Tunnel deformation measurement system, method and device based on dynamic network of slide rail cameras

Abstract

The present application relates to a tunnel deformation measurement system, method and device with dynamic networking of slide rail cameras. The system includes N slide rail camera stations fixedly installed along the tunnel direction. Each slide rail camera station includes a slide rail and a camera array. The camera array is slidably installed on the slide rail. The slide rail is used to guide the sliding and chain networking of the camera array. N is a positive integer greater than 1. The camera array includes at least two cameras and at least one pair of cameras has opposite shooting directions. At least two cameras are fixedly connected to each other. The camera array is used to shoot the points to be measured in the tunnel test area to obtain the in-plane displacement data of the points to be measured, the position data and the attitude data of the slide rail camera station to which it belongs. The in-plane displacement data of the points to be measured, the position data and the attitude data of the slide rail camera station to which it belongs are used to determine the deformation of the tunnel test area. The purpose of greatly improving the tunnel deformation measurement performance is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of large-scale civil engineering structure health monitoring, and relates to a tunnel deformation measurement system, method and device for dynamic networking of slide rail cameras. Background Art

[0002] With the continuous improvement of public infrastructure, the health monitoring technology of large civil structures has also been continuously upgraded. Among them, tunnels are one of the common large civil structures, and subway tunnels are important tunnel facilities in modern cities. Structural health monitoring is of great practical significance. Tunnel deformation refers to the horizontal displacement, vertical displacement, and convergence deformation of its segment structure. During tunnel construction and operation, deformation is often one of the main causes of tunnel cracking and structural failure. When deformation exceeds the normal range, it directly affects the structural characteristics of the tunnel, and even damages the tunnel, seriously threatening the personal safety of construction workers and the safety of train operation.

[0003] At present, image measurement is a relatively mature measurement technology with the advantages of high precision, non-contact, real-time measurement and high-frequency measurement. It has been widely used in the fields of large-scale civil structure displacement deformation measurement, survey and investigation, quality monitoring, construction and three-dimensional reconstruction. For tunnel deformation measurement, the common technologies currently include tunnel deformation monitoring technology based on digital photogrammetry technology and tunnel section deformation automatic monitoring technology based on the measurement principle of series camera network. However, in the process of realizing the present invention, the inventor found that the above-mentioned traditional tunnel deformation measurement technology still has the technical problem of low tunnel deformation measurement performance. Summary of the invention

[0004] In response to the problems existing in the above-mentioned traditional methods, the present invention proposes a tunnel deformation measurement method of dynamic networking of slide rail cameras, which can greatly improve the tunnel deformation measurement performance, a tunnel deformation measurement system of dynamic networking of slide rail cameras, and a tunnel deformation measurement device of dynamic networking of slide rail cameras.

[0005] In order to achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0006] On the one hand, a tunnel deformation measurement system with dynamic network of slide rail cameras is provided, comprising N slide rail camera stations fixedly installed along the tunnel direction, each slide rail camera station comprising a slide rail and a camera array, the camera array is slidably installed on the slide rail, the slide rail is used to guide the sliding and chain networking of the camera array, and N is a positive integer greater than 1;

[0007] The camera array includes at least two cameras, and at least one pair of cameras has opposite shooting directions. The at least two cameras are fixedly connected to each other. The camera array is used to shoot the points to be measured in the tunnel test area to obtain the in-plane displacement data of the points to be measured, the position data and the posture data of the corresponding slide rail camera measuring station;

[0008] The in-plane displacement data of the measured point, the position data of the corresponding slide rail camera station and the posture data are used to determine the deformation of the measured area of ​​the tunnel.

[0009] On the other hand, a tunnel deformation measurement method of a slide rail camera dynamic network is also provided, which is applied to the tunnel deformation measurement system of the slide rail camera dynamic network. The method comprises the steps of:

[0010] Obtain the camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation posture;

[0011] The sub-pixel positioning method is used to extract the image coordinates of the points to be measured taken by the camera array on the current tunnel section measurement link;

[0012] According to the image coordinates of the test point and the camera parameters, the nonlinear optimization method is used to solve the pre-stored slide rail observation equation to obtain the position and posture change of the slide rail camera station and the in-plane displacement of the common test point; the common test point is the test point in the common field of view of two adjacent slide rail camera stations;

[0013] According to the position and posture change of the slide rail camera measuring station, the pre-stored measuring point displacement equation is solved to obtain the in-plane displacement of the remaining measuring points other than the common measuring point in the field of view of the slide rail camera measuring station;

[0014] The slide rail camera station is controlled to move and scan the points to be measured on the next tunnel section measurement link and return the steps of solving the pre-stored slide rail observation equations according to the image coordinates of the points to be measured and the camera parameters by using a nonlinear optimization method to obtain the position and posture changes of the slide rail camera station and the in-plane displacement of the common points to be measured, until the in-plane displacements of all the points to be measured in the tunnel are measured.

[0015] On the other hand, a tunnel deformation measurement device for dynamic networking of slide rail cameras is provided, which is applied to the tunnel deformation measurement system for dynamic networking of slide rail cameras, and the device comprises:

[0016] The camera parameter module is used to obtain the camera parameters of the camera array; the camera parameters include the camera focal length, the installation position of the measuring station and the installation posture;

[0017] The measuring point extraction module is used to extract the image coordinates of the measuring point to be measured taken by the camera array on the current tunnel section measurement link by using a sub-pixel positioning method;

[0018] The first displacement module is used to solve the pre-stored slide observation equation using a nonlinear optimization method according to the image coordinates of the test point and the camera parameters to obtain the position and posture change of the slide camera station and the in-plane displacement of the common test point; the common test point is the test point in the common field of view of two adjacent slide camera stations;

[0019] The second displacement module is used to solve the pre-stored measurement point displacement equation according to the position and posture change of the slide rail camera station to obtain the in-plane displacement of the remaining points to be measured other than the common points to be measured in the field of view of the slide rail camera station;

[0020] The scanning control module is used to control the slide rail camera measuring station to move and scan the points to be measured on the next tunnel section measurement link and return to trigger the first displacement module until the in-plane displacement of all the points to be measured in the tunnel is measured.

[0021] On the other hand, a tunnel deformation monitoring device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the tunnel deformation measurement method of the dynamic networking of slide rail cameras are implemented.

