Method and system for milepost registration of tunnel lining images

Abstract

The application provides a tunnel lining image mileage registration method and system, the method comprises the following steps: collecting original data of a tunnel lining and tunnel portal information; parsing the original data into visual pictures; performing mileage registration on the visual pictures based on the original data and the tunnel portal information; and performing mileage calibration on the mileage-registered visual pictures based on the tunnel mileage marker information. The application uses inherent tunnel portal information to perform mileage registration on the lining image, and the obtained mileage value is consistent with the mileage data in the design of the line and the tunnel. Furthermore, the mileage value is calibrated using the kilometer marker, half-kilometer marker and hole depth mileage marker in the image, and the obtained mileage value is consistent with the actual identification on site. The application improves the accuracy of the lining image mileage registration, effectively realizes positioning of the lining image, reduces the registration error, and the calibrated visual pictures can fully meet the needs of data processing and on-site maintenance.

Description

[Technical Field]

[0001] This invention relates to the field of tunnel lining image processing technology, and in particular to a method and system for mileage registration of tunnel lining images. [Background Technology]

[0002] Currently, the number of railway tunnels in operation exceeds 10,000, with a total length of over 20,000 kilometers. While the overall operational condition of these tunnels is good, lining defects are prevalent and continuously developing in some areas, causing frequent safety hazards for trains in recent years, particularly in high-speed railway tunnels. Typical surface defects in the lining structure include cracking, spalling, chipping, and water leakage. These defects can cause irreversible changes to the lining structure due to factors such as train and environmental loads. Furthermore, the efficiency of inspection is poor due to railway maintenance windows.

[0003] Typically, the detection of such defects involves using a mobile platform equipped with a high-definition camera to rapidly acquire images of the tunnel lining. Image recognition technology is then used to accurately locate the defects and extract their attribute features. Therefore, image-based intelligent detection systems for tunnel lining surface defects have become an effective means of periodically inspecting the tunnel's surface condition to guide precise maintenance. Positioning in such systems is usually achieved using encoders, which are installed at the wheel axle. As the wheel rotates, the encoder generates incremental pulse signals. By counting these pulse signals, the vehicle's mileage can be calculated. Matching this mileage data with the detection image allows for the location of the target. However, this detection method is affected by various factors, such as the difficulty in obtaining accurate mileage at the starting point of the inspection, wheel slippage during the inspection process, the inherent error of the encoder (one-thousandth), and the cumulative error amplifying over long distances. Therefore, in practical applications, it is difficult to achieve precise synchronous acquisition of data and mileage; the error is typically 1-10 meters, making it impossible to accurately register tunnel images and defect locations, thus failing to meet the needs of data processing and on-site maintenance.

[0004] Therefore, it is necessary to provide a novel method and system for mileage registration of tunnel lining images to overcome the above-mentioned defects. [Summary of the Invention]

[0005] The purpose of this invention is to provide a method and system for mileage registration of tunnel lining images, which can improve the accuracy of mileage registration of lining images, effectively realize the positioning of lining images, reduce registration errors, and the calibrated visualization images can fully meet the needs of data processing and on-site maintenance.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a method for mileage registration of tunnel lining images, comprising the following steps: Step S100: acquiring raw data of the tunnel lining, tunnel entrance information, and tunnel mileage marker information; Step S200: parsing the raw data into a visual image; Step S300: performing mileage registration on the visual image based on the raw data and tunnel entrance information; Step S400: performing mileage calibration on the mileage-registered visual image based on the tunnel mileage marker information.

[0007] In a preferred embodiment, step S100 includes: step S110: triggering the line scan camera by the encoder; step S120: the line scan camera acquires image data of the tunnel lining at equal intervals; step S130: storing the image data as a binary data stream file with the resolution of the line scan camera as the width.

