Immersion tunnel deviation monitoring device and monitoring method

Abstract

The application relates to the technical field of measurement, and discloses a immersed tube tunnel offset monitoring device and a monitoring method. The immersed tube tunnel offset monitoring device comprises a camera, a semi-transparent semi-reflective mirror, a first reference piece, a second reference piece, a third reference piece and a fourth reference piece; the camera, the first reference piece and the third reference piece are fixed in the inner cavity of a first pipe joint, the second reference piece and the fourth reference piece are fixed in the inner cavity of the first pipe joint, the first reference piece and the second reference piece are in the range of a first field of view, the third reference piece and the fourth reference piece are in the range of a second field of view, the semi-transparent semi-reflective mirror is aligned with the lens of the camera, and the light in the first field of view range and the light in the second field of view range are reflected and / or refracted, so that the reflected and / or refracted light is incident on the lens of the camera. The embodiment of the application can simultaneously monitor the offset in three directions by using a single camera.

Description

Technical Field

[0001] This application relates to the field of measurement technology, and in particular to a device and method for monitoring the offset of immersed tunnels. Background Technology

[0002] Immersed tunnels face risks such as uneven foundation settlement, siltation, and earthquakes during operation. Currently, the settlement deformation of immersed tunnels is measured manually. However, monitoring the offset of tunnel segment joints relies solely on manual monitoring using total stations, which has drawbacks such as human error, inability to monitor continuously, susceptibility to environmental conditions, and the inability to simultaneously measure offsets in multiple directions using a single device. Summary of the Invention

[0003] The purpose of this application is to provide a device and method for monitoring the offset of immersed tunnels, which can use a single camera to monitor the offset in three directions simultaneously.

[0004] This application provides an immersed tunnel offset monitoring device for monitoring the relative offset between adjacent first and second tunnel joints in an immersed tunnel, including:

[0005] The camera is fixed inside the cavity of the first pipe section connector;

[0006] A semi-transparent, semi-reflective mirror is aligned with the lens of the camera to reflect and / or refract light within a first field of view and a second field of view, so that the reflected and / or refracted light rays are incident on the lens of the camera; the imaging plane of the first field of view is parallel to the interface between the first pipe joint and the second pipe joint, and the imaging plane of the second field of view is perpendicular to the direction of gravity.

[0007] The first reference component is fixed to the inner cavity of the first pipe joint and is located within the first field of view;

[0008] The second reference piece is fixed to the inner cavity of the second pipe joint, is located within the first field of view and is offset from the first reference piece in the imaging plane of the first field of view;

[0009] The third reference component is fixed to the inner cavity of the first pipe joint and is located within the second field of view;

[0010] The fourth reference element is fixed to the inner cavity of the second pipe joint, is located within the second field of view, and is offset from the third reference element within the imaging plane of the second field of view.

[0011] In some embodiments, the immersed tunnel offset monitoring device further includes an image processing device; the image processing device acquires reference images obtained by the camera from the first reference member, the second reference member, the third reference member, and the fourth reference member, and determines the relative offset between the first pipe joint and the second pipe joint in a first direction, a second direction, and a third direction based on the reference images; the first direction is parallel to the direction of gravity, the second direction is parallel to the interface between the first pipe joint and the second pipe joint, and the third direction is perpendicular to the interface between the first pipe joint and the second pipe joint.

[0012] In some embodiments, the image processing device determines the relative offset of the first pipe joint and the second pipe joint in the second direction based on the imaging size of both the first reference and the second reference in the reference image.

[0013] In some embodiments, the camera, the first reference member, and the third reference member are fixed to one side wall of the first pipe joint, and the second reference member and the fourth reference member are fixed to the side wall of the second pipe joint that is connected to the side wall where the camera is located.

[0014] In some embodiments, the splitting ratio of the semi-transparent and semi-reflective mirror is 50:50.

