CN115597513B - Tunnel deformation measurement system, method and device for dynamic networking of cradle head camera - Google Patents
Tunnel deformation measurement system, method and device for dynamic networking of cradle head camera Download PDFInfo
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Abstract
The application relates to a tunnel deformation measurement system, a tunnel deformation measurement method and a tunnel deformation measurement device for dynamic networking of a tripod head camera. The camera array comprises at least two cameras, at least one pair of cameras are opposite in shooting direction, at least two cameras are fixedly connected with each other on the cloud deck, and the camera array is used for shooting a to-be-measured point in a to-be-measured area of a tunnel and obtaining in-plane displacement data of the to-be-measured point, position data and posture data of a cloud deck camera measuring station. The in-plane displacement data of the to-be-measured point, the position data and the posture data of the station of the cradle head camera are used for determining the deformation condition of the tunnel to-be-measured area. The purpose of greatly improving the tunnel deformation measurement performance is achieved.
Description
Technical Field
The invention belongs to the technical field of health monitoring of large-scale civil structures, and relates to a tunnel deformation measurement system, method and device for dynamic networking of a cradle head camera.
Background
Along with the continuous perfect construction of public infrastructure, the health monitoring technology of the large-scale civil structure is also continuously and iteratively upgraded. The tunnel is one of common large-scale civil structures, and the subway tunnel is an important tunnel facility in modern cities, so that the tunnel has extremely important practical significance for structural health monitoring. The tunnel deformation refers to the horizontal displacement and the vertical displacement of the segment structure, and the convergence deformation. In the tunnel construction and operation process, deformation is often one of main reasons for causing tunnel cracking and structural failure, and when the deformation exceeds a normal range, the characteristics of the tunnel structure are directly influenced, even the tunnel is damaged, and the personal safety of operation constructors and the train operation safety are seriously threatened.
At present, image measurement is a measurement technology which has been developed relatively mature, has the advantages of high precision, non-contact, real-time measurement, high-frequency measurement and the like, and has been widely applied to the fields of large-scale civil structure displacement deformation measurement, investigation and survey, quality monitoring, building construction, three-dimensional reconstruction and the like. For tunnel deformation measurement, the conventional technology mainly comprises a tunnel deformation monitoring technology based on a digital photogrammetry technology, a tunnel section deformation automatic monitoring technology based on a serial camera network measurement principle and the like. However, in the process of implementing the present invention, the inventor has found that the conventional tunnel deformation measurement technique still has a technical problem that the tunnel deformation measurement performance is not high.
Disclosure of Invention
Aiming at the problems in the traditional method, the invention provides a tunnel deformation measuring method for dynamic networking of a tripod head camera, a tunnel deformation measuring system for dynamic networking of the tripod head camera and a tunnel deformation measuring device for dynamic networking of the tripod head camera, which can greatly improve the tunnel deformation measuring performance.
In order to achieve the above object, the embodiment of the present invention adopts the following technical scheme:
On one hand, a tunnel deformation measurement system for dynamic networking of a tripod head camera is provided, which comprises N tripod head camera measuring stations fixedly installed along the tunnel direction, each tripod head camera measuring station comprises a tripod head and a camera array, the camera array is fixedly installed on the tripod head, the tripod head is used for controlling rotation of the camera array and chain networking, and N is a positive integer greater than 1;
The camera array comprises at least two cameras, at least one pair of cameras are opposite in shooting direction, at least two cameras are fixedly connected with each other on the holder, and the camera array is used for shooting a to-be-measured point in a to-be-measured area of the tunnel and obtaining in-plane displacement data of the to-be-measured point, position data and attitude data of a camera station of the holder;
the in-plane displacement data of the to-be-measured point, the position data and the posture data of the station of the cradle head camera are used for determining the deformation condition of the tunnel to-be-measured area.
On the other hand, a tunnel deformation measurement method of dynamic networking of a pan-tilt camera is also provided, and the method is applied to the tunnel deformation measurement system of dynamic networking of the pan-tilt camera, and comprises the following steps:
Acquiring pan-tilt camera parameters of a camera array; the parameters of the cradle head camera comprise a camera focal length, a station installation position and an installation posture;
extracting image coordinates of a point to be measured, which are shot by a camera array on a current tunnel section measurement link, by adopting a sub-pixel positioning method;
Solving a pre-stored cradle head observation equation by using a nonlinear optimization method according to image coordinates of the point to be measured and cradle head camera parameters to obtain position and posture changes of a cradle head camera measuring station and in-plane displacement of a public point to be measured; the public points to be measured are points to be measured in the public view field of the two adjacent holder camera stations;
According to the in-plane displacement of the public measuring point, solving a pre-stored measuring point displacement equation to obtain the in-plane displacement of other measuring points except the public measuring point in the field of view of the holder camera measuring station;
And controlling the cradle head camera measuring station to rotationally scan the to-be-measured point on the next tunnel section measuring link and returning to the step of solving a pre-stored cradle head observation equation by using a nonlinear optimization method according to the image coordinates of the to-be-measured point and the cradle head camera parameters to obtain the position and posture change of the cradle head camera measuring station and the in-plane displacement of the common to-be-measured point until the in-plane displacement of all to-be-measured points in the tunnel is obtained by measurement.
In still another aspect, a tunnel deformation measurement device for dynamic networking of a pan-tilt camera is provided, where the tunnel deformation measurement device is applied to the tunnel deformation measurement system for dynamic networking of a pan-tilt camera, and the device includes:
The camera parameter module is used for acquiring the camera parameters of the cradle head of the camera array; the parameters of the cradle head camera comprise a camera focal length, a station installation position and an installation posture;
The measuring point extracting module is used for extracting image coordinates of a to-be-measured point of the to-be-measured point shot by the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method;
the first displacement module is used for solving a pre-stored cradle head observation equation by utilizing a nonlinear optimization method according to image coordinates of the point to be measured and cradle head camera parameters to obtain position and posture changes of a cradle head camera measuring station and in-plane displacement of a public point to be measured; the public points to be measured are points to be measured in the public view field of the two adjacent holder camera stations;
the second displacement module is used for solving a pre-stored measuring point displacement equation according to the in-plane displacement of the common measuring point to obtain the in-plane displacement of the rest measuring points except the common measuring point in the field of view of the holder camera measuring station;
and the scanning control module is used for controlling the cradle head camera station to rotationally scan the to-be-measured point on the next tunnel section measuring link and returning to the step of extracting the image coordinates of the to-be-measured point shot by the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method until the in-plane displacement of all the to-be-measured points in the tunnel is measured.