[0008] In a preferred embodiment, step S300 includes: step S310: obtaining the pulse signal width of the encoder; step S320: obtaining the height of the visualization image; step S330: calculating the tunnel depth mileage of the visualization image based on the pulse signal width and the height of the visualization image; step S340: calculating the line mileage of the visualization image based on the tunnel depth mileage and the tunnel entrance information.

[0009] In a preferred embodiment, in step S330, the formula for calculating the hole depth mileage of the visualized image is as follows:

[0010]

[0011] Among them, T n Let w be the hole depth mileage of the nth image, w be the width of the pulse signal output by the encoder, and h be the height of the nth image.

[0012] In a preferred embodiment, in step S340, the formula for calculating the route mileage of the visualized image is as follows:

[0013] S n =L s +T n

[0014] Among them, S n Let L be the route mileage for the nth image. s This refers to the route mileage at the tunnel entrance.

[0015] In a preferred embodiment, the tunnel mileage marker information includes the line number position and mileage value of several tunnel mileage markers; step S400 includes: step S410: calculating the pulse width value corresponding to two adjacent tunnel mileage markers based on the line number position and mileage value of several tunnel mileage markers; step S420: performing mileage calibration on the mileage-registered visualization image based on the pulse width value.

[0016] In a preferred embodiment, the formula for calculating the pulse width value in step S410 is as follows:

[0017]

[0018] Among them, w n S is the pulse width value between the (n-1)th tunnel mileage marker and the nth tunnel mileage marker. n and S n-1 L represents the mileage values ​​of the nth tunnel mileage marker and the (n-1)th tunnel mileage marker, respectively. n and L n-1 These represent the line positions of the nth tunnel mileage marker and the (n-1)th tunnel mileage marker, respectively.

[0019] In a preferred embodiment, the tunnel mileage markers include kilometer markers, half-kilometer markers, and tunnel depth markers; step S420 includes: designing a first queue to store the line positions and mileage values ​​of kilometer markers and half-kilometer markers, designing a second queue to store the line positions and mileage values ​​of tunnel depth markers; designing a third queue to store the pulse width values ​​between adjacent kilometer markers and half-kilometer markers in the first queue, and designing a fourth queue to store the pulse width values ​​between two tunnel depth markers in the second queue; traversing the intervals to be calibrated between all nodes in the first and second queues; traversing all visualization images after mileage registration; determining whether the current visualization image is within the interval to be calibrated; if the current visualization image is within the interval to be calibrated, obtaining the pulse width values ​​of the interval to be calibrated in the third and fourth queues; and recalculating the mileage of the current visualization image based on the pulse width values ​​to achieve mileage calibration.

[0020] Secondly, the present invention provides a mileage registration system for tunnel lining images, comprising: an acquisition module for acquiring raw data of the tunnel lining, tunnel entrance information, and tunnel mileage marker information; a parsing module for parsing the raw data into a visual image; a registration module for performing mileage registration on the visual image based on the raw data and tunnel entrance information; and a calibration module for performing mileage calibration on the mileage-registered visual image based on the tunnel mileage marker information.

[0021] In a preferred embodiment, a calibration module is further included; the tunnel mileage marker information includes the line number position and mileage value of a plurality of tunnel mileage markers; the calibration module is used to perform the following operations: calculate the pulse width value corresponding to two adjacent tunnel mileage markers based on the line number position and mileage value of the plurality of tunnel mileage markers; and perform mileage calibration on the mileage-registered visualization image based on the pulse width value.

[0022] Compared to existing technologies, the mileage registration method and system for tunnel lining images provided by this invention can collect raw data of the tunnel lining and tunnel entrance information, parse the raw data into a visual image, and then perform mileage registration on the visual image based on the raw data and tunnel entrance information. This achieves mileage registration of the lining image using the inherent tunnel entrance information. Finally, the mileage of the mileage-registered visual image is calibrated based on the tunnel mileage marker information. The obtained mileage value conforms to the mileage data in the route and tunnel design. Further calibration using kilometer markers, half-kilometer markers, and tunnel depth mileage markers in the image ensures that the obtained mileage value conforms to the actual on-site markings, improving the accuracy of mileage registration of the lining image, effectively locating the lining image, reducing registration errors, and eliminating errors in the design mileage values ​​by adjusting the relative positional relationship between the calibrated image and various markers in the image. The calibrated visual image can fully meet the needs of data processing and on-site maintenance. [Attached Image Description]