[0022] One of the above technical solutions has the following advantages and beneficial effects:

[0023] The tunnel deformation measurement system, method and device of the above-mentioned slide rail camera dynamic networking integrates the camera array into the slide rail as a new slide rail camera station that can be dynamically networked and patrolled by using the image networking measurement technology. The camera array on the slide rail is used to shoot each point to be measured in the tunnel test area to obtain the in-plane displacement data of the point to be measured, the position data and posture data of the slide rail camera station to which it belongs, etc., so as to measure the inward displacement of the tunnel section of each point to be measured based on the principle of photogrammetry and determine the deformation of the tunnel test area. By using the above-mentioned N slide rail camera stations fixedly installed along the tunnel direction, dynamic chain networking can be carried out, so as to patrol all points to be measured on each transmission measurement link respectively, realize automatic, fast and efficient patrol of deformation in a large area of ​​the tunnel, and achieve the purpose of greatly improving the tunnel deformation measurement performance.

[0024] Compared with traditional technologies, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost and long time, the above solution integrates the camera array into the slide rail, guides the camera array to move through the slide rail to realize the inspection of multiple measuring points, and expands the method of serial camera network from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail, which greatly reduces the number of required monitoring equipment and improves the simplicity and flexibility of the monitoring system. It further enriches the principle of image measurement and provides an effective scientific principle and method for rapid, high-precision and automatic measurement of large-scale deformation measurement of tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. 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 creative work.

[0026] Figure 1 It is a first structural schematic diagram of a tunnel deformation measurement system of a slide rail camera dynamic network in one embodiment;

[0027] Figure 2 A second structural schematic diagram of a tunnel deformation measurement system for dynamic networking of slide rail cameras in one embodiment;

[0028] Figure 3 A third schematic diagram of a tunnel deformation measurement system of a slide rail camera dynamic network in one embodiment;

[0029] Figure 4 A schematic diagram of an installation method of a slide rail camera measuring station in one embodiment;

[0030] Figure 5 A schematic diagram of the installation method of a slide rail camera measuring station in another embodiment;

[0031] Figure 6 It is a schematic flow chart of a tunnel deformation measurement method using a dynamic network of slide rail cameras in one embodiment;

[0032] Figure 7 A schematic diagram of a slide rail camera station inspection position 1 in one embodiment;

[0033] Figure 8 A schematic diagram of a slide rail camera station inspection position 2 in one embodiment;

[0034] Fig. 9 A schematic diagram of a slide rail camera station inspection position 3 in one embodiment;

[0035] Fig.10 A schematic diagram of a slide rail camera station inspection position 4 in one embodiment;

[0036] Fig.11 A schematic diagram of a slide rail camera station inspection position 5 in one embodiment;

[0037] Fig.12 It is a schematic flow chart of a tunnel deformation measurement method using a dynamic network of slide rail cameras in another embodiment;

[0038] Fig.13The figure is a schematic diagram of the module structure of a tunnel deformation measurement device with dynamic networking of slide rail cameras in one embodiment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0041] It should be noted that the terms "first" and "second" etc. in this application are used to distinguish different objects rather than to describe a specific order. Mentioning "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. Displaying the phrase at various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It will be appreciated by those skilled in the art that the embodiments described herein may be combined with other embodiments. The term "and / or" used in the specification of the present invention and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0042] Image measurement technology is a relatively mature measurement technology, which involves optical measurement, photogrammetry, computer vision and other disciplines, and has the advantages of high precision, long-distance, multi-point, dynamic and real-time measurement. Based on image networking measurement technology, the present invention proposes a design scheme of integrating the camera array into the slide rail, and realizes the inspection of multiple measuring points by moving on the slide rail. The serial camera network method is expanded from the traditional static networking mode based on a fixed platform to the dynamic networking mode based on the slide rail, which greatly reduces the number of required monitoring equipment and improves the simplicity and flexibility of the monitoring system. It further enriches the principle of image measurement and provides an effective scientific principle and method for rapid, high-precision and automatic measurement of large-scale deformation measurement of tunnels.

[0043] The slide rail involved in this application refers to a platform on which a camera array for monitoring is installed, which has a movable property, such as but not limited to a one-axis mobile platform, a two-axis mobile platform, and a three-axis mobile platform. The method of the chain camera network can be understood by referring to the existing serial camera related measurement technology in the field, and will not be described in detail in this specification.

[0044] The following will describe the implementation of the present invention in detail with reference to the accompanying drawings in the embodiment diagram of the present invention.

[0045] In one embodiment, see Figure 1 , a tunnel deformation measurement system 100 with dynamic networking of slide rail cameras is provided, comprising N slide rail camera stations 12 fixedly installed along the tunnel direction. Each slide rail camera station 12 comprises a slide rail 121 and a camera array 123. The camera array 123 is slidably mounted on the slide rail 121. The slide rail 121 is used to guide the sliding and chain networking of the camera array 123, and N is a positive integer greater than 1. The camera array 123 comprises at least two cameras, and at least one pair of cameras has opposite shooting directions. At least two cameras are fixedly connected to each other. The camera array 123 is used to shoot a point to be measured 101 in the tunnel to be measured area, and obtain the in-plane displacement data of the point to be measured 101, the position data and the posture data of the slide rail camera station 12 to which it belongs. The in-plane displacement data of the point to be measured 101, the position data and the posture data of the slide rail camera station 12 to which it belongs are used to determine the deformation of the tunnel to be measured area.

[0046] It can be understood that the camera array 123 is composed of two or more cameras that are fixedly mounted on the slide rail 121, and can be calibrated before installation so that the relative installation (such as position and / or posture) relationship of each camera does not change during the movement of the slide rail 121. The number of slide rail camera stations 12 can be flexibly set according to the cross-sectional size of the tunnel to be monitored, the tunnel length and / or the measurement accuracy. Similarly, the number of cameras and the type of cameras included in the camera array 123 on each slide rail camera station 12 can also be flexibly set according to actual monitoring needs. Each slide rail camera station 12 can be installed at equal or unequal intervals on the monitoring stations reserved in the tunnel, and can be flexibly set according to the probability of deformation in different areas of the tunnel.

[0047] On each slide rail camera measuring station 12, the camera array 123 includes at least a pair of cameras with opposite shooting directions. For the convenience of description, the cameras in the camera array 123 can be divided into two categories: a forward camera array 123 and a backward camera array 123: first, the cameras whose shooting direction is consistent with the direction of the tunnel are divided into the forward camera array 123 (which may include a measuring camera and a monitoring camera (optional) for measuring the point 101 to be measured); second, the cameras whose shooting direction is opposite to the direction of the tunnel are divided into the backward camera array 123 (which may include a measuring camera and a monitoring camera (optional) for measuring the point 101 to be measured).

