CN114838668B - Tunnel displacement monitoring method and system - Google Patents
Tunnel displacement monitoring method and system Download PDFInfo
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- CN114838668B CN114838668B CN202210516879.XA CN202210516879A CN114838668B CN 114838668 B CN114838668 B CN 114838668B CN 202210516879 A CN202210516879 A CN 202210516879A CN 114838668 B CN114838668 B CN 114838668B
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention belongs to the technical field of engineering measurement deformation monitoring, and discloses a tunnel displacement monitoring method and a tunnel displacement monitoring system. The invention solves the problem that the deformation detection capability of the tunnel in the direction perpendicular to the sight line is weaker in the prior art during tunnel monitoring, can realize higher-precision deformation monitoring, and improves the measurement efficiency.
Description
Technical Field
The invention belongs to the technical field of engineering measurement deformation monitoring, and particularly relates to a tunnel displacement monitoring method and system.
Background
The appearance of the image measuring robot is a revolution in engineering measurement technology, combines the high-precision angle and distance measuring function of the measuring robot with a camera, and has the advantages of convenience and rapidness in measurement, good safety, high measuring precision and the like. Although compared with the traditional total station, the image measuring robot greatly reduces the working strength of measuring personnel and improves the efficiency, the image measuring robot still has the prospect of carrying out depth development on the precision of utilizing the image measuring robot to carry out tunnel monitoring, the tunnel is weaker in the deformation detection capability perpendicular to the sight line when the current measuring robot carries out tunnel monitoring through angle measurement and ranging, and the deformation monitoring precision is not high.
Disclosure of Invention
The invention provides a tunnel displacement monitoring method and system, and solves the problem that deformation detection capability of a tunnel perpendicular to a sight line direction is weak when a measuring robot is used for tunnel monitoring in the prior art.
The invention provides a tunnel displacement monitoring method, which comprises the following steps:
step 1, laying an observation target: arranging a plurality of monitoring points on a monitoring section in a tunnel deformation monitoring area, and arranging an observation target on each monitoring point, wherein the observation target comprises a target and a prism, the target and the prism have a fixed position relation, and the target has a graphic characteristic;
step 2, laying an automatic monitoring unit: an automatic monitoring unit is arranged at a measuring station, and comprises an image measuring robot and an industrial personal computer;
step 3, learning and measuring by the image measuring robot: the image measuring robot is manually controlled to sequentially perform learning measurement on each monitoring point according to a learning measurement sequence, and a learning measurement result is transmitted to the industrial personal computer;
aiming at each monitoring point, manually controlling the image measuring robot to aim at the target, shooting the target by using a telescope camera of the image measuring robot after aiming, and recording the shooting parameter data at the moment and taking the data as first learning information; aiming at each monitoring point, controlling the image measuring robot to aim at the prism, recording the measuring data at the moment and taking the data as second learning information;
and 4, automatically monitoring the image measuring robot: the industrial personal computer controls the image measuring robot to periodically observe each monitoring point in sequence according to the learning measurement sequence by taking the learning measurement result as a reference;
aiming at each monitoring point, the shooting parameter data of the image measuring robot is automatically adjusted to strictly correspond to the first learning information, and the target is shot by using the telescope camera after the adjustment is finished; aiming at each monitoring point, the image measuring robot combines the automatic target recognition function of the instrument and the second learning information to realize prism collimation, and distance measurement is carried out on the prism after the prism collimation is carried out;
step 5, monitoring and analyzing: and obtaining deformation information of the tunnel perpendicular to the visual line direction and deformation information of the tunnel visual line direction based on the multi-period monitoring data.
Preferably, in the step 1, in the tunnel deformation monitoring area, one monitoring section is arranged at intervals of a preset distance, and a plurality of monitoring points are distributed on each monitoring section.
Preferably, in the step 2, a telescope camera of the image measuring robot is coaxial with the angle and distance measuring system.
Preferably, in the step 3, the first learning information includes angle data and focal length data; the second learning information includes angle measurement data and distance measurement data.