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the mileage registration system for tunnel lining images provided by the present invention;

[0025] Figure 2 A flowchart of the mileage registration method for tunnel lining images provided by the present invention;

[0026] Figure 3 for Figure 2 The flowchart of the sub-steps of step S100 in the method shown;

[0027] Figure 4 for Figure 2 The flowchart of the sub-steps of step S300 in the method shown;

[0028] Figure 5 for Figure 2The flowchart shows the sub-step of step S400 in the method shown.

Detailed Implementation Methods

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] Please see Figure 1 This is a schematic diagram of the mileage registration system for tunnel lining images provided by the present invention. The mileage registration system 100 for tunnel lining images provided by the present invention includes an acquisition module 10, an analysis module 20, a registration module 30, and a calibration module 40.

[0031] Specifically, the acquisition module 10 is used to acquire raw data of the tunnel lining, tunnel entrance information, and tunnel mileage marker information; the parsing module 20 is used to parse the raw data into a visual image; the registration module 30 is used to register the visual image with mileage based on the raw data and tunnel entrance information; and the calibration module 40 is used to calibrate the mileage of the registered visual image based on the tunnel mileage marker information.

[0032] Furthermore, the tunnel mileage marker information includes the line number position and mileage value of several tunnel mileage markers; the calibration module is used to perform the following operations: calculate the pulse width value corresponding to two adjacent tunnel mileage markers based on the line number position and mileage value of several tunnel mileage markers; and perform mileage calibration on the mileage-registered visualization image based on the pulse width value.

[0033] Understandably, the aforementioned functional modules can be stored in memory as software programs and executed by a processor. In alternative embodiments, the aforementioned functional modules can also be hardware with specific functions, such as chips programmed with specific software.

[0034] The following is combined with Figure 2 A detailed description of each of the above functional modules is provided.

[0035] like Figure 2The diagram shows a flowchart of the mileage registration method for tunnel lining images provided by the present invention. It should be noted that the method of the present invention is not limited to the order of the following steps, and in other embodiments, the method of the present invention may include only a portion of the following steps, or some steps may be deleted. In practice, the mileage registration method for tunnel lining images can be implemented using the aforementioned mileage registration system for tunnel lining images.

[0036] The method for mileage registration of tunnel lining images provided by the present invention includes the following steps:

[0037] Step S100: Collect raw data of the tunnel lining, tunnel entrance information, and tunnel mileage marker information. Specifically, the acquisition module 10 can collect raw data of the tunnel lining, tunnel entrance information, and tunnel mileage marker information. The raw data can be raw image data. The tunnel entrance information includes the mileage information of the line at the tunnel exit and / or entrance. The tunnel mileage marker information includes the line number, position, and mileage value of several tunnel mileage markers. Understandably, the mileage information at the tunnel exit and / or entrance comes from the design values ​​of the line and tunnel. The tunnel mileage marker information is the tunnel's marker information and is inherent information. Besides image data, the data type to be detected can also be other types of data, such as laser ranging data, structural deformation data, etc.

[0038] Step S200: Parse the raw data into a visual image. Specifically, the parsing module 20 can convert the collected raw data into a visual image. Typically, the collected raw data is a binary stream file. The parsing module can stitch and parse the raw data into a JPEG format image that is easy to view, so as to facilitate the processing of tunnel lining images and analyze the types and locations of lining defects through the tunnel lining images, thereby realizing the periodic inspection and maintenance of the tunnel lining.

