Automated engineering deformation measurement method and device

Abstract

A method and device for automated engineering deformation measurement. The method obtains monitoring task instructions for a target project; determines a target patrol strategy based on the monitoring task instructions, the target patrol strategy being used to instruct mobile monitoring equipment to observe each target observation point in the target project; executes the target patrol strategy to obtain on-site external parameter data and on-site image information for each target observation point, the on-site external parameter data being used to characterize the external parameters of the mobile monitoring equipment at the corresponding target observation point; and determines the deformation of each target observation point based on the on-site external parameter data and on-site image information. This not only achieves automation of engineering deformation measurement and reduces monitoring costs, but also enables on-site data acquisition and calculation results without waiting for in-house calculations. The deformation calculation accuracy is high, significantly improving monitoring efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of deformation measurement, and in particular to an automated engineering deformation measurement method and device. Background Art

[0002] Measuring the deformation of large-scale engineering structures is a crucial approach to ensuring project safety. Existing technologies employ monitoring equipment deployed along the route to capture multiple on-site images and upload them to a server for deformation measurement. However, due to the large scale and long distances of large-scale engineering structures, deploying monitoring equipment along the route not only increases monitoring costs, but also affects the quality of the equipment's images, which in turn affects deformation measurement accuracy and leads to low monitoring efficiency. Therefore, reducing the cost of monitoring large-scale engineering structures and improving monitoring efficiency have become further technical challenges that need to be addressed. Summary of the Invention

[0003] This application proposes an automated engineering deformation measurement method and device to solve the problems of high monitoring cost and low monitoring efficiency of large-scale engineering structures, reduce the monitoring cost of large-scale engineering structures, and improve monitoring efficiency.

[0004] In a first aspect, an embodiment of the present application provides an automated engineering deformation measurement method, which is applied to a controller in a mobile monitoring device. The method includes:

[0005] Obtain monitoring task instructions for the target project;

[0006] Determining a target patrol strategy according to the monitoring task instruction, wherein the target patrol strategy is used to instruct the mobile monitoring device to observe each target observation point in the target project;

[0007] Executing the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point, wherein the on-site external parameter data is used to characterize the external parameters of the mobile monitoring device at the corresponding target observation point;

[0008] The deformation amount of each target observation point is determined according to the on-site external parameter data and on-site image information of each target observation point.

[0009] In a second aspect, an embodiment of the present application provides an automated engineering deformation measurement device, which is applied to a controller in a mobile monitoring device, and the device includes:

[0010] A first receiving unit is used to obtain a monitoring task instruction for a target project;

[0011] The first processing unit is used to determine a target patrol strategy based on the monitoring task instructions, wherein the target patrol strategy is used to instruct the mobile monitoring equipment to observe each target observation point in the target project; execute the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point, wherein the on-site external parameter data is used to characterize the external parameters of the mobile monitoring equipment at the corresponding target observation point; and determine the deformation of each target observation point based on the on-site external parameter data and on-site image information of each target observation point.

[0012] In a third aspect, an embodiment of the present application provides a controller comprising a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the method described in any one of the first aspects.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements part or all of the steps of the method described in any one of the first aspects of the embodiment of the present application.

[0015] It can be seen that in this application, the controller obtains the monitoring task instructions for the target project; determines the target patrol strategy according to the monitoring task instructions, and the target patrol strategy is used to instruct the mobile monitoring equipment to observe each target observation point in the target project; executes the target patrol strategy to obtain the on-site external parameter data and on-site image information of each target observation point, and the on-site external parameter data is used to characterize the external parameters of the mobile monitoring equipment when it is at the corresponding target observation point; determines the deformation of each target observation point according to the on-site external parameter data and on-site image information of each target observation point. In this way, a target patrol strategy for observing each target observation point of the target project is generated according to the monitoring task instructions, and the mobile monitoring equipment obtains the on-site external parameter data and on-site image information of each target observation point by executing the target patrol strategy, thereby obtaining the deformation of each target observation point. This not only realizes the automation of engineering deformation measurement and reduces monitoring costs, but also can obtain data and calculation results on-site without waiting for internal calculations. The deformation calculation accuracy is high, which greatly improves the monitoring efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a structural diagram of a mobile monitoring device provided in an embodiment of the present application;

[0018] Figure 2 This is a structural diagram of another mobile monitoring device provided in an embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of the structure of a controller in a mobile monitoring device provided in an embodiment of the present application;

[0020] Figure 4 This is a schematic diagram of a process for automated engineering deformation measurement provided by an embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of a scenario for automated engineering deformation measurement provided by an embodiment of the present application;

