A portable system for positioning a measuring window in a rock mass deterioration investigation work in a drawdown area

Abstract

The application provides a portable system for window positioning in rock mass deterioration investigation in a drawdown area, comprising a window positioning device and a cloud platform; the window positioning device is used for positioning four vertices of a window according to window parameters sent by the cloud platform, and transmitting a photographed image to the cloud platform; and the cloud platform is used for judging the rock mass deterioration condition in the drawdown area according to the image photographed by the window positioning device. The application only needs to set an identification point on the rock mass to be observed, and does not need to spray paint to mark a square boundary, thereby reducing the risk difficulty.

Description

Technical Field

[0001] This invention relates to the field of rock mass deterioration technology in drawdown zones, and in particular to a portable system for locating measuring windows in the investigation of rock mass deterioration in drawdown zones. Background Technology

[0002] The investigation of rock mass deterioration in the drawdown zone of the Three Gorges Reservoir area has become a major focus of geological disaster prevention and control work in recent years. Among these efforts, refined survey windows are a common method for large-scale comprehensive mapping of joints, fissures, structural characteristics, and controlling factors of the riverbank rock mass. The layout and positioning of survey windows still employ the traditional method of manual point setting and line laying. This requires establishing a square area 2-30 meters long and wide on the reservoir bank slope. Currently, drilling and expansion bolts are used to locate four points within the square, and then the square boundaries are marked with paint. The measurement windows are located on both banks of the reservoir. The rock mass is exposed and the terrain is steep in the drawdown zone. Areas that meet the conditions for measurement window deployment and observation often have more severe topographic and geological conditions. The current measurement window deployment method uses manual climbing, manual drilling, and spray painting for marking. In areas that are inaccessible to personnel, no marking work is even carried out. The existing method not only poses extremely high safety risks, but also cannot guarantee the accuracy of the measurement windows, increasing the difficulty of subsequent data processing. In addition, the measurement windows need to be observed for many years. The existing spray painting method has become increasingly unclear after erosion, further increasing the difficulty of subsequent data processing. Summary of the Invention

[0003] This invention aims to at least solve the technical problems existing in the prior art, and in particular, innovatively proposes a portable system for window positioning in the investigation of rock mass deterioration in drawdown zones.

[0004] To achieve the above-mentioned objectives of the present invention, the present invention provides a portable system for window positioning in rock mass deterioration investigation in drawdown zones, including a window positioning device and a cloud platform.

[0005] The window positioning device is used to locate the four vertices of the window according to the window parameters sent by the cloud platform, and transmit the captured image to the cloud platform.

[0006] The cloud platform is used to determine the deterioration of rock mass in the drawdown zone based on images captured by the window positioning device.

[0007] In a preferred embodiment of the present invention, the window positioning device includes a housing, and a horizontal plate fixing mounting seat for fixing the horizontal plate and a PCB circuit board fixing mounting seat for fixing the PCB circuit board are provided inside the housing. The horizontal plate is fixedly mounted on the horizontal plate fixing mounting seat, and the PCB circuit board is fixedly mounted on the PCB circuit board fixing mounting seat.

[0008] A vertical plate is set on the horizontal plate, and the horizontal plate and the vertical plate are at an angle of π / 2. A camera and a omnidirectionally rotatable laser rangefinder are set on the vertical plate. An angle measuring device for measuring the horizontal and vertical rotation angles of the laser rangefinder is set on the laser rangefinder. A laser window for emitting and receiving laser lines from the laser rangefinder and an image capturing window for the camera to capture images are set on the housing.

[0009] A controller and a wireless transceiver module are set on the PCB circuit board. The wireless data transceiver terminal of the controller is connected to the data transceiver terminal of the wireless transceiver module. The image data terminal of the camera is connected to the image data terminal of the controller. The distance data terminal of the laser rangefinder is connected to the distance data terminal of the controller. The rotation control terminal of the laser rangefinder is connected to the rotation control terminal of the controller. The angle data terminal of the angle measuring device is connected to the angle data terminal of the controller.

[0010] In a preferred embodiment of the present invention, the wireless transceiver data module includes one or any combination of a wireless 2G transceiver data module, a wireless 3G transceiver data module, a wireless 4G transceiver data module, and a wireless 5G transceiver data module.

[0011] When the wireless transceiver data module is a wireless 2G transceiver data module, the data transceiver end of the wireless 2G transceiver data module is connected to the wireless data transceiver 2G end of the controller;

[0012] When the wireless transceiver data module is a wireless 3G transceiver data module, the data transceiver end of the wireless 3G transceiver data module is connected to the wireless data transceiver 3G end of the controller.

[0013] When the wireless transceiver data module is a wireless 4G transceiver data module, the data transceiver end of the wireless 4G transceiver data module is connected to the wireless data transceiver 4G end of the controller.

[0014] When the wireless transceiver data module is a wireless 5G transceiver data module, the data transceiver end of the wireless 5G transceiver data module is connected to the wireless data transceiver 5G end of the controller.

[0015] In a preferred embodiment of the present invention, a key assembly mounting base for fixing the key assembly is provided on the housing. The key assembly is fixedly mounted on the key assembly mounting base. The key assembly includes key one, key two, key three, key four, key five and key six.

[0016] The control terminal of button one is connected to the first button terminal of the controller; the control terminal of button two is connected to the second button terminal of the controller; the control terminal of button three is connected to the third button terminal of the controller; the control terminal of button four is connected to the fourth button terminal of the controller; the control terminal of button five is connected to the fifth button terminal of the controller; and the control terminal of button six is ​​connected to the sixth button terminal of the controller.

[0017] In a preferred embodiment of the present invention, a level fixing mounting base for fixing the level is provided on the horizontal plate. The level is fixedly installed on the level fixing mounting base. The level is used to monitor whether the window positioning device is in a horizontal state. The data monitoring end of the level is connected to the horizontal data monitoring end of the controller.

[0018] Or / and also includes a laser sight mounted on the laser rangefinder for locating the initial positioning point and the four vertices of the window, the control end of the laser sight being connected to the laser control end of the controller.

[0019] This invention also discloses a method for window positioning in rock mass deterioration investigation in drawdown zones, comprising the following steps:

[0020] S1, use the window positioning device to locate the marker point;

[0021] S2, the distance between the window positioning device and the marker point is measured by a laser rangefinder; denoted as l, l represents the distance between the marker point and the laser rangefinder;

[0022] S3, automatically locates the four vertices of the positioning window from the marker point and captures the corresponding image;

[0023] S4, generates a comparison image based on the captured image;

[0024] S5. Determine the deterioration of the rock mass in the drawdown zone based on the comparison and reference images.

[0025] In a preferred embodiment of the present invention, step S1 includes the following steps:

[0026] S11, activate the window positioning device, and the controller sends a control signal to the laser aiming device to make it emit a positioning laser beam;

[0027] S12, the controller determines whether it has received trigger signals from both button six and the auxiliary button simultaneously:

[0028] If the controller does not receive the trigger signals from button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is not hitting the mark point. Then, execute one or any combination of steps S13 to S16.

[0029] If the controller receives trigger signals from both button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is hitting the marked point, and step S2 is executed.

[0030] S13, the controller determines whether it has received trigger signals from both button one and the auxiliary button simultaneously:

[0031] If the controller receives trigger signals from both button one and auxiliary button simultaneously, the laser rangefinder will tilt upwards.

