diagram of functional units of a tunnel cross-section deformation monitoring device according to an embodiment of the present application, where the tunnel cross-section deformation monitoring device is applied to a camera measurement system including at least one camera observation station, each of the at least one camera observation station includes a measurement camera array and a reference transfer camera, and the tunnel cross-section deformation monitoring device 300 includes:

a first obtaining unit 301 for obtaining a shake amount of each camera observation station by at least one reference transfer camera of each camera observation station;

a second obtaining unit 302, configured to perform section deformation measurement on multiple corresponding points to be measured through the measurement camera array of each camera observation station, to obtain multiple initial section deformation sets corresponding to each camera observation station, where the multiple initial section deformation sets correspond to the multiple points to be measured one-to-one, and the multiple points to be measured are located in an operation range of a tunnel to be measured;

a correcting unit 303, configured to correct the multiple initial cross-section deformation sets corresponding to each camera observation station according to the shake amount of each camera observation station, so as to obtain multiple final cross-section deformation sets, where the multiple final cross-section deformation sets correspond to the multiple initial cross-section deformation sets one to one.

In some possible embodiments, the number of the at least one camera observation station is N, where N is an integer greater than 1, and in terms of obtaining the shake amount of each camera observation station through the at least one reference transfer camera of each camera observation station, the first obtaining unit 301 is specifically configured to:

observing (N-1) mark units through N cameras included by the N reference transmission cameras to obtain an initial rigid body transformation matrix of any two adjacent reference transmission cameras in the N reference transmission cameras, wherein the initial rigid body transformation matrix comprises a rotation matrix and a translation vector;

acquiring a target reference transfer camera, wherein the target reference transfer camera is any one of N reference transfer cameras;

obtaining a final rigid body transformation matrix from a target reference transmission camera to each reference transmission camera according to an initial rigid body transformation matrix of any two adjacent reference transmission cameras in the N reference transmission cameras and a pre-stored rigid body transformation relation formula, wherein each reference transmission camera is any one of the N reference transmission cameras;

and obtaining a pitch angle, a yaw angle, a horizontal displacement of the middle section and a vertical displacement of the middle section corresponding to the camera observation station where each reference transfer camera is located according to the final rigid body transformation matrix from the target reference transfer camera to each reference transfer camera, and determining the pitch angle, the yaw angle, the horizontal displacement of the middle section and the vertical displacement of the middle section corresponding to the camera observation station where each reference transfer camera is located as the shaking amount of each camera observation station.

In some possible embodiments, in terms of obtaining a plurality of initial cross-section deformation sets corresponding to each camera observation station by performing cross-section deformation measurement on a plurality of points to be measured corresponding to each camera observation station through the measurement camera array of each camera observation station, the second obtaining unit 302 is specifically configured to:

performing sub-pixel positioning on a preset point to be measured set through each measuring camera to obtain a point to be measured corresponding to each measuring camera, wherein each measuring camera is a measuring camera in a plurality of measuring cameras included in a measuring camera array of each camera observation station;

performing section deformation tracking measurement on the corresponding point to be measured through each measuring camera to obtain the horizontal displacement of the initial section and the vertical displacement of the initial section corresponding to each measuring camera, and determining the horizontal displacement of the initial section and the vertical displacement of the initial section corresponding to each measuring camera as the initial section deformation set corresponding to each measuring camera;

and determining all initial cross-section deformation sets corresponding to the plurality of measuring cameras included in the measuring camera array of each camera observation station as a plurality of initial cross-section deformation sets corresponding to each camera observation station.

