Tunnel mileage stake mark positioning method and device based on two-dimensional code and feature point fusion

Abstract

The invention relates to the technical field of positioning, and provides a tunnel mileage stake mark positioning method and device based on two-dimensional code and feature point fusion. The method comprises the following steps: based on a two-dimensional code in a tunnel lining image, obtaining a marked mileage stake number and an encoder mileage at a position corresponding to the two-dimensional code; based on tunnel construction joint features in the tunnel lining image, obtaining a corrected encoder mileage of the tunnel lining target; based on the corrected encoder mileage of the tunnel lining target and the target relation model, obtaining a target mileage stake number corresponding to the tunnel lining target; the target relation model is a mapping relation model between the target mileage stake number and the corrected encoder mileage, which is constructed based on the marked mileage stake number and the encoder mileage at the corresponding position of the two-dimensional code. According to the method, the tunnel lining target can be accurately subjected to mileage positioning and mileage stake mark matching in a tunnel closed environment and a dynamic adjustment scene of the tunnel mileage stake mark, so that an accurate basis is provided for maintenance management and scientific maintenance decision of the tunnel.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a method and device for positioning a tunnel mileage pile number based on the fusion of a two-dimensional code and a feature point. Background Art

[0002] Scientific tunnel maintenance decisions rely on accurate predictions of tunnel performance, which in turn relies on long-term observations of tunnel performance. In addition, in the process of tunnel maintenance management, tunnels are usually divided into independent units according to mileage piles for maintenance and construction. Since there is often a certain error between the tunnel mileage pile number and the actual mileage, it is necessary to locate the mileage of the measuring point or construction point and match the mileage pile number, whether for long-term observation results or maintenance and construction, to ensure the accuracy of the measuring point or construction point.

[0003] However, on the one hand, since the tunnel is a relatively closed environment with no GNSS signal, it is difficult to accurately locate the mileage of tunnel targets. On the other hand, since road reconstruction and expansion will lead to pile number adjustments, the mileage pile numbers in the tunnel may be dynamically adjusted, making it difficult to accurately match the mileage pile numbers of tunnel targets.

[0004] In summary, due to the difficulty in accurately mileage positioning and mileage pile number matching of tunnel lining targets in a closed tunnel environment and in the scenario of dynamic adjustment of tunnel mileage pile numbers, it is difficult to provide an accurate basis for tunnel maintenance management and scientific maintenance decision-making. Summary of the invention

[0005] The embodiment of the present application provides a tunnel mileage and pile number positioning method and device based on the fusion of QR code and feature points, which is used to solve the technical problem that it is difficult to accurately locate the mileage and match the mileage and pile numbers of tunnel lining targets in a closed tunnel environment and a dynamic adjustment scenario of the tunnel mileage and pile numbers, and thus it is difficult to provide an accurate basis for tunnel maintenance management and scientific maintenance decision-making.

[0006] In a first aspect, the present application provides a method for locating tunnel mileage pile number based on the fusion of two-dimensional code and feature points, including: Acquire tunnel lining images; Based on the two-dimensional code in the tunnel lining image, obtaining the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; Based on the tunnel construction joint features in the tunnel lining image, a corrected encoder mileage of the tunnel lining target is obtained; Based on the modified encoder mileage of the tunnel lining target and the target relationship model, a target mileage pile number corresponding to the tunnel lining target is obtained; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

[0007] In one embodiment, the step of acquiring a tunnel lining image comprises: Acquire array images of tunnel linings; Based on the feature points of the array images with the same name and / or the shooting distance, the array images are spliced ​​to obtain the tunnel lining image.

[0008] In one embodiment, the obtaining, based on the two-dimensional code in the tunnel lining image, the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code includes: Based on the difference characteristics of the two-dimensional code and its background, edge detection is performed on the tunnel lining image to obtain a two-dimensional code area image; Performing rotation correction on the two-dimensional code area image to obtain a correction area image; Decoding and identifying the correction area image to obtain decoding information; Perform mileage post number matching based on the decoded information to obtain the marked mileage post number at the corresponding position of the two-dimensional code; The encoder mileage corresponding to the center point of the two-dimensional code area image is used as the encoder mileage of the corresponding position of the two-dimensional code.

