Infrastructure field deformation monitoring method, device, electronic device and storage medium

Abstract

The present invention provides a method, device, electronic device and storage medium for monitoring deformation of an infrastructure field, and relates to the field of computer vision technology. The method includes: determining a deformation monitoring area of ​​a measuring point to be currently monitored from multiple deformation monitoring areas of the facility field to be monitored; determining the measuring point coordinate transformation relationship information corresponding to the deformation monitoring area of ​​the measuring point from the coordinate transformation relationship information set of the camera system; based on the coordinate transformation relationship information of the measuring point, controlling the rotation of the camera system to monitor the deformation monitoring area of ​​the measuring point; obtaining a monitoring image of the deformation monitoring area of ​​the measuring point acquired by an image acquisition device; based on the monitoring image, performing deformation monitoring on the deformation monitoring area of ​​the measuring point, and obtaining a deformation monitoring result of the deformation monitoring area of ​​the measuring point. According to the present invention, one camera system can monitor multiple deformation monitoring areas, thereby eliminating the need to deploy multiple camera systems and reducing the hardware cost of infrastructure field deformation monitoring.

Description

Technical Field

[0001] The present invention relates to the field of computer vision technology, and in particular to an infrastructure field deformation monitoring method, device, electronic equipment and storage medium. Background Art

[0002] As loads, environmental conditions, and other factors influence infrastructure components, they age and their properties deteriorate, posing safety risks. Therefore, regular or long-term infrastructure monitoring is necessary. Traditionally, infrastructure monitoring is performed using contact sensing methods using accelerometers and strain gauges. However, this method has discrete measurement points, sparse data, and requires multiple installations, resulting in high installation and maintenance costs and difficulty optimizing measurement point locations. Furthermore, accelerometers require quadratic integration to obtain deformation, which results in cumulative errors and inaccurate infrastructure field monitoring results.

[0003] Currently, infrastructure monitoring is performed using computer vision, with one camera monitoring one area. However, infrastructure is often large, and if one camera can only monitor a single area, multiple cameras would need to be deployed to monitor the infrastructure site, increasing hardware costs. Summary of the Invention

[0004] The present invention provides an infrastructure field deformation monitoring method, device, electronic device and storage medium, which are used to solve the defect of high hardware cost of infrastructure field monitoring in the prior art and realize low-cost infrastructure field deformation monitoring.

[0005] The present invention provides an infrastructure field deformation monitoring method, comprising:

[0006] Determine a deformation monitoring area of ​​a measuring point to be currently monitored from a plurality of deformation monitoring areas in the facility area to be monitored;

[0007] Determining, from a coordinate transformation relationship information set of a camera system, measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area; the camera system includes an image acquisition device, the coordinate transformation relationship information set includes coordinate transformation relationship information corresponding to the plurality of deformation monitoring areas, the measuring point coordinate transformation relationship information representing a coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate position being the coordinate position of the camera system when the camera system monitored a previous deformation monitoring area, and the second coordinate position being the coordinate position of the camera system when the camera system monitored the measuring point deformation monitoring area;

[0008] Based on the measurement point coordinate conversion relationship information, controlling the camera system to rotate to monitor the measurement point deformation monitoring area;

[0009] Acquiring a monitoring image acquired by the image acquisition device on the deformation monitoring area of ​​the measuring point;

[0010] Based on the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point;

[0011] Return to the step of determining the deformation monitoring area of ​​the measuring point to be currently deformation monitored from the multiple deformation monitoring areas of the facility to be monitored, until deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0012] According to a method for monitoring deformation of an infrastructure field provided by the present invention, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point based on the monitoring image to obtain deformation monitoring results of the deformation monitoring area of ​​the measuring point, including:

[0013] Acquire a template image set of the deformation monitoring area of ​​the measuring point, wherein the template image set includes a plurality of template images of different brightness;

[0014] Determining at least one measuring point template image from the template image set based on the brightness of the monitoring image;

[0015] Based on the template image of each measuring point and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point.

[0016] According to a method for monitoring deformation of an infrastructure field provided by the present invention, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point based on the template image of each measuring point and the monitoring image to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point, including:

[0017] Based on the template image of each measuring point and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result in the space of the image acquisition device;

[0018] Based on the deformation monitoring results in the image acquisition device space and the first mapping relationship, the deformation monitoring results of the measuring point deformation monitoring area are determined; the first mapping relationship is the size mapping relationship between the image acquisition device space and the real world space; the deformation monitoring results of the measuring point deformation monitoring area are the actual physical deformation monitoring results.

[0019] According to an infrastructure field deformation monitoring method provided by the present invention, the first mapping relationship is determined based on the following method:

[0020] Determining the first mapping relationship corresponding to the deformation monitoring area of ​​the measuring point from a mapping relationship set of the camera system; the mapping relationship set includes mapping relationships corresponding to the multiple deformation monitoring areas;

[0021] The first mapping relationship is determined by rotating the camera system to face the electronic scale corresponding to the deformation monitoring area of ​​the measuring point.

[0022] According to a method for monitoring deformation of an infrastructure field provided by the present invention, the camera system further comprises a point cloud data acquisition device, and the relative position of the point cloud data acquisition device and the image acquisition device remains unchanged;

[0023] The step of determining the deformation monitoring result of the deformation monitoring area of ​​the measuring point based on the deformation monitoring result in the image acquisition device space and the first mapping relationship includes:

[0024] Acquire point cloud data of the deformation monitoring area of ​​the measuring point at the current moment, wherein the point cloud data is acquired by the point cloud data acquisition device;

[0025] Determining distance data between the camera system and the deformation monitoring area of ​​the measuring point based on the point cloud data, wherein the distance data includes a plurality of sub-distances, and any of the sub-distances is a distance between the camera system and any sub-area in the deformation monitoring area of ​​the measuring point;

[0026] Determining, based on the distance data and the first mapping relationship, a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point, wherein any of the second mapping relationships is a size mapping relationship between the image acquisition device space and the real world space;

[0027] Based on the deformation monitoring result in the image acquisition device space and each of the second mapping relationships, the deformation monitoring result of the deformation monitoring area of ​​the measuring point is determined.

[0028] According to a method for monitoring deformation of an infrastructure field provided by the present invention, determining the distance data between the camera system and the deformation monitoring area of ​​the measuring point based on the point cloud data includes:

[0029] Acquiring position information of the image acquisition device at a current moment, wherein the position information represents the position of the image acquisition device in a three-dimensional model of a monitoring scene of the facility to be monitored;

[0030] Based on the positional relationship information between the image acquisition device and the point cloud data acquisition device, the posture information and the point cloud data, the distance data between the camera system and the measurement point deformation monitoring area is determined.

[0031] According to a method for monitoring deformation of an infrastructure site provided by the present invention, the step of returning to the step of determining the deformation monitoring area of ​​the current measuring point to be monitored from the multiple deformation monitoring areas of the facility site to be monitored until deformation monitoring results of the multiple deformation monitoring areas are obtained further includes:

[0032] Based on the deformation monitoring results of the multiple deformation monitoring areas, the three-dimensional model of the monitoring scene is updated.

[0033] According to a method for monitoring deformation of an infrastructure field provided by the present invention, determining, based on the distance data and the first mapping relationship, a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point, includes:

[0034] Performing interpolation fitting based on the distance data to obtain a scale change relationship function of the deformation monitoring area of ​​the measuring point;

[0035] The first mapping relationship is scale-changed based on the scale-change relationship function to obtain a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point.

[0036] According to the method for monitoring deformation of an infrastructure field provided by the present invention, before acquiring the monitoring image captured by the image acquisition device on the deformation monitoring area of ​​the measuring point, the method further includes:

[0037] Determining the focal length of the measuring point corresponding to the deformation monitoring area of ​​the measuring point from the focal length information set of the camera system; the focal length information set includes the focal lengths corresponding to the multiple deformation monitoring areas;

[0038] The focal length of the image acquisition device is adjusted to the focal length of the measuring point.