[0015] This application embodiment also provides a method for monitoring the offset of an immersed tunnel, applied to the aforementioned immersed tunnel offset monitoring device. The method for monitoring the offset of an immersed tunnel includes:

[0016] Obtain a reference image;

[0017] Calculate the first distance, the second distance, the third distance, and the fourth distance based on the image parameters of the reference image and the camera parameters of the camera;

[0018] Based on the first distance, the second distance, the third distance, and the fourth distance, determine the relative offset between the first pipe joint and the second pipe joint in the first direction, the second direction, and the third direction;

[0019] Wherein, the reference image is an image obtained by the camera capturing the first reference component, the second reference component, the third reference component, and the fourth reference component; the first distance is the distance between the first reference component and the second reference component in the first direction; the second distance is the distance between the first reference component and the second reference component in the second direction; the third distance is the distance between the third reference component and the fourth reference component in the second direction; and the fourth distance is the distance between the third reference component and the fourth reference component in the third direction. The first direction is parallel to the direction of gravity; the second direction is parallel to the interface between the first pipe joint and the second pipe joint; and the third direction is perpendicular to the interface between the first pipe joint and the second pipe joint.

[0020] In some embodiments, calculating the first distance, the second distance, the third distance, and the fourth distance based on the image parameters of the reference image and the camera parameters of the camera includes:

[0021] The reference image is split to obtain a first field of view containing the first reference element and the second reference element, and a second field of view containing the third reference element and the fourth reference element;

[0022] The first distance and the second distance are calculated based on the image pixels and image orientation of the first field of view and the camera parameters of the camera;

[0023] The third distance and the fourth distance are calculated based on the image pixels and image orientation of the second field of view and the camera parameters of the camera.

[0024] In some embodiments, calculating the first distance and the second distance based on the image pixels and image orientation of the first field of view and the camera parameters of the camera includes:

[0025] Obtain the first coordinate and the second coordinate; the first coordinate is the coordinate of the first reference component in the first field of view, and the second coordinate is the coordinate of the second reference component in the first field of view;

[0026] Based on the image direction of the first field of view, the first coordinate, and the second coordinate, calculate the first image distance and the second image distance; the first image distance is the distance between the first coordinate and the second coordinate in the first direction, and the second image distance is the distance between the first coordinate and the second coordinate in the second direction;

[0027] The first distance and the second distance are calculated based on the image pixels of the first field of view, the camera parameters, the first image distance, and the second image distance.

[0028] In some embodiments, calculating the third distance and the fourth distance based on the image pixels and image orientation of the second field of view and the camera parameters of the camera includes:

[0029] Obtain the third coordinate and the fourth coordinate; the third coordinate is the coordinate of the third reference component in the second field of view, and the fourth coordinate is the coordinate of the fourth reference component in the second field of view;

[0030] Based on the image direction of the second field of view, the third coordinate, and the fourth coordinate, the third image distance and the fourth image distance are calculated; the third image distance is the distance between the third coordinate and the fourth coordinate in the second direction, and the fourth image distance is the distance between the third coordinate and the fourth coordinate in the third direction;

[0031] The third distance and the fourth distance are calculated based on the image pixels of the second field of view, the camera parameters, the third image distance, and the fourth image distance.

[0032] In some embodiments, determining the relative offset between the first pipe joint and the second pipe joint in a first direction, a second direction, and a third direction based on the first distance, the second distance, the third distance, and the fourth distance includes:

[0033] The difference between the first distance and the preset first standard distance is calculated, and the relative offset between the first pipe joint and the second pipe joint in the first direction is determined based on the difference result.

[0034] The combined calculated value of the second distance and the third distance is subtracted from the preset second standard distance, and the relative offset between the first pipe joint and the second pipe joint in the second direction is determined based on the difference result.

[0035] The difference between the fourth distance and the preset third standard distance is calculated, and the relative offset between the first pipe joint and the second pipe joint in the third direction is determined based on the difference result.

[0036] The beneficial effects of this application are as follows: By using a semi-transparent and semi-reflective mirror to reflect and / or refract light within the first and second field of view, the reflected and / or refracted light rays are incident on the lens of the camera. The camera can simultaneously capture images of the first reference component located at the first pipe joint and the second reference component located at the second pipe joint within the first field of view, as well as the third and fourth reference components located at the first and second pipe joints within the second field of view, thus obtaining a reference image that simultaneously includes the first, second, third, and fourth reference components. Based on the relative positional relationship between the first and second reference components and the third and fourth reference components in the reference image, the settlement offset, opening and closing offset, and horizontal misalignment offset of the first and second pipe joints can be determined, enabling the simultaneous monitoring of offsets in three directions using a single camera. Attached Figure Description

[0037] Figure 1 This is an optional structural schematic diagram of the immersed tunnel offset monitoring device provided in the embodiments of this application.

[0038] Figure 2 This is a schematic diagram of the optical path of the semi-transparent and semi-reflective mirror provided in the embodiments of this application.