[0032] If the controller does not receive trigger signals from both button one and auxiliary button simultaneously, return to step S12;

[0033] S14, the controller determines whether it has received trigger signals from both button two and the auxiliary button simultaneously:

[0034] If the controller receives trigger signals from both button two and the auxiliary button simultaneously, the laser rangefinder will tilt downwards.

[0035] If the controller does not receive trigger signals from both button two and the auxiliary button simultaneously, return to step S12;

[0036] S15, the controller determines whether it has received trigger signals from both button three and the auxiliary button simultaneously:

[0037] If the controller receives trigger signals from both button three and the auxiliary button simultaneously, the laser rangefinder will rotate to the left.

[0038] If the controller does not receive the trigger signals from button three and the auxiliary button simultaneously, return to step S12;

[0039] S16, the controller determines whether it has received trigger signals from both button four and the auxiliary button simultaneously:

[0040] If the controller receives trigger signals from both button four and the auxiliary button simultaneously, the laser rangefinder will rotate to the right.

[0041] If the controller does not receive trigger signals from both button four and the auxiliary button simultaneously, it returns to step S12.

[0042] In a preferred embodiment of the present invention, step S3 includes the following steps:

[0043] S31, get the length of the window, denoted as d, where d represents the side length of the square window;

[0044] S32, move from the marker point to the first vertex of the window, and take the first picture after moving from the marker point to the first vertex of the window, which is recorded as the first image;

[0045] S33: Move from the first vertex of the window to the second vertex of the window, and take a second picture after moving from the first vertex of the window to the second vertex of the window. This picture is called the second image.

[0046] S34, move from the second vertex of the window to the third vertex of the window, and take a third picture after moving from the second vertex of the window to the third vertex of the window, which is recorded as the third image;

[0047] S35: Move from the third vertex of the window to the fourth vertex of the window, and take the fourth image after moving from the third vertex to the fourth vertex of the window. This image is called the fourth image.

[0048] In a preferred embodiment of the present invention, step S4, the method for generating a comparison image based on the captured image includes the following steps:

[0049] S41, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the first image, with the pasting position being the same as the selected position;

[0050] S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the first image, with the pasting position being the same as the selected position;

[0051] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the first image, with the pasting position being the same as the selected position;

[0052] S44, the first image obtained at this time is the comparison image;

[0053] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the second image, with the pasting position being the same as the selected position;

[0054] S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the second image, with the pasting position being the same as the selected position;

[0055] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the second image, with the pasting position being the same as the selected position;

[0056] S44, the second image obtained at this time is the comparison image;

[0057] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the third image, with the pasting position being the same as the selected position;

[0058] S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the third image, with the pasting position being the same as the selected position;

[0059] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the third image, with the pasting position being the same as the selected position;

[0060] S44, the third image obtained at this time is the comparison image;

[0061] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the fourth image, with the pasting position being the same as the selected position;

[0062] S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the fourth image, with the pasting position being the same as the selected position;

[0063] S43, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the fourth image, with the pasting position being the same as the selected position;

[0064] S44, the fourth image obtained at this time is the comparison image.

[0065] In a preferred embodiment of the present invention, step S4, the method for determining the deterioration of the rock mass in the drawdown zone based on the comparison image and the reference image, includes the following steps:

[0066] S41, connect the first vertex, second vertex, third vertex and fourth vertex in the comparison image and the reference image respectively to form a quadrilateral, which are the comparison quadrilateral image and the reference quadrilateral image respectively;

[0067] S42, obtain the number of pixels in the comparison quadrilateral image and the reference quadrilateral image, as well as the length, width and resolution of the comparison image and the reference image;

[0068] S43, calculate the degradation based on the individual pixels in the acquired comparison quadrilateral image and reference quadrilateral image, as well as the length, width, and resolution of the comparison and reference images.

[0069] In summary, by adopting the above technical solution, this invention only requires setting a marker point on the rock mass to be observed, without the need to paint out the square boundary, thus reducing the risk and difficulty.

[0070] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0071] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0072] Figure 1 This is a schematic block diagram illustrating the connection of the present invention.

[0073] Figure 2 This is a schematic diagram of the measurement process of the present invention. Detailed Implementation

[0074] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0075] This invention discloses a portable system for window positioning used in rock mass deterioration investigation in drawdown zones, such as... Figure 1 As shown, it includes a window positioning device and a cloud platform;

[0076] The window positioning device is used to locate the four vertices of the window according to the window parameters sent by the cloud platform, and transmit the captured image to the cloud platform; the window parameters include the side length of the square window, the rotation direction of the laser rangefinder, etc.

[0077] The cloud platform is used to determine the deterioration of rock mass in the drawdown zone based on images captured by the window positioning device.

[0078] In a preferred embodiment of the present invention, the window positioning device includes a housing, and a horizontal plate fixing mounting seat for fixing the horizontal plate and a PCB circuit board fixing mounting seat for fixing the PCB circuit board are provided inside the housing. The horizontal plate is fixedly mounted on the horizontal plate fixing mounting seat, and the PCB circuit board is fixedly mounted on the PCB circuit board fixing mounting seat.

[0079] A vertical plate is set on the horizontal plate, and the horizontal plate and the vertical plate are at an angle of π / 2. A camera and a omnidirectionally rotatable laser rangefinder are set on the vertical plate. An angle measuring device for measuring the horizontal and vertical rotation angles of the laser rangefinder is set on the laser rangefinder. A laser window for emitting and receiving laser lines from the laser rangefinder and an image capturing window for the camera to capture images are set on the housing.

[0080] A controller and a wireless transceiver module are set on the PCB circuit board. The wireless data transceiver terminal of the controller is connected to the data transceiver terminal of the wireless transceiver module. The image data terminal of the camera is connected to the image data terminal of the controller. The distance data terminal of the laser rangefinder is connected to the distance data terminal of the controller. The rotation control terminal of the laser rangefinder is connected to the rotation control terminal of the controller. The angle data terminal of the angle measuring device is connected to the angle data terminal of the controller.

[0081] In a preferred embodiment of the present invention, the wireless transceiver data module includes one or any combination of a wireless 2G transceiver data module, a wireless 3G transceiver data module, a wireless 4G transceiver data module, and a wireless 5G transceiver data module.

[0082] When the wireless transceiver data module is a wireless 2G transceiver data module, the data transceiver end of the wireless 2G transceiver data module is connected to the wireless data transceiver 2G end of the controller;

[0083] When the wireless transceiver data module is a wireless 3G transceiver data module, the data transceiver end of the wireless 3G transceiver data module is connected to the wireless data transceiver 3G end of the controller.

[0084] When the wireless transceiver data module is a wireless 4G transceiver data module, the data transceiver end of the wireless 4G transceiver data module is connected to the wireless data transceiver 4G end of the controller.

[0085] When the wireless transceiver data module is a wireless 5G transceiver data module, the data transceiver end of the wireless 5G transceiver data module is connected to the wireless data transceiver 5G end of the controller.

[0086] In a preferred embodiment of the present invention, a key assembly mounting base for fixing the key assembly is provided on the housing. The key assembly is fixedly mounted on the key assembly mounting base. The key assembly includes key one, key two, key three, key four, key five and key six.

[0087] The control terminal of button one is connected to the first button terminal of the controller; the control terminal of button two is connected to the second button terminal of the controller; the control terminal of button three is connected to the third button terminal of the controller; the control terminal of button four is connected to the fourth button terminal of the controller; the control terminal of button five is connected to the fifth button terminal of the controller; and the control terminal of button six is ​​connected to the sixth button terminal of the controller.