[0039] According to an infrastructure field deformation monitoring method provided by the present invention, when the coordinate position of the camera system is the second coordinate position, the measurement point deformation monitoring area is located at the center of the field of view of the camera system.

[0040] The present invention also provides an infrastructure field deformation monitoring device, comprising: an area determination module, an information determination module, a system control module, an image acquisition module, a deformation monitoring module and a step return module.

[0041] The area determination module is used to determine the deformation monitoring area of ​​the measuring point to be currently monitored from multiple deformation monitoring areas in the facility area to be monitored.

[0042] An information determination module is used to determine the measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from the coordinate transformation relationship information set of the camera system; the camera system includes an image acquisition device, the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, and the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area.

[0043] The system control module is used to control the rotation of the camera system based on the measurement point coordinate conversion relationship information to monitor the measurement point deformation monitoring area.

[0044] The image acquisition module is used to acquire the monitoring image acquired by the image acquisition device on the deformation monitoring area of ​​the measuring point.

[0045] The deformation monitoring module is used to perform deformation monitoring on the deformation monitoring area of ​​the measuring point based on the monitoring image, and obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point.

[0046] The step return module is used to return to the step of determining the deformation monitoring area of ​​the current measuring point to be deformed monitored from the multiple deformation monitoring areas of the facility field to be monitored until the deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0047] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for monitoring deformation of an infrastructure field as described above is implemented.

[0048] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described methods for monitoring infrastructure field deformation.

[0049] The infrastructure field deformation monitoring method, device, electronic device and storage medium provided by the present invention determine the current measuring point deformation monitoring area to be monitored from multiple deformation monitoring areas of the facility field to be monitored, so as to determine the measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from the coordinate transformation relationship information set of the camera system, and the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from the first coordinate position to the second coordinate position, the first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area, based on the measuring point coordinate transformation relationship information , control the rotation of the camera system to monitor the deformation monitoring area of ​​the measuring point, to obtain the monitoring image collected by the image acquisition device on the deformation monitoring area of ​​the measuring point, to perform deformation monitoring on the deformation monitoring area of ​​the measuring point based on the monitoring image, to obtain the deformation monitoring result of the deformation monitoring area of ​​the measuring point, and return to the step of determining the deformation monitoring area of ​​the measuring point to be currently deformed from the multiple deformation monitoring areas of the facility field to be monitored, until the deformation monitoring results of the multiple deformation monitoring areas are obtained, thereby realizing multi-field inspection and monitoring by one camera system, that is, deformation monitoring of the infrastructure field can be completed using one camera system. In other words, one camera system can monitor multiple deformation monitoring areas, so there is no need to deploy multiple camera systems, thereby reducing the hardware cost of deformation monitoring of the infrastructure field. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to 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 any creative work.

[0051] Figure 1 This is one of the flow charts of the infrastructure field deformation monitoring method provided by the present invention.

[0052] Figure 2 This is the second flow chart of the infrastructure field deformation monitoring method provided by the present invention.

[0053] Figure 3 It is a structural schematic diagram of the infrastructure field deformation monitoring device provided by the present invention.

[0054] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0055] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0056] As loads, environmental conditions, and other factors influence infrastructure components, they age and their properties deteriorate, posing safety risks. Therefore, regular or long-term infrastructure monitoring is necessary. Traditionally, infrastructure monitoring is performed using contact sensing methods using accelerometers and strain gauges. However, this method has discrete measurement points, sparse data, and requires multiple installations, resulting in high installation and maintenance costs and difficulty optimizing measurement point locations. Furthermore, accelerometers require quadratic integration to obtain deformation, which results in cumulative errors and inaccurate infrastructure field monitoring results.

[0057] Currently, infrastructure monitoring using computer vision involves one camera monitoring a single area, meaning each camera can only monitor a single field of view. However, infrastructure is often large, and if one camera can only monitor a single area, multiple cameras would need to be deployed to monitor the infrastructure site, increasing hardware costs.

[0058] In view of the above problems, the present invention proposes the following embodiments. Figure 1-Figure 2 The infrastructure field deformation monitoring method of the present invention is described.

[0059] Figure 1 This is one of the flow diagrams of the infrastructure field deformation monitoring method provided by the present invention, such as Figure 1 As shown, the infrastructure field deformation monitoring method includes the following steps 110, 120, 130, 140, 150 and 160.

[0060] Step 110: Determine a deformation monitoring area of ​​a measuring point to be currently monitored from a plurality of deformation monitoring areas of the facility to be monitored.

[0061] Here, the facility site to be monitored is an infrastructure site to be monitored for deformation, and is usually a large-scale infrastructure site.

[0062] Here, the multiple deformation monitoring areas (monitoring points) are monitoring areas that are divided in advance in the area of ​​the monitoring facility.

[0063] In some embodiments, multiple components to be monitored included in the facility to be monitored are determined, and multiple deformation monitoring areas are determined based on the multiple components to be monitored. One component to be monitored can be divided into one or more deformation monitoring areas according to size.

[0064] In one embodiment, the several deformation monitoring areas corresponding to any component to be monitored are determined based on the following method: the monitoring scene of the monitoring facility site is three-dimensionally reconstructed to obtain a three-dimensional model of the monitoring scene; based on the three-dimensional model of the monitoring scene, the three-dimensional component model of the component to be monitored is determined; the three-dimensional construction model is segmented to obtain several deformation monitoring areas of the component to be monitored.

[0065] Among them, the monitoring scene is the scene where the facility to be monitored is located.

[0066] In one embodiment, a 3D reconstruction device scans multiple points of a monitoring scene at predetermined intervals to obtain multiple scan data sets. Three-dimensional reconstruction is then performed based on the multiple scan data sets to create a 3D model of the monitoring scene. This 3D reconstruction device may include, but is not limited to, a real-scene digital twin device such as a Faro 3D scanner (including a panoramic camera and laser). For example, multiple points in the monitoring scene are selected, the real-scene digital twin device is powered on, and scans and records data at predetermined intervals. The multiple scan data sets are then saved. Furthermore, the scan data includes RGB information and point cloud information.

[0067] Furthermore, the plurality of scan data are pre-processed, and then three-dimensional reconstruction is performed based on the pre-processed plurality of scan data. The pre-processing method may include, but is not limited to, at least one of the following: denoising, streamlining, segmentation, splicing, multi-point site cloud registration, adaptive filtering, etc.

[0068] Furthermore, the 3D monitoring scene model is post-processed to obtain a post-processed 3D monitoring scene model for subsequent processing based on the post-processed 3D monitoring scene model. The post-processing methods may include, but are not limited to, at least one of the following: 3D model smoothing, 3D model optimization, RGB texture mapping and matching, etc. The RGB texture mapping and matching process can produce a textured 3D monitoring scene model, thereby further improving the representation accuracy of the 3D monitoring scene model.

[0069] It should be noted that the embodiment of the present invention can realize multi-field inspection and monitoring by a camera system. Therefore, the deformation monitoring area of ​​the measuring point to be currently monitored is first determined from the multiple deformation monitoring areas of the facility field to be monitored. After the deformation monitoring of the measuring point deformation monitoring area is performed to obtain the deformation monitoring result, the step 110 is returned until the deformation monitoring results of multiple deformation monitoring areas are obtained.

[0070] Step 120: Determine the measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from the coordinate transformation relationship information set of the camera system.

[0071] In which, the camera system includes an image acquisition device, the coordinate transformation relationship information set includes coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, and the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from the first coordinate position to the second coordinate position. The first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area.

