Structural difference deformation monitoring method and related device

Abstract

The invention provides a structural difference deformation monitoring method and a related device. The method comprises the following steps: determining a target patrolling strategy; executing the target surveying strategy to obtain the external parameter information, and first coordinate information and image information of the to-be-measured point in the world coordinate system; and according to the external parameter information, the first coordinate information, the image information and the distribution condition of the to-be-measured point in the field of view of the front-view camera and the field of view of the rear-view camera, determining a target difference deformation amount between the first structural member and the second structural member. According to the embodiment of the invention, the deformation of the to-be-measured points on the structural members can be monitored through mobile patrol of the mobile measurement equipment, compared with manual measurement, the measurement efficiency is improved, the distribution conditions of the to-be-measured points on the two structural members in the view fields of the front-view camera and the rear-view camera are considered, and the measurement accuracy is improved. Therefore, the differential deformation between the two structural members is determined, and the measurement accuracy is improved.

Description

Technical Field

[0001] The present application belongs to the field of optical measurement, and specifically relates to a structural difference deformation monitoring method and related devices. Background Art

[0002] Differential deformation in civil engineering structures refers to the difference in deformation between two structural members. Examples include the offset between two segments in a subway tunnel and the differential settlement between two bridge piers. Currently, this measurement is primarily performed manually using tools such as vernier calipers and levels. Workers visually identify structural members with significant differential deformation and use these tools to determine whether the differential deformation exceeds a preset threshold. However, relying on manual labor to measure differential deformation is time-consuming and inefficient, requiring only a single inspection. Furthermore, differential deformation measurements using tools like vernier calipers suffer from low precision and accuracy. Summary of the Invention

[0003] The embodiments of the present application provide a structural differential deformation monitoring method and related devices, which can monitor the deformation of the measured points on the structural parts through mobile patrol by mobile measuring equipment. Compared with manual measurement, it is beneficial to improve measurement efficiency, and consider the distribution of the measured points on the two structural parts in the field of view of the front camera and the rear camera to determine the differential deformation between the two structural parts, which is beneficial to improve measurement accuracy.

[0004] In a first aspect, an embodiment of the present application provides a method for monitoring structural differential deformation, which is applied to a processing device of a mobile measuring device, wherein the mobile measuring device includes a mobile platform, a perception measurement module disposed on the mobile platform, a power supply device, and the processing device, wherein the perception measurement module includes a camera array, the camera array includes a front-view camera and a rear-view camera, the processing device is connected to the front-view camera and the rear-view camera, respectively, and the power supply device is connected to the perception measurement module and the processing device, respectively; the method includes: Obtaining a differential deformation monitoring instruction for a target structure, wherein the target structure includes a plurality of structural members; Determining a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is used to instruct the mobile measuring device to move to observe a point to be measured on the target structure; Execute the target patrol strategy to obtain external reference information, first coordinate information of the point to be measured in the world coordinate system, and image information; According to the external parameter information, the first coordinate information and the image information, the distribution of the measured points in the field of view of the front camera and the field of view of the rear camera is used to determine the target differential deformation between the first structural member and the second structural member, where the first structural member and the second structural member are any two structural members among the multiple structural members.

[0005] In a possible example, determining a target differential deformation between the first structural member and the second structural member based on the extrinsic parameter information, the first coordinate information, and the image information, and a distribution of the measured point in the field of view of the front camera and the field of view of the rear camera, includes: determining whether a first point to be measured on the first structural member and a second point to be measured on the second structural member are simultaneously within the fields of view of the front-view camera and the rear-view camera when the mobile platform is at a current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a first differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the first differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a second differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the second differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and whether the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position; If it is determined that the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position, then a reference point to be measured is determined, a third differential deformation measurement equation associated with the reference point to be measured is determined, and based on the third differential deformation measurement equation, a target differential deformation amount between the first structural member and the second structural member is determined.

[0006] In a possible example, determining the reference point to be measured includes: Determining a field of view overlap area between the field of view of the rear view camera when the mobile platform is at a current monitoring position and the field of view of the front view camera when the mobile platform is at a previous monitoring position; Determining a third point to be measured in the overlapping area of ​​the fields of view; The third point to be measured is used as the reference point to be measured.

[0007] In one possible example, the first differential deformation measurement equation includes a first differential settlement measurement equation and a first horizontal differential deformation measurement equation. When the first to-be-measured point and the second to-be-measured point are simultaneously in the field of view of the forward-looking camera, determining the first differential deformation measurement equation includes: Determine a first object plane resolution of the camera photographing the first point to be measured; Determine a second object plane resolution of the camera photographing the second point to be measured; Determining a first vertical pixel change and a first horizontal pixel change of the first point to be measured in the camera image according to the image information, and determining a second vertical pixel change and a second horizontal pixel change of the second point to be measured in the camera image according to the image information; Determine, according to the first coordinate information, a third distance between the first point to be measured and the camera array and a fourth distance between the second point to be measured and the camera array; Determine a first angle between the optical axis of the forward-looking camera and the horizontal plane; Determine the pitch, yaw, and roll changes of the camera array; determining the first differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw angle change, and the first angle; The first horizontal difference deformation measurement equation is determined according to the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change, the roll change, and the first angle.

[0008] In a possible example, the second differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; and determining the second differential deformation measurement equation includes: determining a longitudinal variation of the camera array; determining a second angle between the optical axis of the rearview camera and the horizontal plane; Determining a second differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw change, the longitudinal change, the first angle, and the second angle; The second horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change and the roll change, the first angle and the second angle.

[0009] In a possible example, the third differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; and determining the third differential deformation measurement equation associated with the reference point to be measured includes: Determine the third object plane resolution of the reference point to be measured when photographed by the camera; determining, according to the image information, a third vertical pixel change amount and a third horizontal pixel change amount of the reference point to be measured in the camera image; determining a fifth distance between the reference point to be measured and the camera array according to the first coordinate information; Determine the third differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the third object plane resolution, the first vertical pixel change, the second vertical pixel change, the third vertical pixel change, the third distance, the fourth distance, the fifth distance, the pitch angle change, the yaw angle change, the longitudinal angle change, the first angle, and the second angle; The third horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the third object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third horizontal pixel change, the third distance, the fourth distance, the fifth distance, the yaw change and the roll change, the first angle and the second angle.

[0010] In a possible example, after executing the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information, the method further includes: Determine a first measurement coordinate system of the camera array for the current patrol; Determining the pixel change of each point to be measured in the camera image according to the image information; According to the central perspective projection model, the first imaging equation of the initial survey point is created; According to the central perspective projection model, the second imaging equation of the current patrol point to be measured is created; Determining a deformation equation of the point to be measured according to the first imaging equation and the second imaging equation; Substituting the pixel variation, the external parameter information, the internal parameter information and the first coordinate information into the deformation equation of the point to be measured to obtain the deformation of each point to be measured; According to the deformation of the point to be measured, a target differential deformation between the first structural member and the second structural member is determined.

[0011] In a possible example, determining the first measurement coordinate system of the camera array of the current patrol includes: Determine a second measurement coordinate system of the initial patrol camera array; Determine a six-degree-of-freedom change between an initial patrol camera array and a current patrol camera array; The first measurement coordinate system is determined according to the second measurement coordinate system and the six-degree-of-freedom variation.

[0012] In a second aspect, an embodiment of the present application provides a structural difference deformation monitoring device, which is applied to a processing device of a mobile measuring device, wherein the mobile measuring device includes a mobile platform, a perception measurement module arranged on the mobile platform, a power supply device and the processing device, the perception measurement module includes a camera array, the camera array includes a front-view camera and a rear-view camera, the processing device is respectively connected to the front-view camera and the rear-view camera, and the power supply device is respectively connected to the perception measurement module and the processing device; the structural difference deformation monitoring device includes an acquisition unit, a determination unit and an execution unit; wherein, The acquisition unit is configured to acquire a differential deformation monitoring instruction for a target structure, wherein the target structure includes a plurality of structural members; The determining unit is configured to determine a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is configured to instruct the mobile measuring device to move to observe a point to be measured on the target structure; The execution unit is used to execute the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information; The determination unit is further used to determine a target differential deformation between a first structural member and a second structural member based on the external parameter information, the first coordinate information, and the image information, and a distribution of the measured points in the field of view of the front camera and the field of view of the rear camera, where the first structural member and the second structural member are any two structural members among a plurality of structural members.

