Cloud picture processing method and system for deformation measurement of free falling body penetrating into soil, and medium

Abstract

The invention relates to a cloud picture processing method and system for deformation measurement of free fall penetrating into soil and a medium, the cloud picture processing method for deformation measurement of free fall penetrating into soil comprises the following steps: based on a soil surface image sprayed with artificial speckles, reading PMLAB RDIC software to generate soil surface deformation data; on the basis of the motion image of the half-section model of the free falling body penetrometer, RevealerMotionAnalysis software is read to generate motion data of the half-section model of the penetrometer; determining the position of the penetrometer at each moment and the shape and size of a soil coverage area of the penetrometer by combining the motion data of the penetrometer half-section model, performing secondary processing on the soil surface deformation data, and drawing a deformation cloud picture of the soil surface; and integrating the deformation cloud picture of the soil surface into a user graphical interface. The method can effectively solve the problem that when the half-section model of the free falling body penetrometer is tightly attached to the glass surface for penetration, thin-layer soil shields the profile of the penetrometer, and consequently the DIC analysis result of the soil coverage area is inaccurate.

Description

Technical Field

[0001] The present invention relates to the field of penetration soil deformation measurement. In particular, it relates to a cloud map processing method, system and medium for free-fall penetration soil deformation measurement. Background Art

[0002] The digital image correlation method (DIC) utilizes the basic principles of digital image processing. After collecting images through a digital camera, it measures the deformation of the specimen surface by tracking the position changes of the morphological features (artificial speckles) on the specimen surface before deformation. This non-contact, full-field optical measurement method can be used to analyze, calculate, and record the soil deformation during the free-fall penetration cone penetration test, and provide measurement results such as data and cloud maps, thereby intuitively and clearly reflecting the deformation behavior of the measured soil.

[0003] The semi-sectional model of the free-fall penetrometer is launched along the guide rail under the action of high-pressure air and penetrates the soil closely against the glass surface of the soil tank. Images are collected by a digital camera to measure the soil surface deformation. According to the axisymmetric condition, the measured soil surface deformation at the glass surface is equivalent to the soil deformation on the axisymmetric section during free-fall penetration.

[0004] When the semi-sectional model of the free-fall penetrometer penetrates closely against the glass surface, there is inevitably a thin layer of soil doped between the penetrometer section and the glass surface, which obscures the penetrometer contour and leads to incorrect DIC analysis results in the relevant area. Existing commercial DIC analysis and processing software cannot solve related problems. How to avoid the decrease in the accuracy of the DIC analysis results in the soil coverage area of the penetrometer caused by the soil doped between the penetrometer section and the glass surface obscuring the penetrometer contour is an urgent problem to be solved. Summary of the Invention

[0005] The present invention provides a cloud map processing method, system and medium for free-fall penetration soil deformation measurement to solve the problem of the decrease in the accuracy of the DIC analysis results in the soil coverage area of the penetrometer caused by the soil doped between the penetrometer section and the glass surface obscuring the penetrometer contour.

[0006] To achieve the above object, in a first aspect, the present invention relates to a cloud map processing method for free-fall penetration soil deformation measurement, which is used for a semi-sectional model of a free-fall penetrometer to be launched into a soil tank along a guide rail and penetrate the soil closely against the glass side of the soil tank, and images are collected by a camera to perform cloud map processing of the penetration soil deformation, including: Step 1: Based on the soil surface image sprayed with artificial speckles, read the soil surface deformation data generated by the PMLAB RDIC software, wherein the soil surface deformation data at least includes displacement, velocity, and strain rate, and the soil surface image sprayed with artificial speckles is collected by the camera; Step 2 reads the motion data of the semi-section model of the free-fall penetrometer generated by the RevealerMotionAnalysis software based on the motion image of the semi-section model of the free-fall penetrometer. Among them, the motion data of the semi-section model of the free-fall penetrometer at least includes displacement, velocity, and acceleration. The motion image of the semi-section model of the free-fall penetrometer is collected by the camera; Step 3 combines the motion data of the semi-section model of the penetrometer to determine the position of the penetrometer and the shape and size of the soil coverage area of the penetrometer at each moment, and draws a deformation cloud map of the soil surface, and performs secondary processing on the soil surface deformation data. Among them, the deformation cloud map at least includes a displacement field, a velocity field, and strain rate data; Step 4 integrates the deformation cloud map of the soil surface into the user graphical interface.

