CN112325788B - Tunnel inner wall deformation characteristic in-situ measurement device and method based on digital photography - Google Patents
Tunnel inner wall deformation characteristic in-situ measurement device and method based on digital photography Download PDFInfo
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- CN112325788B CN112325788B CN202011229862.3A CN202011229862A CN112325788B CN 112325788 B CN112325788 B CN 112325788B CN 202011229862 A CN202011229862 A CN 202011229862A CN 112325788 B CN112325788 B CN 112325788B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses a tunnel inner wall deformation characteristic in-situ measuring device based on digital photography. The device comprises image acquisition equipment, a guide rod, a transmission mechanism and a fixed support. The image acquisition equipment is arranged at the front end of the guide rod and is rigidly connected with the guide rod, the lower part of the guide rod is provided with a gear track groove, the guide rod penetrates through the transmission mechanism, and the transmission mechanism is fixed on the support; the central axis of the image acquisition equipment is parallel to the central axis of the guide rod, the gear on the inner side of the transmission mechanism is arranged in the gear track groove of the guide rod, and the transmission mechanism drives the guide rod and the image acquisition equipment to move back and forth. The method can accurately and efficiently measure the deformation characteristics of the inner wall of the tunnel in situ by utilizing digital photography to obtain the result of the simulation test of the deformation of the surrounding rock in the tunnel excavation process.
Description
Technical Field
The patent relates to an in-situ measuring device for deformation characteristics of a tunnel inner wall, in particular to an in-situ measuring device and a measuring method for deformation characteristics of a tunnel inner wall based on digital photography, which are used for developing, improving and inspecting a machine vision detection system for deformation of the tunnel inner wall.
Background
In recent years, with the continuous development and deepening of infrastructure construction in China, the engineering quantity of tunnel construction is rapidly increased, the faced geological conditions are increasingly rich and complex, the construction difficulty is gradually increased, China rapidly develops in the construction and research of tunnel engineering, and various new technologies and new methods for solving various engineering problems are also thinned. The tunnel model experiment can simulate the change condition of surrounding rocks in the tunnel construction process under certain conditions, the economy and the simulation of the method are very obvious, and the test result has high reference value for tunnel construction. The method is of great importance for measuring the displacement and deformation of the inner wall of the tunnel in a model experiment, has extremely high requirements on precision, and has great influence on actual engineering, so that high-precision measuring methods and technologies are generally adopted.
The conventional common tunnel inner wall displacement and deformation measuring methods mainly include the following methods:
the most traditional deformation measurement method is the ruler method. According to the original size of the tunnel, a ruler is used for measuring the deformation of the inner wall including bulges, depressions and the like at the position needing to be measured. The method is simple to operate, and the measuring tool is easy to obtain, but the main defects are that the measuring precision is low, and the result is easily influenced by interference factors including personnel and environmental factors.
One common method is based on laser scanning measurements. The method is an advanced deformation measuring method, has higher accuracy, and can largely avoid the error of the individual sense discrimination ability of the measurer on the measurement. However, this method has some disadvantages, firstly, it is difficult to measure the objects with more occlusion, and secondly, this method cannot identify and track some areas or some points, and cannot acquire the displacement. In addition, due to the use of the laser method, the complexity, stability and safety of the apparatus need to be particularly concerned, which directly leads to an increase in the use cost.
The other is a measuring method based on digital photography, which is a novel and advanced measuring means, and the method uses a digital camera and a matched software system, can record the change condition of the surrounding rock in real time, has good time efficiency, and reduces the probability of accidental errors. According to the prior document, the method has some disadvantages, firstly, the camera shooting direction of the method is the same as the tunnel direction, which causes that the digital picture shot by the camera generates certain deformation, thereby causing influence on the precision, and meanwhile, the method has higher requirements on measurement and analysis personnel.