[0088] Button 1 is used to control the upward tilt angle of the laser rangefinder, button 2 is used to control the downward tilt angle of the laser rangefinder, button 3 is used to control the leftward rotation angle of the laser rangefinder, button 4 is used to control the rightward rotation angle of the laser rangefinder, button 5 is an auxiliary button, and button 6 is a button to confirm the positioning point.

[0089] Press and hold button one and the auxiliary button simultaneously, and the laser rangefinder will tilt upwards; press and hold button two and the auxiliary button simultaneously, and the laser rangefinder will tilt downwards; press and hold button three and the auxiliary button simultaneously, and the laser rangefinder will rotate to the left; press and hold button four and the auxiliary button simultaneously, and the laser rangefinder will rotate to the right; press and hold button six and the auxiliary button simultaneously, and the initial positioning point will be determined.

[0090] In a preferred embodiment of the present invention, a level fixing mounting base for fixing the level is provided on the horizontal plate. The level is fixedly installed on the level fixing mounting base. The level is used to monitor whether the window positioning device is in a horizontal state. The data monitoring end of the level is connected to the horizontal data monitoring end of the controller.

[0091] Or / and also includes a laser sight mounted on the laser rangefinder for locating the initial positioning point and the four vertices of the window, the control end of the laser sight being connected to the laser control end of the controller.

[0092] This invention also discloses a method for window positioning in rock mass deterioration investigation in drawdown zones, comprising the following steps:

[0093] S1, use the window positioning device to locate the marker point;

[0094] S2, the distance between the window positioning device and the marker point is measured by a laser rangefinder; denoted as l, l represents the distance between the marker point and the laser rangefinder;

[0095] S3, automatically locates the four vertices of the positioning window from the marker point and captures the corresponding image;

[0096] S4, generates a comparison image based on the captured image;

[0097] S5. Determine the deterioration of the rock mass in the drawdown zone based on the comparison and reference images.

[0098] In a preferred embodiment of the present invention, step S1 includes the following steps:

[0099] S11, activate the window positioning device, and the controller sends a control signal to the laser aiming device to make it emit a positioning laser beam;

[0100] S12, the controller determines whether it has received trigger signals from both button six and the auxiliary button simultaneously:

[0101] If the controller does not receive the trigger signals from button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is not hitting the mark point. Then, execute one or any combination of steps S13 to S16.

[0102] If the controller receives trigger signals from both button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is hitting the marked point, and step S2 is executed.

[0103] S13, the controller determines whether it has received trigger signals from both button one and the auxiliary button simultaneously:

[0104] If the controller receives trigger signals from both button one and auxiliary button simultaneously, the laser rangefinder will tilt upwards.

[0105] If the controller does not receive trigger signals from both button one and auxiliary button simultaneously, return to step S12;

[0106] S14, the controller determines whether it has received trigger signals from both button two and the auxiliary button simultaneously:

[0107] If the controller receives trigger signals from both button two and the auxiliary button simultaneously, the laser rangefinder will tilt downwards.

[0108] If the controller does not receive trigger signals from both button two and the auxiliary button simultaneously, return to step S12;

[0109] S15, the controller determines whether it has received trigger signals from both button three and the auxiliary button simultaneously:

[0110] If the controller receives trigger signals from both button three and the auxiliary button simultaneously, the laser rangefinder will rotate to the left.

[0111] If the controller does not receive the trigger signals from button three and the auxiliary button simultaneously, return to step S12;

[0112] S16, the controller determines whether it has received trigger signals from both button four and the auxiliary button simultaneously:

[0113] If the controller receives trigger signals from both button four and the auxiliary button simultaneously, the laser rangefinder will rotate to the right.

[0114] If the controller does not receive trigger signals from both button four and the auxiliary button simultaneously, it returns to step S12.

[0115] In a preferred embodiment of the present invention, step S3 includes the following steps:

[0116] S31, get the length of the window, denoted as d, where d represents the side length of the square window;

[0117] S32, move from the marker point to the first vertex of the window, and take the first picture after moving from the marker point to the first vertex of the window, which is recorded as the first image;

[0118] S33: Move from the first vertex of the window to the second vertex of the window, and take a second picture after moving from the first vertex of the window to the second vertex of the window. This picture is called the second image.

[0119] S34, move from the second vertex of the window to the third vertex of the window, and take a third picture after moving from the second vertex of the window to the third vertex of the window, which is recorded as the third image;

[0120] S35: Move from the third vertex of the window to the fourth vertex of the window, and take the fourth image after moving from the third vertex to the fourth vertex of the window. This image is called the fourth image.

[0121] In a preferred embodiment of the present invention, such as Figure 2 As shown, the calculation method for moving from the marker point to the first vertex of the window in step S32 is as follows:

[0122] AA1 2 =A1O1 2 +AO1 2 (1)

[0123] Where AA1 represents the distance between the marker point and the first vertex;

[0124] A1O1 represents the distance between the first vertex and the first auxiliary point;

[0125] AO1 represents the distance between the marker point and the first auxiliary point;

[0126] A1O1=oA1×sinα1 (2)

[0127] Where A1O1 represents the distance between the first vertex and the first auxiliary point;

[0128] oA1 represents the distance between the first vertex and the laser rangefinder;

[0129] α1 represents the change in the vertical angle from the marker point to the first vertex; α1 = |α1′ - α0|;

[0130] α1′ represents the degree measure of the vertical angle at the first vertex;

[0131] α0 represents the degree measure of the vertical angle at the marked point;

[0132] || indicates taking the absolute value;

[0133] AO1 2 =oO1 2 +oA 2 -2×oO1×oA×cosβ1 (3)

[0134] Wherein, AO1 represents the distance between the marker point and the first auxiliary point;

[0135] oO1 represents the distance between the laser rangefinder and the first auxiliary point;

[0136] oA represents the distance between the marker point and the laser rangefinder;

[0137] β1 represents the change in the horizontal angle from the marker point to the first vertex; β1 = |β1′ - β0|;

[0138] β1′ represents the degree measure of the horizontal angle at the first vertex;

[0139] β0 represents the horizontal angle in degrees at the marked point;

[0140] || indicates taking the absolute value;

[0141] oO1=oA1×cosα1 (4)

[0142] Where oO1 represents the distance between the laser rangefinder and the first auxiliary point;

[0143] oA1 represents the distance between the first vertex and the laser rangefinder;

[0144] α1 represents the change in the vertical angle from the marker point to the first vertex;

[0145] From (1) to (4), we get:

[0146]

[0147] Where AA1=d / 2, oA=l, α1′=α0 indicates no rotation in the vertical direction, and β1′>β0 indicates rotation to the left (clockwise rotation in the horizontal direction).