Preferably, in the step 4, after each monitoring task is completed, the image measuring robot enters a sleep state until the industrial personal computer sends task execution information again.
Preferably, in the step 5, for the same target, target center point information is extracted according to the graphic features of the target, and deformation information of the tunnel perpendicular to the sight line direction is obtained by comparing multiple stages of target center point information; and comparing the prism distance measurement values in multiple periods to obtain the tunnel visual line deformation information aiming at the same prism.
Preferably, when the graph corresponding to the target is circular or elliptical, the implementation manner of extracting the target center point information according to the graph features of the target is as follows: obtaining edge pixel coordinates of a graph corresponding to the target based on an image recognition algorithm; and carrying out ellipse center fitting based on the edge pixel coordinates to obtain a graph center coordinate.
In another aspect, the present invention provides a tunnel displacement monitoring system, including:
an observation target, the observation target comprising a target and a prism, the target and the prism having a fixed positional relationship, the target having a graphical feature, the observation target being disposed at a monitoring point;
the automatic monitoring unit comprises an image measuring robot and an industrial personal computer, and is arranged at a station for measuring;
the tunnel displacement monitoring system is used for realizing the steps in the tunnel displacement monitoring method.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
in the invention, a target and a prism are taken as observation targets, an automatic monitoring unit is driven to periodically monitor the observation targets by taking a learning measurement result as a reference, and deformation information of the tunnel perpendicular to the sight line and deformation information of the tunnel sight line are obtained based on multi-period monitoring data. The invention not only takes the prism as a target to carry out high-precision distance observation to obtain the deformation information of the tunnel sight line, but also extracts the center position of the target and further obtains the deformation information of the tunnel perpendicular to the sight line. In addition, the invention utilizes the telescope lens of the image measuring robot to shoot, has the characteristics of small field angle and high optical multiple, takes pictures by aiming at a single target, and each picture only comprises one target, thereby being more beneficial to the identification of target graphs and leading the precision of deformation detection to be higher. The invention can realize higher-precision deformation monitoring, improve the measurement efficiency, contribute to improving the displacement detection capability of the deformation monitoring of the tunnel structure and ensure the reliability of the tunnel displacement monitoring. The system provided by the invention has a simple structure and the scheme is easy to realize.
Drawings
Fig. 1 is a technical route diagram of a tunnel displacement monitoring method according to the present invention;
FIG. 2 is a schematic layout diagram of a tunnel displacement monitoring system according to the present invention;
fig. 3 is a schematic diagram of the present invention using a prism and a target as an observation target by an image measuring robot.
Detailed Description
In order to better understand the technical scheme, the technical scheme is described in detail in the following with reference to the attached drawings of the specification and specific embodiments.
Example 1:
embodiment 1 provides a tunnel displacement monitoring method, and referring to fig. 1, the method includes the following steps:
step 1, laying an observation target: the method comprises the steps that a plurality of monitoring points are distributed on a monitoring section in a tunnel deformation monitoring area, an observation target is arranged on each monitoring point, the observation target comprises a target and a prism, the target and the prism have a fixed position relation, and the target has graphic characteristics.
Namely, a target special for measurement is arranged on each monitoring point, and a prism is arranged. The target has a graphic feature, which is convenient for image processing identification, for example, a circle or the like can be adopted. The prism acts to return the measurement laser light in the original path.
Specifically, in the tunnel deformation monitoring area, one monitoring section can be arranged at intervals of a preset distance, and a plurality of monitoring points are distributed on each monitoring section.
Step 2, laying an automatic monitoring unit: and arranging an automatic monitoring unit at the testing station, wherein the automatic monitoring unit comprises an image measuring robot and an industrial personal computer.
Namely, aiming at a certain tunnel deformation monitoring interval, selecting a measuring station to erect an image measuring robot and a corresponding industrial personal computer to establish an automatic monitoring unit.
The telescope camera of the image measuring robot is coaxial with the angle and distance measuring system.
Step 3, learning and measuring by the image measuring robot: and manually controlling the image measuring robot to sequentially perform learning measurement on each monitoring point according to a learning measurement sequence, and transmitting a learning measurement result to the industrial personal computer.