[0048] When the camera array 123 on each slide rail camera station 12 moves to the current position to measure one or more of the points to be measured 101 on each tunnel section, there will be a common field of view between the two adjacent slide rail camera stations 12 in the front and rear on the transmission measurement link where the slide rail camera stations 12 of the current chain network are located, so that the cameras on the two adjacent slide rail camera stations 12 in the front and rear (the forward camera array 123 of the previous station and the rear camera array 123 of the rear station) can see the common point to be measured 101, so that the in-plane displacement of the common point to be measured 101 (the position difference relative to the initial state) can be measured. The in-plane displacement of other points to be measured 101 (not the common points to be measured 101 of the front and rear stations) in the field of view of the cameras in front and behind the two stations can be quickly measured.

[0049] For the internal parameters (such as camera focal length) and external parameters (such as installation position and posture, etc.) of the slide rail camera station 12, the total station and other measuring tools available in the art can be used to measure the initial coordinates of the point to be measured 101 and the installation position coordinates of the station, and the beam adjustment and other methods can be used to optimize and solve the aforementioned parameters of the slide rail 121 camera. The installation relationship between the camera array 123 and the slide rail 121 can be directly obtained using methods such as hand-eye calibration available in the art. After the camera array 123 shoots the point to be measured 101 in the tunnel area to be measured, the sub-pixel positioning method available in the art can be used to extract the image coordinates of the point to be measured 101 with high precision, and the position data and posture data of the camera array 123 on each slide rail camera station 12, the in-plane displacement data of the point to be measured 101, etc. can be obtained based on the principle of photogrammetry. The aforementioned data obtained from each measurement can directly monitor the deformation of the tunnel area to be measured.

[0050] In some embodiments, the tunnel deformation measurement system 100 of the slide rail camera dynamic network can be optionally measured in a periodic patrol mode. From the initial moment of the first measurement, the camera is controlled by the slide rail 121 to patrol the points 101 to be measured between the measuring stations. The completion of the patrol of all the points 101 to be measured is a measurement cycle. In the initial state, the camera on the slide rail 121 is controlled to complete the patrol of the points 101 to be measured, and the measurement time of the points 101 to be measured in this state is recorded as the initial time. The state within a period of time can also be averaged to obtain the initial state.

[0051] The tunnel deformation measurement system 100 of the slide rail camera dynamic networking, through the image networking measurement technology, integrates the camera array 123 into the slide rail 121 as a new slide rail camera station 12 that can be dynamically networked for inspection, and uses the camera array 123 on the slide rail 121 to shoot each point to be measured 101 in the tunnel to be measured area, so as to obtain the in-plane displacement data of the point to be measured 101, the position data and posture data of the slide rail camera station 12 to which it belongs, so as to measure the tunnel cross-sectional displacement of each point to be measured 101 based on the principle of photogrammetry, and determine the deformation of the tunnel to be measured area. By using the N slide rail camera stations 12 fixedly installed along the tunnel direction, dynamic chain networking can be performed, so as to inspect all the points to be measured 101 on each transmission measurement link respectively, and realize automatic, rapid and efficient inspection of deformation of a large area of ​​the tunnel, thereby achieving the purpose of greatly improving the tunnel deformation measurement performance.

[0052] Compared with traditional technologies, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost, and long time, the above solution integrates the camera array 123 onto the slide rail 121, guides the camera array to move through the slide rail 121 to realize the inspection of multiple measuring points, and expands the method of serial camera network from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail 121, greatly reducing the number of required monitoring equipment and improving the simplicity and flexibility of the monitoring system. It further enriches the principle of image measurement and provides an effective scientific principle and method for rapid, high-precision, and automatic measurement for large-scale deformation measurement of tunnels.

[0053] In one embodiment, the cameras in the camera array 123 include large-field-of-view monitoring cameras, which are used to detect foreign body detachment in the tunnel test area.

[0054] It can be understood that the camera array 123 of each slide rail camera measuring station 12 can include a large field of view monitoring camera, so that the camera array 123 can be more quickly aligned with the test point 101 during the movement on the slide rail 121, and provide visual guidance and foreign object falling detection function in the tunnel during the inspection process, thereby further improving the measurement efficiency while realizing the detection of surface defects such as foreign object falling and tunnel damage.

[0055] In one embodiment, the focal lengths of some or all of the cameras included in the camera array 123 are different. It can be understood that in the camera array 123 of each slide rail camera measuring station 12, the cameras can be cameras with different focal lengths, or the cameras can be partially cameras with the same focal length, which can be specifically determined according to the distance of the point to be measured 101 relative to the measuring station. For example, but not limited to, the cameras can be divided into three categories: near field, midfield, and far field, corresponding to the measurement of the point to be measured 101 in the near field, the point to be measured 101 in the midfield, and the point to be measured 101 in the far field, wherein the focal length of the near field camera < the focal length of the midfield camera < the focal length of the far field camera. This can further improve the measurement efficiency.

[0056] In one embodiment, Figure 2 As shown, the tunnel deformation measurement system 100 of the slide rail camera dynamic networking can also include at least two reference points 14. The reference points 14 are located in the transfer measurement network formed by the dynamic chain networking of N slide rail camera stations 12 in the tunnel. The reference points 14 include observation points with strictly fixed positions in the tunnel test area, observation points with known horizontal and vertical displacements in the tunnel test area, or test points 101 with known settlement and horizontal displacement in the tunnel test area. The reference points 14 are used to indicate the shaking amount of each slide rail camera station 12.

[0057] It can be understood that during the measurement, considering the impact of the instability of the slide rail camera station 12 itself and the low movement accuracy on the measurement results, a reference point 14 can also be set: based on the requirements of the camera dynamic networking measurement method, at least two reference points 14 that are strictly stationary or have known horizontal and vertical displacements can be set, and the position of the reference point 14 in the entire monitoring link may not be required, and the reference point 14 may also be a point to be measured 101 with known settlement and horizontal displacement.

[0058] The wobble amount of each slide rail camera measuring station 12 is solved using the reference point 14 according to the constraint relationship known in the art, which can then be used to correct the in-plane displacement of the measured point 101 (the specific correction method can be understood by referring to the correction method based on the wobble amount already existing in the art), thereby eliminating the influence of the instability and low movement accuracy of the slide rail camera measuring station 12 on the measurement results, thereby further improving the measurement accuracy.