In still another aspect, a tunnel deformation monitoring device is provided, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the tunnel deformation measurement method of dynamic networking of the pan-tilt camera when executing the computer program.
One of the above technical solutions has the following advantages and beneficial effects:
According to the tunnel deformation measurement system, the tunnel deformation measurement method and the tunnel deformation measurement device for the dynamic networking of the tripod head camera, the camera array is integrated onto the tripod head to serve as a novel tripod head camera measuring station capable of carrying out dynamic networking inspection, the camera array on the tripod head is utilized to shoot each measuring point in a tunnel measuring area to obtain in-plane displacement data of the measuring point, position data, gesture data and the like of the measuring station of the tripod head camera, so that the inner displacement of the tunnel section of each measuring point is measured based on a photogrammetry principle, and the deformation condition of the tunnel measuring area is determined. By utilizing the N cradle head camera measuring stations fixedly installed along the tunnel direction, dynamic chain networking can be performed, so that all points to be measured on each transmission measuring link are respectively surveyed, automatic, quick and efficient survey of large-range area deformation of the tunnel is realized, and the aim of greatly improving the deformation measuring performance of the tunnel is fulfilled.
Compared with the prior art, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array is integrated on the holder by the scheme, the inspection of a plurality of measuring points is realized through the rotation of the holder, the method of the chain camera network is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the holder, the number of required monitoring equipment is greatly reduced, and the simplicity and the flexibility of a monitoring system are improved. The image measurement principle is further enriched, and an effective scientific principle and method for rapid, high-precision and automatic measurement are provided for large-range deformation measurement of tunnels.
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In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic diagram of a first structure of a tunnel deformation measurement system for dynamic networking of pan-tilt cameras in one embodiment;
FIG. 2 is a schematic diagram of a second structure of a tunnel deformation measurement system dynamically networked by a pan-tilt camera according to an embodiment;
FIG. 3 is a third schematic diagram of a tunnel deformation measurement system of a pan-tilt camera dynamic networking in one embodiment;
FIG. 4 is a flow chart of a tunnel deformation measurement method of dynamic networking of pan-tilt cameras in an embodiment;
FIG. 5 is a schematic diagram of a pan-tilt camera stand rotation position 1 in one embodiment;
FIG. 6 is a schematic diagram of a pan-tilt camera stand rotational position 2 in one embodiment;
FIG. 7 is a schematic diagram of a pan-tilt camera station rotational position 3 in one embodiment;
fig. 8 is a flow chart of a tunnel deformation measurement method of dynamic networking of a pan-tilt camera according to another embodiment;
fig. 9 is a schematic block diagram of a tunnel deformation measurement device with dynamic networking of a pan-tilt camera according to an embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
It should be noted that the terms "first" and "second" and the like in this disclosure are used to distinguish between different objects and are not used to describe a particular order. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. 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. Those skilled in the art will appreciate that the embodiments described herein may be combined with other embodiments. The term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
The image measurement technology is a measurement technology which has been developed relatively mature, relates to the fields of optical measurement, photogrammetry, computer vision and other subjects, and has the advantages of high precision, long distance, multiple points, dynamic measurement, real-time measurement and the like. The invention provides a design scheme for integrating a camera array onto a holder based on an image networking measurement technology, realizes inspection of a plurality of measuring points through rotation of the holder, expands a chained camera network method from a traditional static networking mode based on a fixed platform to a dynamic networking mode based on the holder, greatly reduces the number of required monitoring equipment and improves the simplicity and flexibility of a monitoring system. The image measurement principle is further enriched, and an effective scientific principle and method for rapid, high-precision and automatic measurement are provided for large-range deformation measurement of tunnels.
The cradle head referred to in the present application means that a platform on which a camera array for monitoring is mounted has a rotatable property, such as, but not limited to, a one-axis rotation table, a two-axis rotation table, a three-axis rotation table, and the like. The method of the chain camera network can be understood by referring to the chain camera related measurement technology existing in the field, and the detailed description will not be repeated in this specification.
Embodiments of the present invention will be described in detail below with reference to the attached drawings in the drawings of the embodiments of the present invention.
In one embodiment, referring to fig. 1, a system 100 for measuring tunnel deformation of dynamic networking of pan-tilt cameras is provided, which includes N pan-tilt camera stations 12 fixedly installed along a tunnel direction. Each pan-tilt camera station 12 includes a pan-tilt 121 and a camera array 123. Camera array 123 is fixedly mounted on pan-tilt head 121. The pan-tilt 121 is used for controlling rotation and chain networking of the camera array 123, and N is a positive integer greater than 1. The camera array 123 includes at least two cameras and at least one pair of cameras has opposite photographing directions. At least two cameras are fixedly connected with each other on the associated holder 121. The camera array 123 is used for shooting the point 101 to be detected in the tunnel to-be-detected area, and obtaining in-plane displacement data of the point 101 to be detected, position data and posture data of the cradle head camera measuring station 12. The in-plane displacement data of the to-be-measured point 101, the position data and the posture data of the pan-tilt camera measuring station 12 are used for determining the deformation condition of the tunnel to-be-measured area.
It will be appreciated that camera array 123 is comprised of two or more cameras fixedly attached to one another on head 121 and may be calibrated prior to installation so that the relative mounting (e.g., position and/or attitude) relationship of each camera does not change during rotation following head 121. The number of the cradle head camera stations 12 can be flexibly set according to the section size, the tunnel length, the measurement accuracy and the like of the tunnel to be monitored. Similarly, the number of cameras and the types of cameras included in the camera array 123 on each pan-tilt camera station 12 can be flexibly set according to actual monitoring needs. The pan-tilt camera stations 12 can be installed on reserved monitoring stations in the tunnel at equal intervals or unequal intervals, and can be flexibly set according to the deformation occurrence probability of different areas in the tunnel.