[0007] Preferably, Step 1 includes: Import the soil surface image sprayed with artificial speckles into the PMLAB RDIC software, create a calculation area, and set the basic parameters for DIC calculation and analysis. The basic parameters at least include the sub-region size, grid step size, acquisition image frame rate, and search area size; Perform matching calculations on the sub-regions in the calculation area through the relevant criterion ZNSSD, calibrate the relationship between the image pixel coordinates and the real coordinates, and generate the soil surface deformation data.

[0008] Preferably, Step 2 includes: In the RevealerMotionAnalysis software, import the motion image of the semi-section model of the free-fall penetrometer, set tracking points on the penetrometer, and calibrate the relationship between the image pixel coordinates and the real coordinates, and at least calculate the displacement, velocity, and acceleration of the tracking points as the motion data of the semi-section model of the free-fall penetrometer.

[0009] Preferably, Step 3 includes: Read the coordinates of the upper, lower, left, and right boundaries of the calculation area in the generated soil surface deformation data, and read the X coordinate of the starting point of the penetrometer and the coordinates of the contact point between the tip of the penetrometer and the upper boundary of the calculation area; Based on the generated motion data of the penetrometer, determine whether the motion direction is vertical penetration or inclined penetration; Read the starting moment when the tip of the penetrometer contacts the upper boundary of the calculation area and the moment when the penetrometer stops moving, and synchronize with the time in the soil surface deformation data; Read the time history data of the resultant velocity of the penetrometer and determine the motion model of the soil coverage area of the penetrometer in the calculation area; Clear the deformation data that coincides with the coverage area of the calculation area, reconstruct the two-dimensional grid, and interpolate to draw the soil deformation nephogram.

[0010] Preferably, the motion model of the soil coverage area includes: when vertically penetrating and the penetrometer bullet head is not fully penetrated, the soil coverage area of the calculation area is an isosceles triangle; when vertically penetrating and the penetrometer bullet head is fully penetrated, the soil coverage area of the calculation area is an axisymmetric pentagon; when obliquely penetrating and the penetrometer bullet head is not fully penetrated, the soil coverage area of the calculation area is a quadrilateral; when obliquely penetrating and the penetrometer bullet head is fully penetrated, the soil coverage area of the calculation area is a pentagon. Based on the time history data of the suitability of the penetrometer and the starting moment when the tip of the penetrometer contacts the upper boundary of the calculation area, integrate to obtain the motion displacement of the penetrometer in the calculation area at this moment, and judge the shape of the soil coverage area at this moment; combine the coordinates of the contact point between the tip of the penetrometer and the upper boundary of the calculation area at the starting moment, and calculate the coordinates of each end point of the shape of the soil coverage area to determine the size of the soil coverage area.

[0011] Preferably, steps 1, 2, and 3 are all implemented by Matlab code. Step 4 specifically includes: Integrate the deformation nephogram of the soil surface into the graphical user interface through the Appdesigner tool library of Matlab software, generate the corresponding.ui file, and convert the.ui file into Matlab code.

[0012] Preferably, it further includes: packaging all the Matlab codes of steps 1, 2, 3, and 4 to generate an independent EXE executable file.