[0072] Here, the camera system needs to be pre-installed in the monitoring scene of the facility to be monitored and connected to a power source. Furthermore, the camera system can be communicatively connected to an entity executing the method provided by an embodiment of the present invention, for example, a server, and the camera system and the server are communicatively connected.

[0073] The image acquisition device is used to acquire monitoring images, for example, it is a camera, a video camera, etc.

[0074] Here, the coordinate transformation relationship information set includes coordinate transformation relationship information corresponding to each deformation monitoring area, and the coordinate transformation relationship information set is set in advance.

[0075] In a specific embodiment, a monitoring order of multiple deformation monitoring areas is determined; based on the monitoring order, the coordinate position of the camera system when the camera system monitors the first deformation monitoring area and the coordinate position of the camera system when the camera system monitors the second deformation monitoring area are determined, and then the coordinate transformation relationship information corresponding to the second deformation monitoring area is determined, and so on, the coordinate transformation relationship information corresponding to the subsequent deformation monitoring areas is determined, wherein the first position in the coordinate transformation relationship information corresponding to the first deformation monitoring area can be the initial coordinate position of the camera system.

[0076] In other words, the monitoring camera system rotates from its initial position to the coordinate transformation relationship information for monitoring the first deformation monitoring area, and the monitoring camera system rotates from the coordinate position of the camera system when monitoring the first deformation monitoring area to the coordinate transformation relationship information for monitoring the second deformation monitoring area, and so on, to determine the coordinate transformation relationship information corresponding to subsequent deformation monitoring areas.

[0077] Furthermore, when the monitoring camera system rotates, ensure that the rotated camera system faces the electronic ruler, and / or ensure that the rotated camera system places the deformation monitoring area at the center of the field of view, so as to ensure that when the coordinate position of the camera system is the second coordinate position, the measuring point deformation monitoring area is located at the center of the field of view of the camera system.

[0078] Step 130: Based on the measurement point coordinate conversion relationship information, control the camera system to rotate to monitor the measurement point deformation monitoring area.

[0079] It should be noted that the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from the first coordinate position to the second coordinate position, and the first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area. Based on this, based on the measuring point coordinate transformation relationship information, the camera system can be controlled to rotate to the coordinate position of the monitoring measuring point deformation monitoring area to monitor the measuring point deformation monitoring area.

[0080] Furthermore, point cloud data of the deformation monitoring area at the measuring point is obtained at the current moment. After controlling the rotation of the camera system based on the coordinate transformation relationship information of the measuring point, the camera system is then controlled to rotate based on the point cloud data to ensure that the camera system is looking directly at the deformation monitoring area at the measuring point, thereby improving the accuracy of the deformation monitoring results. It should be understood that the deformation monitoring area at the measuring point may deform. Therefore, controlling the rotation of the camera system based on the point cloud data, that is, performing motion navigation of the camera system based on this point cloud data, ensures that the camera system is looking directly at the deformation monitoring area at the measuring point, even if the deformation monitoring area at the measuring point deforms.

[0081] Step 140: Acquire a monitoring image captured by the image acquisition device on the deformation monitoring area of ​​the measuring point.

[0082] It should be noted that after the camera system is controlled to rotate to the coordinate position of the deformation monitoring area of ​​the monitoring point, the image acquisition device will acquire the monitoring image of the deformation monitoring area of ​​the monitoring point.

[0083] Furthermore, before step 140, the brightness of the deformation monitoring area of ​​the measuring point is determined, and based on the brightness, the fill light device included in the camera system is controlled to perform fill light. Specifically, whether the fill light device performs fill light can be controlled, or the fill light intensity of the fill light device can be controlled. For example, before sunrise and after sunset, when the light is dim, the fill light device can be controlled to perform fill light so that the deformation monitoring area of ​​the measuring point reaches the brightness of the selected template image. Based on this, the image acquisition device can capture clear and accurate monitoring images, thereby improving the accuracy of deformation monitoring in the infrastructure field. Furthermore, it can be ensured that the brightness of the monitoring image is similar to that of the template image.

[0084] Step 150: Based on the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point.

[0085] In some embodiments, a measuring point template image of a deformation monitoring area of ​​a measuring point is acquired. Based on the measuring point template image and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result for the deformation monitoring area of ​​the measuring point. The measuring point template image is an image previously acquired from image acquisition of the deformation monitoring area of ​​the measuring point, and the obtained deformation monitoring result is the deformation monitoring result from before to now. More specifically, the deformation monitoring result of the deformation monitoring area of ​​the measuring point is determined based on the comparison result between the measuring point template image and the monitoring image. Exemplarily, a whole-pixel feature search is performed on the measuring point template image and the monitoring image based on a preset shape function and correlation criterion, and sub-pixel matching is performed to obtain the deformation monitoring result of the deformation monitoring area of ​​the measuring point. This is done by using a 2D-DIC (Digital Image Correlation) visual algorithm to perform deformation monitoring.

[0086] In one embodiment, at least one measuring point template image is acquired for a deformation monitoring area of ​​a measuring point. Based on each measuring point template image and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result for the deformation monitoring area of ​​the measuring point. More specifically, based on the comparison results between each measuring point template image and the monitoring image, each sub-deformation monitoring result of the deformation monitoring area of ​​the measuring point is determined. The deformation monitoring result of the deformation monitoring area of ​​the measuring point is then comprehensively determined based on each sub-deformation monitoring result. Based on this, multiple measuring point template images can be used to obtain multiple sub-deformation monitoring results, thereby improving the accuracy of the deformation monitoring result of the deformation monitoring area of ​​the measuring point.

[0087] In one embodiment, considering the impact of brightness on deformation monitoring, a template image set is obtained for the deformation monitoring area of ​​a measuring point. The template image set includes multiple template images of varying brightness. Based on the brightness of the monitoring image, a measuring point template image corresponding to that brightness is determined from the template image set. Deformation monitoring is performed on the deformation monitoring area of ​​the measuring point based on the measuring point template image and the monitoring image to obtain deformation monitoring results for the deformation monitoring area of ​​the measuring point, thereby improving the accuracy of the deformation monitoring results. The template image set includes multiple template images corresponding to brightness, and based on the brightness of the monitoring image, a measuring point template image with the brightness closest to that brightness is determined from the template image set.

[0088] For example, the template image set can be acquired by acquiring a preset number of template images at equal time intervals within a preset time period to obtain the template image set. For example, 10 clear images are acquired at equal time intervals between sunrise and sunset for each monitoring area as template images.

[0089] Furthermore, the template image set may be updated every preset time period, for example, once a month. During each update, a monitoring image of the monitoring area is newly collected as a template image.

[0090] In one embodiment, deformation monitoring is performed on a deformation monitoring area at a measuring point based on a monitoring image to obtain deformation monitoring results in the image acquisition device space. A deformation monitoring result for the deformation monitoring area at the measuring point is determined based on the deformation monitoring results in the image acquisition device space and a first mapping relationship. The first mapping relationship is a dimensional mapping relationship between the image acquisition device space and the real world space; the deformation monitoring result for the deformation monitoring area at the measuring point is a physically actual deformation monitoring result. Based on this, the deformation monitoring result is converted into a physically actual deformation monitoring result, thereby improving the accuracy of deformation monitoring in infrastructure sites.

[0091] Step 160 : Return to the step of determining the deformation monitoring area of ​​the current measuring point to be deformation monitored from the multiple deformation monitoring areas of the facility to be monitored, until deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0092] It should be noted that after obtaining the deformation monitoring result of the deformation monitoring area of ​​the measuring point, return to the above step 110 to perform deformation monitoring on the next deformation monitoring area until all deformation monitoring areas are monitored, thereby realizing multi-field inspection and monitoring by one camera system.