At each pan-tilt camera station 12, the camera array 123 includes at least one pair of cameras with opposite shooting directions, and for convenience of description, the cameras in the camera array 123 may be classified into a forward camera array 123 and a backward camera array 123: first, cameras whose shooting direction coincides with the tunnel trend are divided into a forward camera array 123 (which may include a measurement camera that measures the point to be measured 101 and a monitoring camera (optional)); secondly, the camera with the shooting direction opposite to the tunnel trend is scribed into the backward camera array 123 (which may include the measurement camera and the monitoring camera (optional) of the point to be measured 101).
When each pan-tilt camera station 12 rotates to the current position to measure one or a plurality of to-be-measured points 101 on each tunnel section, a common field of view exists between the front and rear adjacent two pan-tilt camera stations 12 on a transmission measurement link where each pan-tilt camera station 12 of the current chain network is located, so that the cameras on the front and rear adjacent two pan-tilt camera stations 12 (the front camera array 123 of the front station and the rear camera array 123 of the rear station) can see the common to-be-measured point 101, and thus, after the in-plane displacement (the position difference relative to the initial state) of the common to-be-measured point 101 can be measured, the in-plane displacement of other to-be-measured points 101 (the common to-be-measured point 101 of the non-front and rear stations) in the fields of view of the front and rear cameras of the two stations can be measured quickly.
For the internal parameters (such as focal length) and external parameters (such as installation position and attitude, etc.) of the pan-tilt camera station 12, the initial coordinates of the to-be-measured point 101 and the installation position coordinates of the station can be measured by using measuring tools such as total stations and the like existing in the field, and the parameters of the pan-tilt 121 camera can be optimized and solved by using methods such as beam adjustment. The mounting relationship between the camera array 123 and the pan/tilt head 121 can be directly obtained by using methods such as hand-eye calibration, which are already known in the art. After the camera array 123 photographs the point 101 to be measured in the tunnel to-be-measured area, the image coordinates of the point 101 to be measured can be extracted with high precision by using a sub-pixel positioning method existing in the art, and the position data and the posture data of each pan-tilt camera measuring station 12 are obtained based on the photogrammetry principle, and the in-plane displacement data of the point 101 to be measured are obtained. The deformation condition of the tunnel region to be measured can be directly monitored by the data obtained by each measurement.
In some embodiments, optionally, the tunnel deformation measurement system 100 with dynamic networking of the pan-tilt camera may measure by using a periodic inspection method, and from an initial time of the first measurement, the pan-tilt 121 controls the camera to inspect the point 101 to be measured between the measuring stations, and the inspection of all the points 101 to be measured is completed as a measurement period. The camera on the control cradle head 121 in the initial state completes the inspection of the to-be-measured point 101, and records the measurement time of the to-be-measured point 101 in the initial state as the initial time, or uses the state in a period of time to average to obtain the initial state.
According to the tunnel deformation measurement system 100 with the dynamic networking of the pan-tilt camera, the camera array 123 is integrated on the pan-tilt 121 to serve as a new pan-tilt camera station 12 capable of carrying out dynamic networking inspection, the camera array 123 on the pan-tilt 121 is utilized to shoot each point 101 to be measured in a tunnel region to be measured, so that in-plane displacement data of the point 101 to be measured, position data and attitude data of the pan-tilt camera station 12 and the like are obtained, the tunnel section inner movement of each point 101 to be measured is measured based on a photogrammetry principle, and the deformation condition of the tunnel region to be measured is determined. By using the N cradle head camera measuring stations 12 fixedly installed along the tunnel direction, dynamic chain networking can be performed, so that all to-be-measured points 101 on each transmission measuring link are respectively surveyed, automatic, rapid and efficient surveying of large-range area deformation of the tunnel is realized, and the aim of greatly improving the tunnel deformation measuring performance is fulfilled.
Compared with the prior art, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array 123 is integrated on the holder 121 by the scheme, the inspection of a plurality of measuring points is realized through the rotation of the holder 121, the method of the chain camera network is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the holder 121, the number of required monitoring equipment is greatly reduced, and the simplicity and the flexibility of a monitoring system are improved. The image measurement principle is further enriched, and an effective scientific principle and method for rapid, high-precision and automatic measurement are provided for large-range deformation measurement of tunnels.
In one embodiment, the cameras in camera array 123 include a large field of view monitoring camera for foreign object shedding detection of the tunnel test area.
It can be appreciated that, in the camera array 123 of each pan-tilt camera station 12, a large-field monitoring camera may be included, so that the pan-tilt 121 is aligned to the to-be-measured point 101 faster in the moving process, and the vision guiding and the foreign matter falling detection function in the tunnel are provided in the inspection process, so that the detection of the surface defects such as foreign matter falling and tunnel breakage is realized while the measurement efficiency is further improved.
In one embodiment, camera array 123 includes cameras with some or all of the cameras having different focal lengths. It can be understood that in the camera array 123 of each pan-tilt camera station 12, the cameras may be cameras with different focal lengths, or the focal lengths of some of the cameras may be the same, and specifically may be determined according to the distance between the station 101 and the station, for example, but not limited to, the cameras may be classified into three types, i.e., near field, middle field, and far field, respectively corresponding to the point 101 to be measured in the near field, the point 101 to be measured in the middle field, and the point 101 to be measured in the far field, where the focal length of the near field camera < the focal length of the middle field camera < the focal length of the far field camera. So that the measurement efficiency can be further improved.
In one embodiment, as shown in fig. 2, the tunnel deformation measurement system 100 of the dynamic network of the pan-tilt camera may further include at least two reference points 14. The reference point 14 is located in a transmission measurement network formed by dynamic chain networking of N pan-tilt camera measuring stations 12 in the tunnel, and the reference point 14 includes an observation point with a strictly fixed position in a tunnel to-be-measured area, an observation point with known horizontal and vertical displacement in the tunnel to-be-measured area, or a to-be-measured point 101 with known settlement and horizontal displacement in the tunnel to-be-measured area. The reference point 14 is used to indicate the amount of shake of each pan-tilt camera station 12.
