Large depth structure deformation monitoring method and related device

Abstract

The invention provides a large-depth structure deformation monitoring method and a related device. The method comprises the following steps: determining a first longitudinal depth of a first structural form of a target civil structure; determining a second longitudinal depth of a plurality of to-be-measured points which need to be set; determining a plurality of first cameras required for monitoring the target civil structure and a first focal length of each first camera; and determining the target displacement variation of the point to be measured according to the first image and the second image shot by the first camera and the first conversion relation. According to the embodiment of the invention, the camera with the specified focal length can be expanded to shoot the to-be-measured points with different longitudinal depths according to the structural form of the large-depth civil structure, and the displacement variation of the to-be-measured points can be analyzed according to the same-precision images of the to-be-measured points with different longitudinal depths shot by the plurality of measurement cameras with different focal lengths. The measurement efficiency is improved, and the measurement accuracy is improved.

Description

Technical Field

[0001] This application belongs to the technical field of deformation measurement, and particularly relates to a large-depth structure deformation monitoring method and related devices. Background Technique

[0002] Currently, traditional optical measurement techniques use instruments such as level gauges, optical theodolites, and electronic total stations to measure civil structures. However, the measurement period is long, and it is difficult to automate the measurement process. The measurement costs and labor costs for large-scale structure multi-point scanning are relatively high, and the measurement results are easily affected by air jitter, which affects the measurement accuracy. At the same time, it is also affected by the instability of the measurement platform itself, thus affecting the measurement accuracy. For the measurement method of a single-camera optoelectronic deflection meter, a single camera is difficult to handle the measurement task of large-scale structures. The distribution of measurement points to be measured on large-scale structures is often relatively sparse, and the interval between measurement points to be measured reaches dozens of meters, resulting in the inability of a single camera to achieve high-precision measurement. In addition, for the solution of assembling multiple cameras into an array camera, although it can solve the problem of large-scale span measurement with a large range and high precision to a certain extent, the array camera establishes a connection between multiple cameras through the method of image field stitching. However, the distribution characteristics of measurement points to be measured on large-scale structures result in the need to consume a large number of camera splices for coverage, with high costs and poor engineering practicability. Summary of the Invention

[0003] The embodiments of this application provide a large-depth structure deformation monitoring method and related devices, which can, according to the structural form of a large-depth civil structure, expand a camera with a specified focal length to photograph measurement points to be measured at different longitudinal depths, and analyze the displacement change amount of the measurement points to be measured based on the same-precision images of the measurement points to be measured at different longitudinal depths captured by multiple measurement cameras with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy.

[0004] In a first aspect, the embodiments of this application provide a large-depth structure deformation monitoring method, which is applied to a processing device in a structure deformation monitoring system. The structure deformation monitoring system includes the processing device, a terminal device, an observation platform, a camera unit arranged on the observation platform, a fiducial point, and a total station. The processing device is respectively connected to the camera unit, the terminal device, and the total station. The fiducial point includes a measurement point to be measured and a reference point. The camera unit includes at least one measurement camera and at least one calibration camera. The measurement camera is used to photograph an image of the measurement point to be measured with a target resolution, and the longitudinal depths of different measurement points to be measured are different. The method includes:

[0005] Determine the first longitudinal depth of the first structural form of the target civil structure;

[0006] According to the first longitudinal depth and the measurement point arrangement rule, determine the second longitudinal depths of a plurality of measurement points to be set;

[0007] Determine a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution;

[0008] Send a camera parameter message to the terminal device, where the camera parameter message includes the first focal length of the first camera;

[0009] Determine a first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system;

[0010] Obtain a first image of the point to be measured taken by the first camera at a first time point and a second image of the point to be measured taken at a second time point;

[0011] Determine the target displacement change amount of the point to be measured according to the first image, the second image, and the first conversion relationship.

[0012] In a second aspect, an embodiment of the present application provides a large-depth structure deformation monitoring device, which is applied to a processing device in a structure deformation monitoring system. The structure deformation monitoring system includes the processing device, a terminal device, an observation platform, a camera unit arranged on the observation platform, a fiducial point, and a total station. The processing device is respectively connected to the camera unit, the terminal device, and the total station. The fiducial point includes a point to be measured and a reference point. The camera unit includes at least one measurement camera and at least one calibration camera. The measurement camera is used to capture an image of the point to be measured with a target resolution, and the longitudinal depths of different points to be measured are different. The large-depth structure deformation monitoring device includes: an acquisition unit, a determination unit, and a transmission unit, where,

[0013] The determination unit is configured to determine the first longitudinal depth of the first structural form of the target civil structure;

[0014] The determination unit is further configured to determine the second longitudinal depth of a plurality of points to be measured that need to be set according to the first longitudinal depth and the point-to-be-measured arrangement rule;

[0015] The determination unit is further configured to determine a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution;

[0016] The transmission unit is configured to send a camera parameter message to the terminal device, where the camera parameter message includes the first focal length of the first camera;

[0017] The determination unit is further configured to determine a first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system;

[0018] The obtaining unit is configured to obtain a first image of a point to be measured captured by the first camera at a first time point and a second image of the point to be measured captured by the first camera at a second time point;

[0019] The determining unit is further configured to determine a target displacement change amount of the point to be measured according to the first image, the second image, and the first conversion relationship.

[0020] In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The programs include instructions for performing the steps in the first aspect of the embodiments of the present application.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps in the first aspect of the embodiments of the present application are implemented.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiments of the present application.

[0023] It can be seen that in the embodiment of the present application, the processing device first determines the first longitudinal depth of the first structural form of the target civil structure, then determines the second longitudinal depth of a plurality of points to be measured that need to be set according to the first longitudinal depth and the arrangement rule of the points to be measured, then determines a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution, then sends a camera parameter message to the terminal device. The camera parameter message includes the first focal length of the first camera. Further, the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system is determined. Further, a first image of the point to be measured captured by the first camera at a first time point and a second image of the point to be measured captured by the first camera at a second time point are obtained. Finally, the target displacement change amount of the point to be measured is determined according to the first image, the second image, and the first conversion relationship. In this way, it is possible to expand the camera with a specified focal length to capture points to be measured at different longitudinal depths according to the structural form of the large-depth civil structure, and analyze the displacement change amount of the points to be measured based on the same-precision images of the points to be measured at different longitudinal depths captured by multiple measurement cameras with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy. Description of the Drawings

[0024] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1A is a schematic diagram of the architecture of a large-depth structure deformation monitoring system provided by an embodiment of the present application;

[0026] Figure 1B is a schematic diagram of the scenario of large-depth structure deformation measurement provided by an embodiment of the present application;

[0027] Figure 1C is a schematic diagram of a total station coordinate system and a camera coordinate system provided by an embodiment of the present application;

[0028] Figure 1D is a schematic diagram of a total station coordinate system provided by an embodiment of the present application;

[0029] Figure 1E is a schematic diagram of a camera coordinate system provided by an embodiment of the present application;

[0030] Figure 2 is a schematic diagram of the process of a large-depth structure deformation monitoring method provided by an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application;

[0032] Figure 4 is a block diagram of the functional units of a large-depth structure deformation monitoring device provided by an embodiment of the present application. Detailed implementation manners

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0034] In the description and claims of this application and the above-mentioned drawings, terms such as "first", "second", etc. are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products or devices.