In some possible embodiments, in terms of correcting the plurality of initial cross-sectional deformation sets corresponding to each camera observation station according to the amount of shake of each camera observation station to obtain a plurality of final cross-sectional deformation sets, the correcting unit 303 is specifically configured to:

obtaining a plurality of final cross section horizontal direction displacement amounts corresponding to each camera observation station according to a yaw angle and a middle section horizontal direction displacement amount corresponding to each camera observation station, a plurality of initial cross section horizontal direction displacement amounts corresponding to each camera observation station and a prestored cross section horizontal deformation correction formula, wherein the plurality of final cross section horizontal direction displacement amounts correspond to the plurality of initial cross section horizontal direction displacement amounts one to one;

obtaining a plurality of final cross section vertical direction displacement amounts corresponding to each camera observation station according to a pitch angle and a middle section vertical direction displacement amount corresponding to each camera observation station, a plurality of initial cross section vertical direction displacement amounts corresponding to each camera observation station and a prestored cross section vertical deformation correction formula, wherein the plurality of final cross section vertical direction displacement amounts correspond to the plurality of initial cross section vertical direction displacement amounts one to one;

and determining a plurality of final cross section horizontal direction displacement amounts and a plurality of final cross section vertical direction displacement amounts corresponding to each camera observation station as a plurality of final cross section deformation sets corresponding to each camera observation station.

Consistent with the embodiments shown in fig. 1A and fig. 2, please refer to fig. 4, fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, the electronic device is applied to a camera measurement system including at least one camera observation station, each of the at least one camera observation station includes a measurement camera array and a reference transfer camera, the electronic device 400 includes a processor, a memory, a communication interface, and one or more programs, the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing the following steps:

In some possible embodiments, where the number of at least one camera observation station is N, where N is an integer greater than 1, the program includes instructions specifically for performing the following steps in obtaining a shake amount for each camera observation station by at least one reference transfer camera of each camera observation station:

In some possible embodiments, in terms of obtaining a plurality of initial cross-section deformation sets corresponding to each camera observation station by performing cross-section deformation measurement on a plurality of points to be measured corresponding to each camera observation station by using the measurement camera array of each camera observation station, the program includes instructions specifically configured to perform the following steps:

In some possible embodiments, in terms of correcting the plurality of initial sets of cross-sectional deformations corresponding to each camera observation station according to the amount of shake of each camera observation station to obtain a plurality of final sets of cross-sectional deformations, the program includes instructions specifically for performing the following steps:

Embodiments of the present application also provide a computer-readable storage medium for storing a computer program, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer including an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific implementation and application scope, and in view of the above, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A tunnel section deformation monitoring method is applied to a camera measurement system comprising at least one camera observation station, wherein each camera observation station in the at least one camera observation station comprises a measurement camera array and a reference transfer camera, and the method comprises the following steps:

obtaining a shake amount of each camera observation station by at least one reference transfer camera of the each camera observation station;

performing section deformation measurement on a plurality of points to be measured corresponding to the measuring camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station, wherein the plurality of initial section deformation sets correspond to the plurality of points to be measured one by one, and the plurality of points to be measured are located in the operation range of a tunnel to be measured;

2. The method according to claim 1, wherein the measuring camera array comprises a plurality of measuring cameras, the focal lengths of the measuring cameras are different, and the measuring cameras are in one-to-one correspondence with the points to be measured; the reference transfer camera includes a camera and a flag unit; the surveying camera array meets a first precondition of a camera observation station where the surveying camera array is located; the reference transfer camera meets a second precondition of a camera observation station where the reference transfer camera is located;

the first precondition comprises a magnification of each measuring camera in the plurality of measuring cameras relative to a corresponding point to be measured, a horizontal distance of each measuring camera relative to the corresponding point to be measured, and a position and posture parameter of each measuring camera relative to a camera observation station where the measuring camera is located;

the second precondition comprises a position and posture parameter of the camera relative to the camera observation station where the camera is located and a position and posture parameter of the mark unit relative to the camera observation station where the mark unit is located.