It can be appreciated that in the measurement, considering the influence of instability of the camera observation station of the pan-tilt 121 and low rotation accuracy on the measurement result, the reference point 14 may also be set: based on the requirements of the camera dynamic networking measurement method, at least two 2 datum points 14 with strictly fixed or known horizontal and vertical displacement can be set, the positions of the datum points 14 in the whole monitoring link can be free of requirements, and the datum points 14 can also be points 101 to be measured with known settlement amount and horizontal displacement.
According to the constraint relation known in the art, the shaking amount of each pan-tilt 121 camera observation station is solved by using the reference point 14, so that the measured in-plane displacement of the point to be measured 101 can be corrected (a specific correction mode can be understood by referring to the existing correction mode based on shaking amount in the art), the influence of instability and low rotation precision of the pan-tilt 121 camera observation station on a measurement result is eliminated, and the measurement precision is further improved.
In one embodiment, as shown in fig. 3, the pan-tilt camera station 12 further includes an IMU and/or electronic level mounted on the pan-tilt 121 for aiding in setting the rotational path and position of the pan-tilt 121.
It will be appreciated that in this embodiment, the pan-tilt rotation aid 16 may be mounted on each pan-tilt camera station 12, and the pan-tilt rotation aid 16 may be an IMU or an electronic level, or may be mounted simultaneously with the IMU or the electronic level, which may be selected according to the application requirements. The camera array 123 on the cradle head camera measuring station 12 synchronously shoots the to-be-measured point 101 in the rotation process of the cradle head 121, the rotation path and the position of the cradle head 121 can be manually set in advance, and the reading setting can be performed according to inertial navigation components such as an IMU or an electronic level meter, so that the accurate alignment and inspection of the to-be-measured point 101 are realized, and the measurement efficiency is improved.
In addition, the rotation position of the holder 121 when the camera array 123 shoots can be used for distinguishing different station positions in one inspection process, and provides a reference for the corresponding cradle head camera station 12 at the same rotational position for two inspection processes.
In one embodiment, the tunnel deformation measurement system 100 with the dynamic networking of the pan-tilt camera may further include a measurement point flag. The measuring point marks are arranged at the points to be measured 101 and correspond to the points to be measured 101 one by one, and the measuring point marks are used for marking the camera array 123 with the points to be measured 101 to which the marks belong.
It will be appreciated that the station marks captured with the camera recognition may be used for each station 101 to be measured to provide station alignment and capture efficiency.
In one embodiment, the measurement point markers include natural structural features, passive reflective markers, or active luminescent markers on the tunnel segment at the point under test 101 to which they belong.
Alternatively, in this embodiment, the measurement point mark may be directly served by the natural structural feature of the upper portion of the tunnel segment at the point 101 to be measured, or a specially set passive reflective mark or active luminescent mark may be adopted. Specifically, the measuring point mark can be round in shape, opposite-vertex angle, square, cross or five-pointed star and other shapes which are easy to identify. The measuring point mark at each measuring point 101 can emit light actively, or can rely on reflected sunlight or other light sources fixedly arranged in a reflecting tunnel. Preferably, the measuring point mark can be an infrared luminous mark so as to meet the requirement of measurement all the day.
In one embodiment, referring to fig. 4, an embodiment of the present application provides a tunnel deformation measurement method for dynamic networking of a pan-tilt camera, which is applied to a tunnel deformation measurement system for dynamic networking of a pan-tilt camera, the system includes N pan-tilt camera stations fixedly installed along a tunnel direction, each pan-tilt camera station includes a pan-tilt and a camera array, the camera array is fixedly installed on the pan-tilt, the pan-tilt is used for controlling rotation of the camera array and chain networking, and N is a positive integer greater than 1; the camera array comprises at least two cameras, the shooting directions of at least one pair of cameras are opposite, the at least two cameras are fixedly connected with each other on the cloud deck, and the camera array is used for shooting the to-be-detected in the to-be-detected area of the tunnel.
It will be appreciated that the strict stand camera may be modeled as a perspective projection model, taking the example that the neighboring pan-tilt camera stands at a certain scanning position (pan-tilt camera stand rotation position 1 shown in fig. 5), the right camera of pan-tilt camera stand S i And left camera/>, of pan-tilt camera station S i+1 It can be seen that the common points to be measured P m,n (the nth point of the mth tunnel section) and P m+1,n (the nth point of the (m+1) th tunnel section), the observation equation can be expressed as follows using the collinearly equation:
In the above-mentioned method, the step of, R B,C and T B,C are camera mounting poses, for in-camera parameters,/>For the initial coordinates of the points to be measured, these parameters can be obtained by off-line calibration,/>Is a depth factor.
The parameters to be measured include the position and posture change of the cradle head camera stationAnd displacement deltap B of the point to be measured. In a strict sense, the pose of the cradle head camera station comprises 6 parameters (3 translation parameters are t x,ty,tz; 3 pose parameters are alpha, beta and gamma, and the rotation of the cradle head camera station is respectively around x, y and z axes), and the relation between the pose angle and the rotation matrix is as follows:
Where cθ represents cos θ, sθ represents sin θ, θ represents a rotation angle, and θ may be α, β, γ.
In some embodiments, tunnel deformation is mainly horizontal displacement, vertical displacement and convergence deformation in a tunnel section (cross section), so that tunnel directional displacement of a point to be measured can be ignored, station measurement tunnel directional displacement and station measurement rotation (optional) around the tunnel direction can be simplified, parameters to be solved of a tripod head camera station are changed into 4 (in-plane displacement, pitch angle and yaw angle, representing position and posture changes of the station to be measured), and parameters to be solved of the point to be measured are changed into 2 (in-plane displacement). Alternatively, it may be further assumed that the depth of the same point at the front and rear moments is thus unchanged, so equation (1) may be simplified to the following pre-stored pan-tilt observation equation:
Wherein, Representing the right camera/>, at the front and rear moments (t 0,t1)The measured displacement of the point to be measured p m,n,Representing the left camera/>, at the front and rear moments (t 0,t1)The measured displacement of the point to be measured p m,n, lambda representing the depth factor, K C representing the parameters within the camera, R B,C representing the mounting pose of the camera,/>Representing the position change of the cradle head camera station S i at the front moment and the rear moment (t 0,t1)Representing the position change of the cradle head camera station S i+1 at the front moment and the rear moment (t 0,t1)Representing the gesture change of the cradle head camera station S i at the front moment and the rear moment (t 0,t1)Representing the gesture change of the cradle head camera station S i+1 at the front moment and the rear moment (t 0,t1)Representing initial coordinates of a point to be measured p m,n measured by a holder camera measuring station S i,/>Representing initial coordinates of a point to be measured p m,n measured by a holder camera measuring station S i+1,/>Representing the displacement of the point to be measured p m ,n measured by the cradle head camera measuring station S i,/>The displacement of the point to be measured p m,n measured by the pan-tilt camera station S i+1 is shown.