[0148] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the second vertex of the window in step S33 is as follows:

[0149] AA2 2 =A2O2 2 +AO2 2 (5)

[0150] Where AA2 represents the distance between the marker point and the second vertex;

[0151] A2O2 represents the distance between the second vertex and the second auxiliary point;

[0152] AO2 represents the distance between the marker point and the second auxiliary point;

[0153] A₂O₂=oA₂×sinα₂ (6)

[0154] Where A2O2 represents the distance between the second vertex and the second auxiliary point;

[0155] oA2 represents the distance between the second vertex and the laser rangefinder;

[0156] α2 represents the change in the vertical angle from the marker point to the second vertex; α2 = |α2′ - α0|;

[0157] α2′ represents the degree measure of the vertical angle at the second vertex;

[0158] α0 represents the degree measure of the vertical angle at the marked point;

[0159] || indicates taking the absolute value;

[0160] AO2 2 =oO2 2 +oA 2 -2×oO2×oA×cosβ2 (7)

[0161] Wherein, AO2 represents the distance between the marker point and the second auxiliary point;

[0162] oO2 represents the distance between the laser rangefinder and the second auxiliary point;

[0163] oA represents the distance between the marker point and the laser rangefinder;

[0164] β2 represents the change in the horizontal angle from the marker point to the second vertex; β2 = |β2′ - β0|;

[0165] β2′ represents the degree measure of the horizontal angle at the second vertex;

[0166] β0 represents the horizontal angle in degrees at the marked point;

[0167] || indicates taking the absolute value;

[0168] oO2=oA2×cosα2 (8)

[0169] Where oO2 represents the distance between the laser rangefinder and the second auxiliary point;

[0170] oA2 represents the distance between the second vertex and the laser rangefinder;

[0171] α2 represents the change in the vertical angle from the marked point to the second vertex;

[0172] From (5) to (8), we get:

[0173]

[0174] Where AA2=d / 2, oA=l, α2′=α0 indicates no rotation in the vertical direction, and β2′<β0 indicates rotation to the right (counterclockwise rotation in the horizontal direction).

[0175] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the third vertex of the window in step S34 is as follows:

[0176] AA3 2 =A3O3 2 +AO3 2 (9)

[0177] Where AA3 represents the distance between the marker point and the third vertex;

[0178] A3O3 represents the distance between the third vertex and the third auxiliary point;

[0179] AO3 represents the distance between the marker point and the third auxiliary point;

[0180] A3O3=oA3×sinα3 (10)

[0181] Where A3O3 represents the distance between the third vertex and the third auxiliary point;

[0182] oA3 represents the distance between the third vertex and the laser rangefinder;

[0183] α3 represents the change in the vertical angle from the marker point to the third vertex; α3 = |α3′ - α0|;

[0184] α3′ represents the degree measure of the vertical angle at the third vertex;

[0185] α0 represents the degree measure of the vertical angle at the marked point;

[0186] || indicates taking the absolute value;

[0187] AO3 2 =oO3 2 +oA 2 -2×oO3×oA×cosβ3 (11)

[0188] Wherein, AO3 represents the distance between the marker point and the third auxiliary point;

[0189] oO3 represents the distance between the laser rangefinder and the third auxiliary point;

[0190] oA represents the distance between the marker point and the laser rangefinder;

[0191] β3 represents the change in the horizontal angle from the marker point to the third vertex; β3 = |β3′ - β0|;

[0192] β3′ represents the degree measure of the horizontal angle at the third vertex;

[0193] β0 represents the horizontal angle in degrees at the marked point;

[0194] || indicates taking the absolute value;

[0195] oO3=oA3×cosα3 (12)

[0196] Where oO3 represents the distance between the laser rangefinder and the third auxiliary point;

[0197] oA3 represents the distance between the third vertex and the laser rangefinder;

[0198] α3 represents the change in the vertical angle from the marker point to the third vertex;

[0199] From (9) to (12):

[0200]

[0201] in, oA=l,α3′>α0, indicates upward tilting (clockwise rotation in the vertical direction), β3′>β0, indicates leftward rotation (clockwise rotation in the horizontal direction).

[0202] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the fourth vertex of the window in step S35 is as follows:

[0203] AA4 2 =A4O4 2 +AO4 2 (13)

[0204] Where AA4 represents the distance between the marker point and the fourth vertex;

[0205] A4O4 represents the distance between the fourth vertex and the fourth auxiliary point;

[0206] AO4 represents the distance between the marker point and the fourth auxiliary point;

[0207] A4O4=oA4×sinα4 (14)

[0208] Where A4O4 represents the distance between the fourth vertex and the fourth auxiliary point;

[0209] oA4 represents the distance between the fourth vertex and the laser rangefinder;

[0210] α4 represents the change in the vertical angle from the marker point to the fourth vertex; α4 = |α4′ - α0|;

[0211] α4′ represents the degree measure of the vertical angle at the fourth vertex;

[0212] α0 represents the degree measure of the vertical angle at the marked point;

[0213] || indicates taking the absolute value;

[0214] AO4 2 =oO4 2 +oA 2 -2×oO4×oA×cosβ4 (15)

[0215] Wherein, AO4 represents the distance between the marker point and the fourth auxiliary point;

[0216] oO4 represents the distance between the laser rangefinder and the fourth auxiliary point;

[0217] oA represents the distance between the marker point and the laser rangefinder;

[0218] β4 represents the change in the horizontal angle from the marker point to the fourth vertex; β4 = |β4′ - β0|;

[0219] β4′ represents the degree measure of the horizontal angle at the fourth vertex;

[0220] β0 represents the horizontal angle in degrees at the marked point;

[0221] || indicates taking the absolute value;

[0222] oO4=oA4×cosα4 (16)

[0223] Where oO4 represents the distance between the laser rangefinder and the fourth auxiliary point;

[0224] oA4 represents the distance between the fourth vertex and the laser rangefinder;

[0225] α4 represents the change in the vertical angle from the marker point to the fourth vertex;

[0226] From (13) to (16), we get:

[0227]

[0228] in, oA=l,α4′>α0, indicates upward tilting (clockwise rotation in the vertical direction), β4′<β0, indicates leftward rotation (counterclockwise rotation in the horizontal direction).

[0229] In a preferred embodiment of the present invention, step S4, the method for generating a comparison image based on the captured image includes the following steps:

[0230] S41, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the first image, with the pasting position being the same as the selected position;

[0231] S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the first image, with the pasting position being the same as the selected position;

[0232] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the first image, with the pasting position being the same as the selected position;

[0233] S44, the first image obtained at this time is the comparison image;

[0234] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the second image, with the pasting position being the same as the selected position;

[0235] S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the second image, with the pasting position being the same as the selected position;

[0236] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the second image, with the pasting position being the same as the selected position;

[0237] S44, the second image obtained at this time is the comparison image;

[0238] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the third image, with the pasting position being the same as the selected position;

[0239] S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the third image, with the pasting position being the same as the selected position;

[0240] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the third image, with the pasting position being the same as the selected position;

[0241] S44, the third image obtained at this time is the comparison image;

[0242] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the fourth image, with the pasting position being the same as the selected position;

[0243] S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the fourth image, with the pasting position being the same as the selected position;

[0244] S43, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the fourth image, with the pasting position being the same as the selected position;

[0245] S44, the fourth image obtained at this time is the comparison image.

[0246] In a preferred embodiment of the present invention, step S4, the method for determining the deterioration of the rock mass in the drawdown zone based on the comparison image and the reference image, includes the following steps:

[0247] S41, connect the first vertex, second vertex, third vertex and fourth vertex in the comparison image and the reference image respectively to form a quadrilateral, which are the comparison quadrilateral image and the reference quadrilateral image respectively;

[0248] S42, obtain the number of pixels in the comparison quadrilateral image and the reference quadrilateral image, as well as the length, width and resolution of the comparison image and the reference image;

[0249] S43, calculate the degradation based on the individual pixels in the acquired comparison quadrilateral image and reference quadrilateral image, as well as the length, width, and resolution of the comparison and reference images.

