Over-the-horizon imaging device and method for three-dimensional texture model of surface layer of side slope

Abstract

The invention belongs to the technical field of strip mine slope instability monitoring and early warning, and discloses a slope surface layer three-dimensional texture model beyond visual range imaging device and method.The slope surface layer three-dimensional texture model beyond visual range imaging device comprises a plurality of imaging systems, each imaging system comprises a beyond visual range imaging assembly, and the beyond visual range imaging assemblies are installed on a four-direction rotating electric control rack; the beyond-visual-range imaging assembly is in information interaction connection with a processing terminal; the beyond-visual-range imaging assembly comprises a long-focus lens barrel, the long-focus lens barrel is sequentially provided with a front fixing set and a rear fixing set in the light propagation direction, and a focusing module is arranged between the front fixing set and the rear fixing set. The front fixing set comprises a visible light filter and a near-infrared filter which are movably arranged. The system is simple in structure, convenient to use, high in automation degree, high in imaging precision and small in error, facilitates the construction of a three-dimensional texture model of the surface layer of the side slope, and is of great significance in knowing the state of the surface layer of the side slope, evaluating the stability of the side slope, predicting the change of the side slope and improving the monitoring efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of open-pit mine slope instability monitoring and early warning, and in particular to a device and method for over-the-horizon imaging of a slope surface three-dimensional texture model. Background Art

[0002] The three-dimensional texture model of the slope surface is of great significance for understanding the state of the slope surface, evaluating stability, predicting changes and improving monitoring efficiency, and provides strong support for slope management. The existing equipment used for landslide monitoring mainly focuses on determining soil moisture content, monitoring rock and soil deformation, slope stability and structural deformation, etc. The existing three-dimensional texture model of the slope surface is mainly based on the ground-end three-dimensional laser scanner to investigate the steep slopes, and then make the three-dimensional texture model of the slope surface, or use drones to perform aerial measurement processing methods to make the three-dimensional texture model of the slope surface, and has been applied in many industries and achieved good results. Non-contact measurement solutions such as laser scanners and digital photogrammetry equipment have become common equipment for obtaining three-dimensional texture information on the slope surface, but aerial surveying combined with semantic segmentation technology can only identify the intuitive morphological features of ground object information.

[0003] However, although domestic and foreign scholars have conducted a lot of research on the establishment of three-dimensional texture models of slope surfaces, there are still some deficiencies and defects: (1) Due to the high difficulty of setting up three-dimensional laser scanning equipment and the constraints of observation angle, observation distance and other factors, it is easy to produce scanning blind spots for complex terrain, and it is often difficult to use this technology to fully extract three-dimensional texture information of slope surfaces; (2) Laser point cloud data lacks texture and spectral information, which makes it difficult to identify three-dimensional texture information of slope surfaces such as lithology, mud fillings, and extrusion and crushing zones required for geological work. Therefore, it is urgent to establish a more accurate and stable three-dimensional texture model of slope surfaces to provide an accurate theoretical basis for open-pit mine slope monitoring.

[0004] Therefore, a device and method for over-the-horizon imaging of a three-dimensional texture model of a slope surface are designed to solve the above-mentioned technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for over-the-horizon imaging of a three-dimensional texture model of a slope surface layer, so as to solve the problems existing in the prior art.

[0006] To achieve the above-mentioned object, the present invention provides the following scheme: The present invention provides a slope surface three-dimensional texture model over-the-horizon imaging device, comprising a plurality of imaging systems with synchronous measurements and overlapping fields of view, and identifying the overlapping field of view area through images taken by the plurality of imaging systems;

[0007] The imaging system comprises a beyond-horizon imaging component, which is mounted on a four-directional rotating electric control frame, and the beyond-horizon imaging component is information-interactively connected with a processing terminal;

[0008] The beyond-horizon imaging assembly comprises a telephoto lens barrel mounted on the four-way rotating electric control frame, the telephoto lens barrel is provided with a front fixing group and a rear fixing group in sequence along the light propagation direction, and a focusing module for focusing is provided between the front fixing group and the rear fixing group;

[0009] The front fixed group comprises a visible light filter and a near infrared filter which are movably arranged, and the visible light filter and the near infrared filter are respectively arranged to be offset from the light channel of the front fixed group.