The above method includes the following processing steps S12 to S20:
s12, obtaining the parameters of a cradle head camera of the camera array; the cradle head camera parameters comprise a camera focal length, a station installation position and an installation posture.
It can be understood that, in order to rapidly calibrate parameters of the camera on the pan-tilt, such as inner parameters including focal length, etc., and outer parameters including installation position, installation posture, etc., initial coordinates of a to-be-measured point and installation position coordinates of a measuring station can be measured by means of a measuring tool such as a total station, etc., and parameters of the pan-tilt camera can be optimized and solved by using methods such as beam adjustment. The installation relation between the camera array and the cradle head can be obtained by using methods such as hand eye calibration. In addition, the parameters of the cradle head camera such as the principal point, the distortion coefficient and the like can be selected according to the measurement requirement, so that the measurement can be accurately and efficiently completed.
S14, extracting image coordinates of the point to be measured, which are shot by the camera array on the current tunnel section measurement link, by adopting a sub-pixel positioning method.
It can be understood that various sub-pixel positioning methods existing in the art can be used to extract the image coordinates of the point to be measured with high precision.
S16, solving a pre-stored holder observation equation by using a nonlinear optimization method according to image coordinates of the point to be measured and parameters of the holder camera to obtain position and posture changes of a holder camera measuring station and in-plane displacement of a public point to be measured; the common to-be-measured point is to-be-measured point in the common field of view of the two adjacent holder camera measuring stations.
It can be understood that for the pose change of the measuring station, the calculation of the in-plane displacement of the point to be measured: it can be assumed that there are M (M is greater than a positive integer) pan-tilt camera stations, and 2 common points to be measured are located between front and rear pan-tilt camera stations during each scan measurement, so that there are 8M equations for the entire transmission measurement link at present, and the amount to be solved is 8m+4, so that only the horizontal and vertical displacements (optionally: fixed points with unchanged horizontal and vertical displacements) of 2 points in the transmission measurement link are required, an equation system can be constructed by using equation (3), and the position and posture change (the same observation field, the posture difference after scanning with respect to the initial state) of the pan-tilt camera stations and the in-plane displacement (the position difference with respect to the initial state) of the common points to be measured can be solved simultaneously by using a nonlinear optimization method.
And S18, solving a pre-stored measuring point displacement equation according to the in-plane displacement of the common measuring point to obtain the in-plane displacement of the rest measuring points except the common measuring point in the field of view of the cradle head camera measuring station.
It can be appreciated that from the solved change in pose of the pan-tilt camera station relative to the initial stateAnd/>And solving the in-plane displacement of other to-be-measured points (not the common to-be-measured points of the front and rear measuring stations) in the fields of view of the cameras in the front and rear of the camera array on the cradle head according to a pre-stored measuring point displacement equation.
In some embodiments, the pre-stored station displacement equation is:
Wherein Δp represents the in-plane displacement of the rest of the points to be measured, λ represents a depth factor, K represents a parameter in the camera, R B,C represents a camera mounting posture, Representing the position change of a cradle head camera station at the front moment and the rear moment (t 0,t1), and the position change of the cradle head camera station at the front moment and the rear momentRepresenting initial coordinates of to-be-measured points measured by a cradle head camera station, wherein DeltaP B represents displacement of common to-be-measured points, and/>And the posture changes of the cradle head camera station at the front moment and the rear moment (t 0,t1) are represented.
In some embodiments, the equation (3) of the attitude change of the tripod head camera station and the in-plane displacement of the point to be measured is solved, the equation (4) of the in-plane displacement of the point to be measured can be solved according to the solved attitude change of the tripod head camera station, the matrix equations (3) and (4) can be expanded into the form of an equation set (the left side of the equation is the change amount of the image coordinates x and y of the point to be measured respectively), and only the change amount of the x direction or the y direction can be taken as required (the corresponding station position and the point to be measured are only in the horizontal direction or the vertical direction, and the station attitude angle is only in the yaw angle or the pitch angle).
S20, controlling the cradle head camera station to rotate and scan the to-be-measured point on the next tunnel section measuring link and returning to the step S16 until in-plane displacement of all to-be-measured points in the tunnel is obtained through measurement.
It can be understood that, in order to realize full coverage measurement of the point to be measured of the tunnel section, as shown in fig. 6 and 7, the rotation position 2 of the holder camera station and the rotation position 3 of the holder camera station are respectively, the holder camera station in the transmission measurement link can be controlled to scan the point to be measured (a scan track can be set in an initial state, or the station is guided to rotate to align with the point to be measured according to the coordinate of the point extracted from the monitoring camera), and a new transmission measurement link is constructed. The measured point solved by the last dynamically constructed transfer measurement link can be used as a control point with known in-plane displacement in the next transfer measurement (optionally, the displacement of the measured point is assumed to have no change in a short time), the attitude change of the cradle head measuring station relative to the corresponding initial state and the in-plane displacement of the public measured point between the front measuring station and the rear measuring station are required to be measured in the new transfer measurement link, and the in-plane displacement of other measured points (the public measured point between the front measuring station and the rear measuring station) in the camera field of view of the cradle head camera measuring station is solved by using the formula (4) in the same way.
And repeating the steps S16 to S20 in the same way until all the points to be measured are measured, and controlling the rotation of the cradle head camera measuring station to realize the coverage measurement of all the points to be measured in the whole measuring period until one measuring period is finished, and realizing dynamic networking according to the public points to be measured of the front cradle head camera measuring station and the rear cradle head camera measuring station, thereby effectively solving the contradiction problem of a large measuring range and high precision. Similarly, the next measurement cycle can be executed from the step S14.
