Visual transmission tunnel deformation monitoring method, device, equipment and storage medium

Abstract

The present application provides a tunnel deformation monitoring method, device, equipment and storage medium for visual transmission, which relates to the technical field of tunnel deformation monitoring. The method comprises: monitoring the n-1th first monitoring point through the n-th machine vision instrument, and obtaining the absolute offset of the n-th machine vision instrument according to the absolute offset of the pre-stored n-1th first monitoring point, wherein n is a positive integer greater than one, and the first machine vision instrument is used to monitor the first reference point to obtain the absolute offset of the first machine vision instrument; monitoring the n-th first monitoring point through the n-th machine vision instrument, and obtaining the absolute offset of the n-th first monitoring point according to the absolute offset of the n-th machine vision instrument; and obtaining the deformation of the tunnel according to the absolute offset of each first monitoring point. The method of the present application solves the problem that the shooting range of the machine vision instrument is limited, and how to use multiple machine vision instruments to jointly measure the deformation of the tunnel in a long tunnel.

Description

Technical Field

[0001] The present application relates to the field of tunnel deformation monitoring, and in particular to a visual transmission tunnel deformation monitoring method, device, equipment and storage medium. Background Art

[0002] At present, tunnel deformation monitoring mainly relies on machine vision technology, that is, the cross-section of the tunnel is photographed by a machine vision instrument to obtain a cross-sectional image, and the offset of each monitoring point is determined based on the images of multiple monitoring points arranged on the cross-section in the cross-sectional image, thereby determining the deformation of the tunnel.

[0003] However, the shooting range of the machine vision instrument is limited. In a long tunnel, how to use multiple machine vision instruments to jointly measure the deformation of the tunnel is a problem that the present invention urgently needs to solve. Summary of the invention

[0004] The present application provides a tunnel deformation monitoring method, device, equipment and storage medium based on visual transmission, which are used to solve the problem of how to use multiple machine vision instruments to jointly measure the deformation of a long tunnel due to the limited shooting range of the machine vision instrument.

[0005] In a first aspect, the present application provides a tunnel deformation monitoring method using visual transmission, wherein a reference target is arranged outside the influence area of ​​the tunnel, and multiple machine vision instruments and multiple first sections are arranged at intervals inside the tunnel with the reference target as the starting point, a first reference point is arranged on the reference target, and a first monitoring point is arranged on each first section, the method comprising:

[0006] The n-1th first monitoring point is monitored by the n-1th machine vision instrument, and the absolute offset of the n-1th machine vision instrument is obtained according to the pre-stored absolute offset of the n-1th first monitoring point, wherein n is a positive integer greater than one, and the first machine vision instrument is used to monitor the first reference point to obtain the absolute offset of the first machine vision instrument, and the absolute offset refers to the relative offset of the corresponding machine vision instrument or the first monitoring point relative to the first reference point;

[0007] Monitor the nth first monitoring point by using the nth machine vision instrument, and obtain the absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument;

[0008] According to the absolute deviation of each first monitoring point, the deformation of the tunnel is obtained.

[0009] In a possible design, the n-1th first monitoring point is monitored by the n-th machine vision instrument, and the absolute offset of the n-1th first monitoring point is obtained according to the pre-stored absolute offset of the n-1th first monitoring point, including:

[0010] The n-1th first monitoring point is monitored by the n-th machine vision instrument to obtain a relative offset of the n-1th first monitoring point with respect to the n-1th machine vision instrument, that is, a relative offset of monitoring of the n-th machine vision instrument;

[0011] According to the pre-stored absolute offset of the n-1th first monitoring point and the monitoring relative offset of the nth machine vision instrument, the absolute offset of the nth machine vision instrument is obtained, wherein the absolute offset of the nth machine vision instrument is equal to the sum of the absolute offset of the n-1th first monitoring point and the monitoring relative offset of the nth machine vision instrument.

[0012] In a possible design, the nth first monitoring point is monitored by the nth machine vision instrument, and the absolute offset of the nth first monitoring point is obtained according to the absolute offset of the nth machine vision instrument, including:

[0013] Monitor the nth first monitoring point by the nth machine vision instrument to obtain a relative offset of the nth first monitoring point relative to the nth machine vision instrument, that is, a monitoring relative offset of the nth first monitoring point;

[0014] According to the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point, the absolute offset of the nth first monitoring point is obtained, wherein the absolute offset of the nth first monitoring point is equal to the sum of the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point.

[0015] In a possible design, each offset includes: a radial displacement offset, an axial displacement offset, a vertical displacement offset, a horizontal tilt offset, and a vertical tilt offset.

[0016] In one possible design, a tilt sensor is arranged on each machine vision instrument;

[0017] After obtaining the absolute offset of the n-1th machine vision instrument according to the pre-stored absolute offset of the first monitoring point (n-1), and the monitoring relative offset of the nth machine vision instrument, the method further includes:

[0018] According to the tilt sensor arranged on the nth machine vision instrument, a horizontal tilt sensing offset and a vertical tilt sensing offset of the nth machine vision instrument are obtained;

[0019] According to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the nth machine vision instrument, a first horizontal tilt error and a first vertical tilt error of the nth machine vision instrument are obtained, wherein the first horizontal tilt error is equal to the difference between the horizontal tilt offset of the corresponding absolute offset and the horizontal tilt sensing offset, and the first vertical tilt error is equal to the difference between the vertical tilt offset of the corresponding absolute offset and the vertical tilt sensing offset;

[0020] When the first horizontal tilt angle error is greater than the first preset threshold value, and / or the first vertical tilt angle error is greater than the second preset threshold value, an error is reported for the absolute offset of the nth machine vision instrument.

[0021] In a possible design, a plurality of second reference points are arranged on the reference target, wherein the first reference point is any one of the plurality of second reference points;

[0022] When the deformation of the tunnel is zero, the n-1th first monitoring point is monitored by the n-1th machine vision instrument, and before obtaining the absolute offset of the n-1th machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point, the method further includes:

[0023] According to the tilt sensor arranged on the first machine vision instrument, a horizontal tilt sensing offset and a vertical tilt sensing offset of the first machine vision instrument are obtained;

[0024] Obtaining a second horizontal tilt error and a second vertical tilt error of the first machine vision instrument corresponding to each second reference point according to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the first machine vision instrument corresponding to each second reference point;

[0025] The second horizontal tilt angle error with the largest value among the multiple second horizontal tilt angle errors is used as the first preset threshold, and the second vertical tilt angle error with the largest value among the multiple second vertical tilt angle errors is used as the second preset threshold.