[0013] To achieve the above object, in a second aspect, the present invention relates to a cloud map processing system for measuring soil deformation during free-fall penetration, which is used for a semi-sectional model of a free-fall penetrometer to be launched into a soil trough box along a guide rail and penetrate the soil closely against the glass side of the soil trough box, and collect images through a camera to perform cloud map processing of the deformation during soil penetration, including: A surface deformation data generation module, which is used to read the soil surface deformation data generated by the PMLABRDIC software based on the soil surface image sprayed with artificial speckles, wherein the soil surface deformation data at least includes displacement, velocity, and strain rate, and the soil surface image sprayed with artificial speckles is collected by the camera. The motion data generation module of the penetrometer semi-section model is used to read the motion data of the penetrometer semi-section model generated by the RevealerMotionAnalysis software based on the motion images of the free-fall penetrometer semi-section model. Among them, the motion data of the penetrometer semi-section model at least includes displacement, velocity, and acceleration, and the motion images of the free-fall penetrometer semi-section model are collected by the camera; The soil surface cloud map drawing module is used to determine the position of the penetrometer and the shape and size of the soil coverage area of the penetrometer at each moment in combination with the motion data of the penetrometer semi-section model, perform secondary processing on the soil surface deformation data, and draw the deformation cloud map of the soil surface. Among them, the deformation cloud map at least includes displacement field, velocity field, and strain rate data; The integrated display module is used to integrate the deformation cloud map of the soil surface into the user graphical interface.

[0014] Preferably, the surface deformation data generation module, the motion data generation module of the penetrometer semi-section model, and the soil surface cloud map drawing module are all implemented by Matlab code; The integrated display module is specifically used for: Integrate the deformation cloud map of the soil surface into the graphical user interface through the Appdesigner tool library of Matlab software, generate the corresponding.ui file, and convert the.ui file into Matlab code; It further includes: a code packaging module, which is used to package all the Matlab codes of the surface deformation data generation module, the motion data generation module of the penetrometer semi-section model, the soil surface cloud map drawing module, and the integrated display module to generate an independent EXE executable file.

[0015] To achieve the above object, in the third aspect, the present invention also relates to a computer-readable storage medium, in which instructions are stored, and when the instructions run, they execute the above-mentioned cloud map processing method for measuring soil deformation by free-fall penetration.

[0016] The cloud map processing method, system, and medium for measuring soil deformation by free-fall penetration involved in the present invention have the following beneficial effects compared with the prior art: 1. The cloud map processing software based on the free-fall penetration soil deformation measurement device can realize the secondary processing of a large amount of soil deformation data and draw cloud maps. It can effectively solve the problem that when the free-fall penetrometer semi-section model penetrates closely to the glass surface, the thin-layer soil blocks the contour of the penetrometer and causes inaccurate DIC analysis results of the soil coverage area.

[0017] 2. The visualization interface developed using Matlab and Appdesigner provides a convenient operation method, especially suitable for non-technical users. First, design the graphical user interface (GUI) through Appdesigner, generate the corresponding.ui file, and convert it into Matlab code to achieve the interaction between the user and the program. Through the simple and intuitive interface, users can easily input the relevant parameters of the free-fall penetrometer and the soil deformation cloud map, trigger the cloud map drawing and processing operations, and can interrupt the task progress at any time. Subsequently, package the entire Matlab program to generate an independent EXE executable file. Users only need to run this EXE file, and can directly execute the batch processing task of the cloud map without the Matlab running environment. By providing a friendly visualization interface and an independent EXE file, non-technical users can use complex batch processing tools without obstacles, greatly improving the usability and ease of use of the application. Description of the Drawings

[0018] Figure 1 The free-fall penetrometer soil deformation measurement device for the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 Figure 1 ; Figure 2 The free-fall penetrometer soil deformation measurement device for the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 Figure 2 ; Figure 3 Schematic diagram of the semi-sectional model of the free-fall penetrometer for the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 being blocked by a thin layer of soil Figure 4 The motion image of the free-fall penetrometer and the tracking points for the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 Figure 5 The vertical penetration soil calculation area of the free-fall penetrometer for the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 Figure 6 The inclined penetration soil calculation area of the free-fall penetrometer for the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 Figure 7 The visualization interface of Example 1 in Example 1 Figure 8 The software result of the cloud map processing based on the free-fall penetrometer soil deformation measurement device in Example 1 of Example 1 Figure 9 The flow schematic diagram of the cloud map processing method of free-fall penetrometer soil deformation measurement in Example 1 Figure 10This is a schematic structural diagram of a cloud map processing system for measuring soil deformation during free - fall penetration in the second embodiment of the present invention. Detailed implementation manners

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention are shown in the drawings, rather than all the structures.

