Tunnel approaching automatic photographing equipment and tunnel approaching measurement photographing method using same

Abstract

The invention provides automatic photographing equipment for tunnel approaching. The automatic photographing equipment comprises a support; a rotary steering engine; the photographing device is used for performing close photographing on the tunnel wall; at least one light fixture; the walking direction of the support rollers and the longitudinal virtual center line are the same as the direction of the tunnel, and at least one support roller is an electric walking wheel; and a control module. The invention also provides a tunnel approaching measurement shooting method using the tunnel approaching automatic shooting equipment. The method comprises the following steps: setting a shooting axis; setting a shooting time interval; setting a shooting angle interval; setting the number of shot photos; setting shooting duration; setting a forward speed; and controlling the electric walking wheel to advance, moving and shooting along the shooting axis, rotating a lens by a swing angle and then shooting a next photo, and continuously circulating until the shooting is finished. According to the method, the overlapping degree and the automation efficiency of adjacent pictures shot close to the tunnel are improved, and the three-dimensional modeling quality and efficiency of the tunnel are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel close-up photogrammetry, and in particular to tunnel close-up automatic photography equipment and a tunnel close-up measurement shooting method using the equipment. Background Art

[0002] With the in-depth development of photogrammetry technology, the application of high-precision and high-resolution image data and real-life three-dimensional models plays an increasingly important role and has been well applied in the fields of building safety inspection, cultural relics protection, smart engineering, etc. However, the traditional close-up photogrammetry technology only uses airborne photographic equipment on the ground to collect data on objects. Most of its operating platforms rely on drones, which use satellite positioning systems to achieve fixed-point shooting to meet shooting requirements such as height, resolution, and overlap. However, in indoor environments, drones cannot automatically shoot by receiving satellite signals, especially in tunnels, where the lighting conditions are extremely poor, and traditional close-up photogrammetry equipment cannot function. They can only rely on manual shooting, but it is difficult to strictly guarantee the overlap of adjacent photos during the shooting process, which has an adverse effect on the quality of later three-dimensional modeling. When manual data collection is performed, serious problems such as misalignment and mis-splicing will occur when the model is spliced, resulting in the established model being seriously inconsistent with the actual situation, such as Figure 3 shown. Summary of the invention

[0003] In view of this, it is necessary to propose a tunnel close-up automatic photography device and a tunnel close-up measurement and photography method using the same to address the above problems, so as to overcome several shortcomings of the above background technology and solve the following technical problems:

[0004] How to improve the overlap and automation efficiency of adjacent photos taken close to the tunnel, so as to ensure the quality and efficiency of tunnel 3D modeling.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides an automatic photography device for tunnel proximity, comprising:

[0007] a bracket, which serves as a gravity support for the components;

[0008] a rotating steering gear, which is mounted on the bracket and is used to drive the photographing device to rotate around a longitudinal virtual center line;

[0009] A photographing device, mounted on the rotating part of the rotary steering gear; the photographing device is used to take close-up photos of the tunnel wall;

[0010] At least one lamp is installed on the rotating part of the rotary steering gear and is located beside the photographing device; the lamp is used to illuminate the tunnel wall that is photographed closely by the photographing device;

[0011] At least two support rollers are arranged at the bottom of the support; the support rollers are used to enable the photographic device to shoot steadily when the support moves longitudinally; the travel direction of the support rollers and the longitudinal virtual center line are in the same direction as the tunnel direction; at least one support roller is an electric travel wheel;

[0012] A control module is electrically connected to the rotary steering gear and the electric travel wheel respectively, and is used to control the actions of the rotary steering gear and the electric travel wheel.

[0013] Furthermore, the tunnel close to the automatic photographic equipment also includes at least one encoder; the encoder is installed on the rotary servo and is used to measure the rotation angle of the photographic device around the longitudinal virtual center line; the control module is electrically connected to the encoder, and the control module controls the rotation angle of the rotary servo according to the detection signal of the encoder.