[0039] Figure 3 This is an optional flowchart of the immersed tunnel offset monitoring method provided in the embodiments of this application.

[0040] Figure 4 This is a flowchart of the specific method of step S302 provided in the embodiments of this application.

[0041] Figure 5 This is a flowchart of the specific method of step S303 provided in the embodiments of this application.

[0042] Figure 6 This is a schematic diagram of a reference image provided in an embodiment of this application.

[0043] Figure 7 This is a schematic diagram of the first field of view provided in the embodiments of this application.

[0044] Figure 8 This is a schematic diagram of the second field of view provided in the embodiments of this application. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0048] This application provides a linear precision control device for monitoring the relative offset between an adjacent first pipe section joint and a second pipe section joint in an immersed tunnel. The first pipe section joint and the second pipe section joint are respectively installed on two adjacent pipe sections in the immersed tunnel, and the two pipe sections are connected through the first pipe section joint and the second pipe section joint.

[0049] See Figure 1 In one embodiment, the immersed tunnel offset monitoring device includes a camera 100, a semi-transparent mirror 200, a first reference element 300, a second reference element 400, a third reference element 500, and a fourth reference element 600.

[0050] Camera 100 is fixed to the inner cavity of the first pipe joint. A semi-transparent mirror 200 is aligned with the lens of camera 100, reflecting and / or refracting light rays within a first and second field of view, so that the reflected and / or refracted light rays are incident on the lens of camera 100. The imaging plane of the first field of view is parallel to the interface between the first and second pipe joints, and the imaging plane of the second field of view is perpendicular to the direction of gravity. A first reference element 300 is fixed to the inner cavity of the first pipe joint and is located within the first field of view. A second reference element 400 is fixed to the inner cavity of the second pipe joint and is located within the first field of view, offset from the first reference element 300 within the imaging plane of the first field of view. A third reference element 500 is fixed to the inner cavity of the first pipe joint and is located within the second field of view. The fourth reference element 600 is fixed to the inner cavity of the second pipe section joint. The fourth reference element 600 is located within the second field of view and is offset from the third reference element 500 in the imaging plane of the second field of view.

[0051] Camera 100 takes pictures at the light-emitting surface of a semi-transparent mirror 200. The semi-transparent mirror 200 reflects and / or refracts light from both the first and second field of view, and directs the reflected and / or refracted light into the lens of camera 100, so that camera 100 can acquire image information from either the first or second field of view. Figure 2 As shown, in an optional embodiment, the camera 100 may take pictures along the direction of the second field of view. The semi-transparent mirror refracts the light within the second field of view so that the outgoing light enters the lens of the camera 100. At the same time, the semi-transparent mirror reflects and refracts the light within the first field of view (refracted when entering and exiting the semi-transparent mirror, and reflected in the semi-transparent mirror) so that the outgoing light enters the lens of the camera 100. The first reference element 300 and the second reference element 400 are imaged in the imaging plane of the first field of view, and the third reference element 500 and the fourth reference element 600 are imaged in the imaging plane of the second field of view. Light rays within the first field of view and the second field of view are reflected and / or refracted by the semi-transparent mirror 200 and then emitted to the lens of the camera 100. The camera 100 acquires the image to obtain a reference image. The reference image simultaneously includes the first reference element 300, the second reference element 400, the third reference element 500, and the fourth reference element 600. When the relative distance between the first reference element 300 and the second reference element 400 changes and / or the relative distance between the third reference element 500 and the fourth reference element 600 changes, the positions of the first reference element 300, the second reference element 400, the third reference element 500, and / or the fourth reference element 600 in the reference image change accordingly. In this way, the relative offset of the first pipe joint and the second pipe joint in three directions can be monitored simultaneously using a single camera 100.

[0052] In some embodiments, the immersed tunnel offset monitoring device further includes an image processing device 700.

[0053] The image processing device 700 acquires reference images obtained by the camera 100 from the first reference member 300, the second reference member 400, the third reference member 500, and the fourth reference member 600, and determines the relative offset between the first pipe joint and the second pipe joint in the first direction, the second direction, and the third direction based on the reference images.

[0054] The first direction is parallel to the direction of gravity, the second direction is parallel to the interface between the first and second pipe joints, and the third direction is perpendicular to the interface between the first and second pipe joints.