[0009] In one embodiment, obtaining the corrected encoder mileage of the tunnel lining target based on the tunnel construction joint features in the tunnel lining image includes: Based on the extension direction characteristics and extension length characteristics of the tunnel construction joint, a plurality of circumferential construction joints in the tunnel construction joint are identified; Based on the encoder mileage corresponding to the tunnel construction joints, the plurality of circumferential construction joints are sorted with reference to the encoder mileage of the tunnel entrance to obtain a circumferential construction joint sequence; Based on the encoder mileage spacing and the actual mileage spacing of adjacent circumferential construction joint intervals in the circumferential construction joint sequence, obtaining the mileage expansion coefficient of the adjacent circumferential construction joint intervals; Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the tunnel lining target belongs, the encoder mileage of the tunnel lining target is corrected to obtain the corrected encoder mileage of the tunnel lining target.

[0010] In one embodiment, the target relationship model is determined based on the following method: Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the two-dimensional code belongs, the encoder mileage of the position corresponding to the two-dimensional code is corrected to obtain the corrected encoder mileage of the position corresponding to the two-dimensional code; Sorting the marked mileage post numbers at the positions corresponding to the two-dimensional codes to obtain a marked mileage post number sequence; Based on the corrected encoder mileage at the corresponding position of the two-dimensional code, the corrected encoder mileage spacing between adjacent marked mileage post number intervals in the marked mileage post number sequence is obtained; Calculating the ratio of the marked mileage post number spacing of the adjacent marked mileage post number intervals to the corrected encoder mileage post number spacing of the adjacent marked mileage post number intervals to obtain a target ratio; Based on the target ratio and the corrected encoder mileages of the multiple target positions in the adjacent marked mileage post number interval, the target mileage post number of the multiple target positions in the adjacent marked mileage post number interval is obtained; A mapping relationship between the target mileage post numbers of multiple target positions within the adjacent marked mileage post number interval and their corresponding corrected encoder mileage is constructed to obtain a target relationship model within the adjacent marked mileage post number interval.

[0011] In one embodiment, the modified encoder mileage and target relationship model based on the tunnel lining target is used to obtain the target mileage stake number corresponding to the tunnel lining target, including: Based on the corrected encoder mileage of the tunnel lining target and the target relationship model within the adjacent marked mileage pile number interval to which the tunnel lining target belongs, the target mileage pile number corresponding to the tunnel lining target is obtained.

[0012] In a second aspect, the embodiment of the present application provides a tunnel mileage pile number positioning device based on the fusion of two-dimensional code and feature points, including: The tunnel lining image acquisition module is used to: acquire tunnel lining images; A two-dimensional code mileage positioning module is used to obtain, based on the two-dimensional code in the tunnel lining image, the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; A tunnel lining target positioning module is used to obtain a corrected encoder mileage of a tunnel lining target based on tunnel construction joint features in the tunnel lining image; A target mileage pile number positioning module is used to obtain the target mileage pile number corresponding to the tunnel lining target based on the modified encoder mileage of the tunnel lining target and the target relationship model; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory storing a computer program, wherein when the processor executes the program, the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional codes and feature points described in the first aspect are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional codes and feature points described in the first aspect.

[0015] In a fifth aspect, an embodiment of the present application provides a non-transitory computer-readable storage medium, including a computer program, which, when executed by a processor, implements the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional codes and feature points described in the first aspect.

[0016] The present application provides a method and device for positioning the tunnel mileage pile number based on the fusion of two-dimensional codes and feature points, which obtains a tunnel lining image, obtains the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code based on the two-dimensional code in the tunnel lining image, obtains the corrected encoder mileage of the tunnel lining target based on the tunnel construction joint features in the tunnel lining image, obtains the target mileage pile number corresponding to the tunnel lining target based on the corrected encoder mileage of the tunnel lining target and the target relationship model, and the target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code. On the one hand, the present application utilizes an image recognition method combined with tunnel construction joint features to obtain the corrected encoder mileage of the tunnel lining target, and can accurately locate the mileage of the tunnel lining target without using GNSS signals; on the other hand, since the corresponding position of the QR code corresponds to the marked mileage pile number and the encoder mileage, no matter how the mileage pile number is adjusted, the accurate marked mileage pile number and encoder mileage can be obtained based on the recognition of the QR code, and then the marked mileage pile number and the encoder mileage are used to construct a target relationship model between the target mileage pile number and the corrected encoder mileage, and the target relationship model is used to obtain the target mileage pile number corresponding to the corrected encoder mileage of the tunnel lining target, so as to accurately match the mileage pile number of the tunnel lining target. In summary, the present application can accurately locate the mileage and match the mileage pile number of the tunnel lining target in a closed tunnel environment and in a scenario where the tunnel mileage pile number is dynamically adjusted, thereby providing an accurate basis for tunnel maintenance management and scientific maintenance decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is one of the flow diagrams of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application; Figure 2 This is the second flow chart of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application; Figure 3 This is the third flow chart of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application; Figure 4 This is the fourth flow chart of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application; Figure 5 This is the fifth flow chart of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application; Figure 6 It is a structural schematic diagram of a tunnel mileage pile number positioning device based on the fusion of two-dimensional code and feature points provided in an embodiment of the present application; Figure 7 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] It should be noted that in the description of the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0021] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0022] Figure 1 This is one of the flow charts of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application. Figure 1 The embodiment of the present application provides a method for locating tunnel mileage pile number based on the fusion of two-dimensional code and feature point, which may include: 101. Obtain tunnel lining images; 102. Based on the QR code in the tunnel lining image, obtain the marked mileage pile number at the position corresponding to the QR code and the encoder mileage at the position corresponding to the QR code; 103. Based on the tunnel construction joint features in the tunnel lining image, the corrected encoder mileage of the tunnel lining target is obtained; 104. Based on the modified encoder mileage and target relationship model of the tunnel lining target, the target mileage pile number corresponding to the tunnel lining target is obtained.