3. The method of claim 2, wherein the number of the at least one camera observation station is N, wherein N is an integer greater than 1, and wherein obtaining the amount of shake for each camera observation station from the at least one reference transfer camera of each camera observation station comprises:

acquiring a target reference transfer camera, wherein the target reference transfer camera is any one of the N reference transfer cameras;

obtaining a final rigid body transformation matrix from the target reference transmission camera to each reference transmission camera according to an initial rigid body transformation matrix of any two adjacent reference transmission cameras in the N reference transmission cameras and a pre-stored rigid body transformation relation formula, wherein each reference transmission camera is any one of the N reference transmission cameras;

and obtaining a pitch angle, a yaw angle, a horizontal displacement of an intermediate section and a vertical displacement of a middle section corresponding to the camera observation station where each reference transfer camera is located according to the final rigid body transformation matrix from the target reference transfer camera to each reference transfer camera, and determining the pitch angle, the yaw angle, the horizontal displacement of the middle section and the vertical displacement of the middle section corresponding to the camera observation station where each reference transfer camera is located as the shaking amount of each camera observation station.

4. The method according to claim 3, wherein the step of performing section deformation measurement on the plurality of points to be measured corresponding to the measuring camera array of each camera observation station to obtain a plurality of initial section deformation sets corresponding to each camera observation station comprises:

5. The method of claim 4, wherein the correcting the plurality of initial cross-sectional deformation sets corresponding to each camera observation station according to the amount of shake of each camera observation station to obtain a plurality of final cross-sectional deformation sets comprises:

obtaining a plurality of final cross section horizontal direction displacement amounts corresponding to each camera observation station according to a yaw angle and a middle section horizontal direction displacement amount corresponding to each camera observation station, a plurality of initial cross section horizontal direction displacement amounts corresponding to each camera observation station and a prestored cross section horizontal deformation correction formula, wherein the plurality of final cross section horizontal direction displacement amounts are in one-to-one correspondence with the plurality of initial cross section horizontal direction displacement amounts;

obtaining a plurality of final cross section vertical direction displacement amounts corresponding to each camera observation station according to a pitch angle and a middle section vertical direction displacement amount corresponding to each camera observation station, a plurality of initial cross section vertical direction displacement amounts corresponding to each camera observation station and a prestored cross section vertical deformation correction formula, wherein the plurality of final cross section vertical direction displacement amounts are in one-to-one correspondence with the plurality of initial cross section vertical direction displacement amounts;

6. A tunnel section deformation monitoring apparatus for use in a camera measurement system including at least one camera observation station, each of the at least one camera observation station including a measurement camera array and a reference transfer camera, the apparatus comprising:

a first obtaining unit configured to obtain a shake amount of each camera observation station by at least one reference transfer camera of the each camera observation station;

a second obtaining unit, configured to perform section deformation measurement on multiple points to be measured corresponding to the second obtaining unit through the measurement camera array of each camera observation station, so as to obtain multiple initial section deformation sets corresponding to each camera observation station, where the multiple initial section deformation sets correspond to the multiple points to be measured one-to-one, and the multiple points to be measured are located in an operation range of a tunnel to be measured;

and the correcting unit is used for correcting the plurality of initial section deformation sets corresponding to each camera observation station according to the shaking amount of each camera observation station to obtain a plurality of final section deformation sets, and the plurality of final section deformation sets correspond to the plurality of initial section deformation sets one to one.

7. The apparatus according to claim 6, wherein the number of the at least one camera observation station is N, where N is an integer greater than 1, and the first obtaining unit is specifically configured to, in terms of obtaining the shake amount of each camera observation station through the at least one reference transfer camera of each camera observation station:

8. The apparatus according to claim 7, wherein in terms of obtaining a plurality of initial cross-sectional deformation sets corresponding to each camera observation station by performing cross-sectional deformation measurement on a plurality of points to be measured corresponding to the measurement camera array of each camera observation station, the second obtaining unit is specifically configured to:

9. An electronic device comprising a processor, memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing some or all of the steps of the method of any of claims 1-5.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program, which is executed by a processor to implement the method according to any of claims 1-5.