[0059] In one embodiment, Figure 3 As shown, the slide rail camera measuring station 12 further includes an IMU, an electronic level and / or a pan-tilt level, which are mounted on the slide rail 121. The IMU and / or the electronic level are used to assist in setting the moving path and position of the camera array 123 on the slide rail 121. The pan-tilt level is used to control the camera array 123 to rotate and align with the point to be measured 101.

[0060] It can be understood that in this embodiment, a slide rail movement assistant 16 can also be installed on each slide rail camera measuring station 12. The slide rail movement assistant 16 can be an IMU, an electronic level or a pan-tilt head, or at least two of the IMU, the electronic level and the pan-tilt head can be installed at the same time. The selection can be made according to the application needs. The camera array 123 can also be installed on the slide rail 121 through the pan-tilt head at the same time. The camera array 123 on the slide rail camera measuring station 12 synchronously shoots the point to be measured 101 during the movement of the slide rail 121, and the movement path and position of the camera array 123 on the slide rail 121 can be manually set in advance, or the reading can be set according to the inertial navigation component such as IMU or the electronic level, so as to achieve accurate alignment and patrol of the point to be measured 101 and improve the measurement efficiency. The pan-tilt head can more flexibly, efficiently and accurately assist in controlling the camera array 123 to align with the point to be measured 101 during the movement of the slide rail 121.

[0061] In addition, recording the moving position of the camera array 123 on the slide rail 121 during shooting can also be used to distinguish different station positions during a patrol process and provide a reference for the correspondence of the slide rail camera station 12 at the same moving position in two previous patrol processes.

[0062] In one embodiment, the tunnel deformation measurement system 100 of the slide rail camera dynamic networking can also include a measuring point mark. The measuring point mark is set at the point to be measured 101 and corresponds to the point to be measured 101 one by one. The measuring point mark is used to mark the point to be measured 101 to the camera array 123.

[0063] It can be understood that each point to be measured 101 can be marked with a measuring point mark that is identified and photographed by a camera, thereby improving measuring point alignment and photographing efficiency.

[0064] In one embodiment, the measuring point mark includes a natural structural feature on the tunnel segment at the corresponding point 101 to be measured, a passive reflective mark or an active luminous mark.

[0065] Optionally, in this embodiment, the measuring point mark can be directly represented by the natural structural features on the tunnel segment at the point to be measured 101, or a specially set passive reflective mark or active luminous mark can be used. Specifically, the measuring point mark can be circular, or it can be a vertical angle, or it can be a square, a cross, or a five-pointed star, etc., which are easily recognizable. The measuring point mark at each point to be measured 101 can be actively illuminated, or it can rely on reflecting sunlight or reflecting other fixed light sources installed in the tunnel. Preferably, the measuring point mark can be an infrared luminous marker to meet the needs of all-day measurement.

[0066] In one embodiment, the slide rails 121 are arranged along both sides of the tunnel section to guide the camera array 123 to move up and down along the tunnel section on the slide rails 121. Optionally, in the above embodiment, in each slide rail camera station 12, the shape of the slide rail 121 can be a straight line, a curve or other geometric shapes. In this embodiment, a pair of straight line slide rails 121 can be used and installed on both sides of the tunnel section, such as Figure 4 As shown, the camera array 123 on the slide rail 121 can be moved up and down along the tunnel section to achieve efficient observation of points to be measured at different positions in the tunnel section. The slide rail 121 can be a single rail, a double rail, or more than three rails, which can be determined according to the installation and movement requirements of the camera array 123.

[0067] In one embodiment, the slide rail 121 is arranged circumferentially along the tunnel section, and is used to guide the camera array 123 to move circumferentially along the tunnel section on the slide rail 121. Optionally, in this embodiment, an annular slide rail 121 may be used and installed on the peripheral side of the tunnel section, such as Figure 5 As shown, the camera array 123 on the slide rail 121 can be moved circumferentially along the tunnel section to achieve efficient observation of points to be measured at different positions in the tunnel section. The slide rail 121 can be a single rail, a double rail, or more than three rails, which can be determined according to the installation and movement requirements of the camera array 123.

[0068] In one embodiment, see Figure 6 The embodiment of the present application provides a tunnel deformation measurement method of dynamic networking of slide rail cameras, which is applied to a tunnel deformation measurement system of dynamic networking of slide rail cameras. The system includes N slide rail camera measuring stations fixedly installed along the tunnel direction, each slide rail camera measuring station includes a slide rail and a camera array, the camera array is slidably installed on the slide rail, and the slide rail is used to control the sliding and chain networking of the camera array, N is a positive integer greater than 1; the camera array includes at least two cameras and at least one pair of cameras has opposite shooting directions, at least two cameras are fixedly connected to each other, and the camera array is used to shoot the points to be measured in the tunnel area to be measured.

[0069] It can be understood that a strict station camera can be modeled as a perspective projection model, with adjacent slide rail camera stations at a certain scanning position ( Figure 7 Taking the slide rail camera station inspection position 1) as an example, the slide rail camera station S i Right camera and slide camera station S i+1 Left camera Able to see the public test point P m,n (the nth point of the mth tunnel section) and P m+1,n (the nth point of the m+1th tunnel section), the observation equation can be expressed using the following collinear equation:

[0070]

[0071] In the above formula, is the camera internal parameter, R B,C and T B,C Set up the pose for the camera, are the initial coordinates of the points to be measured. These parameters can be obtained through offline calibration. is the depth factor.

[0072] The parameters to be measured include the position and attitude change of the slide camera station (specifically the camera array on it) And the displacement ΔP of the point to be measured B Strictly speaking, the posture of the slide camera station contains 6 parameters (3 translation parameters, t x ,t y ,t z ; There are three attitude parameters, α, β, γ, which are rotations around the x, y, and z axes respectively). The relationship between the attitude angle and the rotation matrix is ​​as follows:

[0073]

[0074] Among them, cθ represents cosθ, sθ represents sinθ, θ refers to the rotation angle, and θ can be α, β, or γ.