[0023] The target relationship model is a mapping relationship model between the target mileage post number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage post number at the corresponding position of the QR code and the encoder mileage at the corresponding position of the QR code.

[0024] In practical applications, there is no strict timing relationship between step 102 and step 103; that is, they can be executed simultaneously, or any one of the steps can be executed first, depending on actual needs and is not limited here.

[0025] In step 102, the QR code can be pasted in advance inside the tunnel (such as on a mileage post or tunnel lining), and the corresponding mileage post number information can be entered through the QR code, thereby forming a one-to-one correspondence between the QR code and the mileage post number. In addition, since the tunnel lining image is obtained during the movement of the mobile measurement platform along the tunnel extension direction, the mobile measurement platform includes an encoder, and the encoder will synchronously measure the encoder mileage at the QR code, thereby forming a one-to-one correspondence between the QR code and the encoder mileage. At this point, the marked mileage post number and encoder mileage at the corresponding position can be obtained according to the QR code information in the tunnel lining image.

[0026] In step 103, the tunnel construction joint refers to the joint generated during the tunnel construction process. Based on the tunnel construction joint features in the tunnel lining image, the corresponding tunnel construction joint can be identified. According to these tunnel construction joints, the tunnel lining can be divided into multiple intervals. The encoder will also synchronously measure the encoder mileage of the tunnel lining target in each interval, thereby forming a one-to-one correspondence between the tunnel lining target and the encoder mileage in each interval. Therefore, based on the tunnel lining target in the tunnel lining image, its corresponding encoder mileage can be obtained, and the encoder mileage can be corrected in each interval to obtain the corrected encoder mileage.

[0027] The tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in this embodiment obtains a tunnel lining image, obtains the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code based on the two-dimensional code in the tunnel lining image, obtains the corrected encoder mileage of the tunnel lining target based on the tunnel construction joint features in the tunnel lining image, obtains the target mileage pile number corresponding to the tunnel lining target based on the corrected encoder mileage of the tunnel lining target and the target relationship model, and the target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage constructed based on the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code. On the one hand, this embodiment uses an image recognition method combined with tunnel construction joint features to obtain the corrected encoder mileage of the tunnel lining target, and can accurately locate the mileage of the tunnel lining target without using GNSS signals; on the other hand, since the corresponding position of the QR code corresponds to the marked mileage pile number and the encoder mileage, no matter how the mileage pile number is adjusted, the accurate marked mileage pile number and encoder mileage can be obtained based on the recognition of the QR code, and then the marked mileage pile number and the encoder mileage are used to construct a target relationship model between the target mileage pile number and the corrected encoder mileage, and the target relationship model is used to obtain the target mileage pile number corresponding to the corrected encoder mileage of the tunnel lining target, so as to accurately match the mileage pile number of the tunnel lining target. In summary, this embodiment can accurately locate the mileage and match the mileage pile number of the tunnel lining target in a closed tunnel environment and a dynamic adjustment scenario of the tunnel mileage pile number, thereby providing an accurate basis for tunnel maintenance management and scientific maintenance decisions.

[0028] Figure 2 This is the second flow chart of the tunnel mileage pile number positioning method based on the fusion of QR code and feature points provided in the embodiment of the present application. Figure 2 In one embodiment, acquiring a tunnel lining image may include: 201. Acquire an array image of a tunnel lining; 202. Based on the feature points of the array images with the same name and / or the shooting distance, the array images are spliced ​​to obtain a tunnel lining image.

[0029] In step 201, an array image of the tunnel lining may be acquired using a line scan array camera or an area array camera.