[0035] Reference to "embodiment" herein means that a particular feature, structure or characteristic described in connection with the embodiment may be included in at least one embodiment of this application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] The "and / or" in the embodiments of this application describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B may be singular or plural.

[0037] In the embodiments of this application, the symbol " / " may represent an "or" relationship between the associated objects before and after. Additionally, the symbol " / " may also represent a division sign, that is, performing a division operation. For example, A / B may represent A divided by B.

[0038] The "at least one (item)" or its similar expression in the embodiments of this application refers to any combination of these items, including any combination of a single item (item) or multiple items (items), and refers to one or more, and multiple refers to two or more. For example, at least one (item) of a, b, or c may represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c may be an element or a set containing one or more elements.

[0039] The "equal to" in the embodiments of this application can be used in conjunction with "greater than" and is applicable to the technical solutions adopted when it is greater than, or can also be used in conjunction with "less than" and is applicable to the technical solutions adopted when it is less than. When "equal to" is used in conjunction with "greater than", it is not used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it is not used in conjunction with "greater than".

[0040] To better understand the solutions of the embodiments of this application, the electronic devices, related concepts and backgrounds that may be involved in the embodiments of this application will be introduced below.

[0041] The electronic devices involved in the embodiments of the present application may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, as well as various forms of user equipment (UE), mobile stations (MS), terminal devices, etc. For ease of description, the devices mentioned above are collectively referred to as electronic devices. The electronic device may also include a photovoltaic panel cleaning device

[0042] Please refer to Figure 1A , Figure 1A which is a schematic architecture diagram of a large-depth structure deformation monitoring system provided by the embodiments of the present application. As Figure 1A shown, the system includes a processing device 10, a terminal device 20, an observation platform 30, a measurement camera 41 and a calibration camera 42 disposed on the observation platform 30, a measurement point 51, a reference point 52, and a total station 60.

[0043] Among them, the processing device 10 is respectively connected to the measurement camera 41, the calibration camera 42, the terminal device 20, and the total station 60.

[0044] Among them, the measurement camera 41 is used to photograph the measurement point 51. Different measurement cameras 41 are used to photograph measurement points 51 at different longitudinal depths. At the same time, to ensure that the captured images maintain the same target resolution, thereby ensuring high-precision measurement; the measurement point 51 is the point to be measured marked on the civil structure to be measured. The number and position settings of the measurement points 51 can be set according to the structural form and actual needs of the civil structure.

[0045] Among them, the calibration camera 42 is used to photograph the reference point 52. The reference point 52 is a point with a fixed position or known movement. The number and position settings of the reference points 52 can be set according to actual needs.

[0046] Among them, the observation platform 30, that is, the camera platform, may be a platform for setting cameras, or a pier, or a tripod, etc., which is not limited here.

[0047] Among them, the civil structure includes bridges, tunnels, high-rise buildings, dams, and roadbeds, etc.

[0048] Among them, the terminal device 20 can add a first camera to photograph the measurement point 51 at the third longitudinal depth according to the target focal length transmitted by the processing device 10.

[0049] Please refer to Figure 1B , Figure 1BThis is a schematic diagram of a scenario for large-depth structure deformation measurement provided by an embodiment of the present application. The measurement camera 41 disposed on the observation platform 30 is used to capture images of the measurement points 51 at different longitudinal depths on the target large-depth structure to be measured, and the calibration camera 42 is used to capture images of the reference points 52. The coordinate system shown in the figure is the coordinate system of the target large-depth structure to be measured.

[0050] In a possible example, the processing device 10 first determines the first longitudinal depth of the first structural form of the target civil structure. Then, the processing device 10 determines the second longitudinal depths of a plurality of measurement points 51 to be set according to the first longitudinal depth and the arrangement rule of the measurement points 51. Next, the processing device 10 determines a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution. Then, the processing device 10 sends a camera parameter message to the terminal device 20. The camera parameter message includes the first focal length of the first camera. Further, the processing device 10 determines the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system. Still further, the processing device 10 obtains the first image of the measurement point 51 captured by the first camera at the first time point and the second image of the measurement point 51 captured at the second time point. Finally, the processing device 10 determines the target displacement change amount of the measurement point 51 according to the first image, the second image, and the first conversion relationship. In this way, it is possible to capture images of the measurement points 51 at different longitudinal depths with a camera of a specified focal length according to the structural form of the large-depth civil structure, and analyze the displacement change amount of the measurement points 51 based on the co-precision images of the measurement points 51 at different longitudinal depths captured by a plurality of measurement cameras 41 with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy.

[0051] For the structural form of the large-depth civil structure, please refer to Figure 2 , Figure 2 This is a schematic flowchart of a large-depth structure deformation monitoring method provided by an embodiment of the present application, which is applied to a processing device in a structure deformation monitoring system. The structure deformation monitoring system includes the processing device, a terminal device, an observation platform, a camera unit disposed on the observation platform, a fiducial point, and a total station. The processing device is respectively connected to the camera unit, the terminal device, and the total station. The fiducial point includes a measurement point and a reference point. The camera unit includes at least one measurement camera and at least one calibration camera. The measurement camera is used to capture images of the measurement points with a target resolution. The longitudinal depths of different measurement points are different. The method includes:

[0052] Step S201, determining the first longitudinal depth of the first structural form of the target civil structure.

[0053] Among them, the first structural form can be the complete structural form of the target civil structure or any unfinished structural form during the construction process, which is not limited here.

[0054] Step S202: Determine the second longitudinal depths of multiple measurement points to be set according to the first longitudinal depth and the measurement point layout rule.

[0055] Among them, the longitudinal depth refers to the longitudinal distance in the y-axis direction in the coordinate system of the target civil structure, and the observation platform measures deformation on one side of the target civil structure.