[0093] Furthermore, based on the deformation monitoring results of multiple deformation monitoring areas, the three-dimensional model of the monitoring scene can be updated to improve the accuracy of the three-dimensional model of the monitoring scene, fully consider the impact of the deformation changes of the monitored facility site on the three-dimensional model of the monitoring scene, and evaluate the spatial structural status of the monitored facility site over time.

[0094] Furthermore, the monitoring scene of the facility to be monitored can be reconstructed in three dimensions at preset time intervals, i.e., the three-dimensional model of the monitoring scene can be updated to improve its accuracy, fully accounting for the impact of deformation changes in the facility to be monitored on the three-dimensional model. The new three-dimensional model of the monitoring scene can then be compared with the old one to verify the accuracy of the embodiments of the present invention based on the comparison results, allowing for real-time adjustments to be made, ultimately further improving the accuracy of deformation monitoring of the infrastructure site, i.e., evaluating the performance of deformation monitoring of the infrastructure site.

[0095] Furthermore, based on the deformation monitoring results of multiple deformation monitoring areas, the deformation monitoring time series trend of each deformation monitoring area can be statistically analyzed. Furthermore, the deformation change ranking of all deformation monitoring areas can be given.

[0096] Furthermore, based on the deformation monitoring results of multiple deformation monitoring areas, a full-field deformation monitoring analysis report for the facility area to be monitored can be generated to provide emergency disaster prevention plans.

[0097] It can be understood that, through the above method, monitoring equipment can be deployed in a non-contact manner without destroying the structural surface of the infrastructure, thereby saving monitoring costs.

[0098] The infrastructure field deformation monitoring method provided by the embodiment of the present invention determines the current measuring point deformation monitoring area to be monitored from multiple deformation monitoring areas of the facility field to be monitored, and determines the measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from the coordinate transformation relationship information set of the camera system, and the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, and the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from the first coordinate position to the second coordinate position, the first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area, so as to control the camera based on the measuring point coordinate transformation relationship information. The system rotates to monitor the deformation monitoring area of ​​the measuring point, to obtain a monitoring image captured by the image acquisition device on the deformation monitoring area of ​​the measuring point, to perform deformation monitoring on the deformation monitoring area of ​​the measuring point based on the monitoring image, to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point, and to return to the step of determining the deformation monitoring area of ​​the measuring point to be currently deformed monitored from multiple deformation monitoring areas of the facility field to be monitored, until deformation monitoring results of multiple deformation monitoring areas are obtained, thereby realizing multi-field inspection and monitoring by one camera system, that is, deformation monitoring of the infrastructure field can be completed using one camera system. In other words, one camera system can monitor multiple deformation monitoring areas, thereby eliminating the need to deploy multiple camera systems and reducing the hardware cost of deformation monitoring of the infrastructure field.

[0099] Based on any of the above embodiments, Figure 2 This is the second flow chart of the infrastructure field deformation monitoring method provided by the present invention, such as Figure 2 As shown, the above step 150 includes step 151, step 152 and step 153.

[0100] Step 151: Acquire a template image set of the deformation monitoring area of ​​the measuring point, wherein the template image set includes a plurality of template images of different brightness.

[0101] Considering the influence of brightness on deformation monitoring, based on this, a template image set of the deformation monitoring area of ​​the measuring point is first obtained.

[0102] For example, the template image set can be acquired by acquiring a predetermined number of template images at equal time intervals within a predetermined time period to obtain the template image set. For example, ten clear images of each monitoring area can be acquired at equal time intervals between sunrise and sunset as template images. Based on this, multiple template images of varying brightness can be obtained.

[0103] Furthermore, the template image set may also include several template images with the same brightness or similar brightness.

[0104] The template image set is collected in advance. Furthermore, the template image set can be updated every preset time period, for example, once a month. During each update, a monitoring image of the monitoring area is newly collected as a template image.

[0105] Step 152: Determine at least one measurement point template image from the template image set based on the brightness of the monitoring image.

[0106] In a specific embodiment, based on the brightness of the monitoring image, at least one measurement point template image with the brightness closest to the brightness is determined from the template image set.

[0107] Step 153 : Based on the template image of each measuring point and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point.

[0108] In a specific embodiment, based on the comparison results of the template image of each measuring point and the monitoring image, each sub-deformation monitoring result of the deformation monitoring area of ​​the measuring point is determined; and based on each sub-deformation monitoring result, the deformation monitoring result of the deformation monitoring area of ​​the measuring point is comprehensively determined.

[0109] For example, if the number of the measurement point template images is 3, the deformation monitoring result of the measurement point deformation monitoring area is comprehensively determined based on the 3 sub-deformation monitoring results. In one embodiment, the comprehensive determination method can be an arithmetic average calculation method.

[0110] It should be understood that there may be multiple measuring point template images, so that multiple sub-deformation monitoring results can be obtained, thereby improving the accuracy of determining the deformation monitoring results of the measuring point deformation monitoring area.

[0111] The infrastructure field deformation monitoring method provided by the embodiment of the present invention obtains a template image set of the deformation monitoring area of ​​the measuring point, and the template image set includes multiple template images of different brightness, so as to determine at least one measuring point template image from the template image set based on the brightness of the monitoring image, thereby fully considering the influence of brightness on deformation monitoring, thereby improving the deformation monitoring accuracy of the infrastructure field; and the number of measuring point template images can be multiple, so as to perform deformation monitoring on the deformation monitoring area of ​​the measuring point based on each measuring point template image and the monitoring image, and obtain the deformation monitoring result of the deformation monitoring area of ​​the measuring point, so as to obtain multiple sub-deformation monitoring results, thereby improving the determination accuracy of the deformation monitoring result of the deformation monitoring area of ​​the measuring point, that is, further improving the deformation monitoring accuracy of the infrastructure field.

[0112] Based on any of the above embodiments, in the method, the above step 153 includes step 1531 and step 1532.

[0113] Step 1531: Based on the template image of each measuring point and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result in the space of the image acquisition device.

[0114] It should be noted that, since the measurement point template image and the monitoring image are acquired by the image acquisition device, what is obtained is the deformation monitoring result in the space of the image acquisition device.

[0115] Step 1532: Determine the deformation monitoring result of the measuring point deformation monitoring area based on the deformation monitoring result in the image acquisition device space and a first mapping relationship; the first mapping relationship is a size mapping relationship between the image acquisition device space and the real world space; the deformation monitoring result of the measuring point deformation monitoring area is a physical actual deformation monitoring result.

[0116] Considering that image-based monitoring needs to have physical scale to meet actual needs, and determining the actual physical deformation monitoring results will be more accurate, that is, the actual physical deformation monitoring results will be more substantial, therefore, based on the size mapping relationship between the image acquisition device space and the actual world space, the deformation monitoring results in the image acquisition device space are converted into deformation monitoring results in the actual world space.

[0117] In other words, the first mapping relationship is a size mapping relationship between pixels and physical scales.

[0118] The infrastructure field deformation monitoring method provided by an embodiment of the present invention determines the deformation monitoring results of the measuring point deformation monitoring area based on the deformation monitoring results in the image acquisition device space and a first mapping relationship, and the first mapping relationship is a size mapping relationship between the image acquisition device space and the actual world space, so that the deformation monitoring results of the measuring point deformation monitoring area are physically actual deformation monitoring results, thereby improving the deformation monitoring accuracy of the infrastructure field.

[0119] Based on any of the above embodiments, in this method, the first mapping relationship is determined based on the following manner: the first mapping relationship corresponding to the measurement point deformation monitoring area is determined from a mapping relationship set of the camera system; the mapping relationship set includes mapping relationships corresponding to the multiple deformation monitoring areas.