[0026] In a possible design, at least one second section is arranged between each machine vision instrument and an adjacent reference target or first section, and at least one second monitoring point is arranged on the arch top, arch waist and arch bottom of each section, wherein the nth first monitoring point is any one of the multiple second monitoring points of the nth first monitoring surface;

[0027] Lenses are arranged on both sides of the n-th machine vision instrument, and the shooting angle of the n-th machine vision instrument is fixed;

[0028] According to the absolute offset of each first monitoring point, the deformation of the tunnel is obtained, including:

[0029] Monitor multiple second monitoring points between the n-1th first section and the nth machine vision instrument through a lens arranged on one side of the nth machine vision instrument, and monitor multiple second monitoring points between the nth machine vision instrument and the nth first section through a lens arranged on the other side of the nth machine vision instrument;

[0030] According to the absolute offset of the nth machine vision instrument, the absolute offset of each second monitoring point between the n-1th first section and the nth first section is obtained respectively;

[0031] According to the absolute offset of each second monitoring point, the deformation of the tunnel is obtained.

[0032] In a second aspect, the present application provides a tunnel deformation monitoring device using visual transmission, wherein a reference target is arranged outside the influence area of ​​the tunnel, and multiple machine vision instruments and multiple first sections are arranged at intervals inside the tunnel with the reference target as the starting point, a first reference point is arranged on the reference target, and a first monitoring point is arranged on each first section, and the device comprises:

[0033] A first monitoring module is used to monitor the n-1th first monitoring point through the nth machine vision instrument, and obtain the absolute offset of the nth machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point, wherein n is a positive integer greater than one, and the first machine vision instrument is used to monitor the first reference point to obtain the absolute offset of the first machine vision instrument, and the absolute offset refers to the relative offset of the corresponding machine vision instrument or the first monitoring point relative to the first reference point;

[0034] A second monitoring module is used to monitor the nth first monitoring point through the nth machine vision instrument, and obtain the absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument;

[0035] The first deformation determination module is used to obtain the deformation amount of the tunnel according to the absolute offset of each first monitoring point.

[0036] In a third aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0037] Memory stores computer-executable instructions;

[0038] When the processor executes the computer-executable instructions stored in the memory, it is used to implement a visual transmission tunnel deformation monitoring method according to the first aspect of the invention.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement a visual transmission tunnel deformation monitoring method of the invention content of the first aspect.

[0040] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement a visual transmission tunnel deformation monitoring method of the first aspect of the invention.

[0041] The present application provides a visual transmission tunnel deformation monitoring method, device, equipment and storage medium. First, the n-1th first monitoring point is monitored by the n-1th machine vision instrument, and the absolute offset of the n-1th first monitoring point is obtained according to the pre-stored absolute offset of the n-1th first monitoring point; secondly, the n-1th first monitoring point is monitored by the n-1th machine vision instrument, and the absolute offset of the n-1th first monitoring point is obtained according to the absolute offset of the n-1th machine vision instrument; finally, the deformation of the tunnel is obtained according to the absolute offset of each first monitoring point. The following technical effects are achieved: by superimposing the relative offsets of each machine vision instrument and each first monitoring point one by one, the absolute offset of each first monitoring point is finally obtained, which solves the problem of how to use multiple machine vision instruments to jointly measure the deformation of a long tunnel due to the limited shooting range of the machine vision instrument; by jointly monitoring the same first monitoring point by two adjacent machine vision instruments, the problem of inaccurate results of tunnel deformation monitoring caused by simultaneous offsets of a certain machine vision instrument and the monitored first monitoring point is solved; by using an offset graph of the absolute offset of each first monitoring point changing with time, the deformation of the tunnel is intuitively displayed, which solves the problem of how to obtain the deformation of the tunnel based on the absolute offset of each first monitoring point. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of an application scenario of the tunnel deformation monitoring method using visual transmission provided in an embodiment of the present application;

[0044] Figure 2 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 1 ;

[0045] Figure 3 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 2 ;

[0046] Figure 4 Schematic diagram of the process of the tunnel deformation monitoring method based on visual transmission provided in the embodiment of the present application Figure 3 ;

[0047] Figure 5 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 4 ;

[0048] Figure 6 A schematic diagram of the structure of a tunnel deformation monitoring device using visual transmission provided in an embodiment of the present application;

[0049] Figure 7 A schematic diagram of the structure of the electronic device hardware provided in an embodiment of the present application.

[0050] Reference numerals:

[0051] 110-tunnel; 111-first section; 112-second section; 113-first monitoring point; 114-second monitoring point; 120-reference target; 121-first reference point; 122-second reference point; 130-machine vision instrument; 140-backend server; 150-display;

[0052] 200 - visual transmission tunnel deformation monitoring device; 210 - first monitoring module; 220 - second monitoring module; 230 - first deformation determination module;

[0053] 300 - electronic device; 310 - processor; 320 - memory; 330 - communication component; 340 - bus. DETAILED DESCRIPTION

[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0055] In the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with basically the same functions and effects. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more.

[0056] It should be noted that the "at..." in the embodiments of the present application can be the instant when a certain situation occurs, or it can be a period of time after a certain situation occurs, and the embodiments of the present application do not specifically limit this. In addition, the tunnel deformation monitoring method of visual transmission provided in the embodiments of the present application is only used as an example, and the tunnel deformation monitoring method of visual transmission can also include more or less content.

[0057] A long tunnel includes multiple sections, each of which has multiple monitoring points. To determine the deformation of the tunnel, it is necessary to determine the deformation of each section in the tunnel; to determine the deformation of each section, it is necessary to determine the offset of each monitoring point arranged on the section.