[0020] Embodiment 1 A cloud map processing method for measuring soil deformation during free - fall penetration. Please refer to Figures 1-9 , which is used for a semi - sectional model of a free - fall penetrometer to be launched into a soil tank along a guide rail and penetrate the soil closely against the glass side of the soil tank. As Figures 1-2 is an observation device for soil deformation during the free - fall penetration process. By using two cameras to respectively collect the images of the soil surface sprayed with artificial speckles and the motion images of the semi - sectional model of the free - fall penetrometer, the measured soil surface deformation data and the motion data of the semi - sectional model of the free - fall penetrometer at corresponding moments can effectively solve the problem that when the semi - sectional model of the free - fall penetrometer penetrates closely against the glass surface, as Figure 3 shown, the thin - layer soil blocks the contour of the penetrometer and causes incorrect DIC analysis results in the soil - covered area. The method includes the following steps: S101 to S104.

[0021] S101: Based on the image of the soil surface sprayed with artificial speckles, read the soil surface deformation data generated by the PMLAB RDIC software. Among them, the soil surface deformation data at least includes displacement, velocity, and strain rate, and the image of the soil surface sprayed with artificial speckles is collected by the camera.

[0022] S102: Based on the motion image of the semi - sectional model of the free - fall penetrometer, read the motion data of the semi - sectional model of the penetrometer generated by the RevealerMotionAnalysis software. Among them, the motion data of the semi - sectional model of the penetrometer at least includes displacement, velocity, and acceleration, and the motion image of the semi - sectional model of the free - fall penetrometer is collected by the camera.

[0023] S103: Combine the motion data of the semi - sectional model of the penetrometer to determine the position of the penetrometer and the shape and size of the soil - covered area of the penetrometer at each moment. Perform secondary processing on the soil surface deformation data and draw the deformation cloud map of the soil surface. Among them, the deformation cloud map at least includes displacement field, velocity field, and strain rate data.

[0024] S104: Integrate the deformation cloud map of the soil surface into the user graphical interface.

[0025] In this embodiment, S101 specifically includes: S111 and S112.

[0026] In the PMLAB RDIC software, import the image of the soil surface with artificially sprayed speckles, create a calculation area, and set the basic parameters for DIC calculation and analysis. The basic parameters include at least the sub-region size, grid step, frame rate of the acquired images, and search area size; Match and calculate the sub-regions within the calculation area through the relevant criterion ZNSSD, and calibrate the relationship between the image pixel coordinates and the real coordinates to generate the soil surface deformation data.

[0027] In this embodiment, S102 specifically includes: In the RevealerMotionAnalysis software, import the motion image of the semi-section model of the free-fall penetrometer, set tracking points on the penetrometer, and calibrate the relationship between the image pixel coordinates and the real coordinates, and at least calculate the displacement, velocity, and acceleration of the tracking points as the motion data of the semi-section model of the penetrometer. Among them, since the free-fall penetrometer is a rigid body motion, the tracking point is equivalent to the centroid of the penetrometer.

[0028] In this embodiment, S103 specifically includes: S131 and S134.

[0029] In the generated soil surface deformation data, read the coordinates of the upper, lower, left, and right boundaries of the calculation area, and read the coordinates of the contact point between the tip of the penetrometer and the upper boundary of the calculation area (the starting X coordinate of the penetrometer).

