Tunnel inspection vehicle size mapping relation calculation method based on machine vision
A mapping relationship, machine vision technology, applied in computing, instrumentation, image data processing, etc., can solve problems such as increasing the difficulty of system development, high price, slowing down detection speed, etc., to improve accuracy and system availability, and reduce operations. Workload and the effect of improving detection speed
Active Publication Date: 2020-07-17
TONGJI UNIV
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Problems solved by technology
The method of pasting the calibration plate increases the workload in the field and slows down the detection speed, while the laser range finder is usually expensive, which increases the manufacturing cost of the inspection vehicle, and it is necessary to compare the distance data acquired by the laser range finder with the distance data obtained at this time. The collected images establish a corresponding relationship, which further increases the difficulty of system development
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[0026] According to the attached figure 1 and figure 2 , give a preferred embodiment of the present invention, and give a detailed description, so that the functions and characteristics of the present invention can be better understood.
[0027] see figure 1 and figure 2 , a method for calculating the size mapping relationship of tunnel inspection vehicles based on machine vision in an embodiment of the present invention, comprising the steps of:
[0028] S1: install multiple cameras 2 on both sides and top of an inspection vehicle 1, use the inspection vehicle 1 to collect lining images in a tunnel 3, and record the rotation angle, focus value and zoom value of each camera 2;
[0029] S2: Select any camera 2 among multiple cameras 2, take the center of the lens of camera 2 as the origin, the vertical upward direction is the positive direction of the X-axis, and the forward direction of the detection vehicle 1 is the positive direction of the Y-axis, perpendicular to the ...
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The invention provides a tunnel inspection vehicle size mapping relation calculation method based on machine vision. Using binocular vision principles, after detection, two adjacent cameras on the detection vehicle are calibrated; any first feature point on the lining is selected from a public area of the image acquired by the corresponding camera; and calculating the position relationship of thefirst feature point relative to the cameras to calculate the position relationship between the detection vehicle and the lining, further calculating the distance between each camera and the lining, calibrating the relationship between the mapping parameter of the image size and the actual size and the distance between the cameras and the lining, and thus directly calculating the actual size according to the disease image size. According to the tunnel inspection vehicle size mapping relation calculation method based on machine vision, the binocular vision principle is utilized, and the actual size can be directly calculated according to the size of a disease image.
Description
technical field [0001] The invention relates to the field of tunnel detection, in particular to a method for calculating the size mapping relationship of tunnel detection vehicles based on machine vision. Background technique [0002] Existing tunnel lining disease detection is mainly based on manual detection. Inspection personnel conduct inspections on the tunnel site to take pictures, measure and record lining diseases. This method is not only slow in detection speed, but also highly dependent on the experience of the inspectors and has greater subjectivity. In addition, when the inspectors conduct inspections in the tunnel, social vehicles passing through the tunnel will inevitably affect the inspection operation, and there are certain safety hazards. Therefore, it is becoming more and more urgent to realize the automatic detection of tunnel lining defects by using the tunnel inspection vehicle integrated with the camera group. [0003] The operation process of the tun...
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IPC IPC(8): G06T7/00G06T7/60G06T7/73
CPCG06T7/0002G06T7/73G06T7/60
Inventor 谢雄耀王皓正周彪
Owner TONGJI UNIV