In summary, the above two methods each have their advantages and disadvantages, but the digital photograph-based measurement method is more advantageous in terms of timeliness and measurement accuracy. The digital photography-based measurement methods can be divided into two categories, namely 'deformation measurement' and 'feature recognition'. The digital photography deformation measurement mainly takes displacement observation as a target, displacement is calculated according to the coordinate change of a target image measuring point, then strain calculation is carried out, and the deformation characteristic of the target is analyzed on the basis; the digital photographic feature recognition mainly aims at separating feature objects, and is to separate features interested by research or technical personnel from images, such as crack image detection of a circuit board, automatic identification of a license plate number in a road traffic system, structural composition of rock-soil materials, identification of cracks of concrete materials and the like (the digital photographic measuring method and application of rock-soil deformation, the book of Li Yuan province). The items of tunnel detection generally include tunnel convergence values, vault subsidence values, surface subsidence values, and other diseases. Wherein, the deformation detection (convergence value and settlement value) and the disease detection are the more important of the detection, the former belongs to the category of 'deformation measurement', and the latter belongs to the category of 'feature recognition'. The digital photographic measuring method provided by the invention covers characteristic identification and deformation measurement.
The existing measuring device based on the digital photographic model experiment surrounding rock deformation has the following defects:
1. the traditional ruler measurement mode is simple and crude, the precision is poor, and the measurement result is seriously influenced by human factors and field environment.
2. In the existing measuring mode based on photographing, a camera of the existing measuring mode is perpendicular to the wall surface of a tunnel, so that the obtained image inevitably has distortion, and the measuring precision and the recognition effect are influenced.
3. The camera of the existing measuring device is positioned outside the tunnel and is a monocular camera, so that the three-dimensional state of the deformation of the surrounding rock of the model experiment cannot be identified and observed.
Disclosure of Invention
The invention provides a tunnel inner wall deformation characteristic in-situ measurement device and a measurement method based on digital photography, which aim to solve the problems.
The inventor finds that a more advanced binocular stereo vision technology based on two cameras can perform stereo matching and three-dimensional reconstruction, and the technology is very helpful for solving the problem of non-planar measurement. Binocular stereo vision, namely, two cameras are used for imaging the same scene from different positions to obtain a stereo image pair of the scene, corresponding image points are matched through a stereo matching algorithm, so that parallax is calculated, then depth information is recovered by adopting a method based on triangulation, and coordinates of each point are calculated by utilizing a geometric relationship.
The specific principle of binocular stereo vision is as follows:
fig. 11 is a schematic view of binocular stereo vision, and fig. 12 is a schematic view of a parallel binocular vision system. The binocular vision system is characterized in that the specifications of the left camera and the right camera are consistent, the left camera and the right camera have coincident imaging planes, and the optical axes of the two cameras are parallel and perpendicular to the base line. The Z axis is parallel to the optical axis and perpendicular to the X-Y plane, the Z axis and the X axis are as shown in the figure, and the Y axis is perpendicular to the paper surface. O isLAnd ORThe optical centers of the left and right cameras, VLAnd VRImage planes of left and right cameras respectively, and O in three-dimensional spaceLThe point is the origin, P is a point in the three-dimensional world, the space coordinate is (X, Y, Z), the projection imaging is carried out through the left camera and the right camera, the projection imaging is respectively carried out on the left image plane and the right image plane, the imaging points are respectively P point and P ´ point, XlAnd xrRespectively the displacement of point p and point p ´ to the respective camera optical axis,fis the focal length of the camera and T is the camera baseline distance.
From the similar triangle principle, it can be known that:
solving the above formula can obtain:
z in the formula is depth information (distance between a point on the object and the camera baseline), D is parallax, D =x l -x r 。
The depth information Z is related to the parallax D calculated by the image pixels by the formula, so that the relationship between the binocular parallax and the target point depth information Z is obtained, and the three-dimensional coordinates of the target point can be further calculated according to the relationship:
according to the formula, in the parallel binocular vision system, as long as the internal and external parameters of binocular vision can be acquired, and the points P and P' on the left and right images are matched, the three-dimensional coordinate of the three-dimensional space point P can be calculated through the formula.