[0030] In step 202, the array images can be spliced ​​using the feature points of the same name and / or the shooting distance in the array images in combination with the installation parameter information of the line scan array camera or the area array camera, wherein the shooting distance is the dynamically acquired working distance of the line scan array camera or the area array camera.

[0031] In addition, the mobile measurement platform includes a measurement vehicle, a power supply module and a positioning module. The power supply module and the positioning module are both installed on the measurement vehicle. The line scan array camera or the area array camera is also installed on the measurement vehicle. The power supply module uses an integrated power supply to provide reliable and stable power for each device. The positioning module includes an encoder, such as a photoelectric encoder, which can be installed on the wheels of the measurement vehicle to obtain the encoder mileage at various locations in the tunnel. The measurement vehicle travels in the tunnel along the extension direction of the tunnel to drive the movement of each device.

[0032] In this embodiment, a measuring vehicle drives a line scan array camera or a planar array camera to move in the tunnel, and with the cooperation of other equipment on the measuring vehicle, array images of the tunnel lining are continuously captured, and the array images are then spliced ​​based on feature points with the same name and / or shooting distances, so that a relatively complete and accurate tunnel lining image can be obtained.

[0033] Figure 3 This is the third flow chart of the tunnel mileage pile number positioning method based on the fusion of QR code and feature points provided in the embodiment of the present application. Figure 3 In one embodiment, based on the two-dimensional code in the tunnel lining image, obtaining the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code may include: 301. Based on the difference characteristics of the two-dimensional code and its background, edge detection is performed on the tunnel lining image to obtain a two-dimensional code area image; 302. Perform rotation correction on the two-dimensional code region image to obtain a correction region image; 303. Decode and identify the correction area image to obtain decoding information; 304. Perform mileage post number matching based on the decoded information to obtain the marked mileage post number at the corresponding position of the QR code; 305. The encoder mileage corresponding to the center point of the two-dimensional code area image is used as the encoder mileage of the corresponding position of the two-dimensional code.

[0034] In practical applications, there is no strict timing relationship between step 302 and step 305; that is, they can be executed simultaneously, or any one step can be executed first, depending on actual needs and is not limited here.

[0035] In step 302, the geometric features of the two-dimensional code may be used to perform rotation correction on the regional image.

[0036] In step 304, if the matching fails, the QR code is determined to be invalid, that is, it is determined that the QR code is not a QR code for mileage post marking. If the matching succeeds, the QR code is determined to be valid, that is, it is determined that the QR code is a QR code for mileage post marking, thereby obtaining the mileage post number at the location where the QR code is pasted, that is, marking the mileage post number.

[0037] This embodiment performs image recognition, correction and decoding on the two-dimensional code in the tunnel lining image, thereby obtaining the marked mileage pile number at the corresponding position of the two-dimensional code. At the same time, by determining the encoder mileage corresponding to the center point of the two-dimensional code area image as the encoder mileage at the corresponding position of the two-dimensional code, the marked mileage pile number and the encoder mileage pile number at the corresponding position of the two-dimensional code in the closed tunnel environment are accurately obtained.

[0038] Figure 4 This is the fourth flow chart of the tunnel mileage pile number positioning method based on the fusion of QR code and feature points provided in the embodiment of the present application. Figure 4 In one embodiment, obtaining a corrected encoder mileage of a tunnel lining target based on tunnel construction joint features in a tunnel lining image may include: 401. Based on the extension direction characteristics and extension length characteristics of the tunnel construction joint, identify multiple circumferential construction joints in the tunnel construction joint; 402. Based on the encoder mileage corresponding to the tunnel construction joints and taking the encoder mileage of the tunnel entrance as a reference, multiple circumferential construction joints are sorted to obtain a circumferential construction joint sequence; 403. Based on the encoder mileage spacing and the actual mileage spacing between adjacent circumferential construction joint intervals in the circumferential construction joint sequence, obtain the mileage expansion coefficient of the adjacent circumferential construction joint intervals; 404. Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the tunnel lining target belongs, the encoder mileage of the tunnel lining target is corrected to obtain the corrected encoder mileage of the tunnel lining target.

[0039] In step 401, tunnel construction joints are gaps introduced due to the use of segmented construction during construction or the need to widen the tunnel section during travel, including transverse construction joints, longitudinal construction joints, and circumferential construction joints. Among them, transverse construction joints are construction joints along the width direction of the tunnel, longitudinal construction joints are construction joints along the length direction of the tunnel, and circumferential construction joints are construction joints along the circumference direction of the inner wall of the tunnel. They are usually gaps formed due to operations such as shield machine jacking or cutter head start-up.