[0022] Figure 6 This is a schematic diagram of another process for automated engineering deformation measurement provided by an embodiment of the present application;

[0023] Figure 7 This is a block diagram of the functional units of an automated engineering deformation measurement device provided in an embodiment of the present application;

[0024] Figure 8 This is a block diagram of the functional units of another automated engineering deformation measurement device provided in an embodiment of the present application;

[0025] Figure 9 This is a structural block diagram of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0028] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] In the embodiments of this application, "and / or" describes the relationship between associated objects and indicates that three relationships can exist. For example, "A and / or B" can represent the following three situations: A exists alone; A and B exist simultaneously; and B exists alone. A and B can be singular or plural.

[0030] In the embodiments of the present application, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. In addition, the symbol " / " can also represent a division sign, that is, performing a division operation. For example, A / B can mean A divided by B.

[0031] In the embodiments of the present application, "at least one item" or similar expressions refers to any combination of these items, including any combination of single items or plural items, and refers to one or more, and multiple refers to two or more. For example, at least one item (item) of a, b, or c can 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 can be an element or a set containing one or more elements.

[0032] In the embodiments of this application, "equal to" can be used in conjunction with "greater than" and is applicable to the technical solution adopted when "greater than" is used, and can also be used in conjunction with "less than" and is applicable to the technical solution adopted when "less than" is used. When "equal to" is used in conjunction with "greater than", it should not be used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it should not be used in conjunction with "greater than".

[0033] In order to better understand the solutions of the embodiments of the present application, the terminal devices, related concepts and backgrounds that may be involved in the embodiments of the present application are first introduced below.

[0034] (1) External parameters: Parameters that describe the relative position and orientation between the camera coordinate system and the world coordinate system of a camera deployed on a mobile monitoring device, which are affected by the position and orientation of the camera in the world.

[0035] (2) Intrinsic parameters: Parameters that describe the internal optical and geometric characteristics of the camera deployed on the mobile monitoring device. Together with the external parameters, they constitute a complete projection model of the camera. However, the internal parameters only depend on the hardware characteristics of the camera itself (such as lens, sensor) and are not related to the external position and orientation of the camera.

[0036] Measuring the deformation of large-scale engineering structures is a crucial approach to ensuring project safety. Existing technologies employ monitoring equipment deployed along the route to capture multiple on-site images and upload them to a server for deformation measurement. However, due to the large scale and long distances of large-scale engineering structures, deploying monitoring equipment along the route not only increases monitoring costs, but also affects the quality of the equipment's images, which in turn affects deformation measurement accuracy and leads to low monitoring efficiency. Therefore, reducing the cost of monitoring large-scale engineering structures and improving monitoring efficiency have become further technical challenges that need to be addressed.

[0037] To solve the above problems, an embodiment of the present application provides an automated engineering deformation measurement method and device. The method generates a target patrol strategy for observing each target observation point of the target project according to the monitoring task instructions. The mobile monitoring equipment obtains the on-site external parameter data and on-site image information of each target observation point by executing the target patrol strategy, thereby obtaining the deformation variable of each target observation point. This not only realizes the automation of engineering deformation measurement and reduces monitoring costs, but also can obtain data and calculation results on-site without waiting for internal calculations. The deformation calculation accuracy is high, which greatly improves the monitoring efficiency.

[0038] See also Figure 1 , Figure 1 This is a structural diagram of a mobile monitoring device provided in an embodiment of the present application. Figure 1 As shown, the mobile monitoring device 100 includes a mobile platform 110, a controller 120, a perception and measurement module 130 and a power supply module 140. The mobile platform 110 is communicatively connected to the controller 120, the perception and measurement module 130 is communicatively connected to the controller 120, the power supply module 140 is connected to the controller 120, the power supply module 140 is connected to the mobile platform 110, the power supply module 140 is connected to the perception and measurement module 130, and the perception and measurement module 130 is connected to the mobile platform 110. The controller 120 can be a controller or a controller group consisting of multiple controllers.

[0039] During daily use of the mobile monitoring device 100, the controller 120 obtains monitoring task instructions for the target project; determines a target patrol strategy based on the monitoring task instructions, the target patrol strategy being used to instruct the mobile monitoring device 100 to observe each target observation point in the target project; executes the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point, the on-site external parameter data being used to characterize the external parameters of the mobile monitoring device 100 at the corresponding target observation point; determines the deformation of each target observation point based on the on-site external parameter data and on-site image information of each target observation point.