From the above, the digital photographing technology based on binocular vision can realize the positioning and measurement of three-dimensional space points through matching calculation, and further apply the digital photographing technology to the non-planar field.
In order to realize the purpose of the invention, the invention provides the following technical scheme:
a tunnel inner wall deformation characteristic in-situ measuring device based on digital photography comprises image acquisition equipment, a guide rod, a transmission mechanism and a support. The method is characterized in that:
the image acquisition equipment is arranged at the front end of the guide rod; the image acquisition device comprises a binocular digital camera and a signal transmission device, wherein the binocular digital camera is parallel to the axis of the guide rod, the lens direction of the binocular digital camera is perpendicular to the axis of the guide rod, and the lens direction of the binocular digital camera is vertical upwards. LED light sources are distributed around the binocular digital camera.
The binocular digital camera adopts a binocular high-definition miniature close-range wide-angle video camera.
And a toothed plate penetrating through the guide rod is arranged on the lower side of the guide rod.
The transmission mechanism is composed of a shell, a motor, a transmission gear and a limiting gear, wherein the shell is provided with a through cavity, the motor, the transmission gear and the limiting gear are all arranged in the cavity, the limiting gear is arranged in the front of the cavity, the transmission gear is arranged in the rear of the cavity, and the transmission gear is arranged on a transmission shaft of the motor. The guide rod penetrates into the cavity of the shell, and the transmission gear and the limiting gear are both meshed with the toothed plate of the guide rod. The motor drives the transmission gear rod to rotate forwards or reversely, so that the guide rod is driven to move forwards and backwards.
The shell of the transmission mechanism is arranged in the center of the support.
And two ends of the toothed plate of the guide rod are provided with limit blocks. The limiting block can limit the movement limit position of the guide rod.
The support is composed of four telescopic supporting rods, the four telescopic supporting rods form a cross-shaped support, and the guide rod is perpendicular to the surface of the cross-shaped support. The position of the guide rod can be adjusted by adjusting the telescopic supporting rod.
The signal transmission device is connected with the computer through a data transmission line.
The working method of the device comprises the following steps:
(1) the measuring device is placed in front of the tunnel model, the support (the supporting leg for fixing the cross-shaped support) is fixed, the guide rod is adjusted to be horizontal according to the level gauge, and the front end of the guide rod is roughly aligned to the center of the tunnel face of the tunnel model by adjusting the telescopic supporting rod.
(2) And opening the image acquisition equipment, and calibrating the binocular digital camera by using a checkerboard. The midpoint of a line segment formed by the optical centers of the binocular cameras is used as a coordinate origin.
(3) The limiting block is moved to a corresponding position, and the image acquisition device can reach the position near the tunnel face at the farthest position.
(4) The motor is started, the motor drives the guide rod to extend forwards through the transmission gear, and the rotating speed and the rotating angle of the motor can be controlled through the numerical control device of the transmission mechanism so as to control the extending length of the guide rod and the position of the image acquisition device.
(5) The image acquisition device is connected with the computer, when the image acquisition equipment reaches the set position, the image acquisition device is controlled by the computer to acquire images, and the acquired image information and the position information of the depth are transmitted to the computer in real time through the signal transmission device to be stored
(6) And (3) closing the motor when the front end of the guide rod reaches the tunnel face, marking, and reversely rotating the motor until the guide rod leaves the tunnel model and returns to the initial position.
(7) The images collected by the device are stored in a computer, and then the computer software PhotoInfo is used for carrying out later analysis and processing, so that the deformation characteristics and the deformation data of the inner wall of the tunnel can be obtained.