[0058] At present, tunnel deformation monitoring mainly relies on machine vision technology, that is, the cross-section of the tunnel is photographed by a machine vision instrument to obtain a cross-sectional image, and the offset of each monitoring point is determined based on the images of multiple monitoring points arranged on the cross-section in the cross-sectional image, thereby determining the deformation of the tunnel.

[0059] However, deformation may occur at any position in the tunnel. If the machine vision instrument and the monitored monitoring point are offset at the same time, the tunnel deformation monitoring result will be inaccurate. At the same time, the shooting range of the machine vision instrument is limited, and multiple machine vision instruments cannot be measured together, resulting in the inability to use multiple machine vision instruments to measure the deformation of the tunnel in a long tunnel. For example, only one machine vision instrument can be used to measure the deformation of the tunnel within 200m ahead.

[0060] Based on this, the embodiments of the present application provide a visual transmission tunnel deformation monitoring method, device, equipment and storage medium, which can be used in the field of tunnel deformation monitoring technology, aiming to solve the above technical problems of the prior art.

[0061] Figure 1 Schematic diagram of the application scenario of the tunnel deformation monitoring method based on visual transmission provided in the embodiment of the present application. Figure 1 As shown, a reference target 120 is arranged outside the influence area of ​​the tunnel 110. Taking the reference target 120 as the starting point, a plurality of machine vision instruments 130 and a plurality of first sections 111 (such as Figure 1 At least one second section 112 (such as Figure 1 In this embodiment, the machine vision device 130 closest to the reference target 120 is named as the first machine vision device, and the first section 111 closest to the reference target 120 is named as the first first section. Subsequent machine vision devices and first sections are named in order of distance from near to far, and this embodiment will not be repeated.

[0062] A plurality of second reference points 122 are arranged on the reference target 120, wherein the first reference point 121 is any one of the plurality of second reference points 122 (e.g. Figure 1 As shown, the uppermost second reference point 122 is used as the first section 111); at least one second monitoring point 114 is arranged on the arch top, arch waist and arch bottom of each section, wherein the nth first monitoring point is any one of the multiple second monitoring points 114 of the nth first monitoring surface (such as Figure 1 As shown, the second monitoring point 114 arranged on the arch is used as the first monitoring point 113).

[0063] Each machine vision instrument 130 is wirelessly connected to the backend server 140 via a fifth generation mobile communication technology (5G) network.

[0064] The nth machine vision instrument obtains its relative offset relative to the n-1th first monitoring point and the relative offset of the nth first monitoring point relative to itself through machine vision technology; at the same time, the relative offset of each second monitoring point between the n-1th first section and the nth first section relative to itself is obtained. It should be noted that the first machine vision instrument obtains its relative offset relative to the first reference point 121 and the relative offset of the first first monitoring point relative to itself through machine vision technology; at the same time, the relative offset of each second monitoring point between the reference target 120 and the first first section relative to itself is obtained. Each machine vision instrument 130 transmits its corresponding multiple relative offsets to the background server 140 through the 5G network, and the background server 140 obtains the absolute offset of each second monitoring point based on these relative offsets (assuming that the first reference point will not be offset).

[0065] Afterwards, the backend server 140 draws a deviation graph showing the absolute deviation of each second monitoring point changing with time according to the absolute deviations, and controls the display 150 to display the deviation graph through a High Definition Multimedia Interface (HDMI) line.

[0066] Figure 2 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 1 . Combined Figure 1 As shown in the figure, a reference target is arranged outside the influence area of ​​the tunnel. Taking the reference target as the starting point, multiple machine vision instruments and multiple first sections are arranged at intervals inside the tunnel. The first reference point is arranged on the reference target, and each first section is arranged with a first monitoring point. Figure 2 As shown, the method includes:

[0067] S101, monitoring the n-1th first monitoring point by the n-th machine vision instrument, and obtaining the absolute offset of the n-1th machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point;

[0068] Specifically, n is a positive integer greater than one, and the nth machine vision device may be any one of a plurality of machine vision devices arranged inside the tunnel, for example, it may be the second machine vision device, the third machine vision device, or the fourth machine vision device, etc.

[0069] It should be noted that the first machine vision instrument is used to monitor the first reference point to obtain the absolute offset of the first machine vision instrument. Monitoring the first reference point through the first machine vision instrument means that the first machine vision instrument captures an image of the reference target and identifies the shape, coordinates, number of pixels and other information of the first reference point from the image; then, the first machine vision instrument compares this information with the corresponding information when the deformation of the tunnel is zero, and obtains the relative offset of the first machine vision instrument relative to the first reference point, that is, the monitoring relative offset of the first machine vision instrument; then, the first machine vision instrument transmits its own monitoring relative offset to the background server, so that the background server can superimpose the absolute offset of the first reference point and the monitoring relative offset of the first machine vision instrument to obtain the absolute offset of the first machine vision instrument. Since the absolute offset of the first reference point is zero, the absolute offset of the first machine vision instrument is equal to the monitoring relative offset of the first machine vision instrument.

[0070] It can be understood that the deformation of the tunnel is zero, which means that the absolute offset of each first monitoring point in the tunnel is zero. The scenario can be before the tunnel is put into use, or when there are no other engineering operations in the protection zone of the tunnel, or other scenarios. In the above scenarios, the first machine vision device captures an image of the reference target, identifies the above information from the image, and saves it.

[0071] The n-1th first monitoring point is arranged at the n-1th first section. Monitoring the n-1th first monitoring point by the n-1th machine vision instrument is similar to monitoring the first reference point by the first machine vision instrument mentioned above, and will not be repeated in this embodiment. It should be noted that the absolute offset of the n-1th machine vision instrument is obtained based on the absolute offset of the n-1th first monitoring point and the relative offset of the n-1th machine vision instrument relative to the n-1th first monitoring point. At the same time, it can be inferred that the absolute offset refers to the relative offset of the corresponding machine vision instrument or the first monitoring point relative to the first reference point.

[0072] S102, monitoring the nth first monitoring point by an nth machine vision instrument, and obtaining an absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument;

[0073] Specifically, the nth first monitoring point is arranged at the nth first section. Monitoring the nth first monitoring point by the nth machine vision instrument is similar to monitoring the first reference point by the first machine vision instrument, and will not be described in detail in this embodiment.