[0039] Step S300: Perform mileage registration on the visualized image based on the original data and tunnel entrance information. Specifically, the registration module 30 can perform mileage registration on the visualized image based on the collected original data and tunnel entrance information. Image mileage registration refers to assigning corresponding mileage information to the first row of pixels in the visualized image to achieve image positioning. Typically, the mileage information includes the route mileage and tunnel depth mileage. Tunnel depth mileage refers to the depth or distance into the tunnel, calculated from the tunnel entrance at the lower mileage end of the route. The mileage value of the tunnel entrance is known and is relatively ideal mileage registration data. The registration module assigns accurate route mileage and tunnel depth mileage to each image based on the tunnel entrance information, improving the accuracy of mileage registration for the lining image.

[0040] Step S400: Perform mileage calibration on the mileage-registered visualization image based on the tunnel mileage marker information. Specifically, the data collected by the acquisition module includes tunnel mileage marker information, which refers to the line number, position, and mileage value of several mileage markers within the tunnel. These are physical markers on both sides of the line and are inherent in the design. The calibration module can perform mileage calibration on the mileage-registered visualization image based on the tunnel mileage marker information to improve the accuracy of mileage registration of the lining image.

[0041] Therefore, the mileage registration method for tunnel lining images provided by this invention can collect the original data of the tunnel lining and tunnel entrance information, parse the original data into a visual image, and then perform mileage registration on the visual image based on the original data and tunnel entrance information. This realizes the use of inherent tunnel entrance information for mileage registration of the lining image. Finally, the mileage of the mileage-registered visual image is calibrated based on the tunnel mileage marker information. The obtained mileage value is consistent with the mileage data in the line and tunnel design. Further calibration using the kilometer markers, half-kilometer markers, and tunnel depth mileage markers in the image ensures that the obtained mileage value is consistent with the actual markings on site. This improves the accuracy of mileage registration of the lining image, effectively realizes the positioning of the lining image, reduces registration error, and the relative positional relationship between the calibrated image and various markers in the image can eliminate the error of the line mileage value in the design. The calibrated visual image can fully meet the needs of data processing and on-site maintenance.

[0042] Further, please refer to Figure 3 Step S100 includes the following steps:

[0043] Step S110: The encoder triggers the line scan camera;

[0044] Step S120: The linear array camera acquires image data of the tunnel lining at equal intervals;

[0045] Step S130: Store the image data as a binary data stream file with the resolution of the line scan camera as the width.

[0046] Specifically, the raw data is acquired through a line scan camera, which is triggered by an incremental rotary encoder. The high-definition image data obtained by the line scan camera through equal-interval sampling is directly stored as a binary data stream file. Furthermore, the file is stored continuously with the width of the line scan camera resolution, with one file stored for each tunnel, and it includes tunnel entrance and exit information.

[0047] Further, please refer to Figure 4 Step S300 includes the following steps:

[0048] Step S310: Obtain the pulse signal width of the encoder;

[0049] Step S320: Obtain the height of the visualized image;

[0050] Step S330: Calculate the hole depth mileage of the visualized image based on the pulse signal width and the height of the visualized image;

[0051] Step S340: Calculate the route mileage of the visualized image based on the tunnel depth mileage and the tunnel entrance information.

[0052] Specifically, since the tunnel entrances and exits have accurate route mileage information, and all image data between the tunnel entrances and exits are evenly distributed at equal intervals, and the total number of image pixel rows is equal to the encoder pulse count, the mileage value of each row of pixels can be calculated based on the pulse width and pulse count, thereby performing mileage registration on the image.

[0053] Furthermore, in step S330, the formula for calculating the hole depth mileage of the visualized image is as follows:

[0054]

[0055] Among them, T n The depth mileage of the nth image is defined as the position of the current image in the tunnel in the direction of travel, which is 100m into the tunnel; w is the unit pixel height, which is also the width of the pulse signal output by the encoder, and is an inherent parameter of the system; h is the height of the nth image, which varies depending on the image segmentation rule. It can be segmented equally, that is, to ensure that each image has the same height, in which case h is a fixed value; or it can be segmented with variable height according to the deformation joints of the tunnel lining, in which case h is a variable value. However, both can be used directly as known parameters.