[0055] It is understandable that the first direction is parallel to the direction of gravity and is the direction of relative settlement between the first and second pipe joints; the second direction is parallel to the interface between the first and second pipe joints and is the direction of relative misalignment between the first and second pipe joints; and the third direction is perpendicular to the interface between the first and second pipe joints and is the direction of relative opening and closing between the first and second pipe joints.

[0056] Specifically, the image processing device 700 acquires a reference image and calculates the relative offsets between the first pipe joint and the second pipe joint in the first, second, and third directions by processing the reference image. Based on the distance between the first reference element 300 and the second reference element 400 in the first direction in the reference image, the distance between the first reference element 300 and the second reference element 400 in the first field of view in the first direction is determined, thereby determining the relative offset between the first pipe joint and the second pipe joint in the first direction. Similarly, based on the distance between the first reference element 300 and the second reference element 400 in the second direction in the reference image, the distance between the first reference element 300 and the second reference element 400 in the first field of view in the second direction is determined, thereby determining the relative offset between the first pipe joint and the second pipe joint in the second direction. Based on the distance between the third reference component 500 and the fourth reference component 600 in the second direction in the reference image, the distance between the third reference component 500 and the fourth reference component 600 in the second field of view in the second direction is determined, thereby determining the relative offset of the first pipe joint and the second pipe joint in the second direction; based on the distance between the third reference component 500 and the fourth reference component 600 in the third direction in the reference image, the distance between the third reference component 500 and the fourth reference component 600 in the third direction in the second field of view is determined, thereby determining the relative offset of the first pipe joint and the second pipe joint in the third direction.

[0057] In some embodiments, the image processing device 700 determines the relative offset between the first pipe joint and the second pipe joint in a second direction based on the imaging size of both the first reference member 300 and the second reference member 400 in a reference image.

[0058] Specifically, when the first pipe joint and the second pipe joint are offset relative to each other in the second direction, the imaging size of the first reference member 300 on the reference image will change. The image processing device 700 determines the distance between the first reference member 300 and the second reference member 400 in the second direction in the first field of view based on the proportional relationship between the imaging sizes of the first reference member 300 and the second reference member 400 in the reference image, thereby determining the relative offset of the first pipe joint and the second pipe joint in the second direction.

[0059] In some embodiments, the camera 100, the first reference member 300, and the third reference member 500 are fixed to one side wall of the first pipe joint, and the second reference member 400 and the fourth reference member 600 are fixed to the side wall of the second pipe joint that is connected to the side wall where the camera 100 is located.

[0060] In some embodiments, the splitting ratio of the semi-transparent mirror 200 is 50:50.

[0061] This application also provides a method for monitoring the offset of an immersed tunnel, applied to the aforementioned immersed tunnel offset monitoring device, wherein the method is executed by an image processing device.

[0062] Please see Figure 3 , Figure 3 This is an optional flowchart of the immersed tunnel offset monitoring method provided in the embodiments of this application. In some embodiments of this application, Figure 3 The method described below may include, but is not limited to, steps S301 to S303. Figure 3 These three steps will be explained in detail.

[0063] Step S301: Obtain a reference image.

[0064] Step S302: Calculate the first distance, second distance, third distance, and fourth distance based on the image parameters of the reference image and the camera parameters of the camera.

[0065] Step S303: Determine the relative offsets between the first pipe joint and the second pipe joint in the first direction, the second direction, and the third direction based on the first distance, the second distance, the third distance, and the fourth distance.

[0066] The reference image is an image obtained by the camera taking pictures of the first reference piece, the second reference piece, the third reference piece, and the fourth reference piece. The first distance is the distance between the first reference piece and the second reference piece in the first direction, the second distance is the distance between the first reference piece and the second reference piece in the second direction, the third distance is the distance between the third reference piece and the fourth reference piece in the second direction, and the fourth distance is the distance between the third reference piece and the fourth reference piece in the third direction. The first direction is parallel to the direction of gravity, the second direction is parallel to the interface between the first pipe joint and the second pipe joint, and the third direction is perpendicular to the interface between the first pipe joint and the second pipe joint.

[0067] In step S301, the image processing device transmits data with the camera to obtain a reference image captured by the camera. The obtained reference image is as follows: Figure 6 As shown, the obtained reference images are then sorted according to the shooting time.

[0068] In step S302, the image processing module performs image recognition processing on the reference image to identify the positions of the first, second, third, and fourth reference components in the reference image. Combining the image parameters of the reference image and the camera parameters of the camera, the module calculates the first, second, third, and fourth distances. The image parameters of the reference image include pixel parameters and image orientation, while the camera parameters include the camera's intrinsic and extrinsic parameters.