[0010] Preferably, the front fixing group includes a front sealing plate fixed to the light inlet end of the telephoto lens barrel, the visible light filter and the near-infrared filter are respectively longitudinally slidably connected to the inner cavity of the front sealing plate, a light inlet hole for light to enter is provided on the front sealing plate, and the visible light filter and the near-infrared filter are respectively staggered with the light inlet hole.

[0011] Preferably, an adjustment plate is rotatably connected to the bottom end of the inner cavity of the front sealing plate, and the two ends of the adjustment plate are respectively hingedly connected to the bottom ends of the visible light filter and the near-infrared filter; the middle position of the adjustment plate is transmission-connected to the output shaft of a switching motor, and the switching motor is installed at one end of the front sealing plate facing the telephoto lens barrel.

[0012] Preferably, the focusing module includes a zoom control device arranged in the telephoto lens barrel, the zoom control device is connected to a magnification group and a compensation group along the direction of light transmission, the magnification group and the compensation component are provided with light-through holes for light to pass through, and the light-through holes are coaxially arranged with the light inlet hole.

[0013] Preferably, the zoom control device comprises two guide rods rotatably connected in the telephoto lens barrel, the guide rods are transmission-connected with a plurality of guide sleeves, and the zoom group and the compensation group are slidably connected to the guide rods via the guide sleeves respectively.

[0014] Preferably, the zoom control device includes a magnification motor installed at one end of the rear fixed group away from the telephoto lens barrel, the output end of the magnification motor extends into the rear fixed group and is transmission-connected to a driving gear, both sides of the driving gear are respectively meshed with driven gears, and the two guide rods are respectively transmission-connected to the driven gears.

[0015] Preferably, a light-receiving lens is provided on the rear fixing group, and the light after passing through the compensation component enters the light-receiving lens and irradiates the photosensitive element.

[0016] Preferably, the four-way rotating electrically controlled frame comprises a horizontal rotating base mounted on a fixed platform, a mounting frame is provided on the horizontal rotating base, the telephoto lens barrel is rotatably connected to the mounting frame, and the telephoto lens barrel is drivingly connected to a driving motor provided on the mounting frame.

[0017] The present application also discloses an imaging method based on a slope surface three-dimensional texture model over-the-horizon imaging device, comprising the following steps:

[0018] Fixing a plurality of imaging systems on a platform so that lenses of the plurality of imaging systems face the edge of the area to be tested and the plurality of imaging systems have overlapping fields of view;

[0019] The processing terminal adjusts the focus module to achieve beyond-visual-range focusing on the slope facing the air surface;

[0020] The processing terminal adjusts the positions of the visible light filter and the near infrared filter and the light channel to obtain the visible light band image and the near infrared image of the slope;

[0021] The processing terminal processes the acquired visible light band image and near infrared image of the slope to obtain the final target image;

[0022] The processing terminal adjusts the shooting direction of the imaging system through a four-way rotating electric control frame, repeatedly acquires the target image, and finally obtains a high-overlapping image covering the entire slope;

[0023] The three-dimensional texture modeling of the slope surface is realized based on the obtained full slope image.

[0024] Preferably, in the process of acquiring the final target image, the texture of the visible light image and the near-infrared image are first enhanced respectively by a dehazing algorithm and a sub-block partial overlapping local equalization algorithm, and then a high-pass filtering algorithm is run to fuse the enhanced visible light and near-infrared images to obtain the final target image.

[0025] Compared with the prior art, the present invention has the following advantages and technical effects: the present invention discloses an over-the-horizon imaging device and method for a three-dimensional texture model of a slope surface, which can provide a reliable three-dimensional texture model data basis for subsequent identification of rock mass structure on the free surface of the slope; a plurality of independently arranged and synchronized imaging systems shoot overlapping field of view areas from different angles, and obtain image information by comparison; the over-the-horizon imaging component is mounted on a four-way rotating electric control rack, and the processing terminal controls the four-way selective rotating electric control rack to drive the over-the-horizon imaging component to gradually change the slices, gradually collect high-overlapping images of the slope in the target area, and generate three-dimensional texture of the slope surface through the principle of close-range photogrammetry. The processing model is as follows: when in use, the light enters the telephoto lens barrel, and passes through the front fixed group, the focusing module and the rear fixed group in sequence. The focusing module is used to achieve focusing, which improves the clarity of the image, and then the image is formed on the rear fixed group and received and processed by the processing terminal; the front fixed group is designed to switch between ordinary visible light filters with rich textures and near-infrared band filters with stronger dust penetration ability, and obtain images of different bands of the slope respectively. The two images are enhanced separately with the advanced fog penetration algorithm, and finally the high-quality texture image of the slope surface is obtained by fusion. The image has high accuracy, which provides a reliable three-dimensional texture model data basis for the subsequent identification of the rock structure of the free surface of the slope.