[0040] Based on the color contrast characteristics between tunnel construction joints and normal lining backgrounds, continuous linear characteristics, and geometric morphological characteristics of tunnel construction joints, image segmentation, target matching, target extension, and denoising methods can be used to detect construction joints and obtain feature points of tunnel construction joints. These feature points can characterize tunnel construction joints. Therefore, the extension direction characteristics and extension length characteristics of these feature points are the extension direction characteristics and extension length characteristics of tunnel construction joints.

[0041] In step 402, the plurality of circumferential construction joints are sorted from near to far according to the distances between the encoder mileage corresponding to the tunnel construction joint and the encoder mileage of the tunnel entrance.

[0042] In step 403, since the movement trajectory of the measured vehicle in the tunnel is similar to a snake, there is a cumulative error in the encoder mileage. The mileage expansion coefficient can represent the cumulative error between the encoder mileage and the actual mileage.

[0043] In step 404, the accumulated error of the encoder mileage of the tunnel lining target is corrected using the mileage expansion coefficient to obtain a corrected encoder mileage that is closest to the actual mileage of the tunnel lining target.

[0044] This embodiment divides the tunnel extension direction into intervals through the tunnel circumferential construction joints, and calculates the error representation value between the encoder mileage and the actual mileage based on the intervals, that is, the mileage expansion coefficient. The encoder mileage of any tunnel lining target in any interval can be corrected using the mileage expansion coefficient to obtain a corrected encoder mileage close to the actual mileage, thereby achieving accurate mileage positioning of the tunnel lining target.

[0045] Figure 5 This is the fifth flow chart of the tunnel mileage pile number positioning method based on the fusion of QR code and feature points provided in the embodiment of the present application. Figure 5 In one embodiment, the target relationship model may be determined based on the following method: 501. Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the two-dimensional code belongs, the encoder mileage of the position corresponding to the two-dimensional code is corrected to obtain the corrected encoder mileage of the position corresponding to the two-dimensional code; 502. Sort the marked mileage post numbers at the positions corresponding to the two-dimensional codes to obtain a marked mileage post number sequence; 503. Based on the corrected encoder mileage at the corresponding position of the two-dimensional code, obtain the corrected encoder mileage spacing between adjacent marked mileage post number intervals in the marked mileage post number sequence; 504. Calculate the ratio of the marked mileage post number spacing between adjacent marked mileage post number intervals to the corrected encoder mileage post number spacing between adjacent marked mileage post number intervals to obtain a target ratio; 505. Based on the target ratio and the corrected encoder mileages of the multiple target positions in the adjacent marked mileage pile number interval, the target mileage pile numbers of the multiple target positions in the adjacent marked mileage pile number interval are obtained; 506. Construct a mapping relationship between the target mileage post numbers of multiple target positions within the adjacent marked mileage post number interval and their corresponding corrected encoder mileages, and obtain a target relationship model within the adjacent marked mileage post number interval.

[0046] In practical applications, there is no strict timing relationship between step 501 and step 502; that is, they can be executed simultaneously, or any one step can be executed first, depending on actual needs and is not limited here.

[0047] In step 502, the marked milepost numbers may be sorted from large to small or from small to large, which is not limited here.

[0048] In step 503, for any corresponding position of the two-dimensional code, there is a corresponding corrected encoder mileage and a marked mileage post number, that is, the corrected encoder mileage also corresponds to the marked mileage post number one by one, so any pair of adjacent marked mileage post number intervals also has a corresponding adjacent corrected encoder mileage interval, and the spacing of the adjacent corrected encoder mileage intervals is the corrected encoder mileage spacing of the adjacent marked mileage post number intervals.

[0049] In step 504, the target ratio between the marked mileage pile number spacing and the corrected encoder mileage spacing can be calculated, and the target ratio can be used to accurately measure the relationship between the marked mileage pile number and the corrected encoder mileage in the presence of a long and short chain of pile numbers.

[0050] In step 505, since there may be a situation where the mileage pile number in the tunnel is not set with a corresponding QR code, there will be multiple mileage pile numbers corresponding to the target positions that need to be matched within the adjacent marked mileage pile number interval based on QR code recognition. For any target position within the adjacent marked mileage pile number interval, the target ratio and its corrected encoder mileage can be used to obtain its corresponding mileage pile number, that is, the target mileage pile number. Similarly, the target mileage pile numbers of multiple target positions can be obtained.

[0051] In step 506, the target mileage post numbers and the corrected encoder mileage of multiple target positions in any adjacent marked mileage post number interval are fitted to obtain a target relationship model corresponding to the adjacent marked mileage post number interval. Similarly, target relationship models for multiple adjacent marked mileage post number intervals can be obtained.