Compared with the prior art and the device, the invention has the following beneficial effects:
(1) the device combines devices including a miniature wide-angle ultra-clear camera, a speed-controllable guide rod, a limiting block and a fixed support, and completes intelligent, quantitative and fixed-frequency acquisition of small-size hole inner wall deformation images for model experiments in laboratories.
(2) The device is applied to the measurement of the deformation characteristics of the inner wall of a tunnel model test, and an image mode is obtained by utilizing a digital photographing mode, so that the device is more accurate and efficient than the traditional ruler measurement method.
(3) Being different from the existing device, the camera of the device is just opposite to the inner wall of the tunnel, and the surrounding rock can be observed more visually through the image obtained by the device, so that the processing and analysis are facilitated.
(4) The image acquisition device innovatively adopts a binocular camera, three-dimensional reconstruction is performed by utilizing the acquired image, and three-dimensional analysis is performed in one step.
(5) The image acquisition mode of the device is the first money and can be conveniently matched with the digital photogrammetry technology, and the device can identify and track partial objects and obtain more detailed deformation information of the partial objects by benefiting from the advantages of the digital photogrammetry technology.
(6) Different from the traditional image acquisition device which is controlled manually, the device can more accurately control the movement of the image acquisition device by adopting numerical control equipment and a transmission mechanism, and more accurate information is obtained.
(7) Compared with the traditional measuring device, the control device of the device can realize the remote operation of a computer, and avoids larger errors caused by manual operation; the timing automatic measurement can be realized, and the labor intensity is greatly saved.
(8) The transmission rod of the device can pass through the long and narrow tunnel model, and the condition that a traditional measuring device cannot be used under the long and narrow tunnel model is overcome.
Drawings
FIG. 1 is a schematic structural diagram of an in-situ tunnel wall deformation characteristic measuring device based on digital photography.
Fig. 2 is a reverse schematic view of fig. 1.
Fig. 3 is a schematic top view of the image capture device and guide bar.
Fig. 4 is a bottom view of the image capture device and guide bar.
Fig. 5 is a schematic view of the transmission mechanism.
Fig. 6 is a schematic sectional view of the transmission mechanism.
Fig. 7 is a perspective view of the transmission mechanism.
Fig. 8 is a schematic view of the apparatus in operation.
Fig. 9 is a schematic view of the apparatus when the operation is completed.
FIG. 10 is a schematic diagram of the image capturing device and the model position at the completion of the operation of the apparatus.
Fig. 11 is a schematic view of binocular stereo vision.
Fig. 12 is a schematic diagram of a parallel binocular vision system.
Detailed Description
The detailed description of the invention is given below in conjunction with the appended drawings and specific examples, it being understood that these examples are intended to illustrate the invention only and not to limit the scope of the invention, which is defined in the appended claims, and modifications of various equivalent forms to the present invention by those skilled in the art after reading the present application are within the scope of the invention.
Example (b): as shown in fig. 1, the tunnel inner wall deformation characteristic in-situ measurement apparatus based on digital photography according to the present invention includes an image acquisition device 1, a guide rod 2, a transmission mechanism 3, and a support 4.
As shown in the figure, the image acquisition device 1 is arranged at the front end of the guide rod 2; the image acquisition is composed of a binocular digital camera 7 and a signal transmission device (not shown in the figure), the binocular digital camera 7 is parallel to the axis of the guide rod 2, the lens direction of the binocular digital camera 7 is perpendicular to the axis of the guide rod 2, and the lens direction of the binocular digital camera is vertical upwards. LED light sources 8 are distributed around the binocular digital camera.
A toothed plate 9 penetrating through the guide rod is arranged on the lower side of the guide rod.