[0026] The invention has the advantages of simple structure, convenient use, high degree of automation, high imaging accuracy, small error, and is convenient for constructing a three-dimensional texture model of the slope surface. It is of great significance for understanding the state of the slope surface, evaluating the stability of the slope, predicting the changes of the slope and improving the monitoring efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0028] Figure 1 This is an axial view of the over-the-horizon imaging device based on the three-dimensional texture model of the slope surface of the present invention;

[0029] Figure 2 It is a schematic diagram of a four-way rotating electric control frame of the present invention;

[0030] Figure 3 This is a schematic diagram of the internal structure of the telephoto lens barrel of the present invention;

[0031] Figure 4 is a schematic diagram of a zoom control device of the present invention;

[0032] Figure 5 It is a schematic diagram of the rear fixation group of the present invention;

[0033] Figure 6 It is a schematic diagram of the front fixing group of the present invention;

[0034] Figure 7 This is a schematic diagram showing the effectiveness of the visible light filter of the present invention;

[0035] Figure 8 This is a schematic diagram showing the effectiveness of the near infrared filter of the present invention;

[0036] Fig. 9 This is a flow chart of data preprocessing and behavior control of the over-the-horizon imaging component of the present invention;

[0037] Fig.10 This is a flow chart for efficient modeling of the three-dimensional texture model of the slope of the present invention;

[0038] In the figure: 1. Beyond-visual-range imaging assembly; 2. Four-way rotating electric control frame; 3. Processing terminal; 4. Telephoto lens barrel; 5. Front fixing group; 6. Rear fixing group; 7. Visible light filter; 8. Near-infrared filter; 9. Front sealing plate; 10. Light inlet; 11. Adjustment plate; 12. Switching motor; 13. Zoom control device; 14. Zoom group; 15. Compensation group; 16. Light hole; 17. Guide rod; 18. Guide sleeve; 19. Zoom motor; 20. Driving gear; 21. Driven gear; 22. Light-receiving lens; 23. Photosensitive element; 24. Horizontal rotating base; 25. Mounting bracket; 26. Driving motor. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Reference Figure 1-Figure 10 As shown, this embodiment provides a slope surface three-dimensional texture model over-the-horizon imaging device, including a plurality of synchronously measured imaging systems with overlapping fields of view, and the overlapping field of view area is identified through images taken by the plurality of imaging systems;

[0042] The imaging system comprises a beyond-horizon imaging component 1, which is mounted on a four-way rotating electric control frame 2, and the beyond-horizon imaging component 1 is information-interactively connected with a processing terminal 3;

[0043] The over-the-horizon imaging assembly 1 comprises a telephoto lens barrel 4 mounted on a four-way rotating electric control frame 2, the telephoto lens barrel 4 is provided with a front fixing group 5 and a rear fixing group 6 in sequence along the light propagation direction, and a focusing module for focusing is provided between the front fixing group 5 and the rear fixing group 6;

[0044] The front fixing group 5 comprises a visible light filter 7 and a near infrared filter 8 which are movably arranged, and the visible light filter 7 and the near infrared filter 8 are respectively arranged to be offset with respect to the light channel of the front fixing group 5 .