[0056] Step S203: Determine multiple first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution.

[0057] Among them, the measurement point layout rule can be preset or set according to actual needs, which is not limited here. For example, a measurement point is arranged every 5 meters.

[0058] Among them, ensure that the camera with the first focal length can capture the measurement points at the second longitudinal depth with the target resolution.

[0059] Step S204: Send a camera parameter message to the terminal device, and the camera parameter message includes the first focal length of the first camera.

[0060] Among them, after receiving the first focal length, the user adds the first camera, sets the parameters of the first camera according to the first focal length, and installs the first camera on the observation platform to capture the measurement points.

[0061] Step S205: Determine the first conversion relationship between the camera coordinate system of the first camera and the coordinate system of the observation platform.

[0062] Step S206: Obtain the first image of the measurement points captured by the first camera at the first time point and the second image of the measurement points captured at the second time point.

[0063] Step S207: Determine the target displacement change amount of the measurement points according to the first image, the second image, and the first conversion relationship.

[0064] Among them, by analyzing the change amount of the image point coordinates of the measurement points in the first image and the image point coordinates of the measurement points in the second image, the target displacement change amount of the measurement points within the time interval between the first time point and the second time point is obtained.

[0065] It can be seen that in the embodiments of the present application, the processing device first determines the first longitudinal depth of the first structural form of the target civil structure, then determines the second longitudinal depths of a plurality of measurement points to be set according to the first longitudinal depth and the arrangement rule of the measurement points to be measured, and then determines a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution. Then, it sends a camera parameter message to the terminal device, where the camera parameter message includes the first focal length of the first camera. Further, it determines the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system. Still further, it obtains the first image of the measurement points taken by the first camera at the first time point and the second image of the measurement points taken at the second time point. Finally, it determines the target displacement change amount of the measurement points according to the first image, the second image, and the first conversion relationship. In this way, it is possible to expand the camera with a specified focal length to capture measurement points at different longitudinal depths according to the structural form of the civil structure with a large depth, and analyze the displacement change amount of the measurement points based on the same-precision images of the measurement points at different longitudinal depths taken by multiple measurement cameras with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy.

[0066] In a possible example, after determining the plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the first longitudinal depth and the target resolution, the above method may include the following steps: obtaining the second structural form information of the target civil structure; determining the third longitudinal depth of the second structural form of the target civil structure according to the second structural form information; determining the fourth longitudinal depth of the measurement points to be added according to the third longitudinal depth, the first longitudinal depth, and the arrangement rule of the measurement points to be measured; determining the target focal length of the second camera to be added according to the target resolution and the fourth longitudinal depth; and sending the target focal length to the terminal device.

[0067] Among them, as the construction of the target civil structure progresses, its structural form is constantly changing, and the measurement points to be measured are also constantly increasing or decreasing. Then, the measurement cameras also need to be increased or decreased accordingly. At the same time, to ensure high-precision measurement, the images of the measurement points taken by all measurement cameras are guaranteed to be the target resolution. Therefore, different measurement cameras need to be set with different focal lengths. During the construction process, the second structural form may be the structural form after the first structural form has been under construction for a period of time.

[0068] Among them, the second structural form information includes the second structural form of the target civil structure.

[0069] Among them, the third longitudinal depth is greater than the first longitudinal depth. As the construction progresses, the longitudinal depth of the structural form of the civil structure is constantly increasing.

[0070] Among them, a camera ensuring a target focal length can capture a measurement point to be measured at a fourth longitudinal depth at a target resolution.

[0071] Among them, after the terminal device receives the target focal length, the user adds a second camera, sets the parameters of the second camera according to the target focal length, and installs the second camera on the observation platform to capture the measurement point to be measured.

[0072] It can be seen that in this example, the processing device can, according to the structural form of the large-depth civil structure, expand the cameras with specified focal lengths to capture measurement points to be measured at different longitudinal depths, and analyze the displacement change amount of the measurement points to be measured based on the same-precision images of the measurement points to be measured at different longitudinal depths captured by multiple measurement cameras with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy.

[0073] In a possible example of the structural form of the large-depth civil structure, in terms of determining the first conversion relationship between the camera coordinate system of the first camera and the coordinate system of the observation platform, the above method may include the following steps: determining the second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at a second time point according to the third image of the cooperation target captured by the first camera, the first coordinate of the reference point, the second coordinate of the cooperation target measured by the total station, and the third coordinate of the reference point measured by the total station; determining the third conversion relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point; and determining the first conversion relationship between the camera coordinate system and the observation platform coordinate system according to the second conversion relationship and the third conversion relationship.

[0074] Among them, the cooperation target is a target placed within the field of view of the first camera and is used to determine the internal and external parameters of the first camera. The number of cooperation targets can be one or more, which is not limited herein.

[0075] Among them, the processing device can obtain the captured image of the cooperation target captured by the first camera, obtain the first coordinate of the reference point stored in advance, obtain the second coordinate of the cooperation target measured by the total station, and the third coordinate of the reference point measured by the total station.

[0076] Among them, the camera coordinate systems of different cameras on the observation platform are different, but after the camera coordinate system is translated and / or rotated, it is unified with the reference coordinate system. The total station can be used for camera calibration to realize the unification of the camera coordinate system of the camera and the reference coordinate system (world coordinate system), that is, to determine the second conversion relationship between the camera coordinate system and the reference coordinate system. The second conversion relationship can also be determined by the hand-eye calibration method based on the calibration board and the calibration method of the control point array based on the known spacing and azimuth relationship, which is not limited herein.

[0077] Among them, considering that the observation platform is unstable and displacement will occur during the measurement process, in order to ensure the accuracy of the measurement, it is necessary to determine the unity between the observation platform coordinate system of the observation platform and the reference coordinate system, that is, the third conversion relationship, and then determine the first conversion relationship between the camera coordinate system and the observation platform coordinate system based on the second conversion relationship and the third conversion relationship, that is, to achieve the unity of the camera coordinate system and the observation platform coordinate system.

[0078] Among them, the first conversion relationship = the second conversion relationship × the third conversion relationship.

[0079] It can be seen that in this example, the processing device can determine the second conversion relationship between the camera coordinate system and the reference coordinate system through camera calibration, and considering the influencing factor of the displacement of the observation platform, first determine the third conversion relationship between the observation platform coordinate system and the reference coordinate system, and further determine the first conversion relationship between the camera coordinate system and the observation platform coordinate system, which is beneficial to the accuracy of determining the target displacement change amount of the point to be measured based on the first conversion relationship subsequently.