The transmission mechanism 3 is composed of a shell, a motor 10, a transmission gear 6 and a limit gear 16, wherein the shell is provided with a through cavity, the motor 10, the transmission gear 6 and the limit gear 16 are all arranged in the cavity, the limit gear 16 is arranged in the front of the cavity, the transmission gear 6 is arranged in the rear of the cavity, and the transmission gear 6 is arranged on a transmission shaft 11 of the motor 10. The guide rod 2 penetrates into the cavity of the shell, and the transmission gear 6 and the limit gear 16 are both meshed with the toothed plate 9 of the guide rod 2. The motor drives the transmission gear rod to rotate forwards or reversely, so that the guide rod is driven to move forwards and backwards. And two ends of the toothed plate 9 of the guide rod 2 are provided with limit blocks 15. The limiting block can limit the movement limit position of the guide rod.
The housing of the transmission mechanism is mounted in the center of the support 4. The support 4 is composed of four telescopic supporting rods, the four telescopic supporting rods form a cross-shaped support, and the guide rod 2 is perpendicular to the surface of the cross-shaped support. The telescopic supporting rods are provided with supporting legs 5, the supporting legs 5 are fixed on a wall body, and the positions of the guide rods can be adjusted by adjusting the telescopic supporting rods.
The signal transmission device is connected with the computer through a data transmission line. The data transmission line passes through the inner cavity of the guide rod. And the data transmission device is used for transmitting the picture shot by the image acquisition equipment to the computer and is compatible with the computer.
The motor in the transmission mechanism is a precise motor which can precisely control the rotating speed and has smaller vibration amplitude.
The working method of the device comprises the following steps:
(1) firstly, a required model 14 to be measured is prefabricated, in this example, a cuboid sample which is made of similar model material paraffin-sand and has two square surfaces is taken as an example. Firstly, model samples with the length, width and height of 400mm, 120mm and 400mm are respectively prepared, and a hole with the diameter of 75mm and the depth of 100mm is dug in the center of the square surface of the sample to be used as a tunnel model 13 to be observed.
(2) The guide rod is conveyed to the outer side of the fixed support by using a telescopic transmission mechanism, a measuring device is placed in front of the tunnel model 13 according to a graph 8, the support 4 is fixed (the support leg 5 of the telescopic support is fixed on the model rock body 14), the guide rod 2 is adjusted to be horizontal according to the level gauge, and the front end of the guide rod is roughly aligned to the center of the tunnel model tunnel face by adjusting the telescopic support rod.
(3) Opening the image acquisition equipment, communicating with an external computer or storage equipment, debugging the communication state of each part, printing a standard camera to calibrate a black and white checkerboard, holding the standard camera to be arranged 4cm above the binocular camera, and calibrating the binocular digital camera (binocular digital camera) by using the checkerboard. The middle point of a line segment formed by the optical centers of the binocular digital cameras is used as a coordinate origin.
(4) Push-and-pull test is carried out in advance to ensure that the movement range of the image acquisition equipment can be completely positioned in the tunnel model, the limiting block is moved to a proper position, and the requirement of limiting is met while the image acquisition device can reach the position near the tunnel face at the farthest.
(5) The end of the guide rod is placed at an external port of the tunnel model, the motor is started, the motor drives the guide rod to extend forwards through the transmission gear, the rotating speed and the rotating angle of the motor can be controlled through the numerical control device of the transmission mechanism, the extending length of the guide rod and the position of the image acquisition device are further controlled, in this example, the advancing speed of the guide rod is set to be 1cm/min, and the total time is 10min, so that the guide rod is completely advanced, and the image acquisition is completed.
(5) Controlling the operating software of the computer, continuously collecting images, setting the image collecting interval to be 10 s/image, shooting 100 pictures in total, recording the guide rod deep depth position information when each picture is shot, and transmitting the information to the computer for storage in real time through a signal transmission device.
(6) And (3) closing the motor when the front end of the guide rod reaches the tunnel face, marking, and reversely rotating the motor until the guide rod leaves the tunnel model and returns to the initial position.
(7) The images collected by the device are stored in a computer, and then the computer software PhotoInfo is used for carrying out later analysis and processing, so that the deformation characteristics and the deformation data of the inner wall of the tunnel can be obtained.