[0120] Here, the mapping relationship set is set in advance, that is, corresponding mapping relationships are set in advance for multiple deformation monitoring areas.

[0121] Furthermore, the first mapping relationship is determined by rotating the camera system to face the electronic scale corresponding to the deformation monitoring area of ​​the measuring point.

[0122] It should be noted that the electronic ruler corresponding to each deformation monitoring area should be fixed in a certain position in advance. It is also necessary to ensure that the electronic ruler and the camera system are greater than the preset distance. The electronic ruler can be connected to a power supply.

[0123] In a specific embodiment, after the camera system is rotated to face the electronic ruler corresponding to the deformation monitoring area of ​​the measuring point, the camera system is first zoomed, and then the internal and external parameters of the camera system are calibrated, and the first mapping relationship is obtained by measurement.

[0124] The infrastructure field deformation monitoring method provided by an embodiment of the present invention determines a first mapping relationship corresponding to a measuring point deformation monitoring area from a mapping relationship set of a camera system, and the first mapping relationship is determined by rotating the camera system to face the electronic ruler corresponding to the measuring point deformation monitoring area, so that the first mapping relationship can accurately represent the dimensional mapping relationship between the image acquisition device space and the actual world space, thereby ensuring that the actual physical deformation monitoring results can be accurately obtained, that is, improving the deformation monitoring accuracy of the infrastructure field.

[0125] Based on any of the above embodiments, the camera system further includes a point cloud data acquisition device, and the relative position between the point cloud data acquisition device and the image acquisition device remains unchanged. For example, the point cloud data acquisition device may be a laser.

[0126] Accordingly, the above step 1532 includes steps 15321 to 15324.

[0127] Step 15321: Acquire point cloud data of the deformation monitoring area of ​​the measuring point at the current moment, wherein the point cloud data is acquired by the point cloud data acquisition device.

[0128] Here, the point cloud data is used for motion navigation of the camera system and for determining the distance data between the camera system and the deformation monitoring area of ​​the measuring point, so as to supplement the first mapping relationship to obtain the second mapping relationship, thereby improving the deformation monitoring accuracy of the infrastructure site.

[0129] Step 15322: Based on the point cloud data, determine the distance data between the camera system and the deformation monitoring area of ​​the measuring point, where the distance data includes multiple sub-distances, and any sub-distance is the distance between the camera system and any sub-area in the deformation monitoring area of ​​the measuring point.

[0130] It should be noted that, since the point cloud data is point cloud data of the deformation monitoring area of ​​the measuring point, the distance data between the camera system and the deformation monitoring area of ​​the measuring point can be determined based on the point cloud data.

[0131] Step 15323: Based on the distance data and the first mapping relationship, determine multiple second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point, where any second mapping relationship is a size mapping relationship between the image acquisition device space and the actual world space.

[0132] It should be noted that since the distance data includes multiple sub-distances, any sub-distance is the distance between the camera system and any sub-area in the measurement point deformation monitoring area. Based on this, the first mapping relationship can be converted based on the distance data to obtain multiple second mapping relationships corresponding to different sub-areas in the measurement point deformation monitoring area.

[0133] Step 15324: Determine the deformation monitoring result of the deformation monitoring area of ​​the measuring point based on the deformation monitoring result in the image acquisition device space and each of the second mapping relationships.

[0134] Specifically, based on the size mapping relationship between the image acquisition device space and the actual world space, the deformation monitoring results in the image acquisition device space are converted into deformation monitoring results of multiple sub-areas in the actual world space, and then the deformation monitoring results of the deformation monitoring area of ​​the measuring point are comprehensively determined based on the deformation monitoring results of the multiple sub-areas.

[0135] The infrastructure field deformation monitoring method provided by an embodiment of the present invention obtains point cloud data of the measuring point deformation monitoring area at the current moment, and determines the distance data between the camera system and the measuring point deformation monitoring area based on the point cloud data at the current moment, and determines multiple second mapping relationships corresponding to different sub-areas in the measuring point deformation monitoring area based on the distance data and the first mapping relationship, that is, obtains a high-reliability pixel scale for different positions, that is, updates and adjusts the first mapping relationship based on the point cloud data at the current moment, and then based on the deformation monitoring result in the image acquisition device space and each second mapping relationship, the deformation monitoring result of the measuring point deformation monitoring area can be determined more accurately, that is, the deformation monitoring result of the infrastructure field is improved.

[0136] Based on any of the above embodiments, in this method, the above step 15322 includes step 153221 and step 153222.

[0137] Step 153221: Acquire the position information of the image acquisition device at the current moment, where the position information represents the position of the image acquisition device in the three-dimensional model of the monitoring scene of the facility to be monitored.

[0138] In one embodiment, the pose information can be obtained by determining the pose information corresponding to the deformation monitoring area of ​​the measurement point (i.e., the pose information of the image acquisition device at the current moment) based on a third mapping relationship of the camera system. The third mapping relationship includes a one-to-one correspondence between multiple deformation monitoring areas and multiple pose information, with each correspondence used to represent the correspondence between the deformation monitoring area and the pose information. This third mapping relationship can be set in advance, that is, the pose of the image acquisition device in the three-dimensional model of the monitoring scene can be calibrated in advance.

[0139] In another embodiment, the position information of the image acquisition device at the current moment can be determined in real time by other means, for example, by fusing information from a camera system and an IMU (Inertial Measurement Unit).

[0140] Step 153222: Determine the distance data between the camera system and the deformation monitoring area of ​​the measuring point based on the positional relationship information between the image acquisition device and the point cloud data acquisition device, the posture information, and the point cloud data.

[0141] Here, since the relative positions of the point cloud data acquisition device and the image acquisition device remain unchanged, the positional relationship information also remains unchanged. The positional relationship information can be set in advance.

[0142] In one embodiment, the positional relationship information can be determined through joint calibration. Specifically, the positions of the image acquisition device and the point cloud data acquisition device are fixed, and calibration objects are set for calibration or self-calibration to obtain an extrinsic parameter matrix between the image acquisition device and the point cloud data acquisition device. The positional relationship information is then determined based on the extrinsic parameter matrix. For example, joint calibration can be performed using a joint calibration tool.

[0143] Since the posture information represents the posture of the image acquisition device in the three-dimensional model of the monitoring scene of the facility to be monitored, the point cloud data can be converted into point cloud data in the three-dimensional model space of the monitoring scene based on the positional relationship information between the image acquisition device and the point cloud data acquisition device and the posture information of the image acquisition device at the current moment. Then, based on the converted point cloud data, the distance data in the three-dimensional model space of the monitoring scene can be determined.

[0144] In one embodiment, the intrinsic parameters of the image acquisition device are pre-calibrated, and positional relationship information is obtained through calibration. Based on the positional relationship information and pose information between the image acquisition device and the point cloud data acquisition device, the intrinsic parameters of the image acquisition device, and the point cloud data, the distance data between the camera system and the deformation monitoring area of ​​the measurement point is determined. The intrinsic parameters of the image acquisition device can be calibrated using the Zhang Zhengyou calibration method.

[0145] In a specific embodiment, the relationship between the camera system and the deformation monitoring area of ​​the measuring point is determined in combination with the spatial coordinate position of the image acquisition device in the coordinate system. The relationship between the camera system and the deformation monitoring area of ​​the measuring point is as follows:

[0146] ;

[0147] Where, Indicates the straight-line distance between the camera system and the deformation monitoring area of ​​the measuring point, Indicates the azimuth angle of the deformation monitoring area of ​​the measuring point relative to the camera system, Indicates the pitch angle of the deformation monitoring area of ​​the measuring point relative to the camera system, represents the position coordinates of the camera system, Indicates the location coordinates of the deformation monitoring area of ​​the measuring point.