[0040] See also Figure 2 , Figure 2 This is a structural diagram of another mobile monitoring device provided in an embodiment of the present application. Figure 2 As shown, the controller 120, the perception and measurement module 130 and the power supply module 140 of the mobile monitoring device 100 are deployed on the mobile platform 110. The power supply module 140 supplies power to the mobile platform 110, the controller 120 and the perception and measurement module 130. The mobile platform 110 is capable of driving the controller 120, the perception and measurement module 130 and the power supply module 140 to move in a large engineering structure. The perception and measurement module 130 includes a camera array 131 and a fill light module 132. The camera array 131 is provided with at least two cameras with opposite shooting directions, and each camera in the camera array 131 is fixedly connected to each other. The model and focal length of each camera are not limited in this application. The fill light module 132 is an infrared fill light module and / or a visible light fill light module.

[0041] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a controller in a mobile monitoring device provided in an embodiment of the present application. Figure 3 As shown, the controller 120 includes a processor 310 and a memory 320, and the processor 310 is communicatively connected to the memory 320. One or more programs are stored in the memory 320, and the one or more programs are configured to be executed by the processor 310. The functions of the one or more programs are to obtain monitoring task instructions for the target project; determine the target patrol strategy according to the monitoring task instructions, and the target patrol strategy is used to instruct the mobile monitoring equipment to observe each target observation point in the target project; execute the target patrol strategy to obtain the field external parameter data and field image information of each target observation point, and the field external parameter data is used to characterize the external parameters of the mobile monitoring equipment at the corresponding target observation point; determine the deformation of each target observation point according to the field external parameter data and field image information of each target observation point.

[0042] The following describes an automated engineering deformation measurement method provided by an embodiment of the present application.

[0043] See also Figure 4 , Figure 4 This is a flow chart of an automated engineering deformation measurement process provided by the embodiment of the present application, which is applied to Figure 1 The controller 120 in the mobile monitoring device 100 shown in the figure comprises a mobile platform 110, a controller 120, a sensing and measuring module 130 and a power supply module 140. The mobile platform 110 is in communication with the controller 120, the sensing and measuring module 130 is in communication with the controller 120, the power supply module 140 is connected to the mobile platform 110, the power supply module 140 is connected to the controller 120, and the power supply module 140 is connected to the sensing and measuring module 130. The controller 120 can be a single controller or a controller group consisting of multiple controllers. Figure 4 As shown, the method includes the following steps:

[0044] Step S410: Obtain monitoring task instructions for the target project.

[0045] Among them, the monitoring task instruction is used to indicate the patrol task of the current patrol of the target project. The patrol task can specifically include the patrol time, patrol range, and patrol observation points of the current patrol. For example, it can be: the patrol time is 01:00 on June 6, 2025; the patrol range is the subway track from Station 01 to Station 10 of Line 1 of a certain city; the patrol observation points are all observation points along the subway track from Station 01 to Station 10 of Line 1 of a certain city.

[0046] Step S420: determining a target patrol strategy according to the monitoring task instruction.

[0047] The target patrol strategy is used to instruct the mobile monitoring device to observe each target observation point in the target project.

[0048] The patrol observation point in the patrol task indicated by the monitoring task instruction is the target observation point. There is at least one target observation point.

[0049] The target observation point may be a marking point set in the target project, for example, a marking point set on a subway track of Line 1 of a certain city's subway.

[0050] In one possible embodiment, the target patrol strategy includes a target patrol route, which is used to indicate the moving path of the mobile monitoring equipment to observe each target observation point. The target patrol strategy is determined according to the monitoring task instruction, including: determining the location information of each target observation point; obtaining a three-dimensional map of the target project; and determining the target patrol route according to the monitoring task instruction, the three-dimensional map and the location information of each target observation point.

[0051] Among them, the location information can specifically be the location coordinates of the corresponding target observation point, and the determination of the location information of each target observation point can specifically be: determining the target observation point corresponding to the current patrol according to the monitoring task instructions; querying the observation point data table corresponding to the target project to obtain the location information of each target observation point.

[0052] The three-dimensional map is used to represent the three-dimensional structure of the target project and can indicate the accessible range of the mobile monitoring equipment in the target project.

[0053] Among them, the target patrol route is determined according to the monitoring task instructions, the three-dimensional map and the position information of each target observation point. Specifically, it can be: determining the patrol order of each target observation point according to the monitoring task instructions; matching the position information of each target observation point to the three-dimensional map to obtain the target three-dimensional road network map; determining the target patrol route according to the patrol order and the target three-dimensional road network map.