[0080] In a possible example, for determining the second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point according to the third image of the first camera photographing the cooperative target, the first coordinate of the reference point, the second coordinate of the cooperative target measured by the total station, and the third coordinate of the reference point measured by the total station, the above method may include the following steps: determining the fourth conversion relationship between the total station coordinate system at the first time point and the total station coordinate system at the second time point; determining the fifth conversion relationship between the camera coordinate system and the total station coordinate system of the total station at the second time point according to the third image and the second coordinate; determining the sixth conversion relationship between the total station coordinate system and the reference coordinate system at the second time point according to the first coordinate and the third coordinate; determining the second conversion relationship between the camera coordinate system and the reference coordinate system at the second time point according to the sixth conversion relationship, the fifth conversion relationship, and the fourth conversion relationship.

[0081] Among them, through an image processing algorithm, the third image point coordinates of the cooperative target in the third image can be determined, and camera calibration is performed according to the third image point coordinates and the second coordinate of the cooperative target measured by the total station to determine the second conversion relationship between the camera coordinate system and the reference coordinate system.

[0082] Among them, considering that the total station needs to move a certain distance during the time interval between the first time point and the second time point to assist in the monitoring, when determining the transformation relationship between the camera coordinate system and the reference coordinate system with the help of the total station coordinate system, it is necessary to first determine the transformation relationship between the total station coordinate system at the first time point and the total station coordinate system at the second time point, that is, the fourth transformation relationship. Then, according to the second transformation relationship = the fourth transformation relationship × the fifth transformation relationship × the sixth transformation relationship, the second transformation relationship between the camera coordinate system and the reference coordinate system at the second time point is determined.

[0083] Among them, a reflecting prism can be installed on the stabilizing pier as the geodetic reference point, assuming that the geodetic reference point remains unchanged, and the transformation relationship between the total station coordinate systems at two time points can be calculated according to the following resection calibration formula:

[0084]

[0085] G W,TS is the transformation matrix from the total station coordinate system TS to the world coordinate system W, and the transformation relationship is as follows: t0 represents the initial time point when the monitoring starts, and t i represents the first time point. Further, based on the aforementioned resection calibration formula, the transformation relationship between the total station coordinate system at the first time point and the total station coordinate system at the second time point, that is, the fourth transformation relationship, can be calculated.

[0086] Among them, please refer to Figure 1D , Figure 1D which is a schematic diagram of a total station coordinate system provided in an embodiment of the present application, Figure 1D showing the total station coordinate system of the total station at the t0 time point and the total station coordinate system of the total station at the t i time point. The total station coordinate system of the total station at the t0 time point can be determined and the total station coordinate system of the total station at the t i time point. The transformation relationship therebetween can be determined.

[0087] It can be seen that in this example, the processing device can first determine the fourth transformation relationship, perform camera calibration based on the third image point coordinates and the second coordinates to determine the fifth transformation relationship between the camera coordinate system and the reference coordinate system, and determine the sixth transformation relationship between the total station coordinate system and the reference coordinate system according to the third coordinates of the reference point measured by the total station and the actual first coordinates of the reference point. Then, the second transformation relationship between the camera coordinate system and the reference coordinate system is determined. Considering the displacement generated by the total station coordinate system in the calculation is beneficial to improving the accuracy of determining the second transformation relationship.

[0088] In a possible example, for determining the fourth transformation relationship between the camera coordinate system and the total station coordinate system, the above method may include the following steps: determining the coordinates of the third image point of the cooperative target in the third image; establishing a calibration formula between the first coordinates and the coordinates of the third image point; establishing a least squares optimization equation according to the calibration formula; solving the least squares optimization equation to obtain the target external parameters, and using the target external parameters as the fifth transformation relationship.

[0089] Among them, the three-dimensional coordinates of the cooperative target in the total station coordinate system are denoted as and its homogeneous coordinate form is denoted as The two-dimensional coordinates of the cooperative target in the image coordinate system are denoted as and its homogeneous coordinate form is denoted as Based on the central perspective projection model, the camera calibration formula is established as follows:

[0090] where λ is the scale factor, K is the internal parameter matrix of the camera, and G TS,C is the external parameter matrix of the camera, that is, the fourth transformation relationship between the camera coordinate system and the total station coordinate system.

[0091] Among them, with the minimum reprojection error as the optimization goal, the nonlinear least squares optimization equation is established as follows:

[0092] The measurement camera is denoted as C i , the moment when the calibration work is carried out is denoted as t i , t i The total station coordinate system at time t is denoted as is the reprojection image coordinate estimated based on the current parameters, is the three-dimensional coordinate of the cooperation mark in the total station coordinate system. By jointly optimizing the internal and external parameter matrices, make Γ as close as possible to Calculate the target external parameters of C i and i at time t, that is, the fourth transformation relationship is: where the time point t0 is the initial monitoring start time point, the time point t i is the first time point, and the time point t j is the second time point.

[0093] Among them, the external parameter matrices of the camera coordinate systems of each camera relative to the total station coordinate system can be obtained. In this way, the rigid body transformation between any two cameras at time t0 can be derived through the total station coordinate system as an intermediate reference system, as shown in the following formula:

[0094]

[0095] ​

[0095] Further, t can be determined i The rigid body transformation between any two cameras at a moment can be derived through the total station coordinate system as an intermediate reference system, as shown in the following formula:

[0096]

[0097] Among them, please refer to Figure 1E , Figure 1E is a schematic diagram of the camera coordinate system provided by the embodiments of the present application, Figure 1E shows the camera coordinate system of camera C1 at time t0 and the camera coordinate system at time t i time point, and shows the conversion relationship between the camera coordinate systems at the two moments as

[0098] It can be seen that in this example, the processing device can establish a calibration formula, and use the minimum reprojection error as the optimization target to establish a non-linear least squares optimization equation, solve the least squares optimization equation, and obtain the fifth conversion relationship, which is beneficial to improving the accuracy of determining the fifth conversion relationship.

[0099] In a possible example, for determining the fifth conversion relationship between the total station coordinate system and the reference coordinate system, the above method may include the following steps: determining the fourth coordinate of the origin of the total station coordinate system in the reference coordinate system according to the first coordinate; determining the rotation relationship between the total station coordinate system and the reference coordinate system according to the third coordinate; and determining the sixth conversion relationship according to the fourth coordinate and the rotation relationship.