[0148] The camera system also includes a laser ranging radar and an IMU sensor, which can measure the angular velocity and acceleration values ​​at the current moment through the IMU sensor to monitor the azimuth, pitch angle and other parameters of the camera system in real time. Combined with the three-dimensional model of the monitoring scene, the camera system's own coordinate system and the coordinate system of the measurement point deformation monitoring area can be integrated into the coordinate system of the three-dimensional model of the monitoring scene. The camera system's own coordinate system and the coordinate system of the measurement point deformation monitoring area can be managed in a unified manner, and the movement of the camera system can be reflected in the three-dimensional model of the monitoring scene in real time, thereby achieving precise positioning and focusing of the camera system's monitoring field of view.

[0149] The infrastructure field deformation monitoring method provided by the embodiment of the present invention can determine the distance data in the three-dimensional model space of the monitoring scene through the above-mentioned method, thereby improving the accuracy of determining the distance data, and then more accurately determining the deformation monitoring results of the deformation monitoring area of ​​the measuring point, that is, improving the deformation monitoring results of the infrastructure field.

[0150] Based on any of the above embodiments, after the above step 160 , the method further includes step 170 .

[0151] Step 170: Update the three-dimensional model of the monitoring scene based on the deformation monitoring results of the multiple deformation monitoring areas.

[0152] The infrastructure field deformation monitoring method provided by the embodiment of the present invention updates the three-dimensional model of the monitoring scene based on the deformation monitoring results of multiple deformation monitoring areas, improves the accuracy of the three-dimensional model of the monitoring scene, and fully considers the impact of the deformation changes of the facility field to be monitored on the three-dimensional model of the monitoring scene, that is, realizes the synchronous change of the scene to be monitored, provides an accurate basis for subsequent monitoring, thereby improving the accuracy of determining the distance data, and further more accurately determines the deformation monitoring results of the deformation monitoring area of ​​the measuring point, that is, improves the accuracy of deformation monitoring of the infrastructure field.

[0153] Based on any of the above embodiments, in this method, step 15323 includes step 153231 and step 153232.

[0154] Step 153231: Perform interpolation fitting based on the distance data to obtain a scale change relationship function of the deformation monitoring area of ​​the measuring point.

[0155] It should be noted that since the distance data includes multiple sub-distances, and any sub-distance is the distance between the camera system and any sub-area in the deformation monitoring area of ​​the measuring point, it is necessary to perform interpolation fitting based on the distance data to obtain the scale change relationship function of the deformation monitoring area of ​​the measuring point.

[0156] Step 153232: Perform a scale change on the first mapping relationship based on the scale change relationship function to obtain a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point.

[0157] It should be noted that since the scale change relationship function is obtained by interpolation fitting based on the distance data, and the distance data includes multiple sub-distances, any sub-distance is the distance between the camera system and any sub-area in the deformation monitoring area of ​​the measuring point. Based on this, the first mapping relationship can be scaled based on the scale change relationship function to obtain multiple second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point.

[0158] The infrastructure field deformation monitoring method provided by an embodiment of the present invention performs interpolation fitting based on distance data to obtain a scale change relationship function of the measuring point deformation monitoring area, and scales the first mapping relationship based on the scale change relationship function to obtain a more accurate plurality of second mapping relationships corresponding to different sub-areas in the measuring point deformation monitoring area, thereby more accurately determining the deformation monitoring results of the measuring point deformation monitoring area, that is, improving the deformation monitoring results of the infrastructure field.

[0159] Based on any of the above embodiments, before the above step 140 , the method further includes steps 180 and 190 .

[0160] Step 180: Determine the focal length of the measuring point corresponding to the deformation monitoring area of ​​the measuring point from the focal length information set of the camera system; the focal length information set includes the focal lengths corresponding to the multiple deformation monitoring areas;

[0161] Here, the focal length information set includes the focal length corresponding to each deformation monitoring area, and is set in advance.

[0162] In a specific embodiment, a monitoring order of multiple deformation monitoring areas is determined; based on the monitoring order, the focal length of the image acquisition device when the camera system monitors the first deformation monitoring area is determined, and so on, the focal length of the image acquisition device corresponding to the subsequent deformation monitoring areas is determined, thereby obtaining a focal length information set.

[0163] In other words, the focal length of the image acquisition device of the monitoring camera system is determined by rotating from its initial position to the focal length of the image acquisition device monitoring the first deformation monitoring area. The focal length of the image acquisition device corresponding to the subsequent deformation monitoring areas is determined by analogy, and the focal length information set is obtained. That is, the focal length value of the image acquisition device when capturing each deformation monitoring area is recorded.

[0164] It should be understood that zoom can support deformation monitoring of multiple deformation monitoring areas, thereby realizing multi-field inspection and monitoring by one camera system, that is, deformation monitoring of the infrastructure site can be completed using one camera system. In other words, one camera system can monitor multiple deformation monitoring areas, thus eliminating the need to deploy multiple camera systems and reducing the hardware cost of deformation monitoring of the infrastructure site.

[0165] Step 190: Adjust the focal length of the image acquisition device to the focal length of the measuring point.

[0166] It should be understood that the focal length of the image acquisition device is adjusted to the focal length of the measuring point so that the image acquisition device can acquire clearer and more accurate monitoring images, thereby improving the accuracy of deformation monitoring of the infrastructure site.

[0167] The infrastructure field deformation monitoring method provided by the embodiment of the present invention can realize multi-field inspection and monitoring by one camera system through the above-mentioned method, that is, deformation monitoring of the infrastructure field can be completed using one camera system. In other words, one camera system can monitor multiple deformation monitoring areas, thereby eliminating the need to deploy multiple camera systems and reducing the hardware cost of infrastructure field deformation monitoring; and the focal length of the image acquisition device is adjusted to the focal length of the measuring point, so that the image acquisition device can capture clearer and more accurate monitoring images, thereby improving the accuracy of deformation monitoring of the infrastructure field.

[0168] Based on any of the above embodiments, in this method, when the coordinate position of the camera system is the second coordinate position, the deformation monitoring area of ​​the measuring point is located at the center of the camera system's field of view, so that the image acquisition device can capture clear and accurate monitoring images, thereby improving the accuracy of deformation monitoring of the infrastructure site. Furthermore, the point cloud data acquisition device can also capture accurate point cloud data, thereby improving the accuracy of deformation monitoring of the infrastructure site.

[0169] The infrastructure field deformation monitoring method provided by an embodiment of the present invention ensures that the deformation monitoring area of ​​the measuring point is located at the center of the field of view of the camera system when the coordinate position of the camera system is the second coordinate position in the above manner, so that the image acquisition device can capture clear and accurate monitoring images, thereby improving the accuracy of deformation monitoring of the infrastructure field.

[0170] Based on the above embodiments, the infrastructure field deformation monitoring method provided by the present invention has the advantages of being non-contact and having multiple measurement points in a single field of view. It also robustly supports millimeter-level quantitative visual monitoring of deformation, thereby achieving the effect of a single lens with multiple fields of view and multiple measurement points in a single field of view. It also offers significant advantages in installation and maintenance costs compared to traditional methods.

[0171] The infrastructure field deformation monitoring device provided by the present invention is described below. The infrastructure field deformation monitoring device described below and the infrastructure field deformation monitoring method described above can be referenced to each other.

[0172] Figure 3 This is a schematic diagram of the structure of the infrastructure field deformation monitoring device provided by the present invention. Figure 3 As shown, the infrastructure field deformation monitoring device includes an area determination module 310, an information determination module 320, a system control module 330, an image acquisition module 340, a deformation monitoring module 350 and a step return module 360.

[0173] The area determination module 310 is configured to determine the deformation monitoring area of ​​the current measuring point to be deformed from the multiple deformation monitoring areas of the facility to be monitored.