[0014] Furthermore, the control module is in communication connection with the photographic device, and the control module adjusts the control instructions of the rotary servo according to the photographic parameters of the photographic device;

[0015] The control module adjusts the control instructions of the electric walking wheel according to the shooting parameters of the photographic device.

[0016] Furthermore, the control module is in communication connection with each lamp, and the control module adjusts the control instructions of the lamp according to the shooting parameters of the photographic device.

[0017] The present invention provides a tunnel close-up measurement and photography method using the tunnel close-up automatic photography device as described in any one of the above items, the method comprising the following steps:

[0018] Step S1, setting a photographing device in the tunnel to shoot an axis of the tunnel wall;

[0019] Step S2, setting the time interval for the photographing device to photograph the tunnel wall;

[0020] Step S3, setting a shooting angle interval of a photographing device corresponding to shooting the overlap of the tunnel wall;

[0021] Step S4, setting the number of photos taken by the photographic device in a shooting cycle;

[0022] Step S5, setting the shooting duration of a shooting cycle corresponding to the photographic device;

[0023] Step S6, setting the forward speed of the electric running wheel;

[0024] Step S7, controlling the electric walking wheel to move forward, so that the photographic device moves along the shooting axis set in step S1 at the longitudinal forward speed set in step S6 and the shooting time interval set in step S2 to shoot, and after each photo is taken, the lens is rotated clockwise or counterclockwise by a swing angle with the shooting axis as the rotation axis before taking the next photo; step S7 is continuously executed in a loop until the shooting is completed.

[0025] Furthermore, in step S2, the shooting time interval cannot be less than the sum of the exposure time of the photographic device plus the storage time.

[0026] Further, in step S3, the shooting angle interval is:

[0027]

[0028] In formula (100), C is the horizontal overlap of the photos, H is the height of the photosensitive element of the photographic device, and f is the focal length of the photographic device.

[0029] Furthermore, in step S4, the number of photos taken in one shooting cycle is:

[0030]

[0031] In formula (200), the value of N is rounded to an integer, and a is the shooting angle interval.

[0032] Furthermore, in step S5, the shooting duration of one shooting cycle is:

[0033] T=Nt (300)

[0034] In formula (300), N is the number of photos taken, and t is the shooting time of each photo.

[0035] Further, in step S6, the forward speed of the electric running wheel is:

[0036]

[0037] In formula (400), F is the distance from the camera to the tunnel wall, L is the longitudinal overlap of the photos, and C is the lateral overlap of the photos; D is the size of the bottom of the camera's photosensitive element, f is the camera's focal length, t is the time interval between two adjacent photos taken by the camera; and H is the height of the camera's photosensitive element.

[0038] The beneficial effects of the present invention are:

[0039] The present invention improves the overlap and automation efficiency of adjacent photos taken close to the tunnel, thereby ensuring the quality and efficiency of tunnel three-dimensional modeling; the present invention standardizes the data collection of close-up photogrammetry of the tunnel, and realizes automatic data collection through automated photographic equipment during the data collection process, thereby realizing efficient and high-quality data collection of the horizontal and vertical overlap of the taken photos, providing a guarantee for the high-quality three-dimensional modeling quality in the later stage; the present invention also has the advantages of uniform collected photos and satisfying the overlap requirements, can strictly meet the requirements of relevant specifications, and the model is complete and has normal texture after splicing. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These drawings are for illustration only and are not intended to limit the present invention.

[0041] Figure 1 It is a schematic diagram of the three-dimensional structure of the tunnel close automatic photography equipment of the present invention;

[0042] Figure 2 A flowchart of a tunnel close-up measurement and photographing method using a tunnel close-up automatic photographing device according to the present invention;

[0043] Figure 3 A tunnel aerial triangulation result effect diagram using the prior art as described in the background technology;

[0044] Figure 4 A tunnel aerial triangulation result effect diagram obtained by implementing the present invention;

[0045] Figure 5 A tunnel wall model rendering obtained for implementing the present invention;

[0046] Figure 6 It is a structural schematic diagram of the tunnel cross section and shooting axis involved in the present invention;

[0047] Figure 7 It is a three-dimensional structural schematic diagram of a tunnel section and a shooting axis involved in the present invention;

[0048] Figure 8 A schematic diagram of the horizontal overlap of two adjacent photos involved in the present invention;

[0049] Fig. 9 A three-dimensional effect simulation diagram of the continuously taken photos involved in the present invention;

[0050] Description of reference numerals:

[0051] Bracket 1; rotating servo 2; lamp 31; photographic device 4; bracket roller 11. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described in combination with the embodiments of the present invention. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] The terms "first", "second", "third", "fourth", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "second", "third", "fourth" features may explicitly or implicitly include one or more of the features.