[0045] The present invention discloses an over-the-horizon imaging device and method for a 3D texture model of a surface of a slope, which can provide a reliable 3D texture model data basis for subsequent identification of rock mass structure on the free surface of the slope; a plurality of independently arranged and synchronized imaging systems shoot overlapping field of view areas from different angles, and obtain image information by comparison; an over-the-horizon imaging component 1 is mounted on a four-way rotating electric control frame 2, and a processing terminal 3 controls the four-way selective rotating electric control frame to drive the over-the-horizon imaging component 1 to gradually change images, gradually collect images with high overlap of the slope in the target area, and generate a 3D texture model of the surface of the slope by the principle of close-range photogrammetry; when in use, light enters the long-range Focusing lens barrel 4, light passes through front fixed group 5, focusing module and rear fixed group 6 in sequence, the focusing module is used to achieve focusing, improves the clarity of imaging, and then images are formed on rear fixed group 6, and received and processed by processing terminal 3; front fixed group 5 is designed with ordinary visible light filter 7 with rich texture and near infrared band filter with stronger dust penetration ability to switch, respectively obtain different band images of slope, respectively enhance the two images with advanced fog penetration algorithm, and finally fuse to obtain high-quality texture image of slope surface, with high image accuracy, providing reliable three-dimensional texture model data basis for subsequent identification of rock mass structure on the free surface of slope. The present invention has simple structure, convenient use, high degree of automation, high imaging accuracy, small error, and is convenient for constructing three-dimensional texture model of slope surface, which is of great significance for understanding the state of slope surface, evaluating the stability of slope, predicting changes of slope and improving monitoring efficiency.

[0046] In one embodiment of the present application, the device includes two imaging systems that perform synchronous measurements and have a high degree of overlapping fields of view, and the base of the imaging system is installed on a fixed platform at the rear end of the array antenna.

[0047] In one embodiment of the present application, the lens group in the telephoto lens barrel 4 is arranged in a multi-piece combination structure to reduce optical distortion and chromatic aberration and improve imaging quality. It is specifically composed of a front fixed group 5, a zoom group 14, a compensation group 15 and a rear fixed group 6.

[0048] In one embodiment of the present application, the front fixing group 5 serves to fix and align the lens, preventing the lens group from vibrating during shooting and ensuring that light stably enters the lens group, thereby improving the accuracy and reliability of observation.

[0049] In one embodiment of the present application, the processing terminal 3 is responsible for the logic control, data preprocessing and transmission of the beyond-visual-range imaging component 1 and the four-way rotating electric control frame 2, wherein the logic control is mainly completed through the switching motor 12, the magnification motor 19 and the drive motor 26 built into the scheduling module.

[0050] Further optimized solution, the front fixing group 5 includes a front sealing plate 9 fixed to the light inlet end of the telephoto lens barrel 4, and the visible light filter 7 and the near infrared filter 8 are respectively connected to the inner cavity of the front sealing plate 9 by longitudinal sliding. The front sealing plate 9 is provided with a light inlet hole 10, and the visible light filter 7 and the near infrared filter 8 are respectively staggered with the light inlet hole 10. The front sealing plate 9 is arranged at the front end of the telephoto lens barrel 4, and the light carrying information from the outside is injected into the telephoto lens barrel 4 from the light inlet hole 10. The light passes through the visible light filter 7 and the near infrared filter 8 respectively, so as to realize the automatic collection of visible light and near infrared images of the open-pit mine slope in the same direction, and then the two pictures are processed and fused, so as to obtain a clear texture image of the slope in a high dust environment more accurately.

[0051] In one embodiment of the present application, the visible light filter 7 filters the red, green and blue light rays respectively, so that the image has bright colors; the near-infrared filter 8 only retains the near-infrared light rays that have stronger penetration in high-dust environments.

[0052] In a further optimized solution, the bottom end of the inner cavity of the front sealing plate 9 is rotatably connected with an adjustment plate 11, and the two ends of the adjustment plate 11 are respectively hinged and driven with the bottom ends of the visible light filter 7 and the near infrared filter 8; the middle position of the adjustment plate 11 is connected with the output shaft of the switching motor 12, and the switching motor 12 is installed at the end of the front sealing plate 9 facing the telephoto lens barrel 4. The adjustment plate 11 is symmetrical in shape, and the two ends are respectively hinged with the bottom ends of the visible light filter 7 and the near infrared filter 8, so that when the motor drives the adjustment plate 11 to deflect, the visible light filter 7 and the near infrared filter 8 can be controlled to move in the opposite direction, so that the two cover the light inlet hole 10 respectively, which is convenient for taking different pictures.