[0174] The information determination module 320 is used to determine the measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from the coordinate transformation relationship information set of the camera system; the camera system includes an image acquisition device, the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, and the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area.

[0175] The system control module 330 is configured to control the rotation of the camera system based on the measurement point coordinate conversion relationship information to monitor the measurement point deformation monitoring area.

[0176] The image acquisition module 340 is used to acquire the monitoring image acquired by the image acquisition device on the deformation monitoring area of ​​the measuring point.

[0177] The deformation monitoring module 350 is configured to perform deformation monitoring on the deformation monitoring area of ​​the measuring point based on the monitoring image, and obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point.

[0178] The step returns to module 360, which is used to return to the step of determining the deformation monitoring area of ​​the current measuring point to be deformed monitored from the multiple deformation monitoring areas of the facility to be monitored, until deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0179] The infrastructure field deformation monitoring device provided by the embodiment of the present invention determines the current measuring point deformation monitoring area to be monitored from multiple deformation monitoring areas of the facility field to be monitored, so as to determine the measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from the coordinate transformation relationship information set of the camera system, and the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, the measuring point coordinate transformation relationship information represents the coordinate transformation relationship from the first coordinate position to the second coordinate position, the first coordinate position is the coordinate position of the camera system when the camera system monitors the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitors the measuring point deformation monitoring area, so as to control the camera based on the measuring point coordinate transformation relationship information. The system rotates to monitor the deformation monitoring area of ​​the measuring point, to obtain a monitoring image captured by the image acquisition device on the deformation monitoring area of ​​the measuring point, to perform deformation monitoring on the deformation monitoring area of ​​the measuring point based on the monitoring image, to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point, and to return to the step of determining the deformation monitoring area of ​​the measuring point to be currently deformed monitored from multiple deformation monitoring areas of the facility field to be monitored, until deformation monitoring results of multiple deformation monitoring areas are obtained, thereby realizing multi-field inspection and monitoring by one camera system, that is, deformation monitoring of the infrastructure field can be completed using one camera system. In other words, one camera system can monitor multiple deformation monitoring areas, thereby eliminating the need to deploy multiple camera systems and reducing the hardware cost of deformation monitoring of the infrastructure field.

[0180] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4As shown, the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call the logic instructions in the memory 430 to execute the infrastructure field deformation monitoring method, the method comprising: determining the current measurement point deformation monitoring area to be monitored from multiple deformation monitoring areas of the facility field to be monitored; determining the measurement point coordinate transformation relationship information corresponding to the measurement point deformation monitoring area from the coordinate transformation relationship information set of the camera system; the camera system includes an image acquisition device, the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, the measurement point coordinate transformation relationship information represents the coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate position being the previous deformation monitoring area monitored by the camera system. The method comprises the steps of: determining the coordinate position of the camera system when the second coordinate position is set, the second coordinate position being the coordinate position of the camera system when the camera system monitors the deformation monitoring area of ​​the measuring point; controlling the rotation of the camera system based on the measuring point coordinate conversion relationship information to monitor the deformation monitoring area of ​​the measuring point; acquiring a monitoring image of the deformation monitoring area of ​​the measuring point acquired by the image acquisition device; performing deformation monitoring on the deformation monitoring area of ​​the measuring point based on the monitoring image to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point; and returning to the step of determining the deformation monitoring area of ​​the measuring point to be currently monitored from the multiple deformation monitoring areas of the facility to be monitored until the deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0181] Furthermore, the logic instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0182] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the infrastructure field deformation monitoring method provided by the above methods, the method including: determining the current measurement point deformation monitoring area to be monitored from multiple deformation monitoring areas of the facility field to be monitored; determining the measurement point coordinate transformation relationship information corresponding to the measurement point deformation monitoring area from the coordinate transformation relationship information set of the camera system; the camera system includes an image acquisition device, the coordinate transformation relationship information set includes the coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, and the measurement point coordinate transformation relationship information represents the transformation of a first coordinate position to a second coordinate position The coordinate conversion relationship is as follows: the first coordinate position is the coordinate position of the camera system when the camera system monitored the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitored the deformation monitoring area of ​​the measuring point; based on the coordinate conversion relationship information of the measuring point, the camera system is controlled to rotate to monitor the deformation monitoring area of ​​the measuring point; a monitoring image of the deformation monitoring area of ​​the measuring point acquired by the image acquisition device is acquired; based on the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point; and the step of determining the deformation monitoring area of ​​the measuring point to be currently monitored from the multiple deformation monitoring areas of the facility to be monitored is returned to, until the deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0183] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the infrastructure field deformation monitoring method provided by the above-mentioned methods, the method comprising: determining a measuring point deformation monitoring area to be currently monitored from a plurality of deformation monitoring areas of the facility field to be monitored; determining measuring point coordinate transformation relationship information corresponding to the measuring point deformation monitoring area from a coordinate transformation relationship information set of a camera system; the camera system comprises an image acquisition device, the coordinate transformation relationship information set comprises coordinate transformation relationship information corresponding to the plurality of deformation monitoring areas, the measuring point coordinate transformation relationship information represents a coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate The position is the coordinate position of the camera system when the camera system monitored the previous deformation monitoring area, and the second coordinate position is the coordinate position of the camera system when the camera system monitored the deformation monitoring area of ​​the measuring point; based on the measuring point coordinate conversion relationship information, the camera system is controlled to rotate to monitor the deformation monitoring area of ​​the measuring point; the monitoring image of the deformation monitoring area of ​​the measuring point acquired by the image acquisition device is acquired; based on the monitoring image, the deformation monitoring of the deformation monitoring area of ​​the measuring point is performed to obtain the deformation monitoring result of the deformation monitoring area of ​​the measuring point; and the step of determining the deformation monitoring area of ​​the measuring point to be currently monitored from the multiple deformation monitoring areas of the facility to be monitored is returned to, until the deformation monitoring results of the multiple deformation monitoring areas are obtained.

[0184] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0185] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for monitoring deformation of an infrastructure field, characterized in that: include: Determine a deformation monitoring area of ​​a measuring point to be currently monitored from a plurality of deformation monitoring areas in the facility area to be monitored; Determining, from a coordinate transformation relationship information set of a camera system, coordinate transformation relationship information of a measuring point corresponding to the deformation monitoring area of ​​the measuring point currently to be deformed monitored; the camera system includes an image acquisition device, the coordinate transformation relationship information set includes coordinate transformation relationship information corresponding to the multiple deformation monitoring areas, the measuring point coordinate transformation relationship information representing a coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate position being the coordinate position of the camera system when the camera system monitored a previous deformation monitoring area, and the second coordinate position being the coordinate position of the camera system when the camera system monitored the deformation monitoring area of ​​the measuring point currently to be deformed monitored; the coordinate transformation relationship information set is set in advance, specifically by: determining a monitoring order for the multiple deformation monitoring areas, and based on the monitoring order, determining the coordinate position of the camera system when the camera system monitors the first deformation monitoring area and the coordinate position of the camera system when the camera system monitors the second deformation monitoring area, and then determining the coordinate transformation relationship information corresponding to the second deformation monitoring area, and so on, determining the coordinate transformation relationship information corresponding to subsequent deformation monitoring areas, wherein the first coordinate position in the coordinate transformation relationship information corresponding to the first deformation monitoring area is the initial coordinate position of the camera system; Based on the measurement point coordinate conversion relationship information, controlling the camera system to rotate to monitor the deformation monitoring area of ​​the measurement point to be currently deformed; Acquiring a monitoring image acquired by the image acquisition device on the deformation monitoring area of ​​the measuring point to be currently deformed; Based on the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to be currently deformed, to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed; Return to the step of determining the deformation monitoring area of ​​the measuring point to be currently deformation monitored from the multiple deformation monitoring areas of the facility to be monitored, until deformation monitoring results of the multiple deformation monitoring areas are obtained.