[0052] Furthermore, since the target relationship models of multiple adjacent marked mileage pile number intervals are obtained, the target mileage pile number corresponding to the tunnel lining target can be obtained based on the corrected encoder mileage of the tunnel lining target and the target relationship model in the adjacent marked mileage pile number interval to which the tunnel lining target belongs.

[0053] This embodiment accurately measures the relationship between the marked mileage pile number and the corrected encoder mileage in the presence of a long and short chain of pile numbers through the ratio of the marked mileage pile number spacing to the corrected encoder mileage pile number spacing in the adjacent mileage pile number interval, and then obtains the corresponding target mileage pile number in combination with the corrected encoder miles of multiple target positions in the adjacent mileage pile number interval. Then, a target relationship model in the adjacent marked mileage pile number interval can be constructed based on the corrected encoder miles and target mileage pile numbers of multiple target positions. The target relationship model can obtain the corresponding target mileage pile number for the corrected encoder mileage of any tunnel lining target in the adjacent marked mileage pile number interval, thereby achieving accurate matching of mileage pile numbers.

[0054] The following is a description of the tunnel mileage pile number positioning device based on the fusion of QR code and feature points provided in an embodiment of the present application. The tunnel mileage pile number positioning device based on the fusion of QR code and feature points described below and the tunnel mileage pile number positioning method based on the fusion of QR code and feature points described above can be referenced to each other.

[0055] Figure 6 Schematic diagram of the structure of the tunnel mileage pile number positioning device based on the fusion of two-dimensional code and feature points provided in the embodiment of the present application. Figure 6 The embodiment of the present application provides a tunnel mileage pile number positioning device based on the fusion of two-dimensional code and feature points, which may include: The tunnel lining image acquisition module 601 is used to: acquire a tunnel lining image; The two-dimensional code mileage positioning module 602 is used to obtain the marked mileage pile number and the encoder mileage of the position corresponding to the two-dimensional code based on the two-dimensional code in the tunnel lining image; The tunnel lining target positioning module 603 is used to obtain the corrected encoder mileage of the tunnel lining target based on the tunnel construction joint features in the tunnel lining image; The target mileage pile number positioning module 604 is used to obtain the target mileage pile number corresponding to the tunnel lining target based on the modified encoder mileage of the tunnel lining target and the target relationship model; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

[0056] The tunnel mileage pile number positioning device based on the fusion of two-dimensional code and feature points provided in this embodiment obtains a tunnel lining image, obtains the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code based on the two-dimensional code in the tunnel lining image, obtains the corrected encoder mileage of the tunnel lining target based on the tunnel construction joint features in the tunnel lining image, obtains the target mileage pile number corresponding to the tunnel lining target based on the corrected encoder mileage of the tunnel lining target and the target relationship model, and the target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage constructed based on the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code. On the one hand, this embodiment uses an image recognition method combined with tunnel construction joint features to obtain the corrected encoder mileage of the tunnel lining target, and can accurately locate the mileage of the tunnel lining target without using GNSS signals; on the other hand, since the corresponding position of the QR code corresponds to the marked mileage pile number and the encoder mileage, no matter how the mileage pile number is adjusted, the accurate marked mileage pile number and encoder mileage can be obtained based on the recognition of the QR code, and then the marked mileage pile number and the encoder mileage are used to construct a target relationship model between the target mileage pile number and the corrected encoder mileage, and the target relationship model is used to obtain the target mileage pile number corresponding to the corrected encoder mileage of the tunnel lining target, so as to accurately match the mileage pile number of the tunnel lining target. In summary, this embodiment can accurately locate the mileage and match the mileage pile number of the tunnel lining target in a closed tunnel environment and a dynamic adjustment scenario of the tunnel mileage pile number, thereby providing an accurate basis for tunnel maintenance management and scientific maintenance decisions.

[0057] In one embodiment, the tunnel lining image acquisition module 601 is specifically used to: Acquire array images of tunnel linings; Based on the feature points of the array images with the same name and / or the shooting distance, the array images are spliced ​​to obtain the tunnel lining image.

[0058] In one embodiment, the QR code mileage positioning module 602 is specifically used to: Based on the difference characteristics of the two-dimensional code and its background, edge detection is performed on the tunnel lining image to obtain a two-dimensional code area image; Performing rotation correction on the two-dimensional code area image to obtain a correction area image; Decoding and identifying the correction area image to obtain decoding information; Perform mileage post number matching based on the decoded information to obtain the marked mileage post number at the corresponding position of the two-dimensional code; The encoder mileage corresponding to the center point of the two-dimensional code area image is used as the encoder mileage of the corresponding position of the two-dimensional code.