[0069] In step S303, the relative offset of the first pipe joint and the second pipe joint in the first direction is determined based on the first distance, the relative offset of the first pipe joint and the second pipe joint in the second direction is determined based on the second distance and the third distance, and the relative offset of the first pipe joint and the second pipe joint in the third direction is determined based on the fourth distance. The value of the relative offset can be determined based on a preset distance threshold. For example, when the difference between the first distance and the preset distance threshold is outside a preset distance range, the value of the relative offset of the first pipe joint and the second pipe joint in the first direction is the difference between the first distance and the distance threshold.

[0070] like Figure 4 As shown, in some embodiments, step S302 may specifically include, but is not limited to, steps S401 to S403, as described below. Figure 4 These three steps will be explained in detail.

[0071] Step S401: The reference image is split to obtain a first field of view containing a first reference element and a second reference element, and a second field of view containing a third reference element and a fourth reference element.

[0072] Step S402: Calculate the first distance and the second distance based on the image pixels and image orientation of the first field of view and the camera parameters of the camera.

[0073] Step S403: Calculate the third distance and the fourth distance based on the image pixels and image orientation of the second field of view and the camera parameters of the camera.

[0074] In step S401, the image processing module performs image recognition processing on the reference image. After identifying the first reference element, second reference element, third reference element, and fourth reference element in the reference image, it performs a splitting process on the reference image, such as a screenshot operation, so that the first and second reference elements are placed in one of the split images, i.e., the first field of view, and the third and fourth reference elements are placed in the other split image, i.e., the second field of view. After obtaining the first and second field of view, the first and / or second field of view can be rotated according to the shooting direction of the first and second field of view, so that the image direction of the first field of view is the same as the image direction of the main view of the first field of view, and the image direction of the second field of view is the same as the image direction of the main view of the second field of view. Then, the first and second directions are marked in the first field of view, resulting in the first field of view as shown below. Figure 7 As shown, the second direction and the third direction are marked in the second field of view, resulting in the second field of view as follows. Figure 8 As shown.

[0075] In step S402, the coordinate positions of the first reference piece and the second reference piece in the first field of view are determined based on the image pixels of the first field of view. Then, based on the first direction and the second direction in the first field of view that are predetermined, the distance between the first reference piece and the second reference piece in the first field of view in the first direction and the second direction are calculated. Finally, combined with the camera parameters of the camera, the first distance and the second distance are calculated.

[0076] More specifically, in some embodiments, step S402 specifically includes: obtaining a first coordinate and a second coordinate; calculating a first image distance and a second image distance based on the image direction of the first field of view, the first coordinate, and the second coordinate; and calculating a first distance and a second distance based on the image pixels of the first field of view, camera parameters, the first image distance, and the second image distance. Wherein, the first coordinate is the coordinate of the first reference element in the first field of view, the second coordinate is the coordinate of the second reference element in the first field of view, the first image distance is the distance between the first coordinate and the second coordinate in a first direction, and the second image distance is the distance between the first coordinate and the second coordinate in a second direction.

[0077] In step S403, the coordinate positions of the third and fourth reference pieces in the second field of view are determined based on the image pixels of the second field of view. Then, based on the predetermined second and third directions in the second field of view, the distance between the third and fourth reference pieces in the second field of view is calculated in the second and third directions. Finally, combined with the camera parameters, the third and fourth distances are calculated.

[0078] More specifically, in some embodiments, step S403 specifically includes: obtaining the third coordinate and the fourth coordinate; calculating the third image distance and the fourth image distance based on the image direction of the second field of view, the third coordinate, and the fourth coordinate; and calculating the third distance and the fourth distance based on the image pixels of the second field of view, camera parameters, the third image distance, and the fourth image distance. Wherein, the third coordinate is the coordinate of the third reference element in the second field of view, the fourth coordinate is the coordinate of the fourth reference element in the second field of view, the third image distance is the distance between the third coordinate and the fourth coordinate in the second direction, and the fourth image distance is the distance between the third coordinate and the fourth coordinate in the third direction.

[0079] like Figure 5 As shown, in some embodiments, step S303 may specifically include, but is not limited to, steps S501 to S503. The following is a detailed explanation... Figure 5 These three steps will be explained in detail.