[0074] according to Figure 1 The application scenario shown in the figure provides a specific example, including:

[0075] The first machine vision device captures the reference target and the first first section, that is, monitors the first reference point arranged on the reference target and the first first monitoring point arranged on the first first section; since the absolute offset of the first reference point is zero, the background server can obtain the absolute offset of the first machine vision device, and then obtain the absolute offset of the first first monitoring point.

[0076] The second machine vision instrument captures the first first section and the second first section, that is, monitors the first first monitoring point arranged in the first first section and the second first monitoring point arranged in the second first section; since the first machine vision instrument and the second machine vision instrument jointly monitor the first first monitoring point, the first first monitoring point can be used as the reference monitoring point of the second machine vision instrument. According to the absolute offset of the first first monitoring point, the background server can obtain the absolute offset of the second machine vision instrument, and then obtain the absolute offset of the second first monitoring point.

[0077] By repeatedly executing the above steps, the absolute offsets of all the first monitoring points arranged inside the tunnel can be obtained.

[0078] S103, obtaining the deformation of the tunnel according to the absolute offset of each first monitoring point;

[0079] Specifically, the above steps are repeated until the background server obtains the absolute offset of each first monitoring point. After that, the background server draws an offset graph of the absolute offset of each first monitoring point over time according to the absolute offset of each first monitoring point, and controls the display to display the offset graph, so as to intuitively display the deformation of the tunnel.

[0080] The present embodiment provides a tunnel deformation monitoring method of visual transmission, firstly, the n-1th first monitoring point is monitored by the nth machine vision instrument, and the absolute offset of the nth machine vision instrument is obtained according to the absolute offset of the pre-stored n-1th first monitoring point; secondly, the nth first monitoring point is monitored by the nth machine vision instrument, and the absolute offset of the nth first monitoring point is obtained according to the absolute offset of the nth machine vision instrument; finally, the deformation of the tunnel is obtained according to the absolute offset of each first monitoring point. The following technical effects are achieved: by superimposing the relative offsets of each machine vision instrument and each first monitoring point one by one, the absolute offset of each first monitoring point is finally obtained, which solves the problem of how to use multiple machine vision instruments to jointly measure the deformation of the tunnel in a long tunnel due to the limited shooting range of the machine vision instrument; by jointly monitoring the same first monitoring point by two adjacent machine vision instruments, the problem of inaccurate results of tunnel deformation monitoring caused by the simultaneous offset of a certain machine vision instrument and the monitored first monitoring point is solved; the deformation of the tunnel is intuitively displayed through the offset diagram of the absolute offset of each first monitoring point changing with time, which solves the problem of how to obtain the deformation of the tunnel according to the absolute offset of each first monitoring point.

[0081] Figure 3 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 2 In this embodiment Figure 2 Based on the embodiment, the tunnel deformation monitoring method based on visual transmission is described in detail. Figure 3 As shown, the method includes:

[0082] S201, monitoring the n-1th first monitoring point by the nth machine vision instrument to obtain a relative offset of the nth machine vision instrument relative to the n-1th first monitoring point;

[0083] Specifically, when the nth machine vision instrument and the n-1th first monitoring point are offset at the same time and the relative positions of the two do not change, the relative offset of the nth machine vision instrument relative to the n-1th first monitoring point is zero; otherwise, the relative offset of the nth machine vision instrument is not zero. At the same time, the relative offset of the nth machine vision instrument relative to the n-1th first monitoring point is the monitoring relative offset of the nth machine vision instrument.

[0084] Further, each offset includes: a radial displacement offset, an axial displacement offset, a vertical displacement offset, a horizontal tilt offset and a vertical tilt offset.

[0085] The nth machine vision instrument monitors the n-1th first monitoring point, and obtains the relative offset of the n-1th first monitoring point relative to the nth machine vision instrument, which is expressed as a set:

[0086] {hxj n,hyj n , vj n ,θhj n ,θvj n}

[0087] Then the relative offset rj of the nth machine vision instrument is obtained n , expressed as a set:

[0088] rj n ={-hxj n , -hyj n , -vj n , -θhj n , -θvj n}

[0089] Among them, the relative displacement of radial displacement hxj n Used to indicate the nth machine vision instrument along the radial direction (such as Figure 1 The relative offset of the monitoring of the positive direction of the x-axis shown in the figure; the relative offset of the axial displacement hyj n Used to indicate the nth machine vision instrument along the axial direction (such as Figure 1 The relative offset of the vertical displacement vj n Used to indicate the nth machine vision instrument along the vertical (such as Figure 1 The relative offset of the monitoring of the positive z-axis shown in the figure; the relative offset of the horizontal tilt angle θhj n Used to indicate the nth machine vision instrument and the horizontal plane (such as Figure 1 The relative offset of the monitoring of the yoz plane shown in FIG. 1 can be understood as the left or right head of the nth machine vision instrument; the relative offset of the vertical tilt angle θvj n Used to indicate the nth machine vision instrument and the vertical surface (such as Figure 1 The relative deviation of the monitoring of the xoy plane) can be understood as the head-up or head-down of the nth machine vision instrument.

[0090] S202, obtaining the absolute offset of the n-1th first monitoring point according to the pre-stored absolute offset of the n-1th machine vision instrument and the monitoring relative offset of the nth machine vision instrument;

[0091] Specifically, the absolute offset R of the n-1th first monitoring point n-1 , expressed as a set:

[0092] R n-1 ={hx n-1 ,hy n-1 , v n-1 ,θh n-1 ,θv n-1}

[0093] The absolute offset Rj of the nth machine vision instrument n , expressed as a set:

[0094] Rj n ={hx n-1 -hxj n ,hy n-1 -hyj n , v n-1 -vj n ,θh n-1 -θhj n ,θv n-1 -θvj n}

[0095] That is, the absolute offset of the nth machine vision instrument is equal to the sum of the absolute offset of the n-1th first monitoring point and the monitoring relative offset of the nth machine vision instrument.

[0096] S203, monitoring the nth first monitoring point by the nth machine vision instrument to obtain a relative offset of the nth first monitoring point relative to the nth machine vision instrument;

[0097] S204, obtaining an absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument and the relative offset of the nth first monitoring point;

[0098] S203 and S204 are similar to S201 and S202, and will not be described in detail in this embodiment. The relative offset of the nth first monitoring point relative to the nth machine vision instrument is the monitoring relative offset of the nth first monitoring point. The absolute offset of the nth first monitoring point is equal to the sum of the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point.