[0059] In one embodiment, the tunnel lining target positioning module 603 is specifically used to: Based on the extension direction characteristics and extension length characteristics of the tunnel construction joint, a plurality of circumferential construction joints in the tunnel construction joint are identified; Based on the encoder mileage corresponding to the tunnel construction joints, the plurality of circumferential construction joints are sorted with reference to the encoder mileage of the tunnel entrance to obtain a circumferential construction joint sequence; Based on the encoder mileage spacing and the actual mileage spacing of adjacent circumferential construction joint intervals in the circumferential construction joint sequence, obtaining the mileage expansion coefficient of the adjacent circumferential construction joint intervals; Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the tunnel lining target belongs, the encoder mileage of the tunnel lining target is corrected to obtain the corrected encoder mileage of the tunnel lining target.

[0060] In one embodiment, a model building module (not shown in the figure) is further included for: Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the two-dimensional code belongs, the encoder mileage of the position corresponding to the two-dimensional code is corrected to obtain the corrected encoder mileage of the position corresponding to the two-dimensional code; Sorting the marked mileage post numbers at the positions corresponding to the two-dimensional codes to obtain a marked mileage post number sequence; Based on the corrected encoder mileage at the corresponding position of the two-dimensional code, the corrected encoder mileage spacing between adjacent marked mileage post number intervals in the marked mileage post number sequence is obtained; Calculating the ratio of the marked mileage post number spacing of the adjacent marked mileage post number intervals to the corrected encoder mileage post number spacing of the adjacent marked mileage post number intervals to obtain a target ratio; Based on the target ratio and the corrected encoder mileages of the multiple target positions in the adjacent marked mileage post number interval, the target mileage post number of the multiple target positions in the adjacent marked mileage post number interval is obtained; A mapping relationship between the target mileage post numbers of multiple target positions within the adjacent marked mileage post number interval and their corresponding corrected encoder mileage is constructed to obtain a target relationship model within the adjacent marked mileage post number interval.

[0061] In one embodiment, the target mileage post number positioning module 604 is specifically used to: Based on the corrected encoder mileage of the tunnel lining target and the target relationship model within the adjacent marked mileage pile number interval to which the tunnel lining target belongs, the target mileage pile number corresponding to the tunnel lining target is obtained.

[0062] FIG. 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the computer program in the memory 730 to execute the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points, for example including: Acquire tunnel lining images; Based on the two-dimensional code in the tunnel lining image, obtaining the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; Based on the tunnel construction joint features in the tunnel lining image, a corrected encoder mileage of the tunnel lining target is obtained; Based on the modified encoder mileage of the tunnel lining target and the target relationship model, a target mileage pile number corresponding to the tunnel lining target is obtained; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

[0063] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0064] On the other hand, an embodiment of the present application further provides a computer program product, the computer program product including a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the above embodiments, for example, including: Acquire tunnel lining images; Based on the two-dimensional code in the tunnel lining image, obtaining the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; Based on the tunnel construction joint features in the tunnel lining image, a corrected encoder mileage of the tunnel lining target is obtained; Based on the modified encoder mileage of the tunnel lining target and the target relationship model, a target mileage pile number corresponding to the tunnel lining target is obtained; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

[0065] On the other hand, the embodiment of the present application further provides a non-transitory computer-readable storage medium on which a computer program is stored, and the computer program is used to enable a processor to execute the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points provided in the above embodiments, for example, including: Acquire tunnel lining images; Based on the two-dimensional code in the tunnel lining image, obtaining the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; Based on the tunnel construction joint features in the tunnel lining image, a corrected encoder mileage of the tunnel lining target is obtained; Based on the modified encoder mileage of the tunnel lining target and the target relationship model, a target mileage pile number corresponding to the tunnel lining target is obtained; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

[0066] The non-transitory computer-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0067] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0068] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or 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 embodiments of the present application.

Claims

1. A tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points, characterized in that: include: Acquire tunnel lining images; Based on the two-dimensional code in the tunnel lining image, obtaining the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; Based on the tunnel construction joint features in the tunnel lining image, a corrected encoder mileage of the tunnel lining target is obtained; Based on the modified encoder mileage of the tunnel lining target and the target relationship model, a target mileage pile number corresponding to the tunnel lining target is obtained; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

2. The tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points according to claim 1 is characterized in that: The step of acquiring the tunnel lining image comprises: Acquire array images of tunnel linings; Based on the feature points of the array images with the same name and / or the shooting distance, the array images are spliced ​​to obtain the tunnel lining image.