[0250] In a preferred embodiment of the present invention, step S43 includes:

[0251] If η≤η1, where η represents the window area change rate and η1 represents the preset first threshold for the window area change rate, then it is a first-level degradation.

[0252] If η1<η≤η2, where η represents the window area change rate, η1 represents the first threshold of the preset window area change rate, and η2 represents the second threshold of the preset window area change rate, and the second threshold of the preset window area change rate is greater than the first threshold of the preset window area change rate, then it is a level two degradation.

[0253] If η2<η≤η3, where η represents the window area change rate, η2 represents the second threshold of the preset window area change rate, and η3 represents the third threshold of the preset window area change rate, and the third threshold of the preset window area change rate is greater than the second threshold of the preset window area change rate, then it is a level three degradation.

[0254] If η > η3, where η represents the window area change rate and η3 represents the third threshold of the preset window area change rate, then it is a level four degradation.

[0255]

[0256] Where N2 represents the total number of pixels in the contrast quadrilateral image;

[0257] S2 represents the area of ​​each pixel in the contrast quadrilateral image;

[0258] N1 represents the total number of pixels in the reference quadrilateral image;

[0259] S1 represents the area of ​​each pixel in the reference quadrilateral image;

[0260]

[0261] Where S1 represents the area of ​​each pixel in the reference quadrilateral image;

[0262] H1 represents the height value of the reference image, in cm;

[0263] W1 represents the width of the reference image, in cm;

[0264] R1 represents the resolution of the reference image, in pixels per centimeter.

[0265] f2 represents the focal length of the comparison images, in mm;

[0266] S2 represents the area of ​​each pixel in the contrast quadrilateral image;

[0267] H2 represents the height value of the comparison image, in cm;

[0268] W2 represents the width of the comparison image, in cm;

[0269] R2 represents the resolution of the comparison images, measured in pixels per centimeter.

[0270] f1 represents the focal length of the reference image, in mm;

[0271] In a preferred embodiment of the present invention, step S0 is further included, wherein the method for generating the reference image includes the following steps:

[0272] S01, a marker point is set on the rock mass in the drawdown zone as the initial positioning point;

[0273] S02, use the window positioning device to locate the marker point;

[0274] S03, the distance between the window positioning device and the marker point is measured using a laser rangefinder;

[0275] S04: The markers are automatically positioned at the four vertices of the positioning window, and corresponding images are captured.

[0276] S05, Generate a reference image based on the captured image.

[0277] In a preferred embodiment of the present invention, step S02 includes the following steps:

[0278] S021, Start the window positioning device. The controller sends a control signal to the laser aiming device, causing the laser aiming device to emit a positioning laser beam.

[0279] S022, the controller determines whether it has received trigger signals from both button six and the auxiliary button simultaneously:

[0280] If the controller does not receive the trigger signals from button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is not hitting the marked point. Then, execute one or any combination of steps S023 to S026.

[0281] If the controller receives trigger signals from both button six and auxiliary button simultaneously, it indicates that the positioning laser beam emitted by the laser sight is hitting the marked point, and then step S1 is executed.

[0282] S023, the controller determines whether it has received trigger signals from both button one and the auxiliary button simultaneously:

[0283] If the controller receives trigger signals from both button one and auxiliary button simultaneously, the laser rangefinder will tilt upwards.

[0284] If the controller does not receive trigger signals from both button 1 and auxiliary button simultaneously, return to step S022;

[0285] S024, the controller determines whether it has received trigger signals from both button two and the auxiliary button simultaneously:

[0286] If the controller receives trigger signals from both button two and the auxiliary button simultaneously, the laser rangefinder will tilt downwards.

[0287] If the controller does not receive trigger signals from both button two and the auxiliary button simultaneously, return to step S022;

[0288] S025, the controller determines whether it has received trigger signals from both button three and the auxiliary button simultaneously:

[0289] If the controller receives trigger signals from both button three and the auxiliary button simultaneously, the laser rangefinder will rotate to the left.

[0290] If the controller does not receive the trigger signals from button three and the auxiliary button simultaneously, return to step S022;

[0291] S026, the controller determines whether it has received trigger signals from both button four and the auxiliary button simultaneously:

[0292] If the controller receives trigger signals from both button four and the auxiliary button simultaneously, the laser rangefinder will rotate to the right.

[0293] If the controller does not receive trigger signals from both button four and the auxiliary button simultaneously, it returns to step S022.

[0294] In a preferred embodiment of the present invention, step S04 includes the following steps:

[0295] S041, Get the length of the window, denoted as d, where d represents the side length of the square window;

[0296] S042, Move from the marker point to the first vertex of the window, and take the first picture after moving from the marker point to the first vertex of the window, which is recorded as the first image;

[0297] S043, move from the first vertex of the window to the second vertex of the window, and take a second picture after moving from the first vertex of the window to the second vertex of the window, which is recorded as the second image;

[0298] S044, Move from the second vertex of the window to the third vertex of the window, and take a third picture after moving from the second vertex of the window to the third vertex of the window, which is recorded as the third image;

[0299] S045, move from the third vertex of the window to the fourth vertex of the window, and take the fourth picture after moving from the third vertex of the window to the fourth vertex of the window, which is recorded as the fourth image.

[0300] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the first vertex of the window in step S042 is as follows:

[0301] AA1 2 =A1O1 2 +AO1 2 (17)

[0302] Where AA1 represents the distance between the marker point and the first vertex;

[0303] A1O1 represents the distance between the first vertex and the first auxiliary point;

[0304] AO1 represents the distance between the marker point and the first auxiliary point;

[0305] A1O1=oA1×sinα1 (18)

[0306] Where A1O1 represents the distance between the first vertex and the first auxiliary point;

[0307] oA1 represents the distance between the first vertex and the laser rangefinder;

[0308] α1 represents the change in the vertical angle from the marker point to the first vertex; α1 = |α1′ - α0|;

[0309] α1′ represents the degree measure of the vertical angle at the first vertex;

[0310] α0 represents the degree measure of the vertical angle at the marked point;

[0311] || indicates taking the absolute value;

[0312] AO1 2 =oO1 2 +oA2 -2×oO1×oA×cosβ1 (19)

[0313] Wherein, AO1 represents the distance between the marker point and the first auxiliary point;

[0314] oO1 represents the distance between the laser rangefinder and the first auxiliary point;

[0315] oA represents the distance between the marker point and the laser rangefinder;

[0316] β1 represents the change in the horizontal angle from the marker point to the first vertex; β1 = |β1′ - β0|;

[0317] β1′ represents the degree measure of the horizontal angle at the first vertex;

[0318] β0 represents the horizontal angle in degrees at the marked point;

[0319] || indicates taking the absolute value;

[0320] oO1=oA1×cosα1 (20)

[0321] Where oO1 represents the distance between the laser rangefinder and the first auxiliary point;

[0322] oA1 represents the distance between the first vertex and the laser rangefinder;

[0323] α1 represents the change in the vertical angle from the marker point to the first vertex;

[0324] From (17) to (20):

[0325]

[0326] Where AA1=d / 2, oA=l, α1′=α0 indicates no rotation in the vertical direction, and β1′>β0 indicates rotation to the left (clockwise rotation in the horizontal direction).