[0030] S132, based on the generated motion data of the penetrometer, determine whether the motion direction is vertical penetration or inclined penetration.

[0031] S133, read the starting moment when the tip of the penetrometer contacts the upper boundary of the calculation area and the moment when the penetrometer stops moving, and synchronize with the time in the soil surface deformation data.

[0032] S134, read the time history data of the resultant velocity of the penetrometer and determine the motion model of the penetrometer in the soil-covered area of the calculation area.

[0033] As Figures 5-6 shown, among them, the motion model of the soil-covered area includes: when vertically penetrating and the penetrometer bullet has not fully penetrated, the soil-covered area of the calculation area is an isosceles triangle (such as Figure 5 part b); when vertically penetrating and the penetrometer bullet has fully penetrated, the soil-covered area of the calculation area is an axisymmetric pentagon (such as Figure 5 part c); when inclined penetrating and the penetrometer bullet has not fully penetrated, the soil-covered area of the calculation area changes from a triangle (such as Figure 6 part b) to a quadrilateral (such as Figure 6section c); When the penetrometer is tilted and the penetrometer tip is fully penetrated, the soil coverage area of the calculation region is a pentagon (as shown in Figure 6 section d). Based on the time history data of the penetrometer's suitability and the starting moment when the tip of the penetrometer contacts the upper boundary of the calculation region, the movement displacement of the penetrometer in the calculation region at this moment is obtained by integration, and the shape of the soil coverage area at this moment is judged; combined with the coordinates of the contact point between the tip of the penetrometer and the upper boundary of the calculation region at the starting moment, the coordinates of each end point of the shape of the soil coverage area are calculated to determine the size of the soil coverage area.

[0034] S134. Clear the deformation data where the calculation region coincides with the coverage of the calculation region, reconstruct the two-dimensional grid and interpolate to draw the soil deformation nephogram.

[0035] In this embodiment, S101 to S103 are all implemented through Matlab code. Specifically, S101 generates a txt file through Matlab code, S102 generates a txt file through Matlab code, S103 generates png and gif files through Matlab code, and S104 specifically includes: Integrate the deformation nephogram of the soil surface into the graphical user interface through the Appdesigner tool library of Matlab software, generate the corresponding.ui file, and convert the.ui file into Matlab code to realize the interaction between the user and the program. Through a simple and intuitive interface, the user can easily input the relevant parameters of the free-fall penetrometer and the soil deformation nephogram, trigger the cloud map drawing and processing operation, and can interrupt the task progress at any time. Subsequently, the entire Matlab program is packaged into an independent EXE executable file. The user only needs to run this EXE file, and can directly execute the batch processing task of the cloud map without the Matlab running environment, realizing the integration of the two functions of data processing and cloud map result output.

[0036] In this embodiment, all the Matlab codes of S101 to S104 can be packaged into an independent EXE executable file. As shown in Figure 7 the figure. By providing a friendly visual interface and an independent EXE file, non-technical users can use complex batch processing tools without obstacles, greatly improving the usability and ease of use of the application.

[0037] To better illustrate the solution of the present invention, an example is given below, as shown in Figure 7As shown in the figure, the meanings of the labels in the GUI interface are as follows: 1 - The path of the soil deformation data file and the penetrometer movement data file; 2 - The moment when the penetrometer contacts the upper boundary of the calculation area; 3 - The moment when the penetrometer stops moving; 4 - The button for plotting the penetrometer speed curve graph; 5 - The abscissa of the contact point between the penetrometer and the upper boundary of the calculation area; 6 - The ordinate of the upper boundary of the calculation area; 7 - The ordinate of the lower boundary of the calculation area; 8 - The abscissa of the left boundary of the calculation area; 9 - The abscissa of the right boundary of the calculation area; 10 - The button for selecting the type of contour plot drawing; 11 - The frame rate of soil surface image acquisition; 12 - The serial number of the soil picture corresponding to the moment when the penetrometer contacts the upper boundary of the calculation area; 13 - The serial number of the soil picture corresponding to the moment when the penetrometer stops moving; 14 - The button for plotting the contour plot in png format; 15 - The button for generating the contour plot in GIF format, including the following steps: 1. Select the file path through button 1 to read the data file; 2. Use buttons 2 - 3 to set the parameters of the movement model of the covered area; 3. Use button 4 to display the visualization window of the penetrometer speed time history curve; 4. Use input boxes 6 - 9 and input boxes 11 - 13 to display the parameter settings of the soil calculation area; 5. Use the drop - down box 10, button 14, and button 15 to control the output of the contour plot processing results.