[0013] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the first aspect of the embodiment of the present application.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps in the first aspect of the embodiment of the present application when the computer program / instruction is executed by a processor.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0016] As can be seen, in the embodiment of the present application, the processing device of the mobile measuring device first obtains a differential deformation monitoring instruction for a target structure, the target structure including multiple structural members, and then determines a target patrol strategy based on the differential deformation monitoring instruction. The target patrol strategy is used to instruct the mobile measuring device to move to observe the target point on the target structure. The target patrol strategy is then executed to obtain external parameter information, first coordinate information of the target point in the world coordinate system, and image information. Further, based on the external parameter information, the first coordinate information, the image information, and the distribution of the target point in the field of view of the front camera and the field of view of the rear camera, a target differential deformation between the first structural member and the second structural member is determined, where the first structural member and the second structural member are any two structural members among the multiple structural members. The ability to monitor the deformation of the target point on the structural member by mobile patrol of the mobile measuring device is beneficial to improving measurement efficiency compared to manual measurement. In addition, the differential deformation between the two structural members is determined by considering the distribution of the target points on the two structural members in the fields of view of the front camera and the rear camera, which is beneficial to improving measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a schematic diagram of the architecture of a mobile measurement device provided in an embodiment of the present application; Figure 2 1 is a flow chart of a method for monitoring structural differential deformation provided by an embodiment of the present application; Figure 3 This is a schematic diagram of a monitoring route of a mobile measurement device provided in an embodiment of the present application; Figure 4 This is a schematic diagram of the distribution of points to be measured in the field of view provided by an embodiment of the present application; Figure 5 This is another schematic diagram of the distribution of points to be measured in the field of view provided by an embodiment of the present application; Figure 6 This is another schematic diagram of the distribution of points to be measured in the field of view provided in an embodiment of the present application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application; Figure 8 This is a block diagram of the functional units of a structural difference deformation monitoring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0021] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] In the embodiments of this application, "and / or" describes the relationship between associated objects and indicates that three relationships can exist. For example, "A and / or B" can represent the following three situations: A exists alone; A and B exist simultaneously; and B exists alone. A and B can be singular or plural.

[0023] In the embodiments of the present application, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. In addition, the symbol " / " can also represent a division sign, that is, performing a division operation. For example, A / B can mean A divided by B.

[0024] In the embodiments of the present application, "at least one item" or similar expressions refers to any combination of these items, including any combination of single items or plural items, and refers to one or more, and multiple refers to two or more. For example, at least one item (item) of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0025] In the embodiments of this application, "equal to" can be used in conjunction with "greater than" and is applicable to the technical solution adopted when "greater than" is used, and can also be used in conjunction with "less than" and is applicable to the technical solution adopted when "less than" is used. When "equal to" is used in conjunction with "greater than", it should not be used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it should not be used in conjunction with "greater than".

[0026] In order to better understand the solutions of the embodiments of the present application, the electronic devices, related concepts and backgrounds that may be involved in the embodiments of the present application are first introduced below.

[0027] The electronic devices involved in the embodiments of the present application may include various handheld devices with wireless communication capabilities, in-vehicle devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, as well as various forms of user equipment (UE), mobile stations (MS), and electronic devices (terminal devices). For ease of description, the above-mentioned devices are collectively referred to as electronic devices.

[0028] See also Figure 1 , Figure 1 This is a schematic diagram of the architecture of a mobile measurement device provided in an embodiment of the present application. Figure 1 As shown, the mobile measuring device 1 includes a mobile platform 10 , a sensing and measuring module 20 arranged on the mobile platform 10 , a power supply device 30 and a processing device 40 .

[0029] The mobile platform 10 can drive the sensing and measuring module 20 , the power supply device 30 and the processing device 40 provided thereon to observe the points to be measured on the target structure according to a certain patrol route.

[0030] There is no limitation on the form of the mobile platform 10 , and it may be, for example, a mobile monitoring vehicle, a mobile aircraft, or the like.

[0031] The perception and measurement module 20 includes a camera array 21 , the camera array 21 includes a front-view camera 22 and a rear-view camera 23 , and the processing device 40 is connected to the front-view camera 22 and the rear-view camera 23 , respectively.

[0032] Among them, the power supply device 30 is respectively connected to the front-view camera 22, the rear-view camera 23 and the processing device 40 of the perception and measurement module 20. The power supply device 30 is used to power the front-view camera 22, the rear-view camera 23 and the processing device 40, so that the front-view camera 22 and the rear-view camera 23 can capture images of the points to be measured, and the processing device 40 analyzes the captured images in real time to obtain the deformation measurement results of the points to be measured.

[0033] Optionally, the power supply device 30 is connected to a power component of the mobile platform 10 , and the power supply device 30 is used to supply power to the power component, which is used to drive the mobile platform 10 to move.

[0034] The processing device 40 may be a computer or other image analysis device.

[0035] The field of view of the front-view camera 22 and the field of view of the rear-view camera 23 in the camera array 21 are opposite, and the front-view camera 22 and the rear-view camera 23 are fixedly connected to each other.

[0036] There is no limitation on the models and focal lengths of the cameras in the camera array 21 .

[0037] Among them, the target structure can be a subway tunnel, a highway tunnel, or a bridge.

[0038] In one possible example, the processing device 40 of the mobile measuring device 1 first obtains a differential deformation monitoring instruction for a target structure, where the target structure includes multiple structural members. The processing device 40 then determines a target patrol strategy based on the differential deformation monitoring instruction. The target patrol strategy is used to instruct the mobile measuring device 1 to move to observe the point to be measured on the target structure. The processing device 40 then executes the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information. Further, the processing device 40 determines the target differential deformation between the first structural member and the second structural member based on the external parameter information, the first coordinate information, the image information, and the distribution of the point to be measured in the field of view of the front camera 22 and the field of view of the rear camera 23. The first structural member and the second structural member are any two structural members among the multiple structural members. The deformation of the measured points on the structural parts can be monitored by mobile patrol using the mobile measuring equipment 1, which is beneficial to improving the measurement efficiency compared to manual measurement. It also considers the distribution of the measured points on the two structural parts in the fields of view of the front-view camera 22 and the rear-view camera 23 to determine the difference in deformation between the two structural parts, which is beneficial to improving the accuracy of the measurement.

[0039] See also Figure 2 , Figure 2 This is a flow chart of a structural differential deformation monitoring method provided in an embodiment of the present application, which is applied to a processing device of a mobile measuring device, wherein the mobile measuring device includes a mobile platform, a perception measurement module disposed on the mobile platform, a power supply device, and the processing device, wherein the perception measurement module includes a camera array, the camera array includes a front-view camera and a rear-view camera, the processing device is connected to the front-view camera and the rear-view camera, respectively, and the power supply device is connected to the perception measurement module and the processing device, respectively. The method includes: Step S201: obtaining a differential deformation monitoring instruction for a target structure, where the target structure includes a plurality of structural components.

[0040] Among them, the target structure can be a subway tunnel, a highway tunnel, or a bridge, which is not limited here. When the target structure is a tunnel, the structural member can be a pipe segment. The tunnel includes multiple pipe segments spliced ​​together. Targets are set on the pipe segments in advance as test points, and one or more targets can be set on a single pipe segment. When the target structure is a bridge, the structural member can be a pier. The bridge includes multiple piers. Targets can be set on the piers in advance as test points, and one or more targets can be set on a single pier.

[0041] Among them, the front-view camera is used to shoot targets on the structural parts in front of the mobile platform in the driving direction, and the rear-view camera is used to shoot targets on the structural parts of the mobile platform in the opposite direction of the driving direction.

[0042] Step S202 : determining a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is used to instruct the mobile measuring device to move to observe the points to be measured on the target structure.