[0054] The following is a detailed description of an embodiment of the invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the invention. However, the number of details provided is not intended to limit the intended variations of the embodiments; on the contrary, the intention is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the invention as defined by the appended claims.

[0055] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0056] Embodiments of the present invention include various steps, which are described below. These steps can be performed by hardware components, or can be contained in machine executable instructions, which can be used for general or special purpose processors programmed with instructions to perform these steps. Alternatively, the steps can be performed by a combination of hardware, software and firmware and / or a human operator.

[0057] The various methods described herein can be practiced by combining one or more machine-readable storage media containing codes according to the present invention with appropriate standard computer hardware to execute the codes contained therein. Apparatus for implementing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to computer programs encoded according to the various methods described herein, and the method steps of the present invention may be completed by modules, routines, subroutines or sub-parts of a computer program product.

[0058] If the specification states that a component or feature "may," "could," "might," or "might" include or have a feature, that particular component or feature is not required to be included or have that feature.

[0059] As used in the specification herein and the claims that follow, the meanings of “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0060] Exemplary embodiments will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only, and so that the present invention is thorough and complete, and the scope of the present invention is fully conveyed to those of ordinary skill in the art. However, the disclosed invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set forth herein. Various modifications are apparent to those skilled in the art. Without departing from the spirit and scope of the present invention, the general principles defined herein can be applied to other embodiments and applications. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. In addition, these equivalents are intended to include currently known equivalents and equivalents developed in the future (i.e., any element developed to perform the same function, regardless of the structure). Moreover, the terms and wording used are for the purpose of describing exemplary embodiments and should not be considered restrictive. Therefore, the present invention will be given the widest scope, including multiple replacements, modifications and equivalents consistent with the disclosed principles and features. For the sake of clarity, the details of the technical materials known in the technical field related to the present invention are not described in detail, so as not to unnecessarily obscure the present invention.

[0061] Therefore, for example, it will be understood by those of ordinary skill in the art that schematic diagrams, schematic diagrams, diagrams, etc. represent conceptual views or processes that embody the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware and hardware capable of executing related software. Similarly, any switches shown in the figures are only conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and specific techniques can be selected by the entity that implements the present invention. It will be further understood by those of ordinary skill in the art that the exemplary hardware, software, processes, methods and / or operating systems described herein are for illustrative purposes and are therefore not intended to be limited to any specific named elements.

[0062] Embodiments of the present invention may be provided as a computer program product, which may include a machine-readable storage medium on which instructions are tangibly implemented, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, tapes, floppy disks, optical disks, optical disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). Machine-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory or memory devices. A computer program product may include code and / or machine executable instructions, which may represent any combination of a process, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structure, or program statement. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, variables, parameters, or memory contents. Information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0063] In addition, the embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program products) that perform the necessary tasks may be stored in a machine-readable medium. A processor may perform the necessary tasks.

[0064] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0065] Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to the "invention" may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to the "invention" will refer to the subject matter recited in one or more, but not necessarily all, of the claims.

[0066] Unless otherwise specified herein or the context is clearly contradictory, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is intended only to better illustrate the present invention, rather than to limit the scope of the claimed invention. Any language in the specification should not be interpreted as indicating any unclaimed element essential to the implementation of the present invention.

[0067] Various terms used herein are listed below. To the extent a term used in a claim is not defined below, it should be given the broadest definition persons in the relevant art have given that term as reflected in printed publications and issued patents at the time of filing the application.