[0053] In one embodiment of the present application, a light intake lens is provided on the front sealing plate 9 and is arranged corresponding to the light intake hole 10. Light enters the telephoto lens barrel 4 from the light intake lens, while improving protection and preventing external dust from entering the telephoto lens barrel 4 and affecting imaging quality.

[0054] According to a further optimized solution, the focus module includes a zoom control device 13 disposed in the telephoto lens barrel 4, and the zoom control device 13 is connected to a variable magnification group 14 and a compensation group 15 in a transmission manner along the light direction. The variable magnification group 14 and the compensation group 15 are provided with a light hole 16 through which light passes, and the light hole 16 is coaxially arranged with the light inlet hole 10. The focus module is composed of the variable magnification group 14 and the compensation group 15, and is arranged between the front fixed group 5 and the rear fixed group 6, and plays a role in adjusting the focal length and image size, thereby improving the clarity of the image; the zoom control device 13 can drive the distance between the focus module composed of the variable magnification group 14 and the compensation group 15 and the light inlet hole 10, thereby focusing on scenes at different distances, thereby improving the image quality.

[0055] In one embodiment of the present application, the zoom group 14 is generally composed of a group of lenses or reflectors, which are used to magnify the light emitted by the distant target and focus the light onto the imaging plane. Its main function is to increase the magnification of the imaging so that the observer can clearly see the distant target.

[0056] The specific situations are all existing conventional technologies, and technicians in the field have a clear understanding:

[0057] Lens type: The zoom group 14 may include different types of lenses, such as convex lenses, concave lenses, etc. The combination and arrangement of these lenses determine the magnification and imaging quality of the zoom group 14.

[0058] Magnification: The magnification of the zoom group 14 refers to the magnification of the target object to the observer's eyes. This magnification can be adjusted as needed to adapt to different observation distances and target sizes.

[0059] Image quality: In addition to the magnification, the image quality of the zoom group 14 is also an important indicator of its performance. A high-quality zoom group 14 can provide clear and sharp images and reduce adverse effects such as aberration and distortion.

[0060] In one embodiment of the present application, the compensation group 15 is used to solve the imaging problems caused by the magnification of the zoom group 14, such as image plane shift, increased aberration, etc. It is usually also composed of a group of lenses or reflectors, but the design is more complex to achieve accurate compensation of imaging errors.

[0061] The specific situations are all existing conventional technologies, and technicians in the field have a clear understanding:

[0062] Image plane compensation: When the zoom group 14 magnifies the target image, the image plane may shift. The compensation group 15 can accurately compensate for this shift by adjusting the position and angle of its lens or reflector to ensure that the image on the imaging plane remains stable and clear.

[0063] Aberration correction: As the magnification increases, the zoom group 14 may introduce more aberrations, such as spherical aberration, coma, etc. The compensation group 15 can effectively correct these aberrations and improve the image quality through its complex optical design.

[0064] Stability: The design of the compensation group 15 also needs to consider its stability to ensure that the accurate compensation effect can be maintained under long-term use or harsh environment. This usually involves multiple aspects such as the material selection of the lens or reflector, the manufacturing process, and the assembly accuracy.

[0065] In one embodiment of the present application, in beyond-horizon imaging, the magnification group 14 and the compensation group 15 usually cooperate through a precise mechanical structure and control system, and their relative position and angle can be adjusted as needed to achieve the best imaging effect. At the same time, the control system can also monitor the imaging quality in real time and make fine adjustments based on feedback information to ensure the stability and accuracy of the imaging, thereby achieving long-distance, high-quality imaging effects and providing the observer with clear and accurate visual information.

[0066] According to a further optimized solution, the zoom control device 13 includes two guide rods 17 rotatably connected to the telephoto lens barrel 4, and a plurality of guide sleeves 18 are connected to the guide rods 17 in a transmission manner. The zoom control device 13 includes a zoom motor 19 installed at one end of the rear fixed group 6 away from the telephoto lens barrel 4, and the output end of the zoom motor 19 extends into the rear fixed group 6 and is connected to a driving gear 20 in a transmission manner. The two sides of the driving gear 20 are respectively meshed and driven with driven gears 21, and the two guide rods 17 are respectively connected to the driven gears 21 in a transmission manner. The zoom motor 19 drives the driving gear 20 to rotate, and then drives the driven gears 21 on both sides to rotate, and then drives the guide rod 17 to rotate in the telephoto lens barrel 4, so that the guide sleeve 18 moves on the guide rod 17, and then drives the zoom group 14 and the compensation group 15 to move, so as to achieve focusing.