3. The tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points according to claim 1 is characterized in that: The method of obtaining the marked mileage pile number at the position corresponding to the two-dimensional code and the encoder mileage at the position corresponding to the two-dimensional code based on the two-dimensional code in the tunnel lining image includes: Based on the difference characteristics of the two-dimensional code and its background, edge detection is performed on the tunnel lining image to obtain a two-dimensional code area image; Performing rotation correction on the two-dimensional code area image to obtain a correction area image; Decoding and identifying the correction area image to obtain decoding information; Perform mileage post number matching based on the decoded information to obtain the marked mileage post number at the corresponding position of the two-dimensional code; The encoder mileage corresponding to the center point of the two-dimensional code area image is used as the encoder mileage of the corresponding position of the two-dimensional code.

4. The tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points according to claim 1 is characterized in that: The method of obtaining the corrected encoder mileage of the tunnel lining target based on the tunnel construction joint features in the tunnel lining image includes: Based on the extension direction characteristics and extension length characteristics of the tunnel construction joint, a plurality of circumferential construction joints in the tunnel construction joint are identified; Based on the encoder mileage corresponding to the tunnel construction joints, the plurality of circumferential construction joints are sorted with reference to the encoder mileage of the tunnel entrance to obtain a circumferential construction joint sequence; Based on the encoder mileage spacing and the actual mileage spacing of adjacent circumferential construction joint intervals in the circumferential construction joint sequence, obtaining the mileage expansion coefficient of the adjacent circumferential construction joint intervals; Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the tunnel lining target belongs, the encoder mileage of the tunnel lining target is corrected to obtain the corrected encoder mileage of the tunnel lining target.

5. The tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points according to claim 4 is characterized in that: The target relationship model is determined based on the following method: Based on the mileage expansion coefficient of the adjacent circumferential construction joint section to which the two-dimensional code belongs, the encoder mileage of the position corresponding to the two-dimensional code is corrected to obtain the corrected encoder mileage of the position corresponding to the two-dimensional code; Sorting the marked mileage post numbers at the positions corresponding to the two-dimensional codes to obtain a marked mileage post number sequence; Based on the corrected encoder mileage at the corresponding position of the two-dimensional code, the corrected encoder mileage spacing between adjacent marked mileage post number intervals in the marked mileage post number sequence is obtained; Calculating the ratio of the marked mileage post number spacing of the adjacent marked mileage post number intervals to the corrected encoder mileage post number spacing of the adjacent marked mileage post number intervals to obtain a target ratio; Based on the target ratio and the corrected encoder mileages of the multiple target positions in the adjacent marked mileage post number interval, the target mileage post number of the multiple target positions in the adjacent marked mileage post number interval is obtained; A mapping relationship between the target mileage post numbers of multiple target positions within the adjacent marked mileage post number interval and their corresponding corrected encoder mileage is constructed to obtain a target relationship model within the adjacent marked mileage post number interval.

6. The tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points according to claim 5 is characterized in that: The modified encoder mileage and target relationship model based on the tunnel lining target is used to obtain the target mileage pile number corresponding to the tunnel lining target, including: Based on the corrected encoder mileage of the tunnel lining target and the target relationship model within the adjacent marked mileage pile number interval to which the tunnel lining target belongs, the target mileage pile number corresponding to the tunnel lining target is obtained.

7. A tunnel mileage pile number positioning device based on the fusion of two-dimensional code and feature points, characterized in that: include: The tunnel lining image acquisition module is used to: acquire tunnel lining images; A two-dimensional code mileage positioning module is used to obtain, based on the two-dimensional code in the tunnel lining image, the marked mileage pile number of the position corresponding to the two-dimensional code and the encoder mileage of the position corresponding to the two-dimensional code; A tunnel lining target positioning module is used to obtain a corrected encoder mileage of a tunnel lining target based on tunnel construction joint features in the tunnel lining image; A target mileage pile number positioning module is used to obtain the target mileage pile number corresponding to the tunnel lining target based on the modified encoder mileage of the tunnel lining target and the target relationship model; The target relationship model is a mapping relationship model between the target mileage pile number and its corresponding corrected encoder mileage, which is constructed based on the marked mileage pile number at the corresponding position of the two-dimensional code and the encoder mileage at the corresponding position of the two-dimensional code.

8. An electronic device comprising a processor and a memory storing a computer program, characterized in that: When the processor executes the computer program, the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points as described in any one of claims 1 to 6 are implemented.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points as described in any one of claims 1 to 6 are implemented.

10. 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 steps of the tunnel mileage pile number positioning method based on the fusion of two-dimensional code and feature points as described in any one of claims 1 to 6 are implemented.

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