[0068] Example 1

[0069] like Figure 1 As shown:

[0070] The present invention provides an automatic photography device for tunnel proximity, comprising:

[0071] A bracket 1, serving as a gravity support for each component;

[0072] a rotating steering gear 2, the rotating steering gear 2 is mounted on the bracket 1, and the rotating steering gear 2 is used to drive the photographing device 4 to rotate around a longitudinal virtual center line;

[0073] A photographing device 4 is mounted on the rotating part of the rotary steering gear 2; the photographing device 4 is used to take close-up photos of the tunnel wall;

[0074] At least one lamp 31 is installed on the rotating part of the rotary servo 2 and is located beside the photographing device 4; the lamp 31 is used to illuminate the tunnel wall that is photographed by the photographing device 4;

[0075] At least two support rollers 11 are arranged at the bottom of the support 1; the support rollers 11 are used to enable the photographing device 4 to shoot steadily when the support 1 moves longitudinally; the travel direction of the support rollers 11 and the longitudinal virtual center line are in the same direction as the tunnel direction; at least one support roller 11 is an electric travel wheel;

[0076] A control module is electrically connected to the rotary steering gear 2 and the electric running wheel respectively, and is used to control the actions of the rotary steering gear 2 and the electric running wheel.

[0077] Optimally, the tunnel also includes at least one encoder close to the automatic photographic equipment; the encoder is installed on the rotary servo 2 and is used to measure the rotation angle of the photographic device 4 around the longitudinal virtual center line; the control module is electrically connected to the encoder, and the control module controls the rotation angle of the rotary servo 2 according to the detection signal of the encoder.

[0078] Optimally, the control module is in communication connection with the photographic device 4, and the control module adjusts the control instructions of the rotary servo 2 according to the photographic parameters of the photographic device 4;

[0079] The control module adjusts the control instructions of the electric running wheels according to the shooting parameters of the photographic device 4 .

[0080] Optimally, the control module is in communication connection with each lamp 31 , and the control module adjusts the control instructions of the lamp 31 according to the shooting parameters of the photographic device 4 .

[0081] Example 2

[0082] like Figure 1 , Figure 2 As shown:

[0083] This embodiment provides a tunnel close-up measurement and photography method using the tunnel close-up automatic photography device as described in any technical solution in Embodiment 1, the method comprising the following steps:

[0084] Step S1, setting a photographing device 4 in the tunnel to shoot an axis of the tunnel wall;

[0085] Step S2, setting the time interval for the photographing device 4 to photograph the tunnel wall;

[0086] Step S3, setting the shooting angle interval of the photographing device 4 corresponding to shooting the overlap of the tunnel wall;

[0087] Step S4, setting the number of photos taken by the photographing device 4 in a corresponding shooting cycle;

[0088] Step S5, setting the shooting duration of a shooting cycle corresponding to the photographic device 4;

[0089] Step S6, setting the forward speed of the electric running wheel;

[0090] In step S7, the electric walking wheel is controlled to move forward, so that the photographing device 4 moves along the shooting axis set in step S1 at the longitudinal forward speed set in step S6 and the shooting time interval set in step S2 to shoot, and after each photo is taken, the lens is rotated clockwise or counterclockwise by a swing angle with the shooting axis as the rotation axis before taking the next photo; step S7 is continuously executed in a loop until the shooting is completed.

[0091] Optimally, in step S2, the shooting time interval cannot be less than the sum of the exposure time of the photographic device 4 and the storage time.

[0092] Optimally, in step S3, the shooting angle interval is:

[0093]

[0094] In formula (100), C is the horizontal overlap of the photos, H is the height of the photosensitive element of the photographic device 4, and f is the focal length of the photographic device 4.

[0095] Optimally, in step S4, the number of photos taken in one shooting cycle is:

[0096]

[0097] In formula (200), the value of N is rounded to an integer, and a is the shooting angle interval.

[0098] Specifically, the value of π in formula (200) is preferably 180.

[0099] Optimally, in step S5, the shooting duration of one shooting cycle is:

[0100] T=Nt (300)

[0101] In formula (300), N is the number of photos taken, and t is the shooting time of each photo.