[0056] Furthermore, in step S340, the formula for calculating the route mileage of the visualized image is as follows:

[0057] S n =L s +T n (2)

[0058] Among them, S n Let L be the route mileage for the nth image, such as K123+456 representing the current image's location along the route as 123.456 km; s This refers to the route mileage at the tunnel entrance.

[0059] This method, based on the original data and encoder data, further utilizes tunnel entrance information for mileage registration. According to the above formula, mileage registration can be performed on each image of the tunnel lining, resulting in mileage values ​​that conform to the mileage data used in the line and tunnel design, facilitating the positioning of each image. In other implementations, data sources such as turnout tips, communication signals, and mileage electronic tags can be added for mileage registration to further improve registration accuracy.

[0060] Understandably, the above-mentioned mileage registration method can register the mileage of each image of the tunnel lining, and the resulting mileage value conforms to the mileage data in the route and tunnel design. However, the pulse width used in mileage registration is fixed, and due to the difference in the fixed position of the mileage markers, this mileage usually deviates from the mileage markers on the route (kilometer markers, half-kilometer markers, tunnel depth markers, etc.), and this deviation is more pronounced in long tunnels. In addition, it is usually more convenient to compare the description of the location of defects during on-site maintenance with the physical markers on both sides of the route. Therefore, it is necessary to use various markers in the tunnel, such as kilometer markers, half-kilometer markers, and tunnel depth mileage markers, to calibrate the mileage of the matched images.

[0061] Furthermore, the tunnel mileage marker information includes the line number, location, and mileage value of several tunnel mileage markers; please refer to [link / reference]. Figure 5 Step S400 includes the following steps:

[0062] Step S410: Calculate the pulse width value corresponding to two adjacent tunnel mileage markers based on the line number position and mileage value of several tunnel mileage markers;

[0063] Step S420: Perform mileage calibration on the mileage-registered visualization image based on the pulse width value.

[0064] Specifically, tunnel images are re-identified and repositioned using tunnel entrance information and tunnel mileage marker information, with a specific pulse width value recalculated between every two markers. Understandably, automatic calibration of line mileage is performed using tunnel entrances, kilometer markers, and half-kilometer markers, while automatic calibration of tunnel depth mileage is performed using tunnel entrances and tunnel depth markers.

[0065] Further, in step S410, the formula for calculating the pulse width value is as follows:

[0066]

[0067] Among them, w n S is the pulse width value between the (n-1)th tunnel mileage marker and the nth tunnel mileage marker. n and S n-1 L represents the mileage values ​​of the nth tunnel mileage marker and the (n-1)th tunnel mileage marker, respectively. nand L n-1 These represent the line positions of the nth tunnel mileage marker and the (n-1)th tunnel mileage marker, respectively.

[0068] Understandably, according to the above formula (3), the pulse width between any two tunnel mileage markers can be calculated. After obtaining the pulse width value, the tunnel depth mileage of any image can be automatically corrected according to formula (1). The line mileage of any image can be automatically corrected according to formula (2). The relative positional relationship between the corrected image and various markers in the image will eliminate the error with the line mileage value during design, and can fully meet the needs of data processing and on-site maintenance.

[0069] In this embodiment, the tunnel mileage markers include kilometer markers, half-kilometer markers, and tunnel depth markers.

[0070] In practical applications, firstly, a first queue vector1 is designed to store the line positions and mileage values ​​of kilometer markers and half-kilometer markers, and a second queue vector2 is designed to store the line positions and mileage values ​​of tunnel depth markers. The length of both is denoted as n.

[0071] Understandably, each element in the queue is regarded as a node, and the intervals between nodes are regarded as the intervals to be corrected. The starting node of the first queue vector1 and the second queue vector2 is always the tunnel entrance information, that is, the entrance line position and mileage value, and the ending node is always the tunnel exit information, that is, the exit line position and mileage value. Each time a kilometer marker, half kilometer marker or tunnel depth marker is added, its corresponding line position and corresponding mileage value are inserted into the n-1 node.