[0100] Among them, please refer to Figure 1C , Figure 1C is a schematic diagram of a total station coordinate system and a camera coordinate system provided by the embodiments of the present application, Figure 1C shows the total station coordinate system of the total station and the camera coordinate system of the camera, and the sixth conversion relationship between the total station coordinate system of the total station and the camera coordinate system of the camera can be calculated. Among them, t i the total station coordinate system at the moment The relational expression of the relative relationship between the total station coordinate system and the reference coordinate system W can be decomposed into a rotation around the coordinate origin once and a translation once, as shown in the following formula:

[0101] The rotation relationship is The translation relationship is

[0102] Among them, the number of reference points is three, and the fourth coordinate of the origin of the total station coordinate system in the reference coordinate system can be calculated based on the first coordinates of the three reference points

[0103] Among them, the first coordinates of the three reference points are substituted into the relational expression between the total station coordinate system and the reference coordinate system to calculate t i Total station at time Rotation relationship between and the measurement reference coordinate system t i Total station at time The conversion relationship between and the measurement reference coordinate system can be expressed as:

[0104]

[0105] It can be seen that in this example, the processing device can accurately determine the conversion relationship between the total station and the measurement reference coordinate system.

[0106] In a possible example, for the determination of the third conversion relationship between the observation platform coordinate system of the observation platform at the second time point and the reference coordinate system, the above method may further include the following steps: obtaining the seventh conversion relationship between the observation platform coordinate system and the reference coordinate system at the first time point; determining the six-degree-of-freedom change amount generated by the observation platform during the time period between the first time point and the second time point; and determining the third conversion relationship according to the seventh conversion relationship and the six-degree-of-freedom change amount.

[0107] Among them, the third conversion relationship = the seventh conversion relationship × (the six-degree-of-freedom change amount generated by the observation platform during the time period between the first time point and the second time point), and the first time point is t i The conversion relationship between the observation platform and the reference coordinate system, and the seventh conversion relationship = the initial conversion relationship × (the six-degree-of-freedom change amount generated by the observation platform during the time period between the initial moment and the first time point).

[0108] Among them, Is the conversion relationship between the observation platform and the reference coordinate system at the initial time t0, that is, the initial conversion relationship, Is the six-degree-of-freedom change amount generated by the observation platform during the time period between the initial moment and the first time point, Is the seventh conversion relationship.

[0109] Among them, the fourth image of the three reference points taken by the calibration camera at the first time point and the fifth image taken at the second time point can be obtained, the fourth image point coordinates of the reference points in the fourth image and the fifth image point coordinates of the reference points in the fifth image are determined, and the six-degree-of-freedom change amount generated by the observation platform during the time period between the first time point and the second time point is calculated and determined according to the fourth image point coordinates and the fifth image point coordinates.

[0110] It can be seen that in this example, when determining the target displacement change amount of the point to be measured, considering the six-degree-of-freedom change amount of the observation platform itself is beneficial to improving the measurement accuracy.

[0111] In a possible example, according to the first image, the second image, and the first conversion relationship, to determine the target displacement change amount of the point to be measured, the above method may include the following steps: determining the first image point coordinates of the point to be measured in the first image; determining the second image point coordinates of the point to be measured in the second image; determining the coordinate change amount of the point to be measured according to the first image point coordinates and the second image point coordinates; and determining the target displacement change amount of the point to be measured according to the coordinate change amount and the first conversion relationship.

[0112] Among them, the relational expressions of the target displacement transformation amount, the coordinate change amount, and the first conversion relationship of the point to be measured are as follows:

[0113]

[0114] Among them, represents the target displacement change amount, represents the coordinate change amount, represents the six-degree-of-freedom change amount of the observation platform between t i and t j , I refers to the identity matrix, which is a square matrix, and the elements on the diagonal from the upper left corner to the lower right corner (referred to as the main diagonal) are all 1, and all other elements are 0. The target displacement change amount can be calculated based on this relational expression.

[0115] It can be seen that in this example, the processing device can determine the target displacement change amount of the point to be measured according to the coordinate change amount of the point to be measured and the first conversion relationship, which is beneficial to improving the measurement accuracy.

[0116] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application, applied to the processing device in the structural deformation monitoring system. The structural deformation monitoring system includes the processing device, the terminal device, the observation platform, the camera unit arranged on the observation platform, the fiducial points, and the total station. The processing device is respectively connected to the camera unit, the terminal device, and the total station. The fiducial points include the points to be measured and the reference points. The camera unit includes at least one measurement camera and at least one calibration camera. The measurement camera is used to capture the images of the points to be measured with a target resolution, and the longitudinal depths of different points to be measured are different; as Figure 3 shown, the electronic device includes a processor, a memory, a communication interface, and one or more programs. Among them, the above one or more programs are stored in the above memory, and the above one or more programs are configured with instructions for the above processor to execute the following steps:

[0117] Determine the first longitudinal depth of the second structural form of the target civil structure;

[0118] Determine the second longitudinal depth of the measurement points in the historical structural form of the target civil structure;

[0119] According to the first longitudinal depth, the second longitudinal depth and the measurement point arrangement rule, determine the third longitudinal depth of the measurement points to be added;

[0120] According to the target resolution and the third longitudinal depth, determine the target focal length of the first camera to be added;

[0121] Send the target focal length to the terminal device;

[0122] Determine the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system;

[0123] Obtain the first image of the measurement points taken by the first camera at the first time point and the second image of the measurement points taken at the second time point;

[0124] According to the first image, the second image and the first conversion relationship, determine the target displacement change amount of the measurement points.

[0125] It can be seen that in the embodiments of the present application, the electronic device can first determine the first longitudinal depth of the first structural form of the target civil structure, then determine the second longitudinal depth of multiple measurement points to be set according to the first longitudinal depth and the measurement point arrangement rule, and then determine multiple first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution, and then send a camera parameter message to the terminal device, where the camera parameter message includes the first focal length of the first camera. Further, determine the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system. Further, obtain the first image of the measurement points taken by the first camera at the first time point and the second image of the measurement points taken at the second time point. Finally, according to the first image, the second image and the first conversion relationship, determine the target displacement change amount of the measurement points. In this way, it is possible to expand the shooting of measurement points with different longitudinal depths by a camera with a specified focal length according to the structural form of the large-depth civil structure, and analyze the displacement change amount of the measurement points based on the same-precision images of the measurement points with different longitudinal depths taken by multiple measurement cameras with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy.