[0099] according to Figure 1 The application scenario shown in the figure provides a specific example, including:

[0100] The absolute offset of the first reference point arranged on the reference target is zero, so the absolute offset Rj1 of the first machine vision instrument can be obtained as:

[0101] Rj1=rj1={-hxj1,-hyj1,-vj1,-θhj1,-θvj1}

[0102] The first machine vision instrument monitors the first monitoring point, and the monitoring relative offset r1 of the first monitoring point is obtained as follows:

[0103] r1={hx1, hy1, v1, θh1, θv1}

[0104] Then the absolute offset R1 of the first monitoring point is obtained as:

[0105] R1={hx1-hxj1, hy1-hyj1, v1-vj1, θh1-θhj1, θv1-θvj1}

[0106] The second machine vision instrument monitors the first monitoring point, and the monitoring relative offset rj2 of the second machine vision instrument is obtained as follows:

[0107] rj2={-hxj2,-hyj2,-vj2,-θhj2,-θvj2}

[0108] Then the absolute offset Rj2 of the second machine vision instrument is obtained as:

[0109] Rj2={hx1-hxj1-hxj2,hy1-hyj1-hyj2,v1-vj1-vj2,θh1-θhj1

[0110] -θhj2,θv1-θvj1-θvj2}

[0111] The second first monitoring point is monitored by the second machine vision instrument, and the monitoring relative offset r2 of the second first monitoring point is obtained as follows:

[0112] r2={hx2, hy2, v2, θh2, θv2}

[0113] Then the absolute offset R2 of the second first monitoring point is obtained as:

[0114]

[0115] It can be deduced that when n ≥ 2, the absolute offset Rj of the nth machine vision instrument is n for:

[0116]

[0117] The absolute offset R of the nth first monitoring point n for:

[0118]

[0119] Here, i is a positive integer not greater than n.

[0120] S205, monitoring multiple second monitoring points between the n-1th first section and the nth machine vision instrument through a lens arranged on one side of the nth machine vision instrument, and monitoring multiple second monitoring points between the nth machine vision instrument and the nth first section through a lens arranged on the other side of the nth machine vision instrument;

[0121] S206, obtaining the absolute offset of each second monitoring point between the n-1th first section and the nth first section according to the absolute offset of the nth machine vision instrument;

[0122] Specifically, at least one second section is arranged between each machine vision instrument and the adjacent reference target or first section, and the distance between two adjacent sections (two adjacent second sections, or adjacent first sections and second sections) is 3-20 meters. At least one second monitoring point is arranged on the arch top, arch waist and arch bottom of each section, wherein the nth first monitoring point is any one of the multiple second monitoring points of the nth first monitoring surface.

[0123] Lenses are arranged on both sides of the nth machine vision instrument. Through the lens close to the side of the n-1th first section, multiple second monitoring points between the n-1th first section and the nth machine vision instrument are monitored; and through the lens close to the side of the nth first section, multiple second monitoring points between the nth machine vision instrument and the nth first section are monitored. It should be noted that multiple second monitoring points arranged on the n-1th first section and the nth first section also need to be monitored.

[0124] The monitoring relative offset of each second monitoring point is determined based on its shape, coordinates, number of pixels and other information on the cross-sectional image. To ensure the accuracy of the monitoring relative offset calculation, the shooting angle of the nth machine vision instrument is fixed to avoid calculation errors caused by adjusting the shooting angle of the machine vision instrument.

[0125] S207, obtaining the deformation of the tunnel according to the absolute offset of each second monitoring point;

[0126] S207 is similar to S103 and is not described in detail in this embodiment.

[0127] Figure 4 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 3 In this embodiment Figure 1 and Figure 3 Based on the embodiment, the case where each machine vision instrument is provided with a tilt sensor is described. Figure 4 As shown, after S202, according to the pre-stored absolute offset of the n-1th first monitoring point and the monitoring relative offset of the nth machine vision instrument, the method further includes:

[0128] S301, obtaining a horizontal tilt sensing offset and a vertical tilt sensing offset of the nth machine vision instrument according to a tilt sensor arranged on the nth machine vision instrument;

[0129] Specifically, the tilt sensor can be arranged outside the machine vision instrument (such as Figure 1 The tilt sensor can be arranged in the interior of the machine vision instrument, which is not limited in this embodiment. The tilt sensor is used to sense the horizontal tilt sensing offset and vertical tilt sensing offset of the machine vision instrument at any time. Therefore, there are two ways to obtain the tilt deviation. The first is to calculate through the cross-sectional image provided in the above embodiment, and the second is to sense through the tilt sensor. The background server simultaneously obtains the tilt deviation obtained by these two methods and compares them so as to report an error when the difference between the two is large.

[0130] S302, obtaining a first horizontal tilt error and a first vertical tilt error of the nth machine vision instrument according to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the nth machine vision instrument;

[0131] Specifically, the first horizontal tilt error is equal to the difference between the corresponding horizontal tilt offset and the horizontal tilt sensing offset, and the first vertical tilt error is equal to the difference between the corresponding vertical tilt offset and the vertical tilt sensing offset;

[0132] S303, when the first horizontal tilt angle error is greater than the first preset threshold value, and / or the first vertical tilt angle error is greater than the second preset threshold value, reporting an error for the absolute offset of the nth machine vision instrument;

[0133] Specifically, the background server compares the first horizontal tilt angle error with the first preset threshold, and the first vertical tilt angle error with the second preset threshold.

[0134] When the first horizontal tilt angle error is not greater than the first preset threshold value, and the first vertical tilt angle error is not greater than the second preset threshold value, it indicates that the absolute offset calculation of the nth machine vision instrument is correct; otherwise, it indicates that the absolute offset calculation of the nth machine vision instrument is incorrect, and the background server reports an error. The error report can be to control the display to display an error prompt, or to control the third-party server to push an error prompt, or other forms of error reporting, so that relevant technicians can verify the cause of the error and repair it.