2. The infrastructure field deformation monitoring method according to claim 1, characterized in that: The step of performing deformation monitoring on the deformation monitoring area of ​​the measuring point to be currently deformed based on the monitoring image to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed includes: Acquire a template image set of a deformation monitoring area of ​​the current measuring point to be deformed, wherein the template image set includes a plurality of template images of different brightness; Determining at least one measuring point template image from the template image set based on the brightness of the monitoring image; Based on the template images of each measuring point and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to be currently deformed monitored to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed monitored.

3. The infrastructure field deformation monitoring method according to claim 2, characterized in that: The step of performing deformation monitoring on the deformation monitoring area of ​​the measuring point to be currently deformed based on the template image of each measuring point and the monitoring image to obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed, includes: Based on the template images of each measuring point and the monitoring image, deformation monitoring is performed on the deformation monitoring area of ​​the measuring point to be currently deformed, and a deformation monitoring result in the space of the image acquisition device is obtained; Based on the deformation monitoring result in the image acquisition device space and the first mapping relationship, the deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed monitored is determined; the first mapping relationship is the size mapping relationship between the image acquisition device space and the actual world space; the deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed monitored is the actual physical deformation monitoring result.

4. The infrastructure field deformation monitoring method according to claim 3, characterized in that: The first mapping relationship is determined based on the following method: Determining the first mapping relationship corresponding to the deformation monitoring area of ​​the measuring point currently to be deformed monitored from the mapping relationship set of the camera system; the mapping relationship set includes mapping relationships corresponding to the multiple deformation monitoring areas; The first mapping relationship is determined by rotating the camera system to face the electronic scale corresponding to the deformation monitoring area of ​​the current measuring point to be deformed.

5. The infrastructure field deformation monitoring method according to claim 4, characterized in that: The camera system further comprises a point cloud data acquisition device, wherein the relative position between the point cloud data acquisition device and the image acquisition device remains unchanged; The step of determining the deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformed monitored based on the deformation monitoring result in the space of the image acquisition device and the first mapping relationship includes: Acquiring point cloud data of the deformation monitoring area of ​​the current measuring point to be deformed monitored at a current moment, wherein the point cloud data is acquired by the point cloud data acquisition device; Determining distance data between the camera system and the deformation monitoring area of ​​the current measuring point to be deformed monitored based on the point cloud data, the distance data including a plurality of sub-distances, any of the sub-distances being the distance between the camera system and any sub-area in the deformation monitoring area of ​​the current measuring point to be deformed monitored; Determining, based on the distance data and the first mapping relationship, a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point currently to be deformed, wherein any of the second mapping relationships is a size mapping relationship between the image acquisition device space and the real world space; Based on the deformation monitoring result in the image acquisition device space and each of the second mapping relationships, the deformation monitoring result of the deformation monitoring area of ​​the measuring point to be currently deformation monitored is determined.

6. The infrastructure field deformation monitoring method according to claim 5, characterized in that: The determining, based on the point cloud data, distance data between the camera system and the deformation monitoring area of ​​the current measurement point to be deformation monitored includes: Acquiring position information of the image acquisition device at a current moment, wherein the position information represents the position of the image acquisition device in a three-dimensional model of a monitoring scene of the facility to be monitored; Based on the positional relationship information between the image acquisition device and the point cloud data acquisition device, the posture information and the point cloud data, the distance data between the camera system and the deformation monitoring area of ​​the current measuring point to be deformed is determined.

7. The infrastructure field deformation monitoring method according to claim 6, characterized in that: The step of returning to the step of determining the deformation monitoring area of ​​the current measuring point to be deformed monitored from the multiple deformation monitoring areas in the facility to be monitored until deformation monitoring results of the multiple deformation monitoring areas are obtained, further comprising: Based on the deformation monitoring results of the multiple deformation monitoring areas, the three-dimensional model of the monitoring scene is updated.

8. The infrastructure field deformation monitoring method according to claim 5, characterized in that: The determining, based on the distance data and the first mapping relationship, a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the current measuring point to be deformed, includes: Performing interpolation fitting based on the distance data to obtain a scale change relationship function of the deformation monitoring area of ​​the current measuring point to be deformed; The first mapping relationship is scale-changed based on the scale-change relationship function to obtain a plurality of second mapping relationships corresponding to different sub-areas in the deformation monitoring area of ​​the measuring point to be currently deformed.

9. The infrastructure field deformation monitoring method according to claim 1, characterized in that: The step of obtaining the monitoring image acquired by the image acquisition device on the deformation monitoring area of ​​the measuring point to be currently deformed, further comprises: Determining the focal length of the measuring point corresponding to the deformation monitoring area of ​​the measuring point to be currently deformed monitored from the focal length information set of the camera system; the focal length information set includes the focal lengths corresponding to the multiple deformation monitoring areas; The focal length of the image acquisition device is adjusted to the focal length of the measuring point.

10. The infrastructure field deformation monitoring method according to claim 1, characterized in that: When the coordinate position of the camera system is the second coordinate position, the deformation monitoring area of ​​the measuring point to be currently deformation monitored is located at the center of the field of view of the camera system.

11. An infrastructure field deformation monitoring device, characterized in that: include: An area determination module is used to determine the deformation monitoring area of ​​the current measuring point to be monitored from multiple deformation monitoring areas in the facility area to be monitored; an information determination module, configured to determine, from a coordinate transformation relationship information set of a camera system, measurement point coordinate transformation relationship information corresponding to the deformation monitoring area of ​​the measurement point currently to be deformed monitored; the camera system including an image acquisition device, the coordinate transformation relationship information set including coordinate transformation relationship information corresponding to the plurality of deformation monitoring areas, the measurement point coordinate transformation relationship information representing a coordinate transformation relationship from a first coordinate position to a second coordinate position, the first coordinate position being the coordinate position of the camera system when the camera system monitored a previous deformation monitoring area, and the second coordinate position being the coordinate position of the camera system when the camera system monitored the deformation monitoring area of ​​the measurement point currently to be deformed monitored; the coordinate transformation relationship information set is pre-set, specifically by determining a monitoring order for the plurality of deformation monitoring areas, and based on the monitoring order, determining the coordinate position of the camera system when the camera system monitors the first deformation monitoring area and the coordinate position of the camera system when the camera system monitors the second deformation monitoring area, thereby determining the coordinate transformation relationship information corresponding to the second deformation monitoring area, and so on, determining the coordinate transformation relationship information corresponding to subsequent deformation monitoring areas, wherein the first coordinate position in the coordinate transformation relationship information corresponding to the first deformation monitoring area is the initial coordinate position of the camera system; A system control module, configured to control the rotation of the camera system based on the coordinate conversion relationship information of the measuring point to monitor the deformation monitoring area of ​​the measuring point currently to be deformed; An image acquisition module, configured to acquire a monitoring image acquired by the image acquisition device of the deformation monitoring area of ​​the measuring point to be currently deformed; A deformation monitoring module, configured to perform deformation monitoring on the deformation monitoring area of ​​the measuring point currently to be deformed monitored based on the monitoring image, and obtain a deformation monitoring result of the deformation monitoring area of ​​the measuring point currently to be deformed monitored; The step return module is used to return to the step of determining the deformation monitoring area of ​​the current measuring point to be deformed monitored from the multiple deformation monitoring areas of the facility field to be monitored until the deformation monitoring results of the multiple deformation monitoring areas are obtained.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the infrastructure field deformation monitoring method according to any one of claims 1 to 10 is implemented.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for monitoring infrastructure field deformation according to any one of claims 1 to 10 is implemented.

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