[0126] In a possible example, after determining multiple first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the first longitudinal depth and the target resolution, the above program further includes instructions for performing the following steps:

[0127] Obtain the second structural form information of the target civil structure;

[0128] Determine the third longitudinal depth of the second structural form of the target civil structure according to the second structural form information;

[0129] Determine the fourth longitudinal depth of the additional measurement points to be added according to the third longitudinal depth, the first longitudinal depth, and the layout rule of the measurement points to be measured;

[0130] Determine the target focal length of the additional second camera to be added according to the target resolution and the fourth longitudinal depth;

[0131] Send the target focal length to the terminal device.

[0132] In a possible example, in terms of determining the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system, the above program includes instructions for performing the following steps:

[0133] Determine the second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point according to the third image of the cooperative target captured by the first camera, the first coordinate of the reference point, the second coordinate of the cooperative target measured by the total station, and the third coordinate of the reference point measured by the total station;

[0134] Determine the third conversion relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point;

[0135] Determine the first conversion relationship between the camera coordinate system and the observation platform coordinate system according to the second conversion relationship and the third conversion relationship.

[0136] In a possible example, in terms of determining the target displacement change amount of the measurement point to be measured according to the first image, the second image, and the first conversion relationship, the above program includes instructions for performing the following steps:

[0137] Determine the first image point coordinate of the measurement point to be measured in the first image;

[0138] Determine the second image point coordinate of the measurement point to be measured in the second image;

[0139] Determine the coordinate change amount of the measurement point to be measured according to the first image point coordinate and the second image point coordinate;

[0140] Determine the target displacement change amount of the measurement point to be measured according to the coordinate change amount and the first conversion relationship.

[0141] In a possible example, in determining the second transformation relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point based on the third image of the cooperative target captured by the first camera, the first coordinates of the reference point, the second coordinates of the cooperative target measured by the total station instrument, and the third coordinates of the reference point measured by the total station instrument, the above program includes instructions for further performing the following steps:

[0142] Determine the fourth transformation relationship between the total station instrument coordinate system at the first time point and the total station instrument coordinate system at the second time point;

[0143] Based on the third image and the second coordinates, determine the fifth transformation relationship between the camera coordinate system and the total station instrument coordinate system of the total station instrument at the second time point;

[0144] Based on the first coordinates and the third coordinates, determine the sixth transformation relationship between the total station instrument coordinate system and the reference coordinate system at the second time point;

[0145] Based on the sixth transformation relationship, the fifth transformation relationship, and the fourth transformation relationship, determine the second transformation relationship between the camera coordinate system and the reference coordinate system at the second time point.

[0146] In a possible example, in determining the fifth transformation relationship between the camera coordinate system and the total station instrument coordinate system of the total station instrument at the second time point based on the third image and the second coordinates, the above program includes instructions for further performing the following steps:

[0147] Obtain the third image of the cooperative target point captured by the first camera at the third time point, and obtain the first coordinates of the cooperative target point measured by the total station instrument in the total station instrument coordinate system at the third time point;

[0148] Determine the third image point coordinates of each cooperative target point in the third image;

[0149] Establish a calibration formula between the first coordinates and the third image point coordinates;

[0150] Establish a least squares optimization equation according to the calibration formula;

[0151] Solve the least squares optimization equation to obtain the target external parameters, and use the target external parameters as the fifth transformation relationship.

[0152] In a possible example, in determining the sixth transformation relationship between the total station instrument coordinate system and the reference coordinate system at the second time point based on the first coordinates and the third coordinates, the above program includes instructions for further performing the following steps:

[0153] Determine the fourth coordinate of the origin of the total station coordinate system in the reference coordinate system according to the first coordinate;

[0154] Determine the rotation relationship between the total station coordinate system and the reference coordinate system according to the third coordinate;

[0155] Determine the sixth conversion relationship according to the fourth coordinate and the rotation relationship;

[0156] In a possible example, in terms of determining the third conversion relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point, the above program further includes instructions for performing the following steps:

[0157] Obtain the seventh conversion relationship between the observation platform coordinate system and the reference coordinate system at the first time point;

[0158] Determine the six-degree-of-freedom change amount generated by the observation platform during the time period between the first time point and the second time point;

[0159] Determine the third conversion relationship according to the seventh conversion relationship and the six-degree-of-freedom change amount;

[0160] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order for the electronic device to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraint conditions of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0161] The embodiments of the present application can divide the electronic device into functional units according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0162] In the case of dividing each functional module corresponding to each function, Figure 4It is a functional unit composition block diagram of a large-depth structure deformation monitoring device provided by an embodiment of the present application. As Figure 4 shown, it is applied to a processing device in a structure deformation monitoring system. The structure deformation monitoring system includes the processing device, a terminal device, an observation platform, a camera unit, a marking point, and a total station disposed on the observation platform. The processing device is respectively connected to the camera unit, the terminal device, and the total station. The marking point includes a point to be measured and a reference point. The camera unit includes at least one measurement camera and at least one calibration camera. The measurement camera is used to capture an image of the point to be measured with a target resolution. The longitudinal depths of different points to be measured are different. The large-depth structure deformation monitoring device 400 includes: a determination unit 401, a transmission unit 402, and an acquisition unit 403. Among them,

[0163] The determination unit 401 is configured to determine a first longitudinal depth of a second structural form of a target civil structure;

[0164] The determination unit 401 is further configured to determine a second longitudinal depth of a point to be measured in a historical structural form of the target civil structure;

[0165] The determination unit 401 is further configured to determine a third longitudinal depth of the point to be measured that needs to be added according to the first longitudinal depth, the second longitudinal depth, and the layout rule of the points to be measured;

[0166] The determination unit 401 is further configured to determine a target focal length of a first camera that needs to be added according to the target resolution and the third longitudinal depth;

[0167] The transmission unit 402 is configured to send the target focal length to the terminal device;

[0168] The determination unit 401 is further configured to determine a first conversion relationship between a camera coordinate system of the first camera and an observation platform coordinate system;

[0169] The acquisition unit 403 is configured to acquire a first image of the point to be measured captured by the first camera at a first time point and a second image of the point to be measured captured at a second time point;

[0170] The determination unit 401 is further configured to determine a target displacement change amount of the point to be measured according to the first image, the second image, and the first conversion relationship.