[0043] The target patrol strategy involves the mobile measuring device repeatedly traveling along a target patrol route to observe multiple points on multiple components of the target structure. The target patrol route includes a starting point, an end point, multiple monitoring locations, and multiple points to be measured, with no restrictions on the locations of the monitoring locations and the multiple points to be measured. Each time the mobile measuring device reaches a monitoring location, the camera array synchronously captures the points to be measured. Specifically, the forward-facing camera captures the points to be measured on components within a certain range in front of the mobile measuring device, while the rear-facing camera captures the points to be measured on components within a certain range behind the mobile measuring device.

[0044] See also Figure 3 , Figure 3 This is a schematic diagram of a monitoring route of a mobile measuring device provided in an embodiment of the present application. The tunnel mobile monitoring device moves on the monitoring route. The tunnel mobile monitoring device is provided with a forward-looking camera and a rear-looking camera. The monitoring route includes a starting point, an end point, a point to be measured (the position of the black dot in the figure) and a monitoring position (the position of the white dot in the figure).

[0045] Among them, the target patrol strategy includes camera calibration to obtain the external parameter information and internal parameter information of the front-view camera and rear-view camera respectively.

[0046] Step S203 , executing the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information.

[0047] The image information includes historical images taken during previous inspections and current images taken during the current inspection.

[0048] Among them, since the camera is not replaced during multiple patrols, the intrinsic parameters of the camera remain unchanged. The intrinsic parameter information of the front-view camera and the rear-view camera can be obtained in advance through camera calibration. At the same time, the conversion relationship between the coordinate system of the front-view camera and the world coordinate system during the initial patrol can be calibrated, that is, the extrinsic parameter information of the front-view camera, and the conversion relationship between the coordinate system of the rear-view camera and the world coordinate system during the initial patrol can be calibrated, that is, the extrinsic parameter information of the rear-view camera.

[0049] In the initial calibration stage, the coordinates of each point to be measured in the world coordinate system can also be calibrated to obtain first coordinate information.

[0050] Step S204: determining a target differential deformation between a first structural member and a second structural member based on the external parameter information, the first coordinate information, and the image information, and the distribution of the measured points in the field of view of the front camera and the field of view of the rear camera, where the first structural member and the second structural member are any two structural members from a plurality of structural members.

[0051] The image information may be used to determine, through a positioning algorithm, a pixel change of a point to be measured in a current image of a current monitoring compared to a historical image of an initial monitoring or a certain historical monitoring.

[0052] The target differential deformation is used to represent the difference between the vertical deformation of the first point to be measured on the first structural component and the vertical deformation of the second point to be measured on the second structural component.

[0053] Among them, taking into account the observation differences of the mobile measuring equipment at different monitoring positions and the differences in the external parameter information of the front camera and the external parameter information of the rear view camera, in order to determine the target differential deformation between the first structural member and the second structural member, it is necessary to consider whether the first point to be measured and the second point to be measured can be observed simultaneously at the same monitoring position, and whether they can be observed in the field of view of the same camera when observing at the same monitoring position, that is, it is necessary to consider the distribution of the points to be measured in the field of view of the front camera and the field of view of the rear view camera.

[0054] As can be seen, in the embodiment of the present application, the processing device of the mobile measuring device first obtains a differential deformation monitoring instruction for a target structure, the target structure including multiple structural members, and then determines a target patrol strategy based on the differential deformation monitoring instruction. The target patrol strategy is used to instruct the mobile measuring device to move to observe the target point on the target structure. The target patrol strategy is then executed to obtain external parameter information, first coordinate information of the target point in the world coordinate system, and image information. Further, based on the external parameter information, the first coordinate information, the image information, and the distribution of the target point in the field of view of the front camera and the field of view of the rear camera, a target differential deformation between the first structural member and the second structural member is determined, where the first structural member and the second structural member are any two structural members among the multiple structural members. The ability to monitor the deformation of the target point on the structural member by mobile patrol of the mobile measuring device is beneficial to improving measurement efficiency compared to manual measurement. In addition, the differential deformation between the two structural members is determined by considering the distribution of the target points on the two structural members in the fields of view of the front camera and the rear camera, which is beneficial to improving measurement accuracy.

[0055] In one possible example, in determining the target differential deformation between the first structural member and the second structural member based on the external parameter information, the first coordinate information and the image information, and the distribution of the test points in the field of view of the front camera and the field of view of the rear view camera, the method includes: judging whether the first test point on the first structural member and the second test point on the second structural member are simultaneously in the field of view of the front camera and the rear view camera when the mobile platform is at the current monitoring position; if it is judged that the first test point on the first structural member and the second test point on the second structural member are simultaneously in the field of view of the front camera and the rear view camera when the mobile platform is at the current monitoring position If the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, it is determined whether the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position; if it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, a first differential deformation measurement equation is determined, and based on the first differential deformation measurement equation, a target differential deformation amount between the first structural member and the second structural member is determined; if it is determined that the When the mobile platform is at the current monitoring position, the first point to be measured on the first structural member and the second point to be measured on the second structural member are not in the field of view of the front-view camera or the rear-view camera at the same time, then a second differential deformation measurement equation is determined, and the target differential deformation amount between the first structural member and the second structural member is determined according to the second differential deformation measurement equation; if it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not in the field of view of the front-view camera and the rear-view camera at the same time when the mobile platform is at the current monitoring position, then it is determined that the first point to be measured on the first structural member when the mobile platform is at the current monitoring position whether the point to be measured on the first structural member is in the field of view of the front-view camera and whether the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the last monitoring position; if it is determined that the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the last monitoring position, then determining a reference point to be measured, determining a third differential deformation measurement equation associated with the reference point to be measured, and determining a target differential deformation amount between the first structural member and the second structural member according to the third differential deformation measurement equation.

[0056] The distribution of the first point to be measured on the first structural member and the second point to be measured on the second structural member in the field of view of the front camera and the field of view of the rear camera includes the following three situations: The first distribution situation is as follows: the mobile measuring device can simultaneously observe the first point to be measured and the second point to be measured at the same monitoring position, and when the mobile measuring device is at the current monitoring position, the first point to be measured and the second point to be measured are in the field of view of the same camera, specifically, the first point to be measured and the second point to be measured can be in the field of view of the front camera, or the first point to be measured and the second point to be measured can be in the field of view of the rear camera. For an example, please refer to Figure 4 , Figure 4 This is a schematic diagram of the distribution of points to be measured in the field of view provided by an embodiment of the present application. Figure 4 When the mobile platform is at the current monitoring position, the first and second points to be measured are both in the field of view of the front-view camera. The second distribution situation is that the mobile measuring device can simultaneously observe the first and second points to be measured at the same monitoring position, and when the mobile measuring device is at the current monitoring position, the first and second points to be measured are in the fields of view of different cameras. Specifically, the first point to be measured can be in the field of view of the rear-view camera, and the second point to be measured can be in the field of view of the front-view camera. For an example, please refer to Figure 5 , Figure 5 This is another schematic diagram of the distribution of test points in the field of view provided by an embodiment of the present application. Figure 5 When the mobile platform is at the current monitoring position, the first point to be measured is in the field of view of the rear-view camera and the second point to be measured is in the field of view of the front-view camera. The third distribution situation is that the mobile measuring device cannot observe the first and second points to be measured at the same monitoring position at the same time. The mobile measuring device needs to observe the second point to be measured and the first point to be measured at the current monitoring position and the previous monitoring position respectively. Specifically, when the mobile measuring device is at the previous monitoring position, the first point to be measured is in the field of view of the rear-view camera, and when the mobile measuring device is at the current monitoring position, the second point to be measured is in the field of view of the front-view camera. For an example, please refer to Figure 6 , Figure 6 This is another distribution diagram of the points to be measured in the field of view provided in an embodiment of the present application. When the mobile platform is in the current monitoring position, the second point to be measured is in the field of view of the front camera. When the mobile platform is in the previous monitoring position, the first point to be measured is in the field of view of the rear camera.