[0075] In some embodiments, tunnel deformation mainly includes horizontal displacement, vertical displacement and convergence deformation in the tunnel section (cross section), so the tunnel displacement of the point to be measured, the tunnel displacement of the measuring station and the rotation of the measuring station around the tunnel (optional) can be ignored. Therefore, the above measurement model can be simplified, and the parameters to be determined of the slide rail camera measuring station become 4 (in-plane displacement, pitch angle and yaw angle, representing the position and attitude change of the measuring station), and the parameters to be solved of the point to be measured become 2 (in-plane displacement). Optionally, it can be further assumed that the depth of the same point at two moments before and after is unchanged, so formula (1) can be simplified to the following pre-stored slide rail observation equation:

[0076]

[0077] in, Indicates the right camera at two moments (t0, t1) before and after The measured point p m,n The displacement of Indicates the left camera at two moments (t0, t1) before and after The measured point p m,n displacement, λ represents the depth factor, K C represents the camera internal parameters, R B,C Indicates the camera installation posture. Indicates the slide camera station S at two moments (t0, t1) before and after i The position changes, Indicates the slide camera station S at two moments (t0, t1) before and after i+1 The position changes, Indicates the slide camera station S at two moments (t0, t1) before and after i changes in posture, Indicates the slide camera station S at two moments (t0, t1) before and after i+1 changes in posture, Indicates the slide camera station S i The measured point p m,n The initial coordinates of Indicates the slide camera station S i+1 The measured point p m,n The initial coordinates of Indicates the slide camera station S i The measured point p m,n The displacement of Indicates the slide camera station S i+1 The measured point p m,n displacement.

[0078] The above method includes the following processing steps 12 to 20:

[0079] Step 12, obtaining the camera parameters of the camera array; the camera parameters include the camera focal length, the measuring station installation position and the installation posture.

[0080] It can be understood that in order to quickly calibrate the parameters of the camera on the slide rail, such as internal parameters such as focal length and external parameters such as installation position and installation posture, the initial coordinates of the points to be measured and the installation position coordinates of the measuring station can be measured with the help of measuring tools such as total stations, and the parameters of the slide rail camera can be optimized using methods such as bundle adjustment. The installation relationship between the camera array and the slide rail can be obtained using methods such as hand-eye calibration.

[0081] Step 14, using a sub-pixel positioning method, extracting the image coordinates of the point to be measured taken by the camera array on the current tunnel section measurement link.

[0082] It can be understood that various sub-pixel positioning methods available in the art can be used to extract the image coordinates of the point to be measured with high precision.

[0083] Step 16, according to the image coordinates of the test point and the camera parameters, a nonlinear optimization method is used to solve the pre-stored slide rail observation equation to obtain the position and posture change of the slide rail camera station and the in-plane displacement of the common test point; the common test point is the test point in the common field of view of two adjacent slide rail camera stations.

[0084] It can be understood that in practical applications, the changes in the image coordinates of the points to be measured and the changes in the posture of the measuring station (installation position and installation posture) are both changes. Therefore, it is necessary to pre-store the image coordinates of the points to be measured and the posture of the measuring station at the initial moment. At any time thereafter, the camera measuring station can be controlled to move on the slide rail to the preset position at the initial moment (corresponding to the initial state), and then the common points to be measured and the fixed points are used to solve the position and posture changes of the measuring station relative to the preset position at the initial moment.

[0085] For the calculation of the position change of the measuring station and the in-plane displacement of the measuring point: it can be assumed that there are M slide rail camera measuring stations (M is greater than a positive integer). For each scanning measurement, there are two common measuring points between the front and rear slide rail camera measuring stations. For the current entire transfer measurement link, there are 8M equations in total, and the quantities to be calculated are 8M+4. Therefore, it is only necessary to know the horizontal and vertical displacements of two points in the transfer measurement link (optional: fixed points with constant horizontal and vertical displacements). Then, the equation system can be constructed using equation (3). The position and posture change of the slide rail camera measuring station (the same observation field, the posture difference after scanning relative to the initial state) and the in-plane displacement of the common measuring point (the position difference relative to the initial state) can be solved simultaneously by the nonlinear optimization method.

[0086] Step 18, according to the position and posture change of the slide rail camera station, solve the pre-stored measurement point displacement equation to obtain the in-plane displacement of the remaining measurement points other than the common measurement point in the field of view of the slide rail camera station.

[0087] It can be understood that according to the solved slide camera station posture change relative to the initial state and The in-plane displacement of other points to be measured (not the common points to be measured at the front and rear measuring stations) in the field of view of the camera array in front and behind the camera on the slide rail can be solved according to the pre-stored measuring point displacement equation.

[0088] In some implementations, the pre-stored measurement point displacement equation is:

[0089]

[0090] Among them, Δp represents the in-plane displacement of the remaining points to be measured, λ represents the depth factor, K represents the camera internal parameters, and R B,C Indicates the camera installation posture. Indicates the position change of the slide camera station between the two moments (t0, t1). Indicates the initial coordinates of the point to be measured by the slide camera station, ΔP B represents the displacement of the common point to be measured, Indicates the posture change of the slide camera station at two moments (t0, t1).

[0091] In some embodiments, the equation (3) for the posture change of the slide camera station and the in-plane displacement of the point to be measured is solved. The equation (4) for the in-plane displacement of the point to be measured can be solved based on the solved posture change of the slide camera station. The matrix equations (3) and (4) can also be expanded into the form of a system of equations (the left sides of the equations are the changes in the image coordinates x and y of the point to be measured, respectively). Alternatively, only the changes in the x direction or y direction can be taken as needed (the corresponding station position and the displacement of the point to be measured are only taken in the horizontal or vertical direction, and the station attitude angle is only taken in the yaw angle or pitch angle).

[0092] Step 20, control the slide rail camera measuring station to move and scan the next point to be measured on the tunnel section measurement link and return to step 16, until the in-plane displacement of all the points to be measured in the tunnel is measured.

[0093] It can be understood that in order to achieve full coverage measurement of the points to be measured on the tunnel section, Figure 8 and Fig. 9 As shown in the figure, they are the patrol position 2 of the slide rail camera station and the patrol position 3 of the slide rail camera station, both of which refer to the moving position of the camera array on the station. The slide rail camera station in the transfer measurement link can be controlled to scan the test point (the scanning trajectory can be set in the initial state, or the camera array on the station can be guided to move and align with the test point according to the coordinates of the test point extracted from the monitoring camera), and a new transfer measurement link is constructed. The test point solved by the previous dynamically constructed transfer measurement link can be used as a control point with known in-plane displacement in the next transfer measurement (optionally, assuming that the displacement of the test point does not change in a short time). In the new transfer measurement link, the posture change of the slide rail station relative to its corresponding initial state and the in-plane displacement of the common test point between the front and rear stations need to be measured. Based on the solved station posture change, the above formula (4) is used to solve the in-plane displacement of other test points (not the common test points between the front and rear stations) in the field of view of the front and rear cameras of the slide rail camera station.