[0038] Taking the free - fall penetrometer vertically penetrating the soil as an example, through the parameter input on the visualization interface and clicking the graph - plotting button, the software generates the penetrometer speed time history curve; input the coordinates of the upper, lower, left, and right boundaries of the calculation area (contour plot) and the picture parameters, and select the contour plot type, then click the contour - plot button to obtain the soil surface deformation contour plot, as Figure 8 shown.

[0039] Example Two

[0040] A contour plot processing system for measuring soil deformation during free - fall penetration is used for the free - fall penetrometer half - section model to be launched into the soil tank along the guide rail and penetrate the soil closely against the glass side of the soil tank. By using a camera to collect the soil surface images sprayed with artificial speckles and the movement images of the free - fall penetrometer half - section model, with the measured soil surface deformation data and the movement data of the free - fall penetrometer half - section model at the corresponding moment, it can effectively solve the problem that when the free - fall penetrometer half - section model penetrates closely against the glass surface, the thin - layer soil blocks the contour of the penetrometer and leads to incorrect DIC analysis results in the soil - covered area. It is implemented by the hardware of an electronic device with a central processor and can be realized by a personal computer, intelligent terminal, local area network, server, etc. For the implementation in this example, please refer to Figure 10, including a surface deformation data generation module 51, a penetrometer semi-section model motion data generation module 52, a soil surface cloud map drawing module 53, and an integrated display module 54.

[0041] The surface deformation data generation module 51 is used to read the soil surface deformation data generated by the PMLABRDIC software based on the soil surface image sprayed with artificial speckles. Among them, the soil surface deformation data at least includes displacement, velocity, and strain rate. The soil surface image sprayed with artificial speckles is collected by a camera. The penetrometer semi-section model motion data generation module 52 is used to read the penetrometer semi-section model motion data generated by the RevealerMotionAnalysis software based on the motion image of the free-falling penetrometer semi-section model. Among them, the penetrometer semi-section model motion data at least includes displacement, velocity, and acceleration. The motion image of the free-falling penetrometer semi-section model is collected by a camera. The soil surface cloud map drawing module 53 is used to determine the position of the penetrometer and the shape and size of the soil coverage area of the penetrometer at each moment in combination with the penetrometer semi-section model motion data, perform secondary processing on the soil surface deformation data, and draw the deformation cloud map of the soil surface. Among them, the deformation cloud map at least includes displacement field, velocity field, and strain rate data. The integrated display module 54 is used to integrate the deformation cloud map of the soil surface into the user graphical interface.

[0042] In this embodiment, the surface deformation data generation module 51, the penetrometer semi-section model motion data generation module 52, and the soil surface cloud map drawing module 53 are all implemented through Matlab code. The integrated display module 54 is specifically used for: Integrate the deformation cloud map of the soil surface into the graphical user interface through the Appdesigner tool library of Matlab software, generate the corresponding.ui file, and convert the.ui file into Matlab code. It further includes: a code packaging module (not shown in the figure), which is used to package all the Matlab codes of the surface deformation data generation module 51, the penetrometer semi-section model motion data generation module 52, the soil surface cloud map drawing module 53, and the integrated display module 54 to generate an independent EXE executable file.

[0043] The cloud map processing system for measuring the deformation of free-falling penetrometer into soil in this embodiment has the same implementation process, method, and effect as the cloud map processing method for measuring the deformation of free-falling penetrometer into soil described in Embodiment 1, and will not be elaborated here.