[0057] Among them, when the mobile platform is at the current monitoring position, the first point to be measured on the first structural member is in the field of view of the forward-looking camera, and when the mobile platform is at the previous monitoring position, the second point to be measured on the second structural member is in the field of view of the rear-looking camera. At this time, since the mobile platform observes the first point to be measured and the second point to be measured at different monitoring positions and different camera fields of view, the camera fields of view need to be continuously transmitted to establish a connection between the first point to be measured and the second point to be measured, that is, to establish a connection between the first point to be measured and the second point to be measured through the reference point to be measured, and to determine a third difference deformation measurement equation associated with the reference point to be measured.

[0058] It can be seen that in this example, the processing device can consider the distribution of the points to be measured on the two structural parts in the fields of view of the front camera and the rear camera to determine the differential deformation between the two structural parts, which is conducive to improving the accuracy of measurement.

[0059] In one possible example, in terms of determining the reference point to be measured, the method includes: determining a field of view overlapping area between the field of view of the rearview camera when the mobile platform is at the current monitoring position and the field of view of the frontview camera when the mobile platform is at the previous monitoring position; determining a third point to be measured in the field of view overlapping area; and using the third point to be measured as the reference point to be measured.

[0060] Among them, there will be an overlapping area between the field of view of the rear view camera when the mobile platform is at the current monitoring position and the field of view of the front view camera when the mobile platform is at the previous monitoring position, that is, the field of view of the rear view camera when the mobile platform is at the current monitoring position and the field of view of the front view camera when the mobile platform is at the previous monitoring position will cover one or more of the same points to be measured. Figure 6 , Figure 6 In the embodiment, the field of view overlap region between the field of view of the rear view camera when the mobile platform is at the current monitoring position and the field of view of the front view camera when the mobile platform is at the previous monitoring position includes three third points to be measured.

[0061] If there is one third point to be measured, the third point to be measured is used as a reference point to be measured. If there are multiple third points to be measured, any one of the multiple third points to be measured is used as a reference point to be measured.

[0062] Optionally, if the first measured point is not the measured point observed at the previous monitoring position, multiple fourth measured points can be determined between the current monitoring position of the mobile platform and the monitoring position where the mobile platform observed the first measured point, and any one of the multiple fourth measured points can be used as a reference measured point.

[0063] It can be seen that in this example, the field of view overlapping area between the field of view of the rearview camera when the mobile platform is at the current monitoring position and the field of view of the frontview camera when the mobile platform is at the previous monitoring position can be determined first, and the reference point to be measured can be selected in the field of view overlapping area as an intermediate variable for continuous transmission of the camera field of view, so as to establish a connection between the first point to be measured and the second point to be measured, which is conducive to improving the accuracy of the measurement.

[0064] In one possible example, the first differential deformation measurement equation includes a first differential settlement measurement equation and a first horizontal differential deformation measurement equation. In determining the first differential deformation measurement equation, the method includes: determining a first object plane resolution of the camera photographing the first point to be measured; determining a second object plane resolution of the camera photographing the second point to be measured; determining a first vertical pixel change and a first horizontal pixel change of the first point to be measured in the camera image according to the image information, and determining a second vertical pixel change and a second horizontal pixel change of the second point to be measured in the camera image according to the image information; determining a third distance between the first point to be measured and the camera array and a third distance between the second point to be measured and the camera array according to the first coordinate information, respectively. a fourth distance between the camera arrays; determining a first angle between the optical axis of the forward-looking camera and the horizontal plane; determining a pitch angle change, a yaw change, and a roll change of the camera array; determining the first differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw change, and the first angle; determining the first horizontal differential deformation measurement equation according to the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change, the roll change, and the first angle.

[0065] The first point to be measured and the second point to be measured may be in the field of view of the front-view camera or the rear-view camera at the same time.

[0066] Among them, the object plane resolution of the front view camera and the object plane resolution of the rear view camera can be determined respectively, and the object plane resolution = focal length / object distance.

[0067] When the first point to be measured and the second point to be measured are simultaneously in the field of view of the same camera, the first differential sedimentation measurement equation is as follows:

[0068] When the first point to be measured and the second point to be measured are in the field of view of the same camera at the same time, is the first vertical pixel change of the first point to be measured in the camera image, is the second vertical pixel change of the second point to be measured in the camera image, Indicates the first object plane resolution of the first point to be measured captured by the camera. Indicates the second object plane resolution of the second point to be measured captured by the camera. Indicates the monitoring location captured by the camera. For example, if the patrol route includes 10 monitoring locations, they can be defined as , Indicates the vertical settlement of the first measured point in the vertical direction, Indicates the vertical settlement of the second measured point in the vertical direction, Indicates the vertical settlement of the camera array, represents the longitudinal displacement of the camera array, Indicates the angle between the optical axis of the camera shooting the first point to be measured and the horizontal plane, Indicates the angle between the optical axis of the camera shooting the second point to be measured and the horizontal plane, Indicates the monitoring position of the first point to be measured and the camera array The third distance between Indicates the monitoring position of the second test point and the camera array The fourth distance between represents the yaw change of the camera array, represents the pitch angle change of the camera array, Indicates the vertical differential settlement between the first and second test points, which can be used to characterize the vertical differential deformation between the first and second structural members. = .

[0069] When the first point to be measured and the second point to be measured are in the field of view of the same camera at the same time, the first horizontal difference deformation measurement equation is as follows:

[0070] When the first point to be measured and the second point to be measured are in the field of view of the same camera at the same time, represents the roll change of the camera array, is the first horizontal pixel change of the first point to be measured in the camera image, is the second horizontal pixel change of the second point to be measured in the camera image, Indicates the horizontal displacement of the first point to be measured, Indicates the horizontal displacement of the second measured point. represents the horizontal displacement of the camera array, It represents the differential deformation between the first point to be measured and the second point to be measured in the horizontal direction, and can be used to characterize the differential deformation between the first structural member and the second structural member in the horizontal direction.

[0071] For example, when the first point to be measured and the second point to be measured are both in the field of view of the front-view camera, The object resolution of the first point to be measured taken by the forward-looking camera. The object resolution of the second point to be measured taken by the forward-looking camera. is the first angle between the optical axis of the forward-looking camera and the horizontal plane, is the first angle between the optical axis of the front camera and the horizontal plane. When the first and second points to be measured are both in the field of view of the rear camera, The object resolution of the first point to be measured taken by the rearview camera, The object resolution of the second point to be measured taken by the rearview camera, is the second angle between the rearview camera optical axis and the horizontal plane, is the second angle between the rearview camera optical axis and the horizontal plane.

[0072] It can be seen that in this example, when determining the differential deformation between the first point to be measured and the second point to be measured, the processing device takes into account the change in the camera posture during the survey process, which is conducive to improving the accuracy of the measurement.

[0073] In one possible example, the second differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; in terms of determining the second differential deformation measurement equation, the method includes: determining the longitudinal change of the camera array; determining the second angle between the optical axis of the rearview camera and the horizontal plane; determining the second differential settlement measurement equation based on the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw change, the longitudinal change, the first angle and the second angle; determining the second horizontal differential deformation measurement equation based on the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change and the roll change, the first angle and the second angle.

[0074] When the first point to be measured is in the field of view of the rearview camera and the second point to be measured is in the field of view of the frontview camera, the second differential settlement measurement equation is as follows:

[0075] When the first point to be measured is in the field of view of the rear view camera and the second point to be measured is in the field of view of the front view camera, The object resolution of the first point to be measured taken by the rearview camera, Indicates the object resolution of the second point to be measured taken by the forward-looking camera. is the first angle between the rearview camera optical axis and the horizontal plane, is the second angle between the optical axis of the front camera and the horizontal plane. Since the rear view camera and the front view camera are fixedly connected to each other at the same monitoring position, = .

[0076] When the first point to be measured is in the field of view of the rearview camera and the second point to be measured is in the field of view of the frontview camera, the second horizontal difference deformation measurement equation is as follows:

[0077] It can be seen that in this example, when determining the differential deformation between the first point to be measured and the second point to be measured, the processing device takes into account the changes in the postures of different cameras during the survey process, which is conducive to improving the accuracy of the measurement.