[0080] Step S501: Subtract the first distance from the preset first standard distance, and determine the relative offset between the first pipe joint and the second pipe joint in the first direction based on the difference result.

[0081] Step S502: Subtract the combined calculated value of the second distance and the third distance from the preset second standard distance, and determine the relative offset between the first pipe joint and the second pipe joint in the second direction based on the difference result.

[0082] Step S503: Subtract the fourth distance from the preset third standard distance, and determine the relative offset between the first pipe joint and the second pipe joint in the third direction based on the difference result.

[0083] In step S501, the difference between the first distance and the preset first standard distance is calculated to obtain the first distance difference. If the first distance difference is outside the preset first distance interval, it is determined that the first pipe joint and the second pipe joint are offset relative to each other in the first direction. The value of the relative offset is the first distance difference, and the offset direction is the direction in which the first distance difference deviates from the first distance interval.

[0084] In step S502, the second distance and the third distance are subjected to a comprehensive calculation, such as a weighted calculation, to obtain a comprehensive calculation value. The difference between the comprehensive calculation value and the preset second standard distance is calculated to obtain the second distance difference. If the second distance difference is outside the preset second distance interval, it is determined that the first pipe joint and the second pipe joint have a relative offset in the second direction. The value of the relative offset is the second distance difference, and the offset direction is the direction in which the second distance difference deviates from the second distance interval.

[0085] In step S503, the difference between the fourth distance and the preset third standard distance is calculated to obtain the third distance difference. If the third distance difference is outside the preset third distance interval, it is determined that the first pipe joint and the second pipe joint have a relative offset in the third direction. The value of the relative offset is the third distance difference, and the offset direction is the direction in which the third distance difference deviates from the third distance interval.

[0086] In summary, the immersed tunnel offset monitoring device and method provided in this application utilize a semi-transparent mirror to reflect and / or refract light within the first and second field of view, so that the reflected and / or refracted light is incident on the lens of a camera. The camera can simultaneously capture images of a first reference piece located at the first pipe joint and a second reference piece located at the second pipe joint within the first field of view, as well as a third reference piece located at the first pipe joint and a fourth reference piece located at the second pipe joint within the second field of view, to obtain a reference image that simultaneously includes the first, second, third, and fourth reference pieces. Based on the relative positional relationship between the first and second reference pieces and the third and fourth reference pieces in the reference image, the settlement offset, opening and closing offset, and horizontal misalignment offset of the first and second pipe joints can be determined, enabling the simultaneous monitoring of offsets in three directions using a single camera.

[0087] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0088] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A device for monitoring the offset of an immersed tunnel, used to monitor the relative offset between adjacent first and second tunnel joints in an immersed tunnel, characterized in that, include: The camera is fixed inside the cavity of the first pipe section connector; A semi-transparent, semi-reflective mirror is aligned with the lens of the camera to reflect and / or refract light within a first field of view and a second field of view, so that the reflected and / or refracted light rays are incident on the lens of the camera; the imaging plane of the first field of view is parallel to the interface between the first pipe joint and the second pipe joint, and the imaging plane of the second field of view is perpendicular to the direction of gravity. The first reference component is fixed to the inner cavity of the first pipe joint and is located within the first field of view; The second reference piece is fixed to the inner cavity of the second pipe joint, is located within the first field of view and is offset from the first reference piece in the imaging plane of the first field of view; The third reference component is fixed to the inner cavity of the first pipe joint and is located within the second field of view; The fourth reference element is fixed to the inner cavity of the second pipe joint, is located within the second field of view, and is offset from the third reference element within the imaging plane of the second field of view.

2. The immersed tunnel offset monitoring device according to claim 1, characterized in that, The immersed tunnel offset monitoring device further includes an image processing device; the image processing device acquires reference images obtained by the camera from the first reference piece, the second reference piece, the third reference piece, and the fourth reference piece, and determines the relative offset between the first pipe joint and the second pipe joint in a first direction, a second direction, and a third direction based on the reference images; the first direction is parallel to the direction of gravity, the second direction is parallel to the interface between the first pipe joint and the second pipe joint, and the third direction is perpendicular to the interface between the first pipe joint and the second pipe joint.

3. The immersed tunnel offset monitoring device according to claim 2, characterized in that, The image processing device determines the relative offset of the first pipe joint and the second pipe joint in the second direction based on the imaging size of the first reference member and the second reference member in the reference image.