[0044] Embodiment 3

[0045] The present invention relates to a computer-readable storage medium storing instructions that, when executed, implement the method for processing cloud images of free-fall penetration soil deformation described in Embodiment 1. The implementation process, method, and effects are the same as those of the method for processing cloud images of free-fall penetration soil deformation described in Embodiment 1, and will not be elaborated here.

[0046] It should be noted that in this article, the terms "include", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including that element.

[0047] The above are only the preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or equivalent process transformation made using the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present invention.

Claims

1. A cloud map processing method for free fall penetration soil deformation measurement, characterized in that: A half-section model of a free-fall penetrometer is launched into a soil trough box along a guide rail and penetrates the soil close to the glass side of the soil trough box, and a camera is used to collect images to perform cloud map processing of soil deformation during penetration. The method comprises: Step 1: Based on the soil surface image sprayed with artificial speckle, PMLAB RDIC software is read to generate soil surface deformation data, wherein the soil surface deformation data at least includes displacement, velocity and strain rate, and the soil surface image sprayed with artificial speckle is collected by the camera; Step 2: Based on the motion image of the free-fall penetrometer half-section model, read the Revealer Motion Analysis software to generate motion data of the penetrometer half-section model, wherein the motion data of the penetrometer half-section model at least includes displacement, velocity and acceleration, and the motion image of the free-fall penetrometer half-section model is collected by the camera; Step 3: Determine the position of the penetrometer at each moment and the shape and size of the soil coverage area of ​​the penetrometer in combination with the motion data of the semi-section model of the penetrometer, perform secondary processing on the soil surface deformation data, and draw a deformation cloud map of the soil surface, wherein the deformation cloud map includes at least displacement field, velocity field and strain rate data; Step 4 integrates the deformation cloud map of the soil surface into a user graphical interface.

2. The cloud image processing method for free fall penetration soil deformation measurement according to claim 1 is characterized in that: The step 1 comprises: Importing the soil surface image sprayed with artificial speckle into the PMLAB RDIC software, creating a calculation area, and setting basic parameters for DIC calculation analysis, wherein the basic parameters include at least sub-area size, grid step size, image acquisition frame rate, and search area size; The sub-areas within the calculation area are matched and calculated by the correlation criterion ZNSSD, and the relationship between the image pixel coordinates and the real coordinates is calibrated to generate the soil surface deformation data.

3. The cloud image processing method for free fall penetration soil deformation measurement according to claim 1 is characterized in that: The step 2 comprises: In the RevealerMotionAnalysis software, the motion image of the free-fall penetrometer half-section model is imported, tracking points are set on the penetrometer, and the relationship between the image pixel coordinates and the real coordinates is calibrated, and at least the displacement, velocity and acceleration of the tracking points are calculated as the motion data of the penetrometer half-section model.

4. The cloud image processing method for free fall penetration soil deformation measurement according to claim 2 is characterized in that: The step 3 comprises: Reading the coordinates of the upper, lower, left and right boundaries of the calculation area from the generated soil surface deformation data, as well as reading the X coordinate of the starting point of the penetrometer and the coordinates of the contact point between the tip of the penetrometer and the upper boundary of the calculation area; Based on the generated penetrometer movement data, determining whether the movement direction is vertical penetration or oblique penetration; Reading the starting time when the tip of the penetrometer contacts the upper boundary of the calculation area and the time when the penetrometer stops moving, and synchronizing them with the time in the soil surface deformation data; reading the combined velocity time history data of the penetrometer to determine the motion model of the penetrometer in the soil cover area of ​​the calculation area; The deformation data of the calculation area and the coverage area of ​​the calculation area are cleared, and the two-dimensional grid is reconstructed and the soil deformation cloud map is drawn by interpolation.