[0078] In one possible example, the third differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; in terms of determining the third differential deformation measurement equation associated with the reference point to be measured, the method includes: determining a third object plane resolution of the camera photographing the reference point to be measured; according to the image information, respectively determining a third vertical pixel change and a third horizontal pixel change of the reference point to be measured in the camera image; according to the first coordinate information, determining a fifth distance between the reference point to be measured and the camera array; according to the first object plane resolution, the second object plane resolution, the third object plane resolution, the first vertical pixel change, The second vertical pixel change, the third vertical pixel change, the third distance, the fourth distance, the fifth distance, the pitch angle change, the yaw change, the longitudinal change, the first angle and the second angle are used to determine the third differential settlement measurement equation; the third horizontal differential deformation measurement equation is determined according to the first object plane resolution, the second object plane resolution, the third object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third horizontal pixel change, the third distance, the fourth distance, the fifth distance, the yaw change and the roll change, the first angle and the second angle.

[0079] Among them, when the mobile platform is in the current monitoring position, the first point to be measured on the first structural member is in the field of view of the forward-looking camera, and when the mobile platform is in the previous monitoring position, the second point to be measured on the second structural member is in the field of view of the rear-looking camera. At this time, the third differential settlement measurement equation is as follows:

[0080] Wherein, when the mobile platform is at the current monitoring position, the first point to be measured on the first structural member is in the field of view of the front-view camera, and when the mobile platform is at the previous monitoring position, the second point to be measured on the second structural member is in the field of view of the rear-view camera, and is the monitoring position of two adjacent camera arrays, if Indicates the current monitoring location. Indicates the previous monitoring position of the current monitoring position, then correspondingly, Indicates the vertical settlement of the reference point to be measured in the vertical direction. is the first vertical pixel change of the first point to be measured in the camera image observed at the last monitoring position, is the second vertical pixel change of the second measured point in the camera image observed at the current monitoring position, is the third vertical pixel change of the reference point to be measured in the camera image observed at the previous monitoring position, Indicates the third object plane resolution of the reference point to be measured captured by the forward-looking camera at the previous monitoring position. Indicates the third object plane resolution of the reference point to be measured captured by the rearview camera at the current monitoring position. Indicates the object plane resolution of the first point to be measured when the rearview camera is photographed at the last monitoring position. Indicates the third object plane resolution of the second point to be measured captured by the forward-looking camera at the current monitoring position. represents the longitudinal displacement of the camera array at the previous monitoring position, Indicates the longitudinal displacement of the camera array at the current monitoring position, Indicates the monitoring position of the first point to be measured at the previous monitoring position and the camera array The third distance between Indicates the monitoring position of the reference point to be measured and the camera array at the previous monitoring position The fifth distance between Indicates the monitoring position of the second point to be measured at the current monitoring position and the camera array The fourth distance between Indicates the monitoring position of the reference point to be measured and the camera array at the current monitoring position The fifth distance between represents the yaw change of the camera array at the previous monitoring position, Indicates the yaw change of the camera array at the current monitoring position, Indicates the pitch angle change of the camera array at the previous monitoring position, Indicates the pitch angle change of the camera array at the current monitoring position, is the first angle between the rearview camera optical axis and the horizontal plane, is the second angle between the optical axis of the forward-looking camera and the horizontal plane.

[0081] Among them, the third level differential deformation measurement equation is as follows:

[0082] Among them, if Indicates the current monitoring location. Indicates the previous monitoring position of the current monitoring position, then correspondingly, is the roll change of the camera array at the previous monitoring position, is the roll change of the camera array at the current monitoring position, is the first horizontal pixel change of the first point to be measured in the camera image observed at the previous monitoring position, is the third horizontal pixel change of the reference point to be measured in the camera image observed at the previous monitoring position, is the third horizontal pixel change of the reference point to be measured in the camera image observed at the current monitoring position, is the second horizontal pixel change of the second point to be measured in the camera image observed at the current monitoring position, Indicates the horizontal displacement of the first point to be measured, Indicates the horizontal displacement of the second measured point. Indicates the horizontal displacement of the reference point to be measured.

[0083] It can be seen that in this example, when the processing device determines the differential deformation between the first point to be measured and the second point to be measured, it introduces a reference point to establish a connection between the first point to be measured and the second point to be measured, and takes into account the changes in the postures of different cameras during the patrol process, which is conducive to improving the accuracy of the measurement.

[0084] In one possible example, after executing the target patrol strategy and obtaining external parameter information, first coordinate information of the test point in the world coordinate system, and image information, the method further includes: determining a first measurement coordinate system of the current patrol camera array; determining a pixel change amount of each test point in the camera image based on the image information; creating a first imaging equation of the test point for the initial patrol based on a central perspective projection model; creating a second imaging equation of the test point for the current patrol based on the central perspective projection model; determining a deformation equation of the test point based on the first imaging equation and the second imaging equation; substituting the pixel change amount, the external parameter information, the internal parameter information, and the first coordinate information into the deformation equation of the test point to obtain a deformation amount of each test point; and determining a target difference deformation amount between the first structural component and the second structural component based on the deformation amount of the test point.

[0085] The pixel change amount of the test point in the camera image is determined according to the image information as the pixel change amount of the test point in the image taken during the current patrol compared with the pixel change amount of the test point in the image taken during the initial patrol.

[0086] The external parameter information includes the external parameter matrix of the camera, and the internal parameter information includes the intrinsic parameter matrix of the camera.

[0087] The first imaging equation created based on the central perspective projection model is as follows:

[0088] in, Refers to the initial inspection. It refers to the scale factor. Its physical meaning is the projection length of the straight-line distance from the monitoring position to the point to be measured in the direction of the camera optical axis during the initial patrol. It refers to the two-dimensional image coordinates of the point to be measured expressed in homogeneous form in the image coordinate system during the initial survey. refers to the camera's intrinsic parameter matrix, Refers to the camera's external parameter matrix during the initial patrol. It refers to the three-dimensional coordinates of the measured point expressed in homogeneous form in the world coordinate system during the initial survey.

[0089] The second imaging equation created based on the central perspective projection model is as follows:

[0090] Among them, since the camera was not replaced during the multiple inspections, the internal parameters of the camera remain unchanged. , the intrinsic parameters can be obtained in advance through camera calibration. It refers to the current patrol. It refers to the scale factor. Its physical meaning is the projection length of the straight-line distance from the monitoring position to the point to be measured in the direction of the camera optical axis during the current patrol. It refers to the two-dimensional image coordinates of the point to be measured expressed in homogeneous form in the image coordinate system during the current survey. Refers to the external parameter matrix of the camera during the current patrol. It refers to the three-dimensional coordinates of the point to be measured expressed in homogeneous form in the world coordinate system during the current survey.

[0091] In it, it is assumed that the mobile platform moves on the subway pipe segment and monitors the points to be measured on the subway pipe segment. Due to the deformation of the pipe segment, the movement trajectory of the mobile platform during the initial monitoring patrol is different from the movement trajectory of the mobile platform during the current patrol. However, the mobile platform is in continuous motion, and during the motion, the camera continuously captures images. Therefore, it is always possible to find and monitor the positions of one or some cameras in the current patrol, which are close to the monitoring positions of the cameras during the initial patrol. In other words: even if there is a position difference between the monitoring position of the camera during the current patrol and the monitoring position of the camera during the initial patrol, that is, there is a certain distance, but this distance is negligible compared to the distance from the point to be measured to the monitoring position. Therefore, it can be assumed that the scale factor is a constant, that is, .

[0092] Optionally, determining the first measurement coordinate system of the current patrol camera array includes the following steps: determining the second measurement coordinate system of the initial patrol camera array; determining the six-degree-of-freedom change between the initial patrol camera array and the current patrol camera array; and determining the first measurement coordinate system based on the second measurement coordinate system and the six-degree-of-freedom change.