[0072] Secondly, a third queue, vector3, is designed to store the pulse width values ​​between adjacent kilometer markers and half-kilometer markers in the first queue, vector1. A fourth queue, vector4, is designed to store the pulse width values ​​between two hole depth markers in the second queue, vector2. The length of each queue is n-1. Specifically, the pulse width value is calculated using the formula (3) above.

[0073] Furthermore, the calibration module can automatically calibrate image mileage using an automatic loop method, with the following specific steps:

[0074] Iterate through the intervals to be corrected between all nodes in the first queue vector1 and the second queue vector2;

[0075] Iterate through all the visualization images after mileage registration;

[0076] Determine whether the current visualized image is within the range to be corrected;

[0077] If the current visualized image is within the interval to be corrected, then the pulse width value of the interval to be corrected is obtained from the third queue vector3 and the fourth queue vector4.

[0078] The mileage of the current visualization image is recalculated based on the pulse width value to achieve mileage calibration.

[0079] In this embodiment, the above automatic calibration steps are repeated until all visualization images are calibrated. This automatic calibration method achieves cyclic correction by iterating through the visualization images to see if they are within the range to be calibrated. If the current image is within the range to be calibrated, the line mileage and tunnel depth mileage are recalculated using the node mileage marker information and pulse width value. The relative positional relationship between the calibrated image and the various markers in the image eliminates the error in the line mileage value during design, thus fully meeting the needs of data processing and on-site maintenance.

[0080] The mileage registration method for tunnel lining images provided by this invention, based on encoder data, further enhances automatic image mileage registration using tunnel entrances and exits. Furthermore, based on mileage registration, it utilizes kilometer markers, half-kilometer markers, and tunnel depth mileage markers for calibration. The invention designs a data storage structure and method, automatically calculates pulse width values, and designs an automatic mileage calibration algorithm to achieve automatic image mileage calibration. This achieves centimeter-level accuracy in image target and mileage marker accuracy, far exceeding the current 1m positioning error accuracy, precisely meeting the needs of data processing and on-site maintenance. Moreover, the calibration method specifically enables batch automatic calibration of two mileage types for tunnels of any length, significantly improving mileage calibration efficiency. For a full-section image of a high-speed railway tunnel lining with a pixel accuracy of 1mm, the image data volume reaches as high as 40GB / km. The automated calibration method effectively improves data processing efficiency, and the accuracy of mileage is crucial for on-site maintenance, avoiding low on-site work efficiency caused by positioning errors.

[0081] It should be noted that all embodiments of the mileage registration method for tunnel lining images provided by the present invention are applicable to the mileage registration system 100 for tunnel lining images provided by the present invention, and all can achieve the same or similar beneficial effects.

[0082] In summary, the mileage registration method and system for tunnel lining images provided by this invention can collect raw data of tunnel lining and tunnel entrance information, parse the raw data into a visual image, and then perform mileage registration on the visual image based on the raw data and tunnel entrance information. This achieves mileage registration of the lining image using the inherent tunnel entrance information. Finally, the mileage of the mileage-registered visual image is calibrated based on the tunnel mileage marker information. The obtained mileage value conforms to the mileage data in the route and tunnel design. Further calibration using kilometer markers, half-kilometer markers, and tunnel depth mileage markers in the image ensures that the obtained mileage value conforms to the actual on-site markings, improving the accuracy of mileage registration of lining images, effectively locating the lining image, reducing registration errors, and eliminating errors in the design mileage values ​​by adjusting the relative positional relationship between the calibrated image and various markers in the image. The calibrated visual image can fully meet the needs of data processing and on-site maintenance.