5. The cloud image processing method for free fall penetration soil deformation measurement according to claim 1 is characterized in that: The motion model of the soil coverage area includes: when the penetration is vertical and the penetrometer bullet is not completely penetrated, the soil coverage area of ​​the calculation area is an isosceles triangle; when the penetration is vertical and the penetrometer bullet is completely penetrated, the soil coverage area of ​​the calculation area is an axisymmetric pentagon; when the penetration is oblique and the penetrometer bullet is not completely penetrated, the soil coverage area of ​​the calculation area is a quadrilateral; when the penetration is oblique and the penetrometer bullet is completely penetrated, the soil coverage area of ​​the calculation area is a pentagon; Based on the fitness time-history data of the penetrometer and the starting moment when the tip of the penetrometer contacts the upper boundary of the calculation area, the motion displacement of the penetrometer in the calculation area at this moment is obtained by integration, and the shape of the soil coverage area at this moment is judged; combined with the coordinates of the contact point between the tip of the penetrometer and the upper boundary of the calculation area at the starting moment, the coordinates of each endpoint of the shape of the soil coverage area are calculated to determine the size of the soil coverage area.

6. A cloud image processing method for free fall penetration soil deformation measurement according to any one of claims 1 to 5, characterized in that: Step 1, step 2 and step 3 are all implemented by Matlab code; The step 4 specifically includes: The deformation cloud map of the soil surface is integrated into a graphical user interface through the Appdesigner tool library of Matlab software, a corresponding .ui file is generated, and the .ui file is converted into Matlab code.

7. The cloud image processing method for free fall penetration soil deformation measurement according to claim 6 is characterized in that: Also includes: All Matlab codes of step 1, step 2, step 3 and step 4 are packaged to generate an independent EXE executable file.

8. A cloud image processing system for free fall penetration soil deformation measurement, characterized in that: The half-section model of the free-fall penetrometer is launched into the soil trough box along the guide rail and penetrates the soil close to the glass side of the soil trough box, and the image is collected by the camera to perform cloud map processing of the deformation of the penetrated soil, including: A surface deformation data generating module, used to read PMLAB RDIC software to generate soil surface deformation data based on the soil surface image sprayed with artificial speckle, wherein the soil surface deformation data at least includes displacement, velocity and strain rate, and the soil surface image sprayed with artificial speckle is collected by the camera; A penetrometer half-section model motion data generation module, used to read the Revealer Motion Analysis software to generate the penetrometer half-section model motion data based on the motion image of the free-fall penetrometer half-section model, wherein the penetrometer half-section model motion data at least includes displacement, velocity and acceleration, and the motion image of the free-fall penetrometer half-section model is collected by the camera; A soil surface cloud map drawing module is used to determine the position of the penetrometer and the shape and size of the soil coverage area of ​​the penetrometer at each moment in combination with the motion data of the semi-section model of the penetrometer, perform secondary processing on the soil surface deformation data, and draw a deformation cloud map of the soil surface, wherein the deformation cloud map at least includes displacement field, velocity field and strain rate data; The integrated display module is used to integrate the deformation cloud map of the soil surface into a user graphical interface.

9. A cloud image processing system for free fall penetration soil deformation measurement according to claim 8, characterized in that: The surface deformation data generation module, the penetrometer half-section model motion data generation module and the soil surface cloud map drawing module are all implemented by Matlab code; The integrated display module is specifically used for: Integrate the deformation cloud map of the soil surface into a graphical user interface through the Appdesigner tool library of Matlab software, generate a corresponding .ui file, and convert the .ui file into Matlab code; It also includes: a code packaging module, which is used to package all Matlab codes of the surface deformation data generation module, the penetrometer half-section model motion data generation module, the soil surface cloud map drawing module and the integrated display module to generate an independent EXE executable file.

10. A computer-readable storage medium, characterized in that: The storage medium stores instructions, which, when executed, execute a cloud image processing method for free fall penetration soil deformation measurement according to any one of claims 1 to 7.

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