[0171] It can be seen that for the large-depth structure deformation monitoring device described in the embodiments of the present application, the first longitudinal depth of the first structural form of the target civil structure can be determined first. Then, according to the first longitudinal depth and the layout rule of the measurement points to be measured, the second longitudinal depth of a plurality of measurement points to be set is determined. Next, according to the second longitudinal depth and the target resolution, a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera are determined. Then, a camera parameter message is sent to the terminal device, and the camera parameter message includes the first focal length of the first camera. Further, the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system is determined. Still further, the first image of the measurement point taken by the first camera at the first time point and the second image of the measurement point taken at the second time point are obtained. Finally, according to the first image, the second image and the first conversion relationship, the target displacement change amount of the measurement point is determined. In this way, according to the structural form of the large-depth civil structure, a camera with a specified focal length can be extended to photograph measurement points at different longitudinal depths, and the displacement change amount of the measurement points can be analyzed based on the same-precision images of the measurement points at different longitudinal depths taken by a plurality of measurement cameras with different focal lengths, which is beneficial to improving the measurement efficiency and the measurement accuracy.

[0172] In a possible example, after determining, according to the first longitudinal depth and the target resolution, a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera, the determining unit 401 is specifically configured to:

[0173] Obtain the second structural form information of the target civil structure;

[0174] Determine the third longitudinal depth of the second structural form of the target civil structure according to the second structural form information;

[0175] Determine the fourth longitudinal depth of the measurement points to be added according to the third longitudinal depth, the first longitudinal depth and the layout rule of the measurement points to be measured;

[0176] Determine the target focal length of the second camera to be added according to the target resolution and the fourth longitudinal depth;

[0177] Send the target focal length to the terminal device. The structural form of the large-depth civil structure

[0178] In a possible example, in terms of determining the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system, the determining unit 401 is specifically configured to:

[0179] Determine a second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point according to the third image of the cooperative target captured by the first camera, the first coordinates of the reference point, the second coordinates of the cooperative target measured by the total station instrument, and the third coordinates of the reference point measured by the total station instrument;

[0180] Determine a third conversion relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point;

[0181] Determine a first conversion relationship between the camera coordinate system and the observation platform coordinate system according to the second conversion relationship and the third conversion relationship.

[0182] In a possible example, in terms of determining the target displacement change amount of the point to be measured according to the first image, the second image, and the first conversion relationship, the determining unit 401 is specifically configured to:

[0183] Determine the first image point coordinates of the point to be measured in the first image;

[0184] Determine the second image point coordinates of the point to be measured in the second image;

[0185] Determine the coordinate change amount of the point to be measured according to the first image point coordinates and the second image point coordinates;

[0186] Determine the target displacement change amount of the point to be measured according to the coordinate change amount and the first conversion relationship.

[0187] In a possible example, in terms of determining the second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point according to the third image of the cooperative target captured by the first camera, the first coordinates of the reference point, the second coordinates of the cooperative target measured by the total station instrument, and the third coordinates of the reference point measured by the total station instrument, the determining unit 401 is specifically configured to:

[0188] Determine a fourth conversion relationship between the total station instrument coordinate system at the first time point and the total station instrument coordinate system at the second time point;

[0189] Determine a fifth conversion relationship between the camera coordinate system and the total station instrument coordinate system of the total station instrument at the second time point according to the third image and the second coordinates;

[0190] Determine a sixth conversion relationship between the total station instrument coordinate system and the reference coordinate system at the second time point according to the first coordinates and the third coordinates;

[0191] Determine a second transformation relationship between the camera coordinate system and the reference coordinate system at the second time point according to the sixth transformation relationship, the fifth transformation relationship, and the fourth transformation relationship.

[0192] In a possible example, in terms of determining a fifth transformation relationship between the camera coordinate system and the total station coordinate system of the total station at the second time point according to the third image and the second coordinate, the determining unit 401 is specifically configured to:

[0193] Obtain a third image of the cooperation target taken by the first camera at the third time point, and obtain a first coordinate of the cooperation target measured by the total station in the total station coordinate system at the third time point;

[0194] Determine the third image point coordinates of each cooperation target in the third image;

[0195] Establish a calibration formula between the first coordinate and the third image point coordinates;

[0196] Establish a least squares optimization equation according to the calibration formula;

[0197] Solve the least squares optimization equation to obtain the target external parameters, and use the target external parameters as the fifth transformation relationship.

[0198] In a possible example, in terms of determining a sixth transformation relationship between the total station coordinate system and the reference coordinate system at the second time point according to the first coordinate and the third coordinate, the determining unit 401 is specifically configured to:

[0199] Determine a fourth coordinate of the origin of the total station coordinate system in the reference coordinate system according to the first coordinate;

[0200] Determine a rotation relationship between the total station coordinate system and the reference coordinate system according to the third coordinate;

[0201] Determine the sixth transformation relationship according to the fourth coordinate and the rotation relationship.

[0202] In a possible example, in terms of determining a third transformation relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point, the determining unit 401 is specifically configured to:

[0203] Obtain a seventh transformation relationship between the observation platform coordinate system and the reference coordinate system at the first time point;

[0204] Determine a six-degree-of-freedom change amount generated by the observation platform during the time period between the first time point and the second time point;

[0205] Determine the third conversion relationship according to the seventh conversion relationship and the six-degree-of-freedom variation.

[0206] It should be noted that all relevant contents of each step involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here.

[0207] The electronic device provided in this embodiment is used to execute the above-mentioned large-depth structure deformation monitoring method, so the same effect as the above implementation method can be achieved.

[0208] In the case of adopting an integrated unit, the electronic device may include a processing module, a storage module, and a communication module. Among them, the processing module can be used to control and manage the operations of the electronic device. For example, it can be used to support the electronic device to execute the steps performed by the above-mentioned determination unit 401, transmission unit 402, and acquisition unit 403. The storage module can be used to support the electronic device to execute storing program codes and data, etc. The communication module can be used to support the communication between the electronic device and other devices.

[0209] Among them, the processing module can be a processor or a controller. It can implement or execute various exemplary logic blocks, modules, and circuits described in combination with the disclosure of this application. The processor can also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, and so on. The storage module can be a memory. The communication module can specifically be a device for interacting with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, etc.

[0210] The embodiment of the present application also provides a computer storage medium. The computer storage medium stores a computer program for electronic data exchange, and the computer program enables the computer to execute part or all of the steps of any method recorded in the above method embodiments. The above computer includes an electronic device.

[0211] The embodiment of the present application also provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable the computer to execute part or all of the steps of any method recorded in the above method embodiments. The computer program product can be a software installation package, and the above computer includes a control platform.

[0212] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0213] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0214] In several embodiments provided by this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0215] The units described as separate components above may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0216] In addition, in each embodiment of this application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0217] If the above integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above methods in various embodiments of this application. The aforementioned memory includes various media that can store program codes, such as USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0218] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory, and the memory can include: flash drives, read-only memories, random access memories, magnetic disks, or optical discs, etc.