[0135] Figure 5 Schematic diagram of the process of the tunnel deformation monitoring method using visual transmission provided in the embodiment of the present application Figure 4 In this embodiment Figures 2 to 4 Based on the embodiment, a case where a plurality of second reference points are arranged on the reference target is described, wherein the first reference point is any one of the plurality of second reference points. Figure 5 As shown, when the deformation of the tunnel is zero, S101, monitoring the n-1th first monitoring point by the nth machine vision instrument, and obtaining the absolute offset of the nth machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point, the method also includes:

[0136] S401, obtaining a horizontal tilt sensing offset and a vertical tilt sensing offset of the first machine vision instrument according to a tilt sensor arranged on the first machine vision instrument;

[0137] S402, obtaining a second horizontal tilt error and a second vertical tilt error of the first machine vision instrument corresponding to each second reference point according to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the first machine vision instrument corresponding to each second reference point;

[0138] S401 and S402 are similar to S301 and S302 and are not described in detail in this embodiment.

[0139] S403, taking the second horizontal tilt angle error with the largest value among the multiple second horizontal tilt angle errors as the first preset threshold, and taking the second vertical tilt angle error with the largest value among the multiple second vertical tilt angle errors as the second preset threshold;

[0140] Specifically, the background server uses the second horizontal tilt angle error with the largest value as the first preset threshold, and uses the second numerical tilt angle error with the largest value as the second preset threshold, and saves them.

[0141] The present embodiment provides a tunnel deformation monitoring method using visual transmission. First, the n-1th first monitoring point is monitored by the n-1th machine vision instrument, and the absolute offset of the n-1th first monitoring point is obtained based on the pre-stored absolute offset of the n-1th first monitoring point. Secondly, the n-th first monitoring point is monitored by the n-th machine vision instrument, and the absolute offset of the n-th first monitoring point is obtained based on the absolute offset of the n-1th machine vision instrument. Finally, the deformation of the tunnel is obtained based on the absolute offset of each first monitoring point. The following technical effects are achieved: by superimposing the relative offsets of each machine vision instrument and each first monitoring point one by one, the absolute offset of each first monitoring point is finally obtained, which solves the problem of how to use multiple machine vision instruments to jointly measure the deformation of a long tunnel due to the limited shooting range of the machine vision instrument; by jointly monitoring the same first monitoring point by two adjacent machine vision instruments, the problem of inaccurate results of tunnel deformation monitoring caused by the simultaneous offset of a certain machine vision instrument and the monitored first monitoring point is solved; by using an offset graph of the absolute offset of each first monitoring point changing with time, the deformation of the tunnel is intuitively displayed, which solves the problem of how to obtain the deformation of the tunnel according to the absolute offset of each first monitoring point; by using a lens arranged on one side of the machine vision instrument to monitor multiple second monitoring points on the side, and by using a lens arranged on the other side of the machine vision instrument to monitor multiple second monitoring points on the other side, the problem of too small a monitoring range of the machine vision instrument is solved; by using a tilt sensor arranged on the machine vision instrument to sense the horizontal tilt sensing offset and the vertical tilt sensing offset of the machine vision instrument, the problem of how to verify the absolute offset of the machine vision instrument is solved.

[0142] The embodiment of the present invention can divide the electronic device or the main control device into functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0143] Figure 6 A schematic diagram of the structure of a tunnel deformation monitoring device for visual transmission provided in an embodiment of the present application. A reference target is arranged outside the influence area of ​​the tunnel. Taking the reference target as the starting point, multiple machine vision instruments and multiple first sections are arranged at intervals inside the tunnel. The reference target and each first section are arranged with a first monitoring point. Figure 6 As shown, the tunnel deformation monitoring device 200 provided by the embodiment of the present application through visual transmission includes: a first monitoring module 210, a second monitoring module 220 and a first deformation determination module 230;

[0144] The first monitoring module 210 is used to monitor the n-1th first monitoring point through the nth machine vision instrument, and obtain the absolute offset of the nth machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point, wherein n is a positive integer greater than one, and the first machine vision instrument is used to monitor the first reference point to obtain the absolute offset of the first machine vision instrument, and the absolute offset refers to the relative offset of the corresponding machine vision instrument or the first monitoring point relative to the first reference point;

[0145] The second monitoring module 220 is used to monitor the nth first monitoring point through the nth machine vision instrument, and obtain the absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument;

[0146] The first deformation determination module 230 is used to obtain the deformation amount of the tunnel according to the absolute offset of each first monitoring point.

[0147] In a possible design, the first monitoring module 210 includes: a third monitoring module and a fourth monitoring module;

[0148] A third monitoring module is used to monitor the n-1th first monitoring point through the nth machine vision instrument to obtain a relative offset of the nth machine vision instrument relative to the n-1th first monitoring point, that is, a monitoring relative offset of the nth machine vision instrument;

[0149] The fourth monitoring module is used to obtain the absolute offset of the n-th machine vision instrument based on the pre-stored absolute offset of the n-1th first monitoring point and the monitoring relative offset of the n-th machine vision instrument, wherein the absolute offset of the n-th machine vision instrument is equal to the sum of the absolute offset of the n-1th first monitoring point and the monitoring relative offset of the n-th machine vision instrument.

[0150] In one possible design, the second monitoring module 220 includes: a fifth monitoring module and a sixth monitoring module;

[0151] A fifth monitoring module, used for monitoring the nth first monitoring point through the nth machine vision instrument to obtain a relative offset of the nth first monitoring point relative to the nth machine vision instrument, that is, a monitoring relative offset of the nth first monitoring point;

[0152] The sixth monitoring module is used to obtain the absolute offset of the nth first monitoring point based on the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point, wherein the absolute offset of the nth first monitoring point is equal to the sum of the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point.

[0153] In a possible design, each offset includes: a radial displacement offset, an axial displacement offset, a vertical displacement offset, a horizontal tilt offset, and a vertical tilt offset.