[0054] Among them, the patrol order of each target observation point is determined according to the monitoring task instruction, which can specifically be: determining the monitoring urgency and monitoring time window of each target observation point according to the monitoring task instruction, and the monitoring time window is used to indicate a specific time range for patrolling the corresponding target observation point; determining the patrol order of each target observation point according to the monitoring urgency and monitoring time window of each target observation point.

[0055] When the mobile monitoring device detects an obstacle on the target patrol route during execution of the target patrol strategy, the target patrol route is updated in real time based on the obstacle information, so that the mobile monitoring device can successfully observe each target observation point without being affected by the obstacle. Updating the target patrol route based on the obstacle includes updating the three-dimensional information of the obstacle in the three-dimensional map.

[0056] It can be seen that in this example, the target patrol strategy including the target inspection route that instructs the mobile monitoring equipment to move is determined through the monitoring task instructions, the location information of each target observation point and the three-dimensional map of the target project, so that the mobile monitoring equipment obtains the on-site external parameter data and on-site image information of each target observation point by executing the target patrol strategy, and thus obtains the deformation amount of each target observation point. This not only realizes the automation of engineering deformation measurement and reduces monitoring costs, but also can obtain data and calculation results on-site without waiting for internal calculations. The deformation calculation is highly accurate, which greatly improves the monitoring efficiency.

[0057] In a possible embodiment, the target patrol strategy also includes a target fill light strategy, which is used to instruct the mobile monitoring device to shoot and fill light for each target observation point. The target patrol strategy is determined according to the monitoring task instruction, including: determining the lighting information of each target observation point according to the target patrol route, and the lighting information is used to characterize the lighting conditions when the mobile monitoring device observes the corresponding target observation point; and determining the target fill light strategy according to the lighting information of each target observation point.

[0058] Among them, the determining of the lighting information of each target observation point according to the target patrol route can specifically be: when the mobile monitoring device moves along the target patrol route and starts to observe each target observation point, the lighting information of each target observation point is determined in real time by the light sensor deployed on the perception and measurement module.

[0059] Among them, the lighting information includes lighting intensity and spectral distribution. The target fill light strategy is determined according to the lighting information of each target observation point, which can be specifically: determining the spectral adjustment band of each target observation point according to the spectral distribution of each target observation point; determining the spectral adjustment intensity according to the lighting intensity of each target observation point; determining the target fill light strategy according to the spectral adjustment band and the spectral adjustment intensity of each target observation point.

[0060] It can be seen that in this example, the lighting information of each target observation point is determined according to the target patrol route, and then the target patrol strategy including the target fill light strategy for each target observation point is determined according to the lighting information, so that the mobile monitoring equipment can obtain on-site image information with relatively stable quality by executing the target patrol strategy, which not only reduces manual fill light debugging, but also improves the accuracy of deformation calculation, thereby improving monitoring efficiency.

[0061] In a possible embodiment, the target patrol strategy also includes a speed control strategy, which is used to indicate the moving speed of the mobile monitoring equipment passing through each target observation point. The target patrol strategy is determined according to the monitoring task instruction, including: determining the engineering partition information of each target observation point, the engineering partition is used to indicate the regional characteristics of the corresponding target observation point; and determining the speed control strategy according to the target patrol route and the engineering partition information of each target observation point.

[0062] The determining of the engineering partition information of each target observation point may specifically include querying a partition data table corresponding to the target project to obtain the engineering partition information of each target observation point.

[0063] The engineering partition information may include, for example, ground slope and ground smoothness.

[0064] Among them, the speed control strategy is determined based on the target patrol route and the engineering partition information of each target observation point, which can specifically be: determining the engineering partition information of each target observation point to determine the degree to which the speed of each target observation point is affected; and determining the speed control strategy based on the degree to which the speed of each target observation point is affected.

[0065] It can be seen that in this example, the target patrol strategy including the speed control strategy is determined by the engineering zoning information of each target observation point, so that the mobile monitoring equipment can observe each target observation point at a relatively stable moving speed, thereby obtaining on-site external parameter data and on-site image information with relatively stable quality, which not only reduces manual speed control, but also improves the accuracy of deformation calculation, thereby improving monitoring efficiency.

[0066] Step S430: executing the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point.

[0067] The on-site external parameter data is used to characterize the external parameters of the mobile monitoring device at the corresponding target observation point.

[0068] The on-site external parameter data may specifically represent the external parameters of the camera array of the mobile monitoring device at the corresponding target observation point.

[0069] Step S440 : determining the deformation amount of each target observation point according to the on-site external parameter data and on-site image information of each target observation point.