[0102] Optimally, in step S6, the forward speed of the electric running wheel is:

[0103]

[0104] In formula (400), F is the distance from the camera to the tunnel wall, L is the longitudinal overlap of the photos, and C is the lateral overlap of the photos; D is the size of the bottom of the camera's photosensitive element, f is the camera's focal length, t is the time interval between two adjacent photos taken by the camera; and H is the height of the camera's photosensitive element.

[0105] Example 3

[0106] Embodiment 3 is a further optimization of Embodiment 2;

[0107] like Figure 1 , Figure 2 As shown:

[0108] Further optimized, in step S1, the shooting axis is a path parallel to the direction of the tunnel; specifically, according to the photogrammetry principle and technical requirements, in order to unify the resolution of the image and the model, the shooting distance should be as consistent as possible; in the tunnel, a suitable shooting point should be established and kept consistent; Figure 6 As shown in the figure, the vertical line is the vertical symmetry axis of the section, and the horizontal line is the average dividing perpendicular line of the vertical symmetry axis. The intersection point O of the vertical line and the horizontal line is the best shooting point (the distance from point O to all parts of the tunnel wall should be as consistent as possible); therefore, the straight line passing through point O and parallel to the tunnel direction is the shooting axis, such as Figure 7As shown, the camera will be along the shooting axis with the lens facing the tunnel wall.

[0109] For further optimization, in step S2, in order to improve work efficiency, the shooting time interval should be shortened as much as possible, and the shooting time interval should not be less than the sum of the exposure time and storage time of the photographic equipment, otherwise it will affect the clarity of the image and the storage of the data; when setting the shooting time interval of the photographic device 4 to the tunnel wall, it should be determined according to the performance of the photographic equipment to ensure that the efficiency is improved without affecting the normal shooting. It is assumed here that the shooting time interval is t.

[0110] Further optimized, in step 3, since the photographing position of the photographing device 4 (i.e., the camera) is on the shooting axis, in order to make the images have a certain degree of overlap (according to the requirements of relevant specifications and taking into account the light in the tunnel and the weak texture of the tunnel wall, the lateral overlap should be above 75%, such as Figure 8 As shown in the figure, there are two adjacent photos with a certain degree of overlap), the camera needs to constantly adjust the shooting angle to meet the requirements.

[0111] Further optimized, in step S7, after the shooting parameters are determined, the photographing device 4 will continuously move along the shooting axis at a speed V and shoot at a time interval t. After each photo is taken, the photographing device 4 will rotate clockwise or counterclockwise by an angle a with the shooting axis as the rotation axis and then shoot the next photo, and so on until the shooting is completed; Fig. 9 As shown, the photographs taken will be arranged in a spiral forward motion, the overlap of two adjacent photographs is a horizontal overlap, and the overlap of two photographs taken before and after the photographic device 4 rotates one circle is a vertical overlap.

[0112] This embodiment calculates a series of parameters such as the sensor size of the photographic device 4, the radius of the tunnel wall, the horizontal and vertical overlap of the photos, the camera exposure time, etc., to achieve the optimal rotation angular velocity of the photographic device 4 and the forward speed of the device, so as to realize efficient and high-quality data collection of the horizontal and vertical overlap of the taken photos, thereby providing a guarantee for the high-quality three-dimensional modeling quality in the later stage; Figure 5 As shown, the collected photos are uniform and the overlap meets the requirements. They are carried out strictly in accordance with relevant specifications. The model is completely spliced ​​and the texture is normal.

[0113] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A tunnel close automatic photography device, characterized in that: include: A bracket (1) serving as a gravity support for each component; a rotating steering gear (2), the rotating steering gear (2) being mounted on the bracket (1), and the rotating steering gear (2) being used to drive the photographing device (4) to rotate around a longitudinal virtual center line; A photographing device (4) is mounted on the rotating part of the rotary steering gear (2); the photographing device (4) is used to take close-up photos of the tunnel wall; At least one lamp (31) is mounted on the rotating part of the rotary steering gear (2) and is located beside the photographing device (4); the lamp (31) is used to illuminate the tunnel wall that is photographed closely by the photographing device (4); At least two support rollers (11) are arranged at the bottom of the support (1); the support rollers (11) are used to enable the photographing device (4) to shoot smoothly when the support (1) moves longitudinally; the travel direction of the support rollers (11) and the longitudinal virtual center line are in the same direction as the tunnel direction; at least one support roller (11) is an electric travel wheel; A control module is electrically connected to the rotary steering gear (2) and the electric running wheel respectively, and is used to control the movement of the rotary steering gear (2) and the electric running wheel.