Aiming at each monitoring point, manually controlling the image measuring robot to aim at the target, shooting the target by using a telescope camera of the image measuring robot after aiming, and recording the shooting parameter data at the moment and taking the data as first learning information; and controlling the image measuring robot to aim at the prism aiming at each monitoring point, recording the measuring data at the moment and taking the measuring data as second learning information.
The first learning information comprises data such as angles and focal lengths; the second learning information includes angle measurement data and distance measurement data.
And 4, automatically monitoring the image measuring robot: and the industrial personal computer controls the image measuring robot to periodically observe each monitoring point in sequence according to the learning and measuring sequence by taking the learning and measuring result as a reference.
Aiming at each monitoring point, the shooting parameter data of the image measuring robot is automatically adjusted to strictly correspond to the first learning information (namely, the image measuring robot is automatically adjusted to strictly rotate to the angle and the focal length corresponding to the first learning information), and after the adjustment is finished, the telescope camera is used for shooting the target; aiming at each monitoring point, the image measuring robot combines the automatic target recognition function of the instrument and the second learning information to realize prism collimation, and distance measurement is carried out on the prism after the prism collimation is carried out.
In addition, after each monitoring task is completed, the image measuring robot enters a dormant state until the industrial personal computer sends task execution information again.
Step 5, monitoring and analyzing: and obtaining deformation information of the tunnel perpendicular to the visual line direction and deformation information of the tunnel visual line direction based on the multi-period monitoring data.
Specifically, aiming at the same target, target central point information is extracted according to the graphic features of the target, and the deformation information of the tunnel perpendicular to the sight line direction is obtained by comparing multiple periods of target central point information; and comparing the prism distance measurement values in multiple periods to obtain the tunnel visual line deformation information aiming at the same prism.
The image processing and target center point information extraction can be realized by the industrial personal computer or by an additionally configured computer.
When the graph corresponding to the target is circular or elliptical, the realization mode of extracting the target center point information according to the graph characteristics of the target is as follows: obtaining edge pixel coordinates of a graph corresponding to the target based on an image recognition algorithm (for example, by using a Roberts operator, a Sobel operator or a Prewitt operator); and carrying out ellipse center fitting based on the edge pixel coordinates to obtain a graph center coordinate.
Specifically, the numerical value h of the same prism for measuring the distance at different periods is observed according to the image measuring robot at multiple periods 1 ，h 2 And calculating the difference value to obtain the visual line deformation information delta h. Center coordinate (x) of picture processing for photographing the same target according to multi-stage observation of the imaging robot 0 ，y 0 )、(x 1 ，y 1 ) And obtaining the deformation delta x in the x direction and the deformation delta y in the y direction on the picture, thereby calculating the two-dimensional deformation s on the picture. And then, calculating deformation information delta s perpendicular to the sight line direction according to the horizontal and vertical resolution of the telescope camera of the image robot, the two-dimensional deformation s on the picture, the focal length f and the distance measurement h to the target.
The invention is further described below with reference to specific parameters.
Referring to fig. 2, for a certain tunnel deformation monitoring interval, a measuring station is selected to erect a come card TM60 image measuring robot and a corresponding industrial personal computer to establish an automatic monitoring unit, a monitoring section is selected every 5m in a tunnel monitoring interval of about 100m, and 5 'prisms + targets' are uniformly installed on each monitoring section to serve as observation targets. The "prism + target" is shown in fig. 3, and the target is a specially designed reflecting device for drawing a characteristic pattern, so as to ensure that the target to be detected in the image can be stably detected, and the spatial position and the circular center of the target can be obtained. And the prism and the target have a fixed position relation.
Manually controlling the image measuring robot to aim at the target of each monitoring point, shooting by using a telescope camera, and recording information such as angle, focal length and the like during shooting as learning data 1; the sighting prism measures the distance, and the angle measurement and distance measurement information at this time are recorded as learning data 2. And carrying out artificial learning on each monitoring target on each monitoring section according to the sequence from left to right. And transmitting the collected data to a control center. The specific learning process is that according to the characteristics that a telescope camera of the image measuring robot is coaxial with the angle and distance measuring system, the field angle is small, and the optical magnification is high, the telescope of the image measuring robot is manually rotated to adjust the focal length of each monitoring target to shoot, and the angle and focal length information of each monitoring target are recorded.