According to the tunnel deformation measurement method based on the image networking measurement technology, the camera array is integrated onto the tripod head to serve as a novel tripod head camera measurement station capable of dynamically networking inspection, the camera array on the tripod head is utilized to shoot each point to be measured in a tunnel region to be measured, in-plane displacement data of the point to be measured, position data and posture data of the tripod head camera measurement station and the like are obtained, so that the inner movement of the tunnel section of each point to be measured is measured based on a photogrammetry principle, and the deformation condition of the tunnel region to be measured is determined. By utilizing the N cradle head camera measuring stations fixedly installed along the tunnel direction, dynamic chain networking can be performed, so that all points to be measured on each transmission measuring link are respectively surveyed, automatic, quick and efficient survey of large-range area deformation of the tunnel is realized, and the aim of greatly improving the deformation measuring performance of the tunnel is fulfilled.
Compared with the prior art, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array is integrated on the holder by the scheme, the inspection of a plurality of measuring points is realized through rotation of the holder, the method of a chain camera network is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the holder, the number of required monitoring equipment is greatly reduced, and the monitoring simplicity and flexibility are improved. The image measurement principle is further enriched, and an effective scientific principle and method for rapid, high-precision and automatic measurement are provided for large-range deformation measurement of tunnels.
In one embodiment, as shown in fig. 8, the tunnel deformation measurement method of the dynamic networking of the pan-tilt camera may further include steps S17A and S17B:
S17A, solving according to a constraint relation corresponding to the set reference point to obtain the shaking quantity of each cradle head camera station;
S17B, correcting the corresponding in-plane displacement of each measuring point by utilizing each shaking amount.
It can be understood that considering the influence of instability and low rotation precision of the pan-tilt camera observation station on the measurement result, a reference point can be set: based on the requirements of the camera dynamic networking measurement method, at least two 2 datum points with strictly fixed or known horizontal and vertical displacement can be set, the positions of the datum points in the whole monitoring link can be free from the requirements, and the datum points can also be points to be measured with known settlement and horizontal displacement.
According to the constraint relation known in the art, the shaking amount of each pan-tilt camera observation station is solved by using the reference points, so that the method can be used for correcting the measured in-plane displacement of the to-be-measured point (the specific correction mode can be understood by referring to the correction mode based on the shaking amount in the prior art), and the influence of instability and low rotation precision of the pan-tilt camera observation station on the measurement result is eliminated, so that the measurement precision is further improved.
In one embodiment, the sub-pixel localization method may optionally include an adaptive template-dependent filtering method, an adaptive threshold centroid method, a gray map fitting method, or a least squares matching method. It will be appreciated that the specific explanation of each sub-pixel positioning method can be understood by referring to the description of the foregoing methods in the prior art, and will not be repeated in this specification.
It should be understood that, although the steps in the flowcharts of fig. 4 and 8 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps of fig. 4 and 8 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with at least some of the sub-steps or stages of other steps or steps.
Referring to fig. 9, in one embodiment, a tunnel deformation measurement device 200 for dynamic networking of pan-tilt cameras is provided, which can be applied to a tunnel deformation measurement system for dynamic networking of pan-tilt cameras, where the system includes N pan-tilt camera stations fixedly installed along the tunnel direction. Each cradle head camera measuring station comprises a cradle head and a camera array, and the camera array is fixedly arranged on the cradle head. The cradle head is used for controlling rotation of the camera array and chain networking, and N is a positive integer greater than 1. The camera array comprises at least two cameras, and the shooting directions of at least one pair of cameras are opposite. At least two cameras are fixedly connected with each other on the belonging holder. The camera array is used for shooting the to-be-measured points in the to-be-measured area of the tunnel.
The tunnel deformation measuring device 200 for dynamic networking of the pan-tilt camera comprises a camera parameter module 11, a measuring point extraction module 13, a first displacement module 15, a second displacement module 17 and a scanning control module 19. The camera parameter module 11 is configured to obtain pan-tilt camera parameters of the camera array; the cradle head camera parameters comprise a camera focal length, a station installation position and an installation posture. The measuring point extracting module 13 is used for extracting image coordinates of a to-be-measured point of the to-be-measured point shot by the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method. The first displacement module 15 is configured to solve a pre-stored pan-tilt observation equation according to image coordinates of the point to be measured and parameters of the pan-tilt camera by using a nonlinear optimization method to obtain a position and posture change of the pan-tilt camera measuring station and an in-plane displacement of the common point to be measured; the common to-be-measured point is to-be-measured point in the common field of view of the two adjacent holder camera measuring stations. The second displacement module 17 is configured to solve a pre-stored measurement point displacement equation according to the in-plane displacement of the common measurement point to obtain in-plane displacements of the rest measurement points except the common measurement point in the field of view of the pan-tilt camera measurement station. The scan control module 19 is used for controlling the cradle head camera station to rotate and scan the point to be measured on the next tunnel section measurement link and returning to the step of extracting the point to be measured image coordinates of the point to be measured, which are shot by the camera array on the current tunnel section measurement link, by adopting a sub-pixel positioning method until the in-plane displacement of all the point to be measured in the tunnel is obtained by measurement.
According to the tunnel deformation measuring device 200 with the dynamic networking of the cradle head camera, through cooperation of the modules, based on the image networking measuring technology, the camera array is integrated on the cradle head to serve as a new cradle head camera measuring station capable of carrying out dynamic networking inspection, the camera array on the cradle head is utilized to shoot each measuring point in a tunnel measuring area to obtain in-plane displacement data of the measuring point, position data and posture data of the cradle head camera measuring station, and the like, so that the in-tunnel section movement of each measuring point is obtained based on photogrammetry principle measurement, and the deformation condition of the tunnel measuring area is determined. By utilizing the N cradle head camera measuring stations fixedly installed along the tunnel direction, dynamic chain networking can be performed, so that all points to be measured on each transmission measuring link are respectively surveyed, automatic, quick and efficient survey of large-range area deformation of the tunnel is realized, and the aim of greatly improving the deformation measuring performance of the tunnel is fulfilled.