2. The tunnel close automatic photography equipment according to claim 1, characterized in that: The tunnel-adjacent automatic photographic equipment further comprises at least one encoder; the encoder is mounted on a rotary servo (2) and is used to measure the rotation angle of the photographic device (4) around the longitudinal virtual center line; the control module is electrically connected to the encoder, and the control module controls the rotation angle of the rotary servo (2) according to a detection signal of the encoder.

3. The tunnel close automatic photography equipment according to claim 1, characterized in that: The control module is in communication connection with the photographing device (4), and the control module adjusts the control instructions of the rotary steering engine (2) according to the photographing parameters of the photographing device (4); The control module adjusts the control instructions of the electric running wheel according to the shooting parameters of the photography device (4).

4. The tunnel close automatic photography equipment according to claim 3, characterized in that: The control module is in communication connection with each lamp (31), and adjusts the control instructions of the lamp (31) according to the shooting parameters of the photography device (4).

5. A method for close-up measurement and photography of a tunnel using the tunnel close-up automatic photography device as claimed in any one of claims 1 to 4, characterized in that: The method comprises the following steps: Step S1, setting a photographing device (4) in the tunnel to shoot an axis of the tunnel wall; Step S2, setting the time interval for the photographing device (4) to photograph the tunnel wall; Step S3, setting a shooting angle interval of a photographing device (4) corresponding to shooting the overlap of the tunnel wall; Step S4, setting the number of photos taken by the photographing device (4) in a corresponding shooting cycle; Step S5, setting the shooting duration of a shooting cycle corresponding to the photographic device (4); Step S6, setting the forward speed of the electric running wheel; Step S7, controlling the electric walking wheel to move forward, so that the photographing device (4) moves along the shooting axis set in step S1 at the longitudinal forward speed set in step S6 and the shooting time interval set in step S2 to shoot, and after each photo is taken, the lens is rotated clockwise or counterclockwise by a lens swing angle with the shooting axis as the rotation axis before taking the next photo; step S7 is continuously executed in a loop until the shooting is completed.

6. The tunnel close measurement and shooting method of the tunnel close automatic photography equipment according to claim 5, characterized in that: In step S2, the shooting time interval cannot be less than the sum of the exposure time of the photographic device (4) and the storage time.

7. The tunnel close measurement and photography method of the tunnel close automatic photography equipment according to claim 5, characterized in that: In step S3, the shooting angle interval is: In formula (100), C is the horizontal overlap of the photos, H is the height of the photosensitive element of the photographic device (4), and f is the focal length of the photographic device (4).

8. The tunnel close measurement and shooting method of the tunnel close automatic photography equipment according to claim 7, characterized in that: In step S4, the number of photos taken in one shooting cycle is: In formula (200), the value of N is rounded to an integer, and a is the shooting angle interval.

9. The tunnel close measurement and shooting method of the tunnel close automatic photography equipment according to claim 8, characterized in that: In step S5, the shooting duration of one shooting cycle is: T=Nt (300) In formula (300), N is the number of photos taken, and t is the shooting time of each photo.

10. The tunnel close measurement and shooting method of the tunnel close automatic photography equipment according to claim 9, characterized in that: In step S6, the forward speed of the electric running wheel is: In formula (400), F is the distance from the camera to the tunnel wall, L is the longitudinal overlap of the photos, and C is the lateral overlap of the photos; D is the size of the bottom of the camera's photosensitive element, f is the camera's focal length, t is the time interval between two adjacent photos taken by the camera; and H is the height of the camera's photosensitive element.

Images