The image measuring robot drives the telescope to rotate according to the target initial position recorded in the artificial learning stage and the set monitoring frequency and the servo motor of the measuring robot drives the telescope to rotate so as to automatically aim at each target to acquire monitoring data. Firstly, the image measuring robot is automatically adjusted to strictly rotate to the angle and the focal length of the learning data 1, and each monitoring target is photographed one by one in sequence. And then, according to the learning data 2 and by combining an automatic target recognition function of the instrument, aiming at the prism, carrying out accurate distance measurement on the prism.
And the image measuring robot enters the dormancy after finishing the angle measurement and the distance measurement of each monitoring target of each section.
According to the plane distance data h obtained by periodically observing the same prism by the image measuring robot 1 h 2 Obtaining the visual line deformation information Δ h, i.e., Δ h = | h 1 -h 2 |。
And determining image edge information by using a Roberts operator according to the image shot by the image measuring robot for the same target, obtaining the pixel coordinates of edge points, and performing ellipse center fitting. The general equation for an ellipse is: ax 2 +Bxy+Cy 2 + Dx + Ey +1=0, passing the edge point pixel coordinate information (x) a ，y a )(x b ，y b )(x c ，y c ) .. substituting the general equation of an ellipse can obtain coefficients A, B, C, D and E of the equation, and then calculate the coordinates of the center point (x) of the ellipse from the values of the coefficients 0 ，y 0 ). The calculation formula is as follows:
the central coordinate data (x) of the same target in different periods 0 ，y 0 )(x 1 ，y 1 ) And comparing to obtain the deformation information S on the picture. Obtaining the true physical size andthe pixels are related to the resolution of the image,
and obtaining the deformation delta x in the x direction and the deformation delta y in the y direction on the picture, and calculating the two-dimensional deformation s on the picture. And then calculating the actual length delta s of the deformation perpendicular to the sight line direction according to the focal length f of the image measuring robot telescope camera, the deformation s perpendicular to the sight line direction on the picture and the distance measurement data h of the target. In particular, are>
And analyzing the deformation perpendicular to the visual line direction and the deformation in the visual line direction by comparing the data of the multi-period monitoring points.
Example 2:
embodiment 2 provides a tunnel displacement monitoring system, see fig. 2, fig. 3, including:
an observation target comprising a target and a prism, the target and the prism having a fixed positional relationship, the target having a graphical feature, the observation target being positioned at a monitoring point;
the automatic monitoring unit comprises an image measuring robot and an industrial personal computer, and is arranged at a survey station;
the tunnel displacement monitoring system is used for implementing the steps in the tunnel displacement monitoring method according to embodiment 1.
Since embodiment 2 is a system corresponding to the method provided in embodiment 1, the functions of the system are not described again, and refer to the description of embodiment 1 specifically.