[0154] In one possible design, a tilt sensor is arranged on each machine vision instrument;

[0155] The tunnel deformation monitoring device 200 of visual transmission also includes: a first sensing module, a first error module and an offset error reporting module;

[0156] A first sensing module, used for obtaining a horizontal tilt sensing offset and a vertical tilt sensing offset of the nth machine vision instrument according to a tilt sensor arranged on the nth machine vision instrument;

[0157] A first error module is used to obtain a first horizontal tilt error and a first vertical tilt error of the nth machine vision instrument according to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the nth machine vision instrument, wherein the first horizontal tilt error is equal to the difference between the horizontal tilt offset of the corresponding absolute offset and the horizontal tilt sensing offset, and the first vertical tilt error is equal to the difference between the vertical tilt offset of the corresponding absolute offset and the vertical tilt sensing offset;

[0158] The offset error reporting module is used to report the absolute offset of the nth machine vision instrument when the first horizontal tilt angle error is greater than the first preset threshold value and / or the first vertical tilt angle error is greater than the second preset threshold value.

[0159] In a possible design, a plurality of second reference points are arranged on the reference target, wherein the first reference point is any one of the plurality of second reference points;

[0160] The tunnel deformation monitoring device 200 of visual transmission further includes: a second sensing module, a second error module and a threshold determination module;

[0161] A second sensing module is used to obtain a horizontal tilt sensing offset and a vertical tilt sensing offset of the first machine vision instrument according to a tilt sensor arranged on the first machine vision instrument;

[0162] A second error module is used to obtain a second horizontal tilt error and a second vertical tilt error of the first machine vision instrument corresponding to each second reference point according to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the first machine vision instrument corresponding to each second reference point;

[0163] The threshold determination module is used to use the second horizontal tilt angle error with the largest value among the multiple second horizontal tilt angle errors as the first preset threshold, and use the second vertical tilt angle error with the largest value among the multiple second vertical tilt angle errors as the second preset threshold.

[0164] In a possible design, at least one second section is arranged between each machine vision instrument and an adjacent reference target or first section, and at least one second monitoring point is arranged on the arch top, arch waist and arch bottom of each section, wherein the nth first monitoring point is any one of the multiple second monitoring points of the nth first monitoring surface;

[0165] Lenses are arranged on both sides of the n-th machine vision instrument, and the shooting angle of the n-th machine vision instrument is fixed;

[0166] The first deformation determination module 230 includes: a seventh monitoring module, an eighth monitoring module and a second deformation determination module;

[0167] a seventh monitoring module, for monitoring a plurality of second monitoring points between the n-1th first section and the nth machine vision instrument through a lens arranged on one side of the nth machine vision instrument, and for monitoring a plurality of second monitoring points between the nth machine vision instrument and the nth first section through a lens arranged on the other side of the nth machine vision instrument;

[0168] an eighth monitoring module, for obtaining the absolute offset of each second monitoring point between the n-1th first section and the nth first section according to the absolute offset of the nth machine vision instrument;

[0169] The second deformation determination module is used to obtain the deformation amount of the tunnel according to the absolute offset of each second monitoring point.

[0170] The present embodiment provides a visual transmission tunnel deformation monitoring device, which can execute a visual transmission tunnel deformation monitoring method of the above-mentioned embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be repeated here.

[0171] In the specific implementation of the aforementioned visual transmission tunnel deformation monitoring device, each module can be implemented as a processor, and the processor can execute computer execution instructions stored in the memory, so that the processor executes the aforementioned visual transmission tunnel deformation monitoring method.

[0172] Figure 7 This is a schematic diagram of the structure of the electronic device hardware provided in the embodiment of the present application. Figure 7 As shown, the electronic device 300 includes: at least one processor 310 and a memory 320. The electronic device 300 also includes a communication component 330. The processor 310, the memory 320 and the communication component 330 are connected via a bus 340.

[0173] In the specific implementation process, at least one processor 310 executes the computer execution instructions stored in the memory 320, so that at least one processor 310 executes a visual transmission tunnel deformation monitoring method executed by the electronic device side as above.

[0174] The specific implementation process of the processor 310 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0175] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0176] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0177] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0178] The above-mentioned functions implemented by the electronic device and the main control device introduce the scheme provided by the embodiment of the present invention. It can be understood that in order to implement the above-mentioned functions, the electronic device or the main control device includes a hardware structure and / or software module corresponding to the execution of each function. In combination with the units and algorithm steps of each example described in the embodiment disclosed in the embodiment of the present invention, the embodiment of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present invention.

[0179] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, it is used to implement the above-mentioned tunnel deformation monitoring method based on visual transmission.

[0180] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0181] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0182] The present application also provides a computer program product, which includes: a computer program, which is stored in a readable storage medium. At least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the above embodiments.

[0183] Those skilled in the art can understand that all or part of the steps of the above method embodiments can be completed by hardware related to program instructions. The above program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above method embodiments are executed; and the above storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0184] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above embodiments are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tunnel deformation monitoring method based on visual transmission, characterized in that: A reference target is arranged outside the influence area of ​​the tunnel, and a plurality of machine vision instruments and a plurality of first sections are arranged at intervals inside the tunnel with the reference target as the starting point, a first reference point is arranged on the reference target, and a first monitoring point is arranged on each first section, and the method comprises: Monitor the n-1th first monitoring point by the nth machine vision instrument, and obtain the absolute offset of the nth machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point, wherein n is a positive integer greater than one, and the first machine vision instrument is used to monitor the first reference point to obtain the absolute offset of the first machine vision instrument, and the absolute offset refers to the relative offset of the corresponding machine vision instrument or the first monitoring point relative to the first reference point; Monitoring the nth first monitoring point by the nth machine vision instrument, and obtaining the absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument; Obtaining the deformation of the tunnel according to the absolute offset of each first monitoring point; The step of monitoring the n-1th first monitoring point by the n-1th machine vision instrument and obtaining the absolute offset of the n-1th first monitoring point according to the pre-stored absolute offset of the n-1th machine vision instrument comprises: Monitor the n-1th first monitoring point by the n-th machine vision instrument to obtain a relative offset of the n-1th machine vision instrument relative to the n-1th first monitoring point, that is, a relative offset of monitoring of the n-th machine vision instrument; Obtaining the absolute offset of the n-th machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point and the monitoring relative offset of the n-th machine vision instrument, wherein the absolute offset of the n-th machine vision instrument is equal to the sum of the absolute offset of the n-1th first monitoring point and the monitoring relative offset of the n-th machine vision instrument; The step of monitoring the nth first monitoring point by the nth machine vision instrument and obtaining the absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument comprises: Monitoring the nth first monitoring point by the nth machine vision instrument to obtain a relative offset of the nth first monitoring point relative to the nth machine vision instrument, that is, a monitoring relative offset of the nth first monitoring point; According to the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point, the absolute offset of the nth first monitoring point is obtained, wherein the absolute offset of the nth first monitoring point is equal to the sum of the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point.