[0327] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the second vertex of the window in step S043 is as follows:

[0328] AA2 2 =A2O2 2 +AO2 2 (twenty one)

[0329] Where AA2 represents the distance between the marker point and the second vertex;

[0330] A2O2 represents the distance between the second vertex and the second auxiliary point;

[0331] AO2 represents the distance between the marker point and the second auxiliary point;

[0332] A₂O₂=oA₂×sinα₂ (22)

[0333] Where A2O2 represents the distance between the second vertex and the second auxiliary point;

[0334] oA2 represents the distance between the second vertex and the laser rangefinder;

[0335] α2 represents the change in the vertical angle from the marker point to the second vertex; α2 = |α2′ - α0|;

[0336] α2′ represents the degree measure of the vertical angle at the second vertex;

[0337] α0 represents the degree measure of the vertical angle at the marked point;

[0338] || indicates taking the absolute value;

[0339] AO2 2 =oO2 2 +oA 2 -2×oO2×oA×cosβ2 (23)

[0340] Wherein, AO2 represents the distance between the marker point and the second auxiliary point;

[0341] oO2 represents the distance between the laser rangefinder and the second auxiliary point;

[0342] oA represents the distance between the marker point and the laser rangefinder;

[0343] β2 represents the change in the horizontal angle from the marker point to the second vertex; β2 = |β2′ - β0|;

[0344] β2′ represents the degree measure of the horizontal angle at the second vertex;

[0345] β0 represents the horizontal angle in degrees at the marked point;

[0346] || indicates taking the absolute value;

[0347] oO2=oA2×cosα2 (24)

[0348] Where oO2 represents the distance between the laser rangefinder and the second auxiliary point;

[0349] oA2 represents the distance between the second vertex and the laser rangefinder;

[0350] α2 represents the change in the vertical angle from the marked point to the second vertex;

[0351] From (21) to (24), we get:

[0352]

[0353] Where AA2=d / 2, oA=l, α2′=α0 indicates no rotation in the vertical direction, and β2′<β0 indicates rotation to the right (counterclockwise rotation in the horizontal direction).

[0354] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the third vertex of the window in step S044 is as follows:

[0355] AA3 2 =A3O3 2 +AO3 2 (25)

[0356] Where AA3 represents the distance between the marker point and the third vertex;

[0357] A3O3 represents the distance between the third vertex and the third auxiliary point;

[0358] AO3 represents the distance between the marker point and the third auxiliary point;

[0359] A3O3=oA3×sinα3 (26)

[0360] Where A3O3 represents the distance between the third vertex and the third auxiliary point;

[0361] oA3 represents the distance between the third vertex and the laser rangefinder;

[0362] α3 represents the change in the vertical angle from the marker point to the third vertex; α3 = |α3′ - α0|;

[0363] α3′ represents the degree measure of the vertical angle at the third vertex;

[0364] α0 represents the degree measure of the vertical angle at the marked point;

[0365] || indicates taking the absolute value;

[0366] AO3 2 =oO3 2 +oA 2 -2×oO3×oA×cosβ3 (27)

[0367] Wherein, AO3 represents the distance between the marker point and the third auxiliary point;

[0368] oO3 represents the distance between the laser rangefinder and the third auxiliary point;

[0369] oA represents the distance between the marker point and the laser rangefinder;

[0370] β3 represents the change in the horizontal angle from the marker point to the third vertex; β3 = |β3′ - β0|;

[0371] β3′ represents the degree measure of the horizontal angle at the third vertex;

[0372] β0 represents the horizontal angle in degrees at the marked point;

[0373] || indicates taking the absolute value;

[0374] oO3=oA3×cosα3 (28)

[0375] Where oO3 represents the distance between the laser rangefinder and the third auxiliary point;

[0376] oA3 represents the distance between the third vertex and the laser rangefinder;

[0377] α3 represents the change in the vertical angle from the marker point to the third vertex;

[0378] From (25) to (28), we get:

[0379]

[0380] in, oA=l,α3′>α0, indicates upward tilting (clockwise rotation in the vertical direction), β3′>β0, indicates leftward rotation (clockwise rotation in the horizontal direction).

[0381] In a preferred embodiment of the present invention, the calculation method for moving from the marker point to the fourth vertex of the window in step S045 is as follows:

[0382] AA4 2 =A4O4 2 +AO4 2 (29)

[0383] Where AA4 represents the distance between the marker point and the fourth vertex;

[0384] A4O4 represents the distance between the fourth vertex and the fourth auxiliary point;

[0385] AO4 represents the distance between the marker point and the fourth auxiliary point;

[0386] A4O4=oA4×sinα4 (30)

[0387] Where A4O4 represents the distance between the fourth vertex and the fourth auxiliary point;

[0388] oA4 represents the distance between the fourth vertex and the laser rangefinder;

[0389] α4 represents the change in the vertical angle from the marker point to the fourth vertex; α4 = |α4′ - α0|;

[0390] α4′ represents the degree measure of the vertical angle at the fourth vertex;

[0391] α0 represents the degree measure of the vertical angle at the marked point;

[0392] || indicates taking the absolute value;

[0393] AO4 2 =oO4 2 +oA 2 -2×oO4×oA×cosβ4 (31)

[0394] Wherein, AO4 represents the distance between the marker point and the fourth auxiliary point;

[0395] oO4 represents the distance between the laser rangefinder and the fourth auxiliary point;

[0396] oA represents the distance between the marker point and the laser rangefinder;

[0397] β4 represents the change in the horizontal angle from the marker point to the fourth vertex; β4 = |β4′ - β0|;

[0398] β4′ represents the degree measure of the horizontal angle at the fourth vertex;

[0399] β0 represents the horizontal angle in degrees at the marked point;

[0400] || indicates taking the absolute value;

[0401] oO4=oA4×cosα4 (32)

[0402] Where oO4 represents the distance between the laser rangefinder and the fourth auxiliary point;

[0403] oA4 represents the distance between the fourth vertex and the laser rangefinder;

[0404] α4 represents the change in the vertical angle from the marker point to the fourth vertex;

[0405] From (29) to (32), we get:

[0406]

[0407] in, oA=l,α4′>α0, indicates upward tilting (clockwise rotation in the vertical direction), β4′<β0, indicates leftward rotation (counterclockwise rotation in the horizontal direction).

[0408] In a preferred embodiment of the present invention, step S5, the method for generating a reference image based on the captured image includes the following steps:

[0409] S41, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the first image, with the pasting position being the same as the selected position;

[0410] S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the first image, with the pasting position being the same as the selected position;

[0411] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the first image, with the pasting position being the same as the selected position;

[0412] S44, at this point the first image obtained is the reference image;

[0413] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the second image, with the pasting position being the same as the selected position;

[0414] S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the second image, with the pasting position being the same as the selected position;

[0415] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the second image, with the pasting position being the same as the selected position;

[0416] S44, the second image obtained at this time is the reference image;

[0417] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the third image, with the pasting position being the same as the selected position;

[0418] S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the third image, with the pasting position being the same as the selected position;

[0419] S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the third image, with the pasting position being the same as the selected position;

[0420] S44, the third image obtained at this time is the reference image;

[0421] Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the fourth image, with the pasting position being the same as the selected position;

[0422] S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the fourth image, with the pasting position being the same as the selected position;

[0423] S43, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the fourth image, with the pasting position being the same as the selected position;

[0424] S44, the fourth image obtained at this time is the reference image.