In summary, the image measuring robot takes the prism and the target as the observation target, extracts the center position of the target through image processing, further obtains the deformation information of the tunnel perpendicular to the sight line direction, and takes the prism as the target to perform high-precision distance observation to obtain the deformation information of the tunnel sight line direction. The invention solves the problem that the deformation detection capability of the tunnel in the direction perpendicular to the sight line is weaker when the image measuring robot carries out tunnel monitoring through angle measurement and distance measurement, can realize higher-precision deformation monitoring and improve the measurement efficiency.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (8)
1. A tunnel displacement monitoring method is characterized by comprising the following steps:
step 1, laying an observation target: arranging a plurality of monitoring points on a monitoring section in a tunnel deformation monitoring area, and arranging an observation target on each monitoring point, wherein the observation target comprises a target and a prism, the target and the prism have a fixed position relation, and the target has a graphic characteristic;
step 2, laying an automatic monitoring unit: an automatic monitoring unit is arranged at a measuring station, and comprises an image measuring robot and an industrial personal computer;
step 3, learning and measuring by the image measuring robot: the image measuring robot is manually controlled to sequentially perform learning measurement on each monitoring point according to a learning measurement sequence, and a learning measurement result is transmitted to the industrial personal computer;
aiming at each monitoring point, manually controlling the image measuring robot to aim at the target, shooting the target by using a telescope camera of the image measuring robot after aiming, and recording the shooting parameter data at the moment and taking the data as first learning information; aiming at each monitoring point, controlling the image measuring robot to aim at the prism, recording the measuring data at the moment and taking the data as second learning information;
and 4, automatically monitoring the image measuring robot: the industrial personal computer controls the image measuring robot to periodically observe each monitoring point in sequence according to the learning measurement sequence by taking the learning measurement result as a reference;
aiming at each monitoring point, the shooting parameter data of the image measuring robot is automatically adjusted to strictly correspond to the first learning information, and after the adjustment is finished, the telescope camera is used for shooting a target; aiming at each monitoring point, the image measuring robot combines the automatic target recognition function of the instrument and the second learning information to realize prism collimation, and distance measurement is carried out on the prism after the prism collimation is carried out;
step 5, monitoring and analyzing: and obtaining deformation information of the tunnel perpendicular to the visual line direction and deformation information of the tunnel visual line direction based on the multi-period monitoring data.
2. The method for monitoring tunnel displacement according to claim 1, wherein in the step 1, in the tunnel deformation monitoring area, one monitoring section is arranged at intervals of a preset distance, and a plurality of monitoring points are distributed on each monitoring section.
3. The tunnel displacement monitoring method according to claim 1, wherein in the step 2, a telescope camera of the image measuring robot is coaxial with the angle and distance measuring system.
4. The tunnel displacement monitoring method according to claim 1, wherein in the step 3, the first learning information includes angle data and focal length data; the second learning information includes angle measurement data and distance measurement data.
5. The tunnel displacement monitoring method according to claim 1, wherein in step 4, after each monitoring task is completed, the image measurement robot enters a sleep state until the industrial personal computer sends task execution information again.
6. The tunnel displacement monitoring method according to claim 1, wherein in step 5, for the same target, target center point information is extracted according to a graphic feature of the target, and information of deformation of the tunnel perpendicular to the line of sight is obtained by comparing multiple stages of target center point information; and comparing the prism distance measurement values in multiple periods to obtain the tunnel visual line deformation information aiming at the same prism.
7. The tunnel displacement monitoring method according to claim 6, wherein when the graph corresponding to the target is circular or elliptical, the implementation manner of extracting the information of the center point of the target according to the graph feature of the target is as follows: obtaining edge pixel coordinates of a graph corresponding to the target based on an image recognition algorithm; and carrying out ellipse center fitting based on the edge pixel coordinates to obtain a graph center coordinate.
8. A tunnel displacement monitoring system, comprising:
an observation target, the observation target comprising a target and a prism, the target and the prism having a fixed positional relationship, the target having a graphical feature, the observation target being disposed at a monitoring point;
the automatic monitoring unit comprises an image measuring robot and an industrial personal computer, and is arranged at a station for measuring;
the tunnel displacement monitoring system is used for realizing the steps in the tunnel displacement monitoring method according to any one of claims 1-7.
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| CN115638763A (en) * | 2022-09-09 | 2023-01-24 | 广州市盛通建设工程质量检测有限公司 | Three-dimensional subway tunnel deformation monitoring method, system, equipment and storage medium |
| CN115993094B (en) * | 2023-03-01 | 2023-09-12 | 大连交通大学 | Large membrane structure roof displacement monitoring method and system based on CCD camera |
| CN116091488B (en) * | 2023-03-07 | 2023-07-14 | 西安航天动力研究所 | Displacement testing method and displacement testing system for engine swing test |
| CN116929311B (en) * | 2023-09-19 | 2024-02-02 | 中铁第一勘察设计院集团有限公司 | Section deformation monitoring method, device and system for zoom imaging and storage medium |
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