[0094] like Fig.10 and Fig.11 As shown, they are the slide rail camera station patrol position 4 and the slide rail camera station patrol position 5, and the above steps 16 to 20 are repeated until all the points to be measured are measured, and a measurement cycle ends. During the entire measurement cycle, the camera movement in the slide rail camera station is controlled to achieve coverage measurement of all the points to be measured, and dynamic networking is achieved based on the common points to be measured of the front and rear slide rail camera stations, thereby effectively solving the contradiction between large measurement range and high precision. Similarly, the next measurement cycle can be executed from the above step 14.

[0095] The tunnel deformation measurement method of the above-mentioned slide rail camera dynamic networking integrates the camera array into the slide rail as a new slide rail camera station that can be dynamically networked and patrolled by using the image networking measurement technology. The camera array on the slide rail is used to shoot each point to be measured in the tunnel test area to obtain the in-plane displacement data of the point to be measured, the position data and posture data of the slide rail camera station to which it belongs, etc., so as to measure the tunnel cross-sectional displacement of each point to be measured based on the principle of photogrammetry and determine the deformation of the tunnel test area. By using the above-mentioned N slide rail camera stations fixedly installed along the tunnel direction, dynamic chain networking can be carried out, so as to patrol all points to be measured on each transmission measurement link respectively, realize automatic, fast and efficient patrol of deformation in a large area of ​​the tunnel, and achieve the purpose of greatly improving the tunnel deformation measurement performance.

[0096] Compared with traditional technologies, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost, and long time, the above solution integrates the camera array into the slide rail, guides the camera array to move through the slide rail to realize the inspection of multiple measuring points, and expands the method of serial camera network from the static networking mode based on the fixed platform to the dynamic networking mode based on the slide rail, which greatly reduces the number of required monitoring equipment and improves the simplicity and flexibility of monitoring. It further enriches the principle of image measurement and provides an effective scientific principle and method for fast, high-precision, and automatic measurement of large-scale deformation measurement of tunnels.

[0097] In one embodiment, Fig.12 As shown, the tunnel deformation measurement method of the above slide rail camera dynamic networking can also include the following steps:

[0098] The shaking amount of each slide rail camera station is obtained by solving the constraint relationship corresponding to the set reference point;

[0099] The in-plane displacement of each corresponding point to be measured is corrected using each shaking amount.

[0100] It can be understood that, considering the impact of the instability of the slide rail camera observation station itself and the low movement accuracy on the measurement results, reference points can also be set: based on the requirements of the camera dynamic networking measurement method, at least two reference points that are strictly immobile or have known horizontal and vertical displacements can be set. The position of the reference point in the entire monitoring link may not be required, and the reference point can also be a point to be measured with known settlement and horizontal displacement.

[0101] The wobble of each slide camera observation station is solved using reference points according to the constraint relationships known in the art, which can then be used to correct the in-plane displacement of the measured point (the specific correction method can be understood by referring to the existing correction method based on wobble in the art), thereby eliminating the influence of the instability and low movement accuracy of the slide camera observation station itself on the measurement results, thereby further improving the measurement accuracy.

[0102] Specifically, the specific implementation process in this embodiment can be: take images at various preset positions, calibrate the camera, and extract the image coordinates of the points to be measured (can be recorded as the initial state, and only need to be recorded once). At a subsequent moment, control the camera to take pictures at the preset point (synchronously control multiple slide rail measuring stations to form a measurement transmission link), according to the changes in the image coordinates of the common points to be measured and the changes in the image coordinates of the reference points (because the camera shakes, the image coordinates of the reference points will also change), use a nonlinear optimization method to simultaneously calculate the platform shake amount and the in-plane displacement of the common points to be measured (these are all changes relative to the initial state), and calculate the in-plane displacement of the non-common points to be measured based on the calculated platform shake amount combined with the changes in the image coordinates of the non-common points to be measured; repeat the above steps, control the measurement to move to the next preset position, and thus complete the coverage measurement of all points (this step is a measurement operation that will be performed for each measurement cycle).

[0103] In one embodiment, optionally, the sub-pixel positioning method may include an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale image fitting method, or a least squares matching method. It can be understood that the specific explanation of each sub-pixel positioning method can be understood by referring to the introduction of the aforementioned various methods in the prior art of the present invention, and will not be elaborated in this specification.

[0104] It should be understood that although Figure 6 and Fig.12 The steps in the flowchart are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 6 and Fig.12 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequentially, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0105] See also Fig.13In one embodiment, a tunnel deformation measurement device 200 with dynamic networking of slide rail cameras is provided, which can be applied to a tunnel deformation measurement system with dynamic networking of slide rail cameras, and the system includes N slide rail camera stations fixedly installed along the tunnel direction. Each slide rail camera station includes a slide rail and a camera array, and the camera array is slidably installed on the slide rail. The slide rail is used to guide the sliding and chain networking of the camera array, and N is a positive integer greater than 1. The camera array includes at least two cameras and at least one pair of cameras has opposite shooting directions. At least two cameras are fixedly connected to each other. The camera array is used to shoot the points to be measured in the tunnel area to be measured.

[0106] The tunnel deformation measurement device 200 of the dynamic network of slide rail cameras includes a camera parameter module 11, a measuring point extraction module 13, a first displacement module 15, a second displacement module 17 and a scanning control module 19. Among them, the camera parameter module 11 is used to obtain the camera parameters of the camera array; the camera parameters include the camera focal length, the measuring station installation position and the installation posture. The measuring point extraction module 13 is used to extract the image coordinates of the measuring point of the measuring point taken by the camera array on the current tunnel section measurement link by using the sub-pixel positioning method. The first displacement module 15 is used to solve the pre-stored slide rail observation equation according to the image coordinates of the measuring point and the camera parameters, and obtain the position and posture changes of the slide rail camera measuring station and the in-plane displacement of the common measuring point by using the nonlinear optimization method; the common measuring point is the measuring point in the common field of view of two adjacent slide rail camera measuring stations. The second displacement module 17 is used to solve the pre-stored measuring point displacement equation according to the position and posture changes of the slide rail camera measuring station to obtain the in-plane displacement of the remaining measuring points other than the common measuring point in the field of view of the slide rail camera measuring station. The scanning control module 19 is used to control the slide rail camera measuring station to move and scan the next point to be measured on the tunnel section measurement link and return to trigger the first displacement module 15 until the in-plane displacement of all points to be measured in the tunnel is measured.