[0093] Among them, due to the different motion trajectories of the mobile platform, the monitoring position during the initial patrol and the monitoring position during the current patrol produce position changes and camera posture changes. The changes in the camera monitoring position and posture can be expressed by six degrees of freedom as follows: , that is, the six degrees of freedom variation, through the above six degrees of freedom to represent the variation of position and posture, we can establish (Second measurement coordinate system) and (the first measurement coordinate system): .

[0094] Assuming that the measured point has undergone cumulative deformation during the current inspection relative to the initial inspection, the deformation can be expressed as: .

[0095] Among them, the second imaging equation and the first imaging equation give:

[0096]

[0097] in, It is the pixel change generated by the measured point in the camera image, which can be obtained through the image positioning algorithm.

[0098] Further, according to The final deformation equation of the measured point is obtained:

[0099] in, Indicates the three-dimensional deformation of the point to be measured.

[0100] Among them, the first vertical settlement of the first measured point on the first structural member, the second vertical settlement of the second measured point on the second structural member, the third vertical settlement of the reference measured point observed at the previous monitoring position, and the fourth vertical settlement of the reference measured point observed at the current monitoring position can be determined respectively based on the deformation of the measured point; then, when the first measured point on the first structural member and the second measured point on the second structural member are in the field of view of the front-view camera or the rear-view camera at the same time when the mobile platform is at the current monitoring position, the target difference deformation = the first vertical settlement - the second vertical settlement; when the mobile platform is at the current monitoring position, When the first point to be measured on the first structural member is in the field of view of the rearview camera and the second point to be measured on the second structural member is in the field of view of the frontview camera at the current monitoring position, the target differential deformation = the first vertical settlement - the second vertical settlement; when the first point to be measured on the first structural member is in the field of view of the frontview camera when the mobile platform is at the current monitoring position and the second point to be measured on the second structural member is in the field of view of the rearview camera when the mobile platform is at the previous monitoring position, the target differential deformation = (the first vertical settlement - the third vertical settlement) + (the fourth vertical settlement - the second vertical settlement).

[0101] It can be seen that in this example, considering the changes in the camera position and posture when measuring the deformation of the measured point is conducive to improving the accuracy of determining the deformation of the measured point. Furthermore, calculating the differential deformation of the two structural parts according to the deformation of the measured point is conducive to determining the accuracy of the differential deformation.

[0102] See also Figure 7 , Figure 7 : is a structural schematic diagram of an electronic device provided in an embodiment of the present application, which is applied to a processing device of a mobile measuring device, wherein the mobile measuring device includes a mobile platform, a perception measurement module arranged on the mobile platform, a power supply device and the processing device, wherein the perception measurement module includes a camera array, the camera array includes a front-view camera and a rear-view camera, the processing device is connected to the front-view camera and the rear-view camera respectively, and the power supply device is connected to the perception measurement module and the processing device respectively; Figure 7 As shown, the electronic device includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs are configured to cause the processor to execute the following steps: Obtaining a differential deformation monitoring instruction for a target structure, wherein the target structure includes a plurality of structural members; Determining a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is used to instruct the mobile measuring device to move to observe a point to be measured on the target structure; Execute the target patrol strategy to obtain external reference information, first coordinate information of the point to be measured in the world coordinate system, and image information; According to the external parameter information, the first coordinate information and the image information, the distribution of the measured points in the field of view of the front camera and the field of view of the rear camera is used to determine the target differential deformation between the first structural member and the second structural member, where the first structural member and the second structural member are any two structural members among the multiple structural members.

[0103] It can be seen that in the embodiment of the present application, the electronic device first obtains a differential deformation monitoring instruction for a target structure, the target structure including multiple structural members, and then determines a target patrol strategy based on the differential deformation monitoring instruction. The target patrol strategy is used to instruct the mobile measuring device to move to observe the target point on the target structure. The target patrol strategy is then executed to obtain external parameter information, first coordinate information of the target point in the world coordinate system, and image information. Further, based on the external parameter information, the first coordinate information, the image information, and the distribution of the target point in the field of view of the front camera and the field of view of the rear camera, the target differential deformation between the first structural member and the second structural member is determined, where the first structural member and the second structural member are any two structural members among the multiple structural members. The ability to monitor the deformation of the target point on the structural member by mobile patrol of the mobile measuring device is beneficial to improving measurement efficiency compared to manual measurement. In addition, the differential deformation between the two structural members is determined by considering the distribution of the target points on the two structural members in the field of view of the front camera and the rear camera, which is beneficial to improving measurement accuracy.

[0104] In one possible example, in determining the target differential deformation between the first structural member and the second structural member based on the extrinsic parameter information, the first coordinate information, and the image information, and the distribution of the measured points in the fields of view of the front camera and the fields of view of the rear camera, the program further includes instructions for performing the following steps: determining whether a first point to be measured on the first structural member and a second point to be measured on the second structural member are simultaneously within the fields of view of the front-view camera and the rear-view camera when the mobile platform is at a current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a first differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the first differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a second differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the second differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and whether the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position; If it is determined that the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position, then a reference point to be measured is determined, a third differential deformation measurement equation associated with the reference point to be measured is determined, and based on the third differential deformation measurement equation, a target differential deformation amount between the first structural member and the second structural member is determined.

[0105] In a possible example, in terms of determining the reference point to be measured, the program includes instructions for executing the following steps: Determining a field of view overlap area between the field of view of the rear view camera when the mobile platform is at a current monitoring position and the field of view of the front view camera when the mobile platform is at a previous monitoring position; Determining a third point to be measured in the overlapping area of ​​the fields of view; The third point to be measured is used as the reference point to be measured.

[0106] In one possible example, the first differential deformation measurement equation includes a first differential settlement measurement equation and a first horizontal differential deformation measurement equation. When the first to-be-measured point and the second to-be-measured point are simultaneously in the field of view of the forward-looking camera, in determining the first differential deformation measurement equation, the program further includes instructions for executing the following steps: Determine a first object plane resolution of the camera photographing the first point to be measured; Determine a second object plane resolution of the camera photographing the second point to be measured; Determining a first vertical pixel change and a first horizontal pixel change of the first point to be measured in the camera image according to the image information, and determining a second vertical pixel change and a second horizontal pixel change of the second point to be measured in the camera image according to the image information; Determine, according to the first coordinate information, a third distance between the first point to be measured and the camera array and a fourth distance between the second point to be measured and the camera array; Determine a first angle between the optical axis of the forward-looking camera and the horizontal plane; Determining the pitch, yaw, and roll changes of the camera array; determining the first differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw angle change, and the first angle; The first horizontal difference deformation measurement equation is determined according to the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change, the roll change, and the first angle.

[0107] In one possible example, the second differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; in determining the second differential deformation measurement equation, the program further includes instructions for performing the following steps: determining a longitudinal variation of the camera array; determining a second angle between the optical axis of the rearview camera and the horizontal plane; Determining a second differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw change, the longitudinal change, the first angle, and the second angle; The second horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change and the roll change, the first angle and the second angle.

[0108] In one possible example, the third differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; in determining the third differential deformation measurement equation associated with the reference point to be measured, the program further includes instructions for performing the following steps: Determine the third object plane resolution of the reference point to be measured when photographed by the camera; determining, according to the image information, a third vertical pixel change amount and a third horizontal pixel change amount of the reference point to be measured in the camera image; determining a fifth distance between the reference point to be measured and the camera array according to the first coordinate information; Determine the third differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the third object plane resolution, the first vertical pixel change, the second vertical pixel change, the third vertical pixel change, the third distance, the fourth distance, the fifth distance, the pitch angle change, the yaw angle change, the longitudinal angle change, the first angle, and the second angle; The third horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the third object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third horizontal pixel change, the third distance, the fourth distance, the fifth distance, the yaw change and the roll change, the first angle and the second angle.

[0109] In a possible example, after executing the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information, the program further includes instructions for executing the following steps: Determine a first measurement coordinate system of the camera array for the current patrol; Determining the pixel change of each point to be measured in the camera image according to the image information; According to the central perspective projection model, the first imaging equation of the initial survey point is created; According to the central perspective projection model, the second imaging equation of the current patrol point to be measured is created; Determining a deformation equation of the point to be measured according to the first imaging equation and the second imaging equation; Substituting the pixel variation, the external parameter information, the internal parameter information and the first coordinate information into the deformation equation of the point to be measured to obtain the deformation of each point to be measured; According to the deformation of the point to be measured, a target differential deformation between the first structural member and the second structural member is determined.