Claims (5)
1. A tunnel inner wall deformation characteristic in-situ measuring device based on digital photography comprises image acquisition equipment (1), a guide rod (2), a transmission mechanism (3) and a support (4); the method is characterized in that:
the support is a telescopic support and is connected with the tunnel model through a support leg;
the image acquisition equipment (1) is arranged at the front end of the guide rod (2); the image acquisition equipment (1) is composed of a binocular digital camera (7) and a signal transmission device, the binocular digital camera (7) is parallel to the axis of the guide rod (2), the lens direction of the binocular digital camera (7) is perpendicular to the axis of the guide rod (2), and the lens direction of the binocular digital camera (7) is vertical upwards; LED light sources (8) are distributed around the binocular digital camera (7);
the binocular digital camera is a binocular high-definition miniature close-range wide-angle camera;
a toothed plate (9) penetrating through the guide rod is arranged on the lower side of the guide rod (2);
the transmission mechanism (3) is composed of a shell, a motor (10), a transmission gear (6) and a limiting gear (16), wherein the shell is provided with a through cavity, the motor (10), the transmission gear (6) and the limiting gear (16) are all arranged in the cavity, the limiting gear (16) is arranged at the front part of the cavity, the transmission gear (6) is arranged at the rear part of the cavity, and the transmission gear (6) is arranged on a transmission shaft (11) of the motor (10); the guide rod (2) penetrates into the cavity of the shell, and the transmission gear (6) and the limiting gear (16) are both meshed with a toothed plate (9) of the guide rod (2);
the shell of the transmission mechanism (3) is arranged at the center of the support (4).
2. The in-situ tunnel inner wall deformation characteristic measuring device based on digital photography as claimed in claim 1, wherein: and two ends of the toothed plate (9) of the guide rod (2) are provided with limit blocks (15).
3. The in-situ tunnel inner wall deformation characteristic measuring device based on digital photography as claimed in claim 1, wherein: the support (4) is composed of four telescopic supporting rods, the four telescopic supporting rods form a cross-shaped support, and the guide rod is perpendicular to the surface of the cross-shaped support.
4. The in-situ tunnel inner wall deformation characteristic measuring device based on digital photography as claimed in claim 1, wherein: the signal transmission device is connected with the computer through a data transmission line.
5. A method for in-situ measuring deformation characteristics of tunnel inner wall by using the in-situ measuring apparatus for deformation characteristics of tunnel inner wall based on digital photography according to any one of claims 1 to 4, comprising the following steps:
step 1, placing a measuring device in front of a tunnel model, fixing a support, adjusting a guide rod to be horizontal by referring to a leveling instrument, and adjusting a telescopic rod to roughly align the front end of the guide rod to the center of a tunnel face of the tunnel model;
step 2, opening the image acquisition equipment, and calibrating the binocular camera by using a checkerboard;
the middle point of a line segment formed by the optical centers of the binocular cameras is taken as a coordinate origin;
step 3, moving the limiting block to a corresponding position to ensure that the image acquisition device can reach the position near the tunnel face furthest;
step 4, starting the motor, driving the guide rod to extend forwards by the motor through the transmission mechanism, and controlling the rotating speed and the rotating angle of the motor through a numerical control device of the transmission mechanism so as to control the extension length of the guide rod and the position of the image acquisition device;
step 5, the image acquisition device is connected with the computer, when the image acquisition equipment reaches the set position, the image acquisition device is controlled by the computer to acquire images, and the acquired image information and the position information of the depth are transmitted to the computer in real time through the signal transmission device to be stored;
step 6, when the front end of the guide rod reaches the tunnel face, the motor is turned off, the mark is made, and then the motor is reversely rotated until the guide rod leaves the tunnel model and returns to the initial position;
and 7, storing the image acquired by the device in a computer, and performing later analysis and processing by using computer software PhotoInfo to obtain the deformation characteristics and deformation data of the inner wall of the tunnel.
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