[0107] The tunnel deformation measurement device 200 with dynamic rail camera networking, through the cooperation of each module, integrates the camera array into the rail as a new rail camera station that can be dynamically networked and inspected based on the image networking measurement technology. The camera array on the rail is used to shoot each point to be measured in the tunnel area to be inspected, so as to obtain the in-plane displacement data of the point to be measured, the position data and posture data of the corresponding rail camera station, etc., so as to measure the tunnel cross-sectional displacement of each point to be measured based on the principle of photogrammetry, and determine the deformation of the tunnel area to be inspected. By using the N rail camera stations fixedly installed along the tunnel direction, dynamic chain networking can be performed, so as to inspect all points to be measured on each transmission measurement link respectively, so as to realize automatic, rapid and efficient inspection of deformation of a large area of ​​the tunnel, and achieve the purpose of greatly improving the tunnel deformation measurement performance.

[0108] Compared with traditional technologies, while taking advantage of the advantages of image measurement technology such as high precision, non-contact, low cost and long time, the above solution integrates the camera array into the slide rail, guides the movement of the camera array through the slide rail to achieve patrol of multiple measuring points, and expands the method of serial camera network from a static networking mode based on a fixed platform to a dynamic networking mode based on the slide rail, greatly reducing the number of required monitoring equipment and improving the simplicity and flexibility of monitoring.

[0109] In one embodiment, the tunnel deformation measurement device 200 of the slide rail camera dynamic network may further include a shake amount module and a displacement correction module. The shake amount module is used to solve the shake amount of each slide rail camera measuring station according to the constraint relationship corresponding to the set reference point. The displacement correction module is used to correct the in-plane displacement of each corresponding point to be measured using each shake amount.

[0110] In one embodiment, the aforementioned sub-pixel positioning method may include an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale image fitting method or a least squares matching method.

[0111] In one embodiment, the aforementioned pre-stored rail observation equation is:

[0112]

[0113]

[0114]

[0115]

[0116] in, Indicates the right camera at two moments (t0, t1) before and after The measured point p m,n The displacement of Indicates the left camera at two moments (t0, t1) before and after The measured point p m,n displacement, λ represents the depth factor, K C represents the camera internal parameters, R B,C Indicates the camera installation posture. Indicates the slide camera station S at two moments (t0, t1) before and after i The position changes, Indicates the slide camera station S at two moments (t0, t1) before and after i+1 The position changes, Indicates the slide camera station S at two moments (t0, t1) before and after i changes in posture, Indicates the slide camera station S at two moments (t0, t1) before and afteri+1 changes in posture, Indicates the slide camera station S i The measured point p m,n The initial coordinates of Indicates the slide camera station S i+1 The measured point p m,n The initial coordinates of Indicates the slide camera station S i The measured point p m,n The displacement of Indicates the slide camera station S i+1 The measured point p m,n displacement.

[0117] In one embodiment, the aforementioned pre-stored measurement point displacement equation is:

[0118]

[0119] Among them, Δp represents the in-plane displacement of the remaining points to be measured, λ represents the depth factor, K represents the camera internal parameters, and R B,C Indicates the camera installation posture. Indicates the position change of the slide camera station between the two moments (t0, t1). Indicates the initial coordinates of the point to be measured by the slide camera station, ΔP B represents the displacement of the common point to be measured, Indicates the posture change of the slide camera station at two moments (t0, t1).

[0120] Regarding the specific limitations of the tunnel deformation measurement device 200 with dynamic networking of slide rail cameras, please refer to the corresponding limitations of the tunnel deformation measurement method with dynamic networking of slide rail cameras above, which will not be repeated here. Each module in the above-mentioned tunnel deformation measurement device 200 with dynamic networking of slide rail cameras can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of a device with a specific data processing function in the form of hardware, or can be stored in the memory of the aforementioned device in the form of software, so that the processor can call and execute the operations corresponding to the above modules. The aforementioned device can be, but is not limited to, various types of computing devices already available in the art.

[0121] On the other hand, a tunnel deformation monitoring device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the following processing steps when executing the computer program: obtaining camera parameters of a camera array; the camera parameters include camera focal length, measuring station installation position and installation posture; using a sub-pixel positioning method, extracting the image coordinates of the measuring point to be measured taken by the camera array on the current tunnel section measurement link; according to the image coordinates of the measuring point to be measured and the camera parameters, using a nonlinear optimization method to solve the pre-stored slide rail observation equation to obtain the position and posture change of the slide rail camera measuring station and the in-plane displacement of the common measuring point to be measured; The common test point is a test point in the common field of view of two adjacent slide rail camera stations; according to the position and posture changes of the slide rail camera station, the pre-stored measurement point displacement equation is solved to obtain the in-plane displacement of the remaining test points other than the common test point in the field of view of the slide rail camera station; the slide rail camera station is controlled to move and scan the test points on the next tunnel section measurement link and return to the steps of solving the pre-stored slide rail observation equation according to the image coordinates of the test points and the camera parameters by a nonlinear optimization method to obtain the position and posture changes of the slide rail camera station and the in-plane displacement of the common test point, until the in-plane displacement of all the test points in the tunnel is measured.

[0122] It can be understood that in addition to the memory and processor mentioned above, the above-mentioned tunnel deformation monitoring equipment also includes other software and hardware components not listed in this specification. The specific components can be determined according to the specific monitoring equipment model in different application scenarios, and this specification will no longer list them one by one in detail.

[0123] In one embodiment, when the processor executes the computer program, it can also implement the steps or sub-steps added in each embodiment of the tunnel deformation measurement method of the dynamic networking of slide rail cameras.

[0124] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following processing steps are implemented: obtaining camera parameters of a camera array; the camera parameters include camera focal length, measuring station installation position and installation posture; using a sub-pixel positioning method, extracting the image coordinates of the measuring point of the measuring point photographed by the camera array on the current tunnel section measurement link; according to the image coordinates of the measuring point and the camera parameters, using a nonlinear optimization method to solve the pre-stored slide rail observation equation to obtain the position and posture change of the slide rail camera measuring station and the in-plane displacement of the common measuring point; the common measuring point The point is a point to be measured in the common field of view of two adjacent slide rail camera stations; according to the position and posture changes of the slide rail camera station, the pre-stored measurement point displacement equation is solved to obtain the in-plane displacement of the remaining points to be measured other than the common point to be measured in the field of view of the slide rail camera station; the slide rail camera station is controlled to move and scan the points to be measured on the next tunnel section measurement link and return to the steps of solving the pre-stored slide rail observation equation according to the image coordinates of the points to be measured and the camera parameters by a nonlinear optimization method to obtain the position and posture changes of the slide rail camera station and the in-plane displacement of the common point to be measured, until the in-plane displacement of all the points to be measured in the tunnel is measured.