[0110] In one possible example, the determining of the first measurement coordinate system of the camera array of the current patrol, the program further includes instructions for executing the following steps: Determine a second measurement coordinate system of the initial patrol camera array; Determine a six-degree-of-freedom change between an initial patrol camera array and a current patrol camera array; The first measurement coordinate system is determined according to the second measurement coordinate system and the six-degree-of-freedom variation.

[0111] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0112] The embodiment of the present application can divide the functional units of the electronic device according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0113] In the case of dividing each functional module into corresponding functional modules, Figure 8 This is a block diagram of the functional units of a structural difference deformation monitoring device provided by an embodiment of the present application, such as Figure 8As shown, a processing device applied to a mobile measuring device, the mobile measuring device includes a mobile platform, a perception measurement module arranged on the mobile platform, a power supply device and the processing device, the perception measurement module includes a camera array, the camera array includes a front view camera and a rear view camera, the processing device is connected to the front view camera and the rear view camera respectively, and the power supply device is connected to the perception measurement module and the processing device respectively; the structural difference deformation monitoring device includes: an acquisition unit 801, a determination unit 802 and an execution unit 803, wherein, The acquisition unit 801 is configured to acquire a differential deformation monitoring instruction for a target structure, wherein the target structure includes a plurality of structural members; The determining unit 802 is configured to determine a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is configured to instruct the mobile measuring device to move to observe a point to be measured on the target structure; The execution unit 803 is used to execute the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information; The determination unit 802 is further used to determine a target differential deformation between a first structural member and a second structural member based on the external parameter information, the first coordinate information, and the image information, and the distribution of the measured points in the field of view of the front camera and the field of view of the rear camera, where the first structural member and the second structural member are any two structural members from a plurality of structural members.

[0114] It can be seen that the structural differential deformation monitoring device described in the embodiment of the present application can first obtain a differential deformation monitoring instruction for a target structure, the target structure including multiple structural members, and then determine a target patrol strategy based on the differential deformation monitoring instruction. The target patrol strategy is used to instruct the mobile measuring device to move to observe the target point on the target structure. Then, the target patrol strategy is executed to obtain external parameter information, first coordinate information of the target point in the world coordinate system, and image information. Further, based on the external parameter information, the first coordinate information, and the image information, and the distribution of the target point in the field of view of the front camera and the field of view of the rear camera, the target differential deformation between the first structural member and the second structural member is determined, where the first structural member and the second structural member are any two structural members among the multiple structural members. The ability to monitor the deformation of the target point on the structural member by mobile patrol of the mobile measuring device is beneficial to improving measurement efficiency compared to manual measurement. In addition, the differential deformation between the two structural members is determined by considering the distribution of the target points on the two structural members in the field of view of the front camera and the rear camera, which is beneficial to improving measurement accuracy.

[0115] In one possible example, in determining the target differential deformation amount between the first structural member and the second structural member based on the extrinsic parameter information, the first coordinate information, and the image information, and the distribution of the measured points in the fields of view of the front camera and the fields of view of the rear camera, the determining unit 802 is specifically configured to: determining whether a first point to be measured on the first structural member and a second point to be measured on the second structural member are simultaneously within the fields of view of the front-view camera and the rear-view camera when the mobile platform is at a current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a first differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the first differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a second differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the second differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and whether the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position; If it is determined that the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position, then a reference point to be measured is determined, a third differential deformation measurement equation associated with the reference point to be measured is determined, and based on the third differential deformation measurement equation, a target differential deformation amount between the first structural member and the second structural member is determined.

[0116] In a possible example, in determining the reference point to be measured, the determining unit 802 is specifically configured to: Determining a field of view overlap area between the field of view of the rear view camera when the mobile platform is at a current monitoring position and the field of view of the front view camera when the mobile platform is at a previous monitoring position; Determining a third point to be measured in the overlapping area of ​​the fields of view; The third point to be measured is used as the reference point to be measured.

[0117] In a possible example, the first differential deformation measurement equation includes a first differential settlement measurement equation and a first horizontal differential deformation measurement equation. When the first to-be-measured point and the second to-be-measured point are simultaneously in the field of view of the forward-looking camera, in determining the first differential deformation measurement equation, the determining unit 802 is further specifically configured to: Determine a first object plane resolution of the camera photographing the first point to be measured; Determine a second object plane resolution of the camera photographing the second point to be measured; Determining a first vertical pixel change and a first horizontal pixel change of the first point to be measured in the camera image according to the image information, and determining a second vertical pixel change and a second horizontal pixel change of the second point to be measured in the camera image according to the image information; Determine, according to the first coordinate information, a third distance between the first point to be measured and the camera array and a fourth distance between the second point to be measured and the camera array; Determine a first angle between the optical axis of the forward-looking camera and the horizontal plane; Determine the pitch, yaw, and roll changes of the camera array; determining the first differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw angle change, and the first angle; The first horizontal difference deformation measurement equation is determined according to the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change, the roll change, and the first angle.

[0118] In a possible example, the second differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; in determining the second differential deformation measurement equation, the determining unit 802 is specifically configured to: determining a longitudinal variation of the camera array; determining a second angle between the optical axis of the rearview camera and the horizontal plane; Determining a second differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw change, the longitudinal change, the first angle, and the second angle; The second horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change and the roll change, the first angle and the second angle.

[0119] In one possible example, the third differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; in determining the third differential deformation measurement equation associated with the reference point to be measured, the determining unit 802 is specifically configured to: Determine the third object plane resolution of the reference point to be measured when photographed by the camera; determining, according to the image information, a third vertical pixel change amount and a third horizontal pixel change amount of the reference point to be measured in the camera image; determining a fifth distance between the reference point to be measured and the camera array according to the first coordinate information; Determine the third differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the third object plane resolution, the first vertical pixel change, the second vertical pixel change, the third vertical pixel change, the third distance, the fourth distance, the fifth distance, the pitch angle change, the yaw angle change, the longitudinal angle change, the first angle, and the second angle; The third horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the third object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third horizontal pixel change, the third distance, the fourth distance, the fifth distance, the yaw change and the roll change, the first angle and the second angle.

[0120] In a possible example, after executing the target patrol strategy and obtaining external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information, the determining unit 802 is specifically configured to: Determine a first measurement coordinate system of the camera array for the current patrol; Determining the pixel change of each point to be measured in the camera image according to the image information; According to the central perspective projection model, the first imaging equation of the initial survey point is created; According to the central perspective projection model, the second imaging equation of the current patrol point to be measured is created; Determining a deformation equation of the point to be measured according to the first imaging equation and the second imaging equation; Substituting the pixel variation, the external parameter information, the internal parameter information and the first coordinate information into the deformation equation of the point to be measured to obtain the deformation of each point to be measured; According to the deformation of the point to be measured, a target differential deformation between the first structural member and the second structural member is determined.

[0121] In a possible example, in determining the first measurement coordinate system of the camera array of the current patrol, the determining unit 802 is specifically configured to: Determine a second measurement coordinate system of the initial patrol camera array; Determine a six-degree-of-freedom change between an initial patrol camera array and a current patrol camera array; The first measurement coordinate system is determined according to the second measurement coordinate system and the six-degree-of-freedom variation.

[0122] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0123] The electronic device provided in this embodiment is used to execute the above-mentioned structural difference deformation monitoring method, and thus can achieve the same effect as the above-mentioned implementation method.

[0124] When integrated units are used, the electronic device may include a processing module, a storage module, and a communication module. The processing module may be used to control and manage the operation of the electronic device. For example, it may be used to support the electronic device in executing the steps performed by the acquisition unit 801 and the determination unit 802. The storage module may be used to support the electronic device in executing and storing program code and data. The communication module may be used to support communication between the electronic device and other devices.