4. The immersed tunnel offset monitoring device according to claim 1, characterized in that, The camera, the first reference member, and the third reference member are fixed to one side wall of the first pipe joint, and the second reference member and the fourth reference member are fixed to the side wall of the second pipe joint that connects with the side wall where the camera is located.

5. The immersed tunnel offset monitoring device according to claim 1, characterized in that, The splitting ratio of the semi-transparent and semi-reflective mirror is 50:

50.

6. A method for monitoring the offset of immersed tunnels, characterized in that, The immersed tunnel offset monitoring device according to any one of claims 1 to 5, the immersed tunnel offset monitoring method includes: Obtain a reference image; Calculate the first distance, the second distance, the third distance, and the fourth distance based on the image parameters of the reference image and the camera parameters of the camera; Based on the first distance, the second distance, the third distance, and the fourth distance, determine the relative offset between the first pipe joint and the second pipe joint in the first direction, the second direction, and the third direction; Wherein, the reference image is an image obtained by the camera capturing the first reference component, the second reference component, the third reference component, and the fourth reference component; the first distance is the distance between the first reference component and the second reference component in the first direction; the second distance is the distance between the first reference component and the second reference component in the second direction; the third distance is the distance between the third reference component and the fourth reference component in the second direction; and the fourth distance is the distance between the third reference component and the fourth reference component in the third direction. The first direction is parallel to the direction of gravity; the second direction is parallel to the interface between the first pipe joint and the second pipe joint; and the third direction is perpendicular to the interface between the first pipe joint and the second pipe joint.

7. The method for monitoring the offset of immersed tunnels according to claim 6, characterized in that, The step of calculating the first distance, the second distance, the third distance, and the fourth distance based on the image parameters of the reference image and the camera parameters of the camera includes: The reference image is split to obtain a first field of view containing the first reference element and the second reference element, and a second field of view containing the third reference element and the fourth reference element; The first distance and the second distance are calculated based on the image pixels and image orientation of the first field of view and the camera parameters of the camera; The third distance and the fourth distance are calculated based on the image pixels and image orientation of the second field of view and the camera parameters of the camera.

8. The method for monitoring the offset of immersed tunnels according to claim 7, characterized in that, The step of calculating the first distance and the second distance based on the image pixels and image orientation of the first field of view and the camera parameters of the camera includes: Obtain the first coordinate and the second coordinate; the first coordinate is the coordinate of the first reference component in the first field of view, and the second coordinate is the coordinate of the second reference component in the first field of view; Based on the image direction of the first field of view, the first coordinate, and the second coordinate, calculate the first image distance and the second image distance; the first image distance is the distance between the first coordinate and the second coordinate in the first direction, and the second image distance is the distance between the first coordinate and the second coordinate in the second direction; The first distance and the second distance are calculated based on the image pixels of the first field of view, the camera parameters, the first image distance, and the second image distance.

9. The method for monitoring the offset of immersed tunnels according to claim 7, characterized in that, The step of calculating the third distance and the fourth distance based on the image pixels and image orientation of the second field of view and the camera parameters of the camera includes: Obtain the third coordinate and the fourth coordinate; the third coordinate is the coordinate of the third reference component in the second field of view, and the fourth coordinate is the coordinate of the fourth reference component in the second field of view; Based on the image direction of the second field of view, the third coordinate, and the fourth coordinate, the third image distance and the fourth image distance are calculated; the third image distance is the distance between the third coordinate and the fourth coordinate in the second direction, and the fourth image distance is the distance between the third coordinate and the fourth coordinate in the third direction; The third distance and the fourth distance are calculated based on the image pixels of the second field of view, the camera parameters, the third image distance, and the fourth image distance.

10. The method for monitoring the offset of immersed tunnels according to claim 6, characterized in that, The step of determining the relative offset between the first pipe joint and the second pipe joint in the first direction, the second direction, and the third direction based on the first distance, the second distance, the third distance, and the fourth distance includes: The difference between the first distance and the preset first standard distance is calculated, and the relative offset between the first pipe joint and the second pipe joint in the first direction is determined based on the difference result. The combined calculated value of the second distance and the third distance is subtracted from the preset second standard distance, and the relative offset between the first pipe joint and the second pipe joint in the second direction is determined based on the difference result. The difference between the fourth distance and the preset third standard distance is calculated, and the relative offset between the first pipe joint and the second pipe joint in the third direction is determined based on the difference result.

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