[0067] In one embodiment of the present application, the guide sleeves 18 on the two guide rods 17 are a group, so that the zoom group 14 and the compensation group 15 can only translate without shaking, ensuring that the lens barrel will not deviate during the adjustment process.

[0068] In a further optimized solution, a light receiving lens 22 is arranged on the rear fixing group 6, and the light after passing through the compensation group 15 enters the light receiving lens 22 and irradiates the photosensitive element 23. The light processed by the compensation group 15 enters the light receiving lens 22 and irradiates the photosensitive element 23, and the photosensitive element is connected to the processing terminal 3 by signal exchange, and the information received by the photosensitive element 23 can be transmitted to the processing terminal 3.

[0069] In an embodiment of the present application, by increasing the length of the telephoto lens barrel 4 and the number of lens elements in the lens group, a higher magnification and resolution are achieved; at the same time, a mechanical compensation optical structure is used to optimize the lead, simplify the optical mechanism, reduce the length of the optical system and the zoom lead, so that the optical system has the advantages of a high zoom ratio, high resolution, and small size.

[0070] In an extended embodiment of the present application, a programmable controlled grating projection device can also be designed, including a grating storage and signal generation module and an upper signal conversion control module. During use, the grating constant and phase shift variable can be programmed and controlled according to user requirements, so as to achieve variable structural light types and convert different types of gratings into digital graphic information.

[0071] In a further optimized solution, the four-way rotating electric control rack 2 includes a horizontal rotating base 24 installed on the fixed platform. An installation frame 25 is provided on the horizontal rotating base 24. The telephoto lens barrel 4 is rotatably connected to the installation frame 25, and the telephoto lens barrel 4 is in transmission connection with a driving motor 26 provided on the installation frame 25. The horizontal rotating base 24 is installed on the fixed platform at the rear end of the array antenna to ensure stability. It can rotate under the control of the processing terminal 3, driving the installation frame 25 to rotate; at the same time, the driving motor 26 can drive the telephoto lens barrel 4 to deflect on the installation frame 25, and the optical axis direction of the over-the-horizon imaging assembly 1 can be controlled according to a preset program.

[0072] In an embodiment of the present application, the cooperation of optical and electronic fog penetration can endow this module with an observation ability of about 1.5 times the over-the-horizon visibility distance; the over-the-horizon lens barrel imaging focal length of the module is designed to be 18 - 200 mm, the pixel size of the photosensitive element 23 is 4 - 4.4 μm, and the minimum target resolution requirement is not less than 5 cm. With the support of the fog penetration observation ability, the observable distance of the lens barrel can be estimated to be about 2 - 3 km.

[0073] The present application also discloses an imaging method for an over-the-horizon imaging device based on a three-dimensional texture model of the slope surface layer, including the following steps:

[0074] Fix a number of imaging systems on the platform, make the lenses of the number of imaging systems face the edge of the area to be tested, and the number of imaging systems has overlapping fields of view; the processing terminal 3 receives a preset command to control the four-way rotating electric control rack 2 to adjust the optical axis direction of the over-the-horizon imaging assembly 1 to align with the upper left corner of the slope monitoring range;

[0075] The processing terminal 3 adjusts the focusing module to achieve over-the-horizon focusing on the slope free face; the processing terminal 3 schedules the zoom motor 19 to drive the moving roller of the guide sleeve 18 to adjust the positions of the zoom group 14 and the compensation group 15 to achieve over-the-horizon focusing on the slope free face;

[0076] The processing terminal 3 adjusts the positions of the visible light filter 7 and the near infrared filter 8 and the optical channel to obtain the visible light band image and the near infrared image of the slope; the processing terminal 3 dispatches the switching motor 12, the motor drives the rotation of the driving wheel, and the traction transition wheel realizes the switching of the visible light filter 7 and the near infrared filter 8, and obtains the visible light band image and the near infrared image of the slope in the same optical axis direction and completely overlapping;