Compared with the prior art, the method has the advantages of high precision, non-contact, low cost, long time and the like of the image measurement technology, the camera array is integrated on the holder by the scheme, the inspection of a plurality of measuring points is realized through rotation of the holder, the method of a chain camera network is expanded from a static networking mode based on a fixed platform to a dynamic networking mode based on the holder, the number of required monitoring equipment is greatly reduced, and the monitoring simplicity and flexibility are improved.
In an embodiment, the tunnel deformation measurement device 200 of the dynamic network of the pan-tilt camera may further include a sway module and a displacement correction module. The shaking amount module is used for solving and obtaining the shaking amount of each cradle head camera station according to the constraint relation corresponding to the set reference point. The displacement correction module is used for correcting the in-plane displacement of each corresponding measuring point to be measured by using each shaking amount.
In one embodiment, the subpixel localization method may include an adaptive template-dependent filtering method, an adaptive threshold centroid method, a gray map fitting method, or a least squares matching method.
In one embodiment, the pre-stored pan-tilt observation equation is:
/>
Wherein, Representing the right camera/>, at the front and rear moments (t 0,t1)The measured displacement of the point to be measured p m,n,Representing the left camera/>, at the front and rear moments (t 0,t1)The measured displacement of the point to be measured p m,n, lambda representing the depth factor, K C representing the parameters within the camera, R B,C representing the mounting pose of the camera,/>Representing the position change of the cradle head camera station S i at the front moment and the rear moment (t 0,t1)Representing the position change of the cradle head camera station S i+1 at the front moment and the rear moment (t 0,t1)Representing the gesture change of the cradle head camera station S i at the front moment and the rear moment (t 0,t1)Representing the gesture change of the cradle head camera station S i+1 at the front moment and the rear moment (t 0,t1)Representing initial coordinates of a point to be measured p m,n measured by a holder camera measuring station S i,/>Representing initial coordinates of a point to be measured p m,n measured by a holder camera measuring station S i+1,/>Representing the displacement of the point to be measured p m,n measured by the cradle head camera measuring station S i,/>The displacement of the point to be measured p m,n measured by the pan-tilt camera station S i+1 is shown.
In one embodiment, the pre-stored measurement point displacement equation is:
Wherein Δp represents the in-plane displacement of the rest of the points to be measured, λ represents a depth factor, K represents a parameter in the camera, R B,C represents a camera mounting posture, Representing the position change of a cradle head camera station at the front moment and the rear moment (t 0,t1), and the position change of the cradle head camera station at the front moment and the rear momentRepresenting initial coordinates of to-be-measured points measured by a cradle head camera station, wherein DeltaP B represents displacement of common to-be-measured points, and/>And the posture changes of the cradle head camera station at the front moment and the rear moment (t 0,t1) are represented.
For specific limitation of the tunnel deformation measurement device 200 for dynamic networking of the pan-tilt camera, reference may be made to the corresponding limitation of the tunnel deformation measurement method for dynamic networking of the pan-tilt camera, which is not described herein. All or part of the modules in the tunnel deformation measurement device 200 for dynamic networking of the pan-tilt camera can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be stored in a memory of the above device, or may be stored in software, so that the processor may call and execute operations corresponding to the above modules, where the above device may be, but is not limited to, various network devices existing in the art.
In yet another aspect, a tunnel deformation monitoring device is provided, including a memory and a processor, where the memory stores a computer program, and the processor implements the following processing steps when executing the computer program: acquiring pan-tilt camera parameters of a camera array; the parameters of the cradle head camera comprise a camera focal length, a station installation position and an installation posture; extracting image coordinates of a point to be measured, which are shot by a camera array on a current tunnel section measurement link, by adopting a sub-pixel positioning method; solving a pre-stored cradle head observation equation by using a nonlinear optimization method according to image coordinates of the point to be measured and cradle head camera parameters to obtain position and posture changes of a cradle head camera measuring station and in-plane displacement of a public point to be measured; the public points to be measured are points to be measured in the public view field of the two adjacent holder camera stations; according to the in-plane displacement of the public measuring point, solving a pre-stored measuring point displacement equation to obtain the in-plane displacement of other measuring points except the public measuring point in the field of view of the holder camera measuring station; and controlling the cradle head camera measuring station to rotationally scan the to-be-measured point on the next tunnel section measuring link and returning to the step of extracting the image coordinates of the to-be-measured point shot by the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method until in-plane displacement of all to-be-measured points in the tunnel is obtained by measurement.
It will be appreciated that the tunnel deformation monitoring device includes, in addition to the above-mentioned memory and processor, other software and hardware components not listed in the specification, and may specifically be determined according to the specific monitoring device model under different application scenarios, which will not be listed in detail in the specification.
In one embodiment, the processor may further implement the steps or sub-steps added in the embodiments of the tunnel deformation measurement method for dynamic networking of the pan-tilt camera when executing the computer program.
In yet another aspect, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the following processing steps: acquiring pan-tilt camera parameters of a camera array; the parameters of the cradle head camera comprise a camera focal length, a station installation position and an installation posture; extracting image coordinates of a point to be measured, which are shot by a camera array on a current tunnel section measurement link, by adopting a sub-pixel positioning method; solving a pre-stored cradle head observation equation by using a nonlinear optimization method according to image coordinates of the point to be measured and cradle head camera parameters to obtain position and posture changes of a cradle head camera measuring station and in-plane displacement of a public point to be measured; the public points to be measured are points to be measured in the public view field of the two adjacent holder camera stations; according to the in-plane displacement of the public measuring point, solving a pre-stored measuring point displacement equation to obtain the in-plane displacement of other measuring points except the public measuring point in the field of view of the holder camera measuring station; and controlling the cradle head camera measuring station to rotationally scan the to-be-measured point on the next tunnel section measuring link and returning to the step of extracting the image coordinates of the to-be-measured point shot by the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method until in-plane displacement of all to-be-measured points in the tunnel is obtained by measurement.