[0083] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for mileage registration of tunnel lining images, characterized in that, Includes the following steps: Step S100: Collect raw data of tunnel lining, tunnel entrance information and tunnel mileage marker information; Step S200: Parse the raw data into a visual image; Step S300: Perform mileage registration on the visualized image based on the original data and tunnel entrance information; Step S400: Perform mileage calibration on the mileage-registered visualization image based on the tunnel mileage marker information; Step S300 includes: Step S310: Obtain the pulse signal width of the encoder; Step S320: Obtain the height of the visualized image; Step S330: Calculate the hole depth mileage of the visualized image based on the pulse signal width and the height of the visualized image; Step S340: Calculate the route mileage of the visualized image based on the tunnel depth mileage and the tunnel entrance information; The tunnel mileage marker information includes the line number, location, and mileage value of several tunnel mileage markers; Step S400 includes: Step S410: Calculate the pulse width value corresponding to two adjacent tunnel mileage markers based on the line number position and mileage value of several tunnel mileage markers; Step S420: Perform mileage calibration on the mileage-registered visualization image based on the pulse width value; In step S410, the formula for calculating the pulse width value is as follows: Among them, w n S is the pulse width value between the (n-1)th tunnel mileage marker and the nth tunnel mileage marker. n and S n-1 L represents the mileage values ​​of the nth tunnel mileage marker and the (n-1)th tunnel mileage marker, respectively. n and L n-1 These represent the line positions of the nth tunnel mileage marker and the (n-1)th tunnel mileage marker, respectively. The tunnel mileage markers include kilometer markers, half-kilometer markers, and tunnel depth markers; Step S420 includes: The first queue is designed to store the line positions and mileage values ​​of kilometer markers and half-kilometer markers, and the second queue is designed to store the line positions and mileage values ​​of tunnel depth markers. A third queue is designed to store the pulse width values ​​between adjacent kilometer markers and half-kilometer markers in the first queue, and a fourth queue is designed to store the pulse width values ​​between two hole depth markers in the second queue. Traverse the intervals to be corrected between all nodes in the first and second queues; Iterate through all the visualization images after mileage registration; Determine whether the current visualized image is within the range to be corrected; If the current visualized image is within the interval to be corrected, then the pulse width value of the interval to be corrected is obtained in the third and fourth queues; The mileage of the current visualization image is recalculated based on the pulse width value to achieve mileage calibration.

2. The method for mileage registration of tunnel lining images as described in claim 1, characterized in that, Step S100 includes: Step S110: The encoder triggers the line scan camera; Step S120: The linear array camera acquires image data of the tunnel lining at equal intervals; Step S130: Store the image data as a binary data stream file with the resolution of the line scan camera as the width.

3. The method for mileage registration of tunnel lining images as described in claim 1, characterized in that, In step S330, the formula for calculating the hole depth mileage of the visualized image is as follows: Among them, T n Let be the hole depth mileage of the nth image, and w be the pulse signal width output by the encoder. h Let be the height of the nth image.

4. The method for mileage registration of tunnel lining images as described in claim 3, characterized in that, In step S340, the formula for calculating the route mileage of the visualized image is as follows: Among them, S n Let L be the route mileage for the nth image. s This refers to the route mileage at the tunnel entrance.

5. A mileage registration system for tunnel lining images, used to implement the mileage registration method for tunnel lining images as described in any one of claims 1-4, characterized in that, include: The data acquisition module is used to collect raw data of the tunnel lining, tunnel entrance information, and tunnel mileage marker information. The parsing module is used to parse the raw data into a visual image; The registration module is used to perform mileage registration on the visualized image based on the original data and tunnel entrance information; The calibration module is used to calibrate the mileage of the mileage-registered visualization image based on the tunnel mileage marker information.

6. The mileage registration system for tunnel lining images as described in claim 5, characterized in that, The tunnel mileage marker information includes the line number, location, and mileage value of several tunnel mileage markers; the calibration module is used to perform the following operations: Calculate the pulse width value corresponding to two adjacent tunnel mileage markers based on the line number position and mileage value of several tunnel mileage markers; Mileage calibration is performed on the mileage-registered visualization image based on the pulse width value.

Images