[0219] The above has introduced the embodiments of this application in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A method for monitoring the deformation of a large-depth structure, characterized in that, A processing device applied to a structural deformation monitoring system, the structural deformation monitoring system including the processing device, a terminal device, an observation platform, a camera unit, a fiducial point and a total station arranged on the observation platform, the processing device being respectively connected to the camera unit, the terminal device and the total station, the fiducial point including a point to be measured and a reference point, the camera unit including at least one measurement camera and at least one calibration camera, the measurement camera being used for photographing an image of the point to be measured with a target resolution, and the longitudinal depths of different points to be measured being different; the method includes: Determine the first longitudinal depth of the first structural form of the target civil structure; Determine the second longitudinal depths of a plurality of points to be measured that need to be set according to the first longitudinal depth and the point-to-be-measured arrangement rule; Determine a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution; Send a camera parameter message to the terminal device, the camera parameter message including the first focal length of the first camera; Determine a first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system; Obtain a first image of the point to be measured taken by the first camera at a first time point and a second image of the point to be measured taken at a second time point; Determine the target displacement change amount of the point to be measured according to the first image, the second image and the first conversion relationship.

2. The method according to claim 1, wherein After determining the plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the first longitudinal depth and the target resolution, the method further includes: Obtain second structural form information of the target civil structure; Determine the third longitudinal depth of the second structural form of the target civil structure according to the second structural form information; Determine the fourth longitudinal depth of the points to be measured that need to be added according to the third longitudinal depth, the first longitudinal depth and the point-to-be-measured arrangement rule; Determine the target focal length of the second cameras that need to be added according to the target resolution and the fourth longitudinal depth; Send the target focal length to the terminal device.

3. The method according to claim 1, wherein The determining the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system includes: Determine a second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point according to a third image of a cooperative target taken by the first camera, the first coordinate of the reference point, the second coordinate of the cooperative target measured by the total station and the third coordinate of the reference point measured by the total station; Determine a third conversion relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point; Determine the first conversion relationship between the camera coordinate system and the observation platform coordinate system according to the second conversion relationship and the third conversion relationship.

4. The method according to claim 3, wherein The determining the target displacement change amount of the point to be measured according to the first image, the second image and the first conversion relationship includes: Determine the first image point coordinates of the point to be measured in the first image; Determine the second image point coordinates of the point to be measured in the second image; Determine the coordinate change amount of the point to be measured according to the first image point coordinate and the second image point coordinate; Determine the target displacement change amount of the point to be measured according to the coordinate change amount and the first conversion relationship.

5. The method according to claim 3, characterized in that, The determining the second conversion relationship between the camera coordinate system of the first camera and the reference coordinate system at the second time point according to the third image of the cooperative target captured by the first camera, the first coordinate of the reference point, the second coordinate of the cooperative target measured by the total station, and the third coordinate of the reference point measured by the total station includes: Determine the fourth conversion relationship between the total station coordinate system at the first time point and the total station coordinate system at the second time point; Determine the fifth conversion relationship between the camera coordinate system and the total station coordinate system of the total station at the second time point according to the third image and the second coordinate; Determine the sixth conversion relationship between the total station coordinate system and the reference coordinate system at the second time point according to the first coordinate and the third coordinate; Determine the second conversion relationship between the camera coordinate system and the reference coordinate system at the second time point according to the sixth conversion relationship, the fifth conversion relationship, and the fourth conversion relationship.

6. The method according to claim 5, characterized in that, The determining the fifth conversion relationship between the camera coordinate system and the total station coordinate system of the total station at the second time point according to the third image and the second coordinate includes: Obtain the third image of the cooperative target point captured by the first camera at the third time point, and obtain the first coordinate of the cooperative target point in the total station coordinate system measured by the total station at the third time point; Determine the third image point coordinates of each cooperative target point in the third image; Establish a calibration formula between the first coordinate and the third image point coordinates; Establish a least squares optimization equation according to the calibration formula; Solve the least squares optimization equation to obtain the target external parameters, and use the target external parameters as the fifth conversion relationship.

7. The method according to claim 5, characterized in that The determining the sixth conversion relationship between the total station coordinate system and the reference coordinate system at the second time point according to the first coordinate and the third coordinate includes: Determine the fourth coordinate of the origin of the total station coordinate system in the reference coordinate system according to the first coordinate; Determine the rotation relationship between the total station coordinate system and the reference coordinate system according to the third coordinate; Determine the sixth conversion relationship according to the fourth coordinate and the rotation relationship.

8. The method according to claim 3, wherein The determining the third conversion relationship between the observation platform coordinate system of the observation platform and the reference coordinate system at the second time point includes: Obtain the seventh conversion relationship between the observation platform coordinate system and the reference coordinate system at the first time point; Determine the six-degree-of-freedom change amount generated by the observation platform during the time interval between the first time point and the second time point; Determine the third conversion relationship according to the seventh conversion relationship and the six-degree-of-freedom change amount.

9. A large-depth structure deformation monitoring device, characterized in that, A processing device applied to a structural deformation monitoring system, the structural deformation monitoring system including the processing device, a terminal device, an observation platform, a camera unit, a fiducial point, and a total station disposed on the observation platform, the processing device being respectively connected to the camera unit, the terminal device, and the total station, the fiducial point including a point to be measured and a reference point, the camera unit including at least one measurement camera and at least one calibration camera, the measurement camera being used for photographing an image of the point to be measured with a target resolution, and the longitudinal depths of different points to be measured being different; The large-depth structural deformation monitoring device includes: a determination unit, a transmission unit, and an acquisition unit, wherein, The determination unit is used for determining the first longitudinal depth of the first structural form of the target civil structure; The determination unit is further used for determining the second longitudinal depths of a plurality of points to be measured that need to be set according to the first longitudinal depth and the layout rule of the points to be measured; The determination unit is further used for determining a plurality of first cameras required for monitoring the target civil structure and the first focal length of each first camera according to the second longitudinal depth and the target resolution; The transmission unit is used for sending a camera parameter message to the terminal device, the camera parameter message including the first focal length of the first camera; The determination unit is further used for determining the first conversion relationship between the camera coordinate system of the first camera and the observation platform coordinate system; The acquisition unit is used for acquiring a first image of the point to be measured taken by the first camera at a first time point and a second image of the point to be measured taken at a second time point; The determination unit is further used for determining the target displacement change amount of the point to be measured according to the first image, the second image, and the first conversion relationship.

10. An electronic device, characterized in that, It includes a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the method according to any one of claims 1-8.

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