[0077] The processing terminal 3 processes the acquired visible light band image and near-infrared image of the slope to obtain the final target image; the built-in FPGA chip is used as the processing terminal 3, and the sparse prior single image defogging algorithm and the sub-block partial overlap local equalization algorithm are run in real time to achieve the first enhancement of the image texture of the visible light and near-infrared fusion, and then the high-pass filtering algorithm is run to fuse the enhanced visible light and near-infrared images to obtain a clear texture image of the slope in a high dust environment beyond the visual range;

[0078] The processing terminal 3 adjusts the shooting direction of the imaging system through the four-way rotating electric control frame 2, repeatedly acquires the target image, and finally acquires a high-overlapping image covering the entire slope; the processing terminal 3 dispatches the four-way rotating electric control frame 2 to adjust the optical axis direction of the over-the-horizon imaging component 1, and repeats the above steps to acquire a high-overlapping image covering the entire slope in a push-scan manner. The two imaging systems collect data synchronously to form a binocular vision system, and realize the three-dimensional texture of the slope surface with the help of the close-range photogrammetry principle.

[0079] The three-dimensional texture modeling of the slope surface is realized based on the obtained full slope image.

[0080] In one embodiment of the present application, in order to compensate for the field of view coverage area sacrificed by over-the-horizon high-resolution imaging, a four-way rotating electric control frame 2 composed of a drive motor 26 and a horizontal rotating base 24 accurately controls the four directions of the optical axis of the telephoto lens barrel 4, and obtains a high-overlap enhanced image covering the entire slope in a rotating push-scan manner.

[0081] In one embodiment of the present application, the area of ​​the slope facing the open space is relatively large, and the imaging device needs to meet the adaptive focusing requirements in multiple field of view wide stepping scenarios. By obtaining the current imaging magnification, it is determined whether the current imaging magnification reaches the low field of view at one time, and the number and direction of steps of the clear target position difference are calculated and processed through the DCC characteristic curve coefficient and the phase difference value, and the zoom motor 19 is driven to move to the target position, so as to realize continuous focusing and rapid recovery of focus in each field of view movement situation.

[0082] Slope 3D texture modeling process: The efficient modeling system of slope 3D texture model transmits the high-overlap enhanced images of the slope obtained by the two imaging systems to the data center, runs the SIFT feature extraction algorithm to extract image feature points, selects the optimal seed image from the feature matching image to solve the initial pose through the epipolar relationship, and then continuously adds new images for feature matching in turn; for the feature points matched in the new image, the object space coordinates of the same-name image points are restored and calculated through aerial triangulation to construct the initial sparse point cloud. For some noise that may appear during the motion recovery process, the bundle adjustment is used to reduce error accumulation and improve the fidelity of the initial feature point cloud. Based on the sparse point cloud constructed by motion recovery structure (SfM), the multi-view clustering (CMVS) method is used to perform cluster analysis on the image, and then the 3D reconstruction algorithm based on the patch model (PMVS) is used to complete dense matching and generate dense 3D point clouds through matching, expansion, and filtering. Finally, the 3D texture model of the slope is reconstructed and rendered through texture association.

[0083] In one embodiment of the present application, based on the principle of photogrammetry, the error of the three-dimensional texture model of the slope surface can be controlled within 10 cm, which can provide a reliable three-dimensional texture model data basis for the subsequent identification of the rock structure of the free surface of the slope.

[0084] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0085] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A device for over-the-horizon imaging of a three-dimensional texture model of a slope surface, characterized in that: It includes a plurality of imaging systems that measure synchronously and have overlapping fields of view, and identifies the overlapping field of view area through images taken by the plurality of imaging systems; The imaging system comprises a beyond-horizon imaging component (1), wherein the beyond-horizon imaging component (1) is mounted on a four-directional rotating electric control frame (2), and the beyond-horizon imaging component (1) is information-interactively connected to a processing terminal (3); The beyond-horizon imaging assembly (1) comprises a telephoto lens barrel (4) mounted on the four-directional rotating electric control frame (2), the telephoto lens barrel (4) being provided with a front fixing group (5) and a rear fixing group (6) in sequence along the light propagation direction, and a focusing module for focusing being provided between the front fixing group (5) and the rear fixing group (6); The front fixing group (5) comprises a visible light filter (7) and a near infrared filter (8) which are movably arranged, and the visible light filter (7) and the near infrared filter (8) are respectively arranged to be offset from the light channel of the front fixing group (5).