[0070] In a possible embodiment, determining the deformation amount of each target observation point based on the on-site external parameter data and on-site image information of each target observation point includes: obtaining benchmark patrol data, the benchmark patrol data including benchmark image information of each target observation point, the benchmark image information being used to characterize the imaging data of the corresponding target observation point in a benchmark state; determining the pixel change amount of each target observation point based on the on-site image information and the benchmark image information of each target observation point, the pixel change amount being used to characterize the relative change of the corresponding target observation point in the imaging dimension; determining the deformation amount of each target observation point based on the pixel change amount and the on-site external parameter data of each target observation point.

[0071] The reference state is the standard state of the engineering structure of the target project. The reference state is regarded as the standard state when calculating the deformation. The reference inspection data can be set manually or obtained by performing a reference inspection by the mobile monitoring device.

[0072] The on-site image information and the reference image information of each target observation point are captured by the same camera in the camera array of the perception measurement module. For example, the on-site image information and the reference image information of each target observation point can both be captured by the first forward-looking camera in the camera array.

[0073] Among them, determining the pixel change amount of each target observation point based on the on-site image information and the reference image information of each target observation point can specifically be: determining the reference image coordinates of the pixel point generated by each target observation point in the reference image information; determining the on-site image coordinates of the pixel point generated by each target observation point in the on-site image information; determining the pixel change amount of each target observation point based on the reference image coordinates and the on-site image coordinates of each target observation point.

[0074] Wherein, the pixel change amount of each target observation point is determined according to the reference image coordinates and the on-site image coordinates of each target observation point. For example, the mobile monitoring device can be calculated by the following formula: Target observation point at the i-th patrol The pixel change:

[0075]

[0076] in, The target observation point Two-dimensional image coordinates expressed in a homogeneous form in the image coordinate system of the reference image information, The target observation point Two-dimensional image coordinates expressed in a homogeneous form in the image coordinate system of the on-site image information, The target observation point The pixel change.

[0077] It can be seen that in this example, by determining the pixel change amount of the pixel points generated by each target observation point in the on-site image information and the reference image information, the deformation amount of each target observation point is determined according to the pixel change amount of each target observation point and the on-site external parameter data. This not only realizes the automation of engineering deformation measurement and reduces the monitoring cost, but also can obtain data and calculation results on-site without waiting for internal calculations. The deformation calculation is highly accurate, which greatly improves the monitoring efficiency.

[0078] In a possible embodiment, the benchmark patrol data also includes benchmark extrinsic parameter data of each target observation point, and the benchmark extrinsic parameter data is used to characterize the extrinsic parameters of the mobile monitoring device when the corresponding target observation point is in a benchmark state. The deformation amount of each target observation point is determined according to the pixel change amount of each target observation point and the on-site extrinsic parameter data, including: determining the extrinsic parameter change amount of each target observation point according to the on-site extrinsic parameter data of each target observation point and the benchmark extrinsic parameter data, the extrinsic parameter change amount is used to characterize the influence of the deformation of the corresponding target observation point and the change of the moving path of the mobile monitoring device on the external parameters of the mobile monitoring device; determining the deformation amount of each target observation point according to the pixel change amount and the extrinsic parameter change amount of each target observation point.

[0079] The on-site extrinsic parameter data and the reference extrinsic parameter data of each target observation point are the extrinsic parameters of the camera in the camera array in the perception measurement module that captures the on-site image information and the reference image information when the camera is at the corresponding target observation point in the current state and the extrinsic parameters of the camera when the camera is at the corresponding observation point in the reference state. For example, the on-site extrinsic parameter data and the reference extrinsic parameter data of each target observation point both represent the extrinsic parameters of the aforementioned first forward-looking camera, wherein the on-site extrinsic parameter data are the extrinsic parameters of the first forward-looking camera when the camera is at the target observation point in the current state, and the reference extrinsic parameter data are the extrinsic parameters of the first forward-looking camera when the camera is at the target observation point in the reference state.

[0080] When the mobile monitoring device moves to a target observation point, the position and orientation of the camera array of the mobile monitoring device may change due to the deformation of the target observation point and the change of the mobile monitoring device's movement path, causing the external parameters of the mobile monitoring device to change due to the influence of the deformation. This change can be the extrinsic parameter variation. The extrinsic parameter variation can be represented by six degrees of freedom:

[0081]

[0082] in, Refers to mobile monitoring equipment In the i-th patrol at the target observation point The external parameter variation, Refers to mobile monitoring equipment In the i-th patrol at the target observation point The rotation difference, Refers to mobile monitoring equipment In the i-th patrol at the target