[0125] In one embodiment, when the computer program is executed by a processor, it can also implement the steps or sub-steps added in each embodiment of the tunnel deformation measurement method of the slide rail camera dynamic networking.

[0126] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus dynamic random access memory (Rambus DRAM, referred to as RDRAM) and interface dynamic random access memory (DRDRAM).

[0127] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and all of them belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A tunnel deformation measurement system with dynamic network of slide rail cameras, characterized in that: It includes N slide rail camera stations fixedly installed along the tunnel direction, each of which includes a slide rail and a camera array, the camera array is slidably installed on the slide rail, and the slide rail is used to guide the sliding and chain networking of the camera array, and N is a positive integer greater than 1; The camera array includes at least two cameras and at least one pair of cameras has opposite shooting directions. The at least two cameras are fixedly connected to each other. The camera array is used to shoot the points to be measured in the tunnel test area to obtain the in-plane displacement data of the points to be measured, the position data and the posture data of the slide rail camera station to which they belong; the camera array includes a measuring camera and a monitoring camera; The in-plane displacement data of the point to be measured, the position data and attitude data of the slide rail camera station to which it belongs are used to determine the deformation of the tunnel area to be measured; the measurement method of the tunnel deformation measurement system includes periodic patrol, and the chain networking is to set a scanning trajectory in the initial state or guide the camera array to move and align with the point to be measured and construct a new transfer measurement link according to the coordinates of the measuring points extracted from the monitoring camera, and realize dynamic networking according to the common point to be measured of the front and rear slide rail camera stations and by moving the camera array on the slide rail; wherein, the point to be measured solved by the previous dynamically constructed transfer measurement link is used as a control point with known in-plane displacement in the next transfer measurement, and in the new transfer measurement link, it is necessary to measure the attitude change of the slide rail camera station relative to the initial state and the in-plane displacement of the common point to be measured between the front and rear stations.

2. The tunnel deformation measurement system of slide rail camera dynamic networking according to claim 1 is characterized in that: It also includes at least two reference points, which are located in a transfer measurement network formed by a dynamic chain network of N slide rail camera measuring stations in the tunnel, and the reference points include observation points whose positions are strictly fixed in the tunnel to be measured area, observation points whose horizontal and vertical displacements are known in the tunnel to be measured area, or points to be measured whose settlement and horizontal displacement are known in the tunnel to be measured area; The reference point is used to indicate the shaking amount of each of the slide rail camera measuring stations.

3. The tunnel deformation measurement system of slide rail camera dynamic networking according to claim 1 or 2, characterized in that: The slide rail camera measuring station also includes an IMU, an electronic level and / or a pan-tilt head, which are installed on the slide rail. The IMU and / or the electronic level are used to assist in setting the movement path and position of the camera array on the slide rail, and the pan-tilt head is used to control the rotation of the camera array to align with the point to be measured.

4. The tunnel deformation measurement system of slide rail camera dynamic networking according to claim 3 is characterized in that: It also includes a measuring point mark, which is set at the point to be measured and corresponds to the point to be measured one by one. The measuring point mark is used to mark the point to be measured to the camera array.

5. The tunnel deformation measurement system of slide rail camera dynamic networking according to claim 1 is characterized in that: The slide rails are deployed along both sides of the tunnel section and are used to guide the camera array to move up and down along the tunnel section on the slide rails.

6. The tunnel deformation measurement system of slide rail camera dynamic networking according to claim 1 is characterized in that: The slide rail is deployed in a circumferential direction along the tunnel section, and is used to guide the camera array to move in a circumferential direction along the tunnel section on the slide rail.

7. A tunnel deformation measurement method using a slide rail camera dynamic network, characterized in that: The tunnel deformation measurement system for dynamic networking of slide rail cameras according to any one of claims 1 to 6, the method comprising the steps of: Obtaining camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation posture; Using a sub-pixel positioning method, extracting the image coordinates of the point to be measured taken by the camera array on the current tunnel section measurement link; According to the image coordinates of the points to be measured and the camera parameters, a nonlinear optimization method is used to solve the pre-stored slide observation equation to obtain the position and posture change of the slide camera station and the in-plane displacement of the common points to be measured; the common points to be measured are the points to be measured in the common field of view of two adjacent slide camera stations; Solving the pre-stored measuring point displacement equation according to the position and posture change of the slide rail camera measuring station to obtain the in-plane displacement of the remaining measuring points other than the common measuring point in the field of view of the slide rail camera measuring station; The slide rail camera station is controlled to move and scan the points to be measured on the next tunnel section measurement link and return to the step of solving the pre-stored slide rail observation equation according to the image coordinates of the points to be measured and the camera parameters by a nonlinear optimization method to obtain the position and posture changes of the slide rail camera station and the in-plane displacement of the common points to be measured, until the in-plane displacements of all the points to be measured in the tunnel are measured.

8. The tunnel deformation measurement method of slide rail camera dynamic networking according to claim 7 is characterized in that: Also includes the steps: The shaking amount of each slide rail camera measuring station is obtained by solving the constraint relationship corresponding to the set reference point; The jitter amounts are used to correct the corresponding in-plane displacements of the points to be measured.

9. A tunnel deformation measurement device with dynamic network of slide rail cameras, characterized in that: A tunnel deformation measurement system for dynamic networking of slide rail cameras according to any one of claims 1 to 6, the device comprising: A camera parameter module, used to obtain the camera parameters of the camera array; the camera parameters include camera focal length, station installation position and installation posture; A measuring point extraction module, used to extract the image coordinates of the measuring point to be measured taken by the camera array on the current tunnel section measurement link by using a sub-pixel positioning method; A first displacement module is used to solve the pre-stored slide observation equation using a nonlinear optimization method according to the image coordinates of the test point and the camera parameters to obtain the position and posture change of the slide camera station and the in-plane displacement of the common test point; the common test point is a test point in the common field of view of two adjacent slide camera stations; A second displacement module is used to solve a pre-stored measurement point displacement equation according to the position and posture change of the slide rail camera station to obtain the in-plane displacement of the remaining points to be measured other than the common point to be measured in the field of view of the slide rail camera station; The scanning control module is used to control the slide rail camera measuring station to move and scan the points to be measured on the next tunnel section measurement link and return to trigger the first displacement module until the in-plane displacement of all the points to be measured in the tunnel is measured.

10. A tunnel deformation monitoring device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the tunnel deformation measurement method of dynamic networking of slide rail cameras described in claim 7 or 8 are implemented.

Images