2. The over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to claim 1, characterized in that: The front fixing group (5) comprises a front sealing plate (9) fixed to the light inlet end of the telephoto lens barrel (4); the visible light filter (7) and the near infrared filter (8) are respectively connected to the inner cavity of the front sealing plate (9) by longitudinal sliding; a light inlet hole (10) for light to enter is arranged on the front sealing plate (9); the visible light filter (7) and the near infrared filter (8) are respectively arranged staggered with the light inlet hole (10).

3. The over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to claim 2, characterized in that: An adjustment plate (11) is rotatably connected to the bottom end of the inner cavity of the front sealing plate (9), and the two ends of the adjustment plate (11) are respectively hingedly connected to the bottom ends of the visible light filter (7) and the near-infrared filter (8) for transmission; the middle position of the adjustment plate (11) is transmission-connected to the output shaft of a switching motor (12), and the switching motor (12) is installed at one end of the front sealing plate (9) facing the telephoto lens barrel (4).

4. The over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to claim 2, characterized in that: The focusing module comprises a zoom control device (13) arranged in the telephoto lens barrel (4), the zoom control device (13) being connected to a magnification group (14) and a compensation group (15) in a transmission manner along the direction of light, the magnification group (14) and the compensation group (15) being provided with a light-through hole (16) through which light passes, the light-through hole (16) being coaxially arranged with the light inlet hole (10).

5. The over-the-horizon imaging device for the three-dimensional texture model of the slope surface according to claim 4, characterized in that: The zoom control device (13) comprises two guide rods (17) rotatably connected to the telephoto lens barrel (4); a plurality of guide sleeves (18) are transmission-connected to the guide rods (17); the zoom group (14) and the compensation group (15) are slidably connected to the guide rods (17) via the guide sleeves (18), respectively.

6. The over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to claim 5, characterized in that: The zoom control device (13) comprises a variable power motor (19) mounted on an end of the rear fixing group (6) away from the telephoto lens barrel (4); an output end of the variable power motor (19) extends into the rear fixing group (6) and is transmission-connected to a driving gear (20); two sides of the driving gear (20) are respectively meshed with driven gears (21); and the two guide rods (17) are respectively transmission-connected to the driven gears (21).

7. The over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to claim 4, characterized in that: A light receiving lens (22) is arranged on the rear fixing group (6), and the light rays passing through the compensation group (15) enter the light receiving lens (22) and irradiate the light sensing element (23).

8. The over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to claim 1, characterized in that: The four-way rotating electric control frame (2) comprises a horizontal rotating base (24) mounted on a fixed platform, a mounting frame (25) is arranged on the horizontal rotating base (24), the telephoto lens barrel (4) is rotatably connected to the mounting frame (25), and the telephoto lens barrel (4) is drivingly connected to a driving motor (26) arranged on the mounting frame (25).

9. A method for over-the-horizon imaging of a three-dimensional texture model of a slope surface, based on the over-the-horizon imaging device for a three-dimensional texture model of a slope surface according to any one of claims 1 to 8, characterized in that The following steps are involved: Fixing a plurality of imaging systems on a platform so that lenses of the plurality of imaging systems face the edge of the area to be tested and the plurality of imaging systems have overlapping fields of view; The processing terminal (3) adjusts the focus module to achieve beyond-visual-range focusing on the free surface of the slope; The processing terminal (3) adjusts the positions of the visible light filter (7) and the near infrared filter (8) and the light channel to obtain a visible light band image and a near infrared image of the slope; The processing terminal (3) processes the acquired visible light band image and near infrared image of the slope to obtain a final target image; The processing terminal (3) adjusts the shooting direction of the imaging system through the four-way rotating electric control frame (2), repeatedly acquires the target image, and finally acquires a high-overlapping image covering the entire slope; The three-dimensional texture modeling of the slope surface is realized based on the obtained full slope image.

10. The over-the-horizon imaging method for a three-dimensional texture model of a slope surface according to claim 9, characterized in that: In the process of obtaining the final target image, the texture of the visible light image and the near-infrared image are first enhanced by the dehazing algorithm and the sub-block partial overlapping local equalization algorithm, and then the high-pass filtering algorithm is run to fuse the enhanced visible light and near-infrared images to obtain the final target image.

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