In one embodiment, when the computer program is executed by the processor, the steps or sub-steps added in the embodiments of the tunnel deformation measurement method for dynamic networking of the pan-tilt camera can be further implemented.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus dynamic random access memory (Rambus DRAM, RDRAM for short), and interface dynamic random access memory (DRDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it is possible for those skilled in the art to make several variations and modifications without departing from the spirit of the present application, which fall within the protection scope of the present application. The scope of the application is therefore intended to be covered by the appended claims.
Claims (9)
1. The tunnel deformation measurement device is characterized by being applied to a tunnel deformation measurement system for dynamic networking of a tripod head camera, wherein the tunnel deformation measurement system comprises N tripod head camera measuring stations fixedly installed along the tunnel direction, each tripod head camera measuring station comprises a tripod head and a camera array, the camera array is fixedly installed on the tripod head, the tripod head is used for controlling rotation of the camera array and chained networking, and N is a positive integer greater than 1;
the camera array comprises at least two cameras, the shooting directions of at least one pair of cameras are opposite, the at least two cameras are fixedly connected with each other on the cloud deck, the camera array is used for shooting a to-be-detected point in a to-be-detected area of a tunnel, and in-plane displacement data of the to-be-detected point, position data and posture data of a station of the cloud deck camera are obtained;
the in-plane displacement data of the to-be-measured point, the position data and the attitude data of the cradle head camera measuring station are used for determining the deformation condition of the tunnel to-be-measured area;
the tunnel deformation measuring device includes:
the camera parameter module is used for acquiring the camera parameters of the cradle head of the camera array; the cradle head camera parameters comprise a camera focal length, a station installation position and an installation posture;
The measuring point extracting module is used for extracting image coordinates of the to-be-measured point shot by the camera array on the current tunnel section measuring link by adopting a sub-pixel positioning method;
The first displacement module is used for solving a pre-stored holder observation equation by utilizing a nonlinear optimization method according to the image coordinates of the point to be measured and the holder camera parameters to obtain the position and posture change of the holder camera station and the in-plane displacement of the public point to be measured; the public points to be measured are points to be measured in the public view fields of two adjacent holder camera stations;
The second displacement module is used for solving a pre-stored measuring point displacement equation according to the in-plane displacement of the common measuring point to obtain the in-plane displacement of the rest measuring points except the common measuring point in the field of view of the cradle head camera measuring station;
And the scanning control module is used for controlling the cradle head camera measuring station to rotationally scan the to-be-measured point on the next tunnel section measuring link and returning to the step of solving a pre-stored cradle head observation equation by using a nonlinear optimization method according to the image coordinates of the to-be-measured point and the cradle head camera parameters to obtain the position and posture change of the cradle head camera measuring station and the in-plane displacement of the common to-be-measured point until the in-plane displacement of all to-be-measured points in the tunnel is measured.
2. The device for measuring tunnel deformation by dynamic networking of pan-tilt cameras according to claim 1, wherein the cameras in the camera array comprise a large-field monitoring camera, and the large-field monitoring camera is used for detecting foreign object falling off of the tunnel to-be-detected area.
3. The tunnel deformation measurement device of claim 1 or 2, further comprising at least two reference points, wherein the reference points are located in a transmission measurement network formed by N dynamic chain networking of pan-tilt cameras in the tunnel, and the reference points comprise observation points with strictly fixed positions in the tunnel to-be-measured area, observation points with known horizontal and vertical displacement in the tunnel to-be-measured area, or points with known settlement and horizontal displacement in the tunnel to-be-measured area;
The datum points are used for indicating the shaking amount of each holder camera station.
4. A pan-tilt camera dynamic networking tunnel deformation measurement device according to claim 3, wherein the pan-tilt camera station further comprises an IMU and/or an electronic level mounted on the pan-tilt for assisting in setting the rotational path and position of the pan-tilt.
5. The tunnel deformation measurement device for dynamic networking of pan-tilt cameras according to claim 3, further comprising measurement point marks, wherein the measurement point marks are arranged at the points to be measured and correspond to the points to be measured one by one, and the measurement point marks are used for marking the points to be measured to which the camera array belongs.
6. The device for measuring tunnel deformation by dynamic networking of pan-tilt cameras according to claim 5, wherein the measuring point mark comprises a natural structural feature, a passive reflection mark or an active luminous mark on the tunnel segment at the point to be measured.
7. The tunnel deformation measurement method for dynamic networking of the pan-tilt camera is characterized by being applied to the tunnel deformation measurement system for dynamic networking of the pan-tilt camera according to claim 1, and comprises the following steps:
Acquiring pan-tilt camera parameters of the camera array; the cradle head camera parameters comprise a camera focal length, a station installation position and an installation posture;
extracting image coordinates of the point to be measured, which are shot by the camera array on a current tunnel section measurement link, by adopting a sub-pixel positioning method;
solving a pre-stored holder observation equation by using a nonlinear optimization method according to the image coordinates of the point to be measured and the holder camera parameters to obtain the position and posture change of the holder camera measuring station and the in-plane displacement of the public point to be measured; the public points to be measured are points to be measured in the public view fields of two adjacent holder camera stations;
According to the in-plane displacement of the public measuring point, solving a pre-stored measuring point displacement equation to obtain the in-plane displacement of the rest measuring points except the public measuring point in the field of view of the cradle head camera measuring station;
And controlling the cradle head camera measuring station to rotationally scan the to-be-measured point on the next tunnel section measuring link and returning to the step of obtaining the position and posture change of the cradle head camera measuring station and the in-plane displacement of the common to-be-measured point by utilizing a nonlinear optimization method according to the image coordinates of the to-be-measured point and the cradle head camera parameters and solving a pre-stored cradle head observation equation until the in-plane displacement of all to-be-measured points in the tunnel is obtained by measurement.
8. The tunnel deformation measurement method of dynamic networking of pan-tilt cameras according to claim 7, further comprising the steps of:
Solving according to the constraint relation corresponding to the set reference point to obtain the shaking quantity of each cradle head camera measuring station;
and correcting the corresponding in-plane displacement of each measuring point by utilizing each shaking amount.
9. Tunnel deformation monitoring device comprising a memory and a processor, said memory storing a computer program, characterized in that the processor, when executing said computer program, implements the steps of the tunnel deformation measuring method of dynamic networking of pan-tilt cameras according to claim 7 or 8.
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