[0425] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A portable system for window positioning used in rock mass deterioration investigation in drawdown zones, characterized in that, Includes window positioning devices and cloud platforms; The window positioning device is used to locate the four vertices of the window according to the window parameters sent by the cloud platform, and transmit the captured image to the cloud platform. The cloud platform is used to determine the deterioration of rock mass in the drawdown zone based on images captured by the window positioning device. The method for determining the deterioration of rock mass in the drawdown zone based on images captured by the window positioning device includes the following steps: S1, use the window positioning device to locate the marker point; S2, the distance between the window positioning device and the marker point is measured using a laser rangefinder; denoted as... , Indicates the distance between the marker point and the laser rangefinder; S3, the markers are automatically positioned at the four vertices of the positioning window, and corresponding images are captured; step S3 includes the following steps: S31, Get the length of the window, denoted as... , Indicates the side length of a square window; S32, move from the marker point to the first vertex of the window, and take the first image after moving from the marker point to the first vertex of the window; this image is recorded as the first image. The calculation method for moving from the marker point to the first vertex of the window in step S32 is as follows: （1） in, This indicates the distance between the marker point and the first vertex; This represents the distance between the first vertex and the first auxiliary point; Indicates the distance between the marker point and the first auxiliary point; （2） in, This represents the distance between the first vertex and the first auxiliary point; This represents the distance between the first vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the first vertex; ; This represents the degree measure of the vertical angle at the first vertex; The degree measure of the vertical angle at the marked point; Indicates taking the absolute value; （3） in, Indicates the distance between the marker point and the first auxiliary point; This indicates the distance between the laser rangefinder and the first auxiliary point; Indicates the distance between the marker point and the laser rangefinder; This represents the change in the horizontal angle from the marker point to the first vertex; ; This indicates the degree measure of the horizontal angle at the first vertex; Indicates the horizontal angle in degrees at the marked point; Indicates taking the absolute value; （4） in, This indicates the distance between the laser rangefinder and the first auxiliary point; This represents the distance between the first vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the first vertex; From (1) to (4), we get: ， in, , , Indicates no rotation in the vertical direction. Indicates a leftward rotation; S33: Move from the first vertex of the window to the second vertex of the window, and take a second image after moving from the first vertex to the second vertex of the window; this image is recorded as the second image. The calculation method for moving from the marker point to the second vertex of the window in step S33 is as follows: （5） in, This indicates the distance between the marker point and the second vertex; This represents the distance between the second vertex and the second auxiliary point; Indicates the distance between the marker point and the second auxiliary point; （6） in, This represents the distance between the second vertex and the second auxiliary point; This indicates the distance between the second vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the second vertex; ; This represents the degree measure of the vertical angle at the second vertex; The degree measure of the vertical angle at the marked point; Indicates taking the absolute value; （7） in, Indicates the distance between the marker point and the second auxiliary point; This indicates the distance between the laser rangefinder and the second auxiliary point; Indicates the distance between the marker point and the laser rangefinder; This represents the change in the horizontal angle from the marker point to the second vertex; ; This indicates the degree measure of the horizontal angle at the second vertex; Indicates the horizontal angle in degrees at the marked point; Indicates taking the absolute value; （8） in, This indicates the distance between the laser rangefinder and the second auxiliary point; This indicates the distance between the second vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the second vertex; From (5) to (8), we get: ， in, , , Indicates no rotation in the vertical direction. Indicates a rightward rotation; S34: Move from the second vertex of the window to the third vertex of the window. After moving from the second vertex to the third vertex of the window, take a third image, which is recorded as the third image. The calculation method for moving from the marker point to the third vertex of the window in step S34 is as follows: （9） in, This indicates the distance between the marker point and the third vertex; This represents the distance between the third vertex and the third auxiliary point; Indicates the distance between the marker point and the third auxiliary point; （10） in, This represents the distance between the third vertex and the third auxiliary point; This indicates the distance between the third vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the third vertex; ; This represents the degree measure of the vertical angle at the third vertex; The degree measure of the vertical angle at the marked point; Indicates taking the absolute value; （11） in, Indicates the distance between the marker point and the third auxiliary point; This indicates the distance between the laser rangefinder and the third auxiliary point; Indicates the distance between the marker point and the laser rangefinder; This represents the change in the horizontal angle from the marker point to the third vertex; ; This represents the horizontal angle in degrees at the third vertex; Indicates the horizontal angle in degrees at the marked point; Indicates taking the absolute value; （12） in, This indicates the distance between the laser rangefinder and the third auxiliary point; This indicates the distance between the third vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the third vertex; From (9) to (12), we get: ， in, , , , indicating looking upwards. Indicates a leftward rotation; S35: Move from the third vertex of the window to the fourth vertex of the window. After moving from the third vertex to the fourth vertex of the window, take the fourth image, which is recorded as the fourth image. The calculation method for moving from the marker point to the fourth vertex of the window in step S35 is as follows: （13） in, This indicates the distance between the marker point and the fourth vertex; This represents the distance between the fourth vertex and the fourth auxiliary point; Indicates the distance between the marker point and the fourth auxiliary point; （14） in, This represents the distance between the fourth vertex and the fourth auxiliary point; This indicates the distance between the fourth vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the fourth vertex; ; This represents the degree measure of the vertical angle at the fourth vertex; The degree measure of the vertical angle at the marked point; Indicates taking the absolute value; （15） in, Indicates the distance between the marker point and the fourth auxiliary point; This indicates the distance between the laser rangefinder and the fourth auxiliary point; Indicates the distance between the marker point and the laser rangefinder; This represents the change in the horizontal angle from the marker point to the fourth vertex; ; This represents the horizontal angle in degrees at the fourth vertex; Indicates the horizontal angle in degrees at the marked point; Indicates taking the absolute value; （16） in, This indicates the distance between the laser rangefinder and the fourth auxiliary point; This indicates the distance between the fourth vertex and the laser rangefinder; This represents the change in the vertical angle from the marker point to the fourth vertex; From (13) to (16): ， in, , , , indicating looking upwards. Indicates a leftward rotation; S4, generates a comparison image based on the captured image; S5. Determine the deterioration of the rock mass in the drawdown zone based on the comparison and reference images.

2. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 1, characterized in that, The window positioning device includes a housing, within which are provided a horizontal plate fixing mounting base for fixing the horizontal plate and a PCB circuit board fixing mounting base for fixing the PCB circuit board. The horizontal plate is fixedly mounted on the horizontal plate fixing mounting base, and the PCB circuit board is fixedly mounted on the PCB circuit board fixing mounting base. A vertical plate is set on the horizontal plate, and the horizontal plate and the vertical plate are at an angle of π / 2. A camera and a omnidirectionally rotatable laser rangefinder are set on the vertical plate. An angle measuring device for measuring the horizontal and vertical rotation angles of the laser rangefinder is set on the laser rangefinder. A laser window for emitting and receiving laser lines from the laser rangefinder and an image capturing window for the camera to capture images are set on the housing. A controller and a wireless transceiver module are set on the PCB circuit board. The wireless data transceiver terminal of the controller is connected to the data transceiver terminal of the wireless transceiver module. The image data terminal of the camera is connected to the image data terminal of the controller. The distance data terminal of the laser rangefinder is connected to the distance data terminal of the controller. The rotation control terminal of the laser rangefinder is connected to the rotation control terminal of the controller. The angle data terminal of the angle measuring device is connected to the angle data terminal of the controller.

3. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 2, characterized in that, The wireless transceiver data module includes one or any combination of a wireless 2G transceiver data module, a wireless 3G transceiver data module, a wireless 4G transceiver data module, and a wireless 5G transceiver data module. When the wireless transceiver data module is a wireless 2G transceiver data module, the data transceiver end of the wireless 2G transceiver data module is connected to the wireless data transceiver 2G end of the controller; When the wireless transceiver data module is a wireless 3G transceiver data module, the data transceiver end of the wireless 3G transceiver data module is connected to the wireless data transceiver 3G end of the controller. When the wireless transceiver data module is a wireless 4G transceiver data module, the data transceiver end of the wireless 4G transceiver data module is connected to the wireless data transceiver 4G end of the controller. When the wireless transceiver data module is a wireless 5G transceiver data module, the data transceiver end of the wireless 5G transceiver data module is connected to the wireless data transceiver 5G end of the controller.

4. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 2, characterized in that, A button assembly mounting base is provided on the housing for fixing the button assembly. The button assembly is fixedly mounted on the button assembly mounting base. The button assembly includes button one, button two, button three, button four, button five and button six. The control terminal of button one is connected to the first button terminal of the controller; the control terminal of button two is connected to the second button terminal of the controller; the control terminal of button three is connected to the third button terminal of the controller; the control terminal of button four is connected to the fourth button terminal of the controller; the control terminal of button five is connected to the fifth button terminal of the controller; and the control terminal of button six is ​​connected to the sixth button terminal of the controller.

5. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 2, characterized in that, It also includes a horizontal plate with a level fixing mounting base for fixing the level. The level is fixedly installed on the level fixing mounting base. The level is used to monitor whether the window positioning device is in a horizontal state. The data monitoring end of the level is connected to the horizontal data monitoring end of the controller. Or / and also includes a laser sight mounted on the laser rangefinder for locating the initial positioning point and the four vertices of the window, the control end of the laser sight being connected to the laser control end of the controller.

6. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 1, characterized in that, Step S1 includes the following steps: S11, activate the window positioning device, and the controller sends a control signal to the laser aiming device to make it emit a positioning laser beam; S12, the controller determines whether it has received trigger signals from both button six and the auxiliary button simultaneously: If the controller does not receive the trigger signals from button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is not hitting the mark point. Then, execute one or any combination of steps S13 to S16. If the controller receives trigger signals from both button six and the auxiliary button at the same time, it means that the positioning laser beam emitted by the laser sight is hitting the marked point, and step S2 is executed. S13, the controller determines whether it has received trigger signals from both button one and the auxiliary button simultaneously: If the controller receives trigger signals from both button one and auxiliary button simultaneously, the laser rangefinder will tilt upwards. If the controller does not receive trigger signals from both button one and auxiliary button simultaneously, return to step S12; S14, the controller determines whether it has received trigger signals from both button two and the auxiliary button simultaneously: If the controller receives trigger signals from both button two and the auxiliary button simultaneously, the laser rangefinder will tilt downwards. If the controller does not receive trigger signals from both button two and the auxiliary button simultaneously, return to step S12; S15, the controller determines whether it has received trigger signals from both button three and the auxiliary button simultaneously: If the controller receives trigger signals from both button three and the auxiliary button simultaneously, the laser rangefinder will rotate to the left. If the controller does not receive the trigger signals from button three and the auxiliary button simultaneously, return to step S12; S16, the controller determines whether it has received trigger signals from both button four and the auxiliary button simultaneously: If the controller receives trigger signals from both button four and the auxiliary button simultaneously, the laser rangefinder will rotate to the right. If the controller does not receive trigger signals from both button four and the auxiliary button simultaneously, it returns to step S12.

7. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 1, characterized in that, In step S4, the method for generating a comparison image based on the captured image includes the following steps: S41, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the first image, with the pasting position being the same as the selected position; S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the first image, with the pasting position being the same as the selected position; S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the first image, with the pasting position being the same as the selected position; S44, the first image obtained at this time is the comparison image; Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the second image, with the pasting position being the same as the selected position; S42, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the second image, with the pasting position being the same as the selected position; S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the second image, with the pasting position being the same as the selected position; S44, the second image obtained at this time is the comparison image; Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the third image, with the pasting position being the same as the selected position; S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the third image, with the pasting position being the same as the selected position; S43, select the image of the fourth vertex in the fourth image, and paste the image of the fourth vertex in the selected fourth image into the third image, with the pasting position being the same as the selected position; S44, the third image obtained at this time is the comparison image; Alternatively, in S41, select the image of the first vertex in the first image, and paste the image of the first vertex in the selected first image into the fourth image, with the pasting position being the same as the selected position; S42, select the image of the second vertex in the second image, and paste the image of the second vertex in the selected second image into the fourth image, with the pasting position being the same as the selected position; S43, select the image of the third vertex in the third image, and paste the image of the third vertex in the selected third image into the fourth image, with the pasting position being the same as the selected position; S44, the fourth image obtained at this time is the comparison image.

8. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 1, characterized in that, In step S4, the method for determining the deterioration of the rock mass in the drawdown zone based on the comparison image and the reference image includes the following steps: S41, connect the first vertex, second vertex, third vertex and fourth vertex in the comparison image and the reference image respectively to form a quadrilateral, which are the comparison quadrilateral image and the reference quadrilateral image respectively; S42, obtain the number of pixels in the comparison quadrilateral image and the reference quadrilateral image, as well as the length, width and resolution of the comparison image and the reference image; S43, calculate the degradation based on the individual pixels in the acquired comparison quadrilateral image and reference quadrilateral image, as well as the length, width, and resolution of the comparison and reference images.

9. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 8, characterized in that, The method for determining the degradation status in step S43 is as follows: like , Indicates the rate of change of window area. If the first threshold of the preset window area change rate is used, then it is considered a first-level degradation. like , Indicates the rate of change of window area. This represents the first threshold for the rate of change of the preset window area. This represents the second threshold of the preset window area change rate. If the second threshold of the preset window area change rate is greater than the first threshold of the preset window area change rate, then it is considered a level 2 degradation. like , Indicates the rate of change of window area. This represents the second threshold for the preset window area change rate. This represents the third threshold of the preset window area change rate. If the third threshold of the preset window area change rate is greater than the second threshold of the preset window area change rate, then it is a level three degradation. like , Indicates the rate of change of window area. If the third threshold of the preset window area change rate is used, then it is considered level four degradation.

10. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 8, characterized in that, The method for calculating the rate of change of window area is as follows: ， in, This indicates the total number of pixels in the contrast quadrilateral image; This represents the area of ​​each pixel in the image of the quadrilateral being compared. This indicates the total number of pixels in the reference quadrilateral image; This represents the area of ​​each pixel in the reference quadrilateral image; ， in, This represents the area of ​​each pixel in the reference quadrilateral image; This represents the height value of the reference image, in cm. Indicates the width value of the reference image, in cm; Indicates the resolution of the reference image, in pixels per centimeter; The focal length of the images being compared is indicated in mm. This represents the area of ​​each pixel in the image of the quadrilateral being compared. This indicates the height value of the compared images, in cm. This indicates the width of the compared images, in cm. Indicates the resolution of the compared images, in pixels per centimeter; This indicates the focal length of the reference image, in mm.

11. The portable system for window positioning in rock mass deterioration investigation in drawdown zones according to claim 1, characterized in that, It also includes step S0, generating a reference image, the method for generating the reference image including the following steps: S01, a marker point is set on the rock mass in the drawdown zone as the initial positioning point; S02, use the window positioning device to locate the marker point; S03, the distance between the window positioning device and the marker point is measured using a laser rangefinder; S04, the markers are automatically positioned at the four vertices of the positioning window and corresponding images are captured; S05, Generate a reference image based on the captured image.

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