2. The method according to claim 1, characterized in that Each offset includes: radial displacement offset, axial displacement offset, vertical displacement offset, horizontal tilt offset and vertical tilt offset.

3. The method according to claim 2, characterized in that Each machine vision instrument is equipped with a tilt sensor; After obtaining the absolute offset of the n-1th machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point and the monitoring relative offset of the nth machine vision instrument, the method further includes: According to the tilt sensor arranged on the nth machine vision instrument, a horizontal tilt sensing offset and a vertical tilt sensing offset of the nth machine vision instrument are obtained; According to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the nth machine vision instrument, a first horizontal tilt error and a first vertical tilt error of the nth machine vision instrument are obtained, wherein the first horizontal tilt error is equal to a difference between the horizontal tilt offset of the corresponding absolute offset and the horizontal tilt sensing offset, and the first vertical tilt error is equal to a difference between the vertical tilt offset of the corresponding absolute offset and the vertical tilt sensing offset; When the first horizontal tilt angle error is greater than a first preset threshold value, and / or the first vertical tilt angle error is greater than a second preset threshold value, an error is reported for the absolute offset of the nth machine vision instrument.

4. The method according to claim 3, characterized in that: A plurality of second reference points are arranged on the reference target, wherein the first reference point is any one of the plurality of second reference points; When the deformation of the tunnel is zero, the method further includes: monitoring the n-1th first monitoring point by the nth machine vision instrument, and obtaining the absolute offset of the nth machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point. According to a tilt sensor arranged on the first machine vision instrument, a horizontal tilt sensing offset and a vertical tilt sensing offset of the first machine vision instrument are obtained; Obtaining a second horizontal tilt error and a second vertical tilt error of the first machine vision instrument corresponding to each second reference point according to the horizontal tilt offset and the vertical tilt offset of the absolute offset of the first machine vision instrument corresponding to each second reference point; The second horizontal tilt angle error with the largest value among the multiple second horizontal tilt angle errors is used as the first preset threshold, and the second vertical tilt angle error with the largest value among the multiple second vertical tilt angle errors is used as the second preset threshold.

5. The method according to any one of claims 1 to 4, characterized in that: At least one second section is arranged between each machine vision instrument and the adjacent reference target or first section, and at least one second monitoring point is arranged on the arch top, arch waist and arch bottom of each section, wherein the nth first monitoring point is any one of the multiple second monitoring points of the nth first monitoring surface; Lenses are arranged on both sides of the n-th machine vision instrument, and the shooting angle of the n-th machine vision instrument is fixed; The step of obtaining the deformation of the tunnel according to the absolute offset of each first monitoring point includes: Monitor multiple second monitoring points between the n-1th first section and the nth machine vision instrument through a lens arranged on one side of the nth machine vision instrument, and monitor multiple second monitoring points between the nth machine vision instrument and the nth first section through a lens arranged on the other side of the nth machine vision instrument; According to the absolute offset of the nth machine vision instrument, respectively obtain the absolute offset of each second monitoring point between the n-1th first section and the nth first section; The deformation of the tunnel is obtained according to the absolute offset of each second monitoring point.

6. A tunnel deformation monitoring device with visual transmission, characterized in that: A reference target is arranged outside the influence area of ​​the tunnel. Taking the reference target as the starting point, a plurality of machine vision instruments and a plurality of first sections are arranged at intervals inside the tunnel. A first reference point is arranged on the reference target, and a first monitoring point is arranged on each first section. The device comprises: A first monitoring module, configured to monitor the n-1th first monitoring point through the nth machine vision instrument, and obtain the absolute offset of the nth machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point, wherein n is a positive integer greater than one, and the first machine vision instrument is configured to monitor the first reference point to obtain the absolute offset of the first machine vision instrument, and the absolute offset refers to the relative offset of the corresponding machine vision instrument or the first monitoring point relative to the first reference point; A second monitoring module, configured to monitor the nth first monitoring point through the nth machine vision instrument, and obtain an absolute offset of the nth first monitoring point according to the absolute offset of the nth machine vision instrument; A first deformation determination module, configured to obtain a deformation amount of the tunnel according to an absolute offset of each first monitoring point; The first monitoring module includes: a third monitoring module and a fourth monitoring module; A third monitoring module is used to monitor the n-1th first monitoring point through the nth machine vision instrument to obtain a relative offset of the nth machine vision instrument relative to the n-1th first monitoring point, that is, a monitoring relative offset of the nth machine vision instrument; A fourth monitoring module, configured to obtain an absolute offset of the n-th machine vision instrument according to the pre-stored absolute offset of the n-1th first monitoring point and the monitoring relative offset of the n-th machine vision instrument, wherein the absolute offset of the n-th machine vision instrument is equal to the sum of the absolute offset of the n-1th first monitoring point and the monitoring relative offset of the n-th machine vision instrument; The second monitoring module includes: a fifth monitoring module and a sixth monitoring module; a fifth monitoring module, configured to monitor the nth first monitoring point through the nth machine vision instrument to obtain a relative offset of the nth first monitoring point relative to the nth machine vision instrument, that is, a monitoring relative offset of the nth first monitoring point; The sixth monitoring module is used to obtain the absolute offset of the nth first monitoring point based on the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point, wherein the absolute offset of the nth first monitoring point is equal to the sum of the absolute offset of the nth machine vision instrument and the monitoring relative offset of the nth first monitoring point.

7. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; When the processor executes the computer-executable instructions stored in the memory, it is used to implement the tunnel deformation monitoring method based on visual transmission as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the tunnel deformation monitoring method based on visual transmission as described in any one of claims 1 to 5.

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