[0125] The processing module can be a processor or controller. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. A processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and so on. The storage module can be a memory. The communication module can specifically be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, or a Wi-Fi chip.

[0126] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0127] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer includes a control platform.

[0128] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0129] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0131] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0133] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program code.

[0134] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0135] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for monitoring structural differential deformation, characterized in that: A processing device applied to a mobile measuring device, the mobile measuring device comprising a mobile platform, a perception and measurement module disposed on the mobile platform, a power supply device, and the processing device, the perception and measurement module comprising a camera array, the camera array comprising a front-view camera and a rear-view camera, the processing device being connected to the front-view camera and the rear-view camera, respectively, and the power supply device being connected to the perception and measurement module and the processing device, respectively; the method comprising: obtaining a differential deformation monitoring instruction for a target structure, wherein the target structure includes a plurality of structural members; Determining a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is used to instruct the mobile measuring device to move to observe a point to be measured on the target structure; Execute the target patrol strategy to obtain external reference information, first coordinate information of the point to be measured in the world coordinate system, and image information; According to the external parameter information, the first coordinate information and the image information, the distribution of the measured points in the field of view of the front camera and the field of view of the rear camera is used to determine the target differential deformation between the first structural member and the second structural member, where the first structural member and the second structural member are any two structural members among the multiple structural members.

2. The method according to claim 1, characterized in that The determining of a target differential deformation between the first structural member and the second structural member based on the external parameter information, the first coordinate information, the image information, and the distribution of the measured point in the field of view of the front camera and the field of view of the rear camera includes: determining whether a first point to be measured on the first structural member and a second point to be measured on the second structural member are simultaneously within the fields of view of the front-view camera and the rear-view camera when the mobile platform is at a current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member and the second point to be measured on the second structural member are simultaneously in the fields of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are both in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a first differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the first differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the field of view of the front-view camera or the rear-view camera when the mobile platform is at the current monitoring position, determining a second differential deformation measurement equation, and determining a target differential deformation amount between the first structural member and the second structural member based on the second differential deformation measurement equation; If it is determined that the first point to be measured on the first structural member and the second point to be measured on the second structural member are not simultaneously in the fields of view of the front-view camera and the rear-view camera when the mobile platform is at the current monitoring position, then determining whether the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and whether the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position; If it is determined that the first point to be measured on the first structural member is in the field of view of the front-view camera when the mobile platform is at the current monitoring position and the second point to be measured on the second structural member is in the field of view of the rear-view camera when the mobile platform is at the previous monitoring position, then a reference point to be measured is determined, a third differential deformation measurement equation associated with the reference point to be measured is determined, and based on the third differential deformation measurement equation, a target differential deformation amount between the first structural member and the second structural member is determined.

3. The method according to claim 2, characterized in that Determining the reference point to be measured includes: Determining a field of view overlap area between the field of view of the rear view camera when the mobile platform is at a current monitoring position and the field of view of the front view camera when the mobile platform is at a previous monitoring position; Determining a third point to be measured in the overlapping area of ​​the fields of view; The third point to be measured is used as the reference point to be measured.

4. The method according to claim 2, characterized in that The first differential deformation measurement equation includes a first differential settlement measurement equation and a first horizontal differential deformation measurement equation. When the first to-be-measured point and the second to-be-measured point are simultaneously in the field of view of the forward-looking camera, determining the first differential deformation measurement equation includes: Determine a first object plane resolution of the camera photographing the first point to be measured; Determine a second object plane resolution of the camera photographing the second point to be measured; Determining a first vertical pixel change and a first horizontal pixel change of the first point to be measured in the camera image according to the image information, and determining a second vertical pixel change and a second horizontal pixel change of the second point to be measured in the camera image according to the image information; Determine, according to the first coordinate information, a third distance between the first point to be measured and the camera array and a fourth distance between the second point to be measured and the camera array; Determine a first angle between the optical axis of the forward-looking camera and the horizontal plane; Determine the pitch, yaw, and roll changes of the camera array; determining the first differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw angle change, and the first angle; The first horizontal difference deformation measurement equation is determined according to the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change, the roll change, and the first angle.

5. The method according to claim 4, characterized in that The second differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; Determining the second differential deformation measurement equation includes: determining a longitudinal variation of the camera array; determining a second angle between the optical axis of the rearview camera and the horizontal plane; Determining a second differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the first vertical pixel change, the second vertical pixel change, the third distance, the fourth distance, the pitch angle change, the yaw change, the longitudinal change, the first angle, and the second angle; The second horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third distance, the fourth distance, the yaw change and the roll change, the first angle and the second angle.

6. The method according to claim 5, characterized in that The third differential deformation measurement equation includes a second differential settlement measurement equation and a second horizontal differential deformation measurement equation; The determining of a third differential deformation measurement equation associated with the reference point to be measured includes: Determine the third object plane resolution of the reference point to be measured when photographed by the camera; determining, according to the image information, a third vertical pixel change amount and a third horizontal pixel change amount of the reference point to be measured in the camera image; determining a fifth distance between the reference point to be measured and the camera array according to the first coordinate information; Determine the third differential settlement measurement equation according to the first object plane resolution, the second object plane resolution, the third object plane resolution, the first vertical pixel change, the second vertical pixel change, the third vertical pixel change, the third distance, the fourth distance, the fifth distance, the pitch angle change, the yaw angle change, the longitudinal angle change, the first angle, and the second angle; The third horizontal difference deformation measurement equation is determined based on the first object plane resolution, the second object plane resolution, the third object plane resolution, the first horizontal pixel change, the second horizontal pixel change, the third horizontal pixel change, the third distance, the fourth distance, the fifth distance, the yaw change and the roll change, the first angle and the second angle.

7. The method according to claim 1, characterized in that After executing the target patrol strategy and obtaining external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information, the method further includes: Determine a first measurement coordinate system of the camera array for the current patrol; Determining the pixel change of each point to be measured in the camera image according to the image information; According to the central perspective projection model, the first imaging equation of the initial survey point is created; According to the central perspective projection model, the second imaging equation of the current patrol point to be measured is created; Determining a deformation equation of the point to be measured according to the first imaging equation and the second imaging equation; Substituting the pixel variation, the external parameter information, the internal parameter information and the first coordinate information into the deformation equation of the point to be measured to obtain the deformation of each point to be measured; According to the deformation of the point to be measured, a target differential deformation between the first structural member and the second structural member is determined.

8. The method according to claim 7, characterized in that Determining the first measurement coordinate system of the camera array for the current patrol includes: Determine a second measurement coordinate system of the initial patrol camera array; Determine a six-degree-of-freedom change between an initial patrol camera array and a current patrol camera array; The first measurement coordinate system is determined according to the second measurement coordinate system and the six-degree-of-freedom variation.

9. A structural difference deformation monitoring device, characterized in that: A processing device applied to a mobile measuring device, the mobile measuring device comprising a mobile platform, a perception measurement module arranged on the mobile platform, a power supply device and the processing device, the perception measurement module comprising a camera array, the camera array comprising a front-view camera and a rear-view camera, the processing device being connected to the front-view camera and the rear-view camera respectively, the power supply device being connected to the perception measurement module and the processing device respectively; the structural difference deformation monitoring device comprising an acquisition unit, a determination unit and an execution unit; wherein, The acquisition unit is configured to acquire a differential deformation monitoring instruction for a target structure, wherein the target structure includes a plurality of structural members; The determining unit is configured to determine a target patrol strategy according to the differential deformation monitoring instruction, wherein the target patrol strategy is configured to instruct the mobile measuring device to move to observe a point to be measured on the target structure; The execution unit is used to execute the target patrol strategy to obtain external parameter information, first coordinate information of the point to be measured in the world coordinate system, and image information; The determination unit is further used to determine a target differential deformation between a first structural member and a second structural member based on the external parameter information, the first coordinate information, and the image information, and a distribution of the measured points in the field of view of the front camera and the field of view of the rear camera, where the first structural member and the second structural member are any two structural members among a plurality of structural members.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, wherein the programs include instructions for executing the steps of the method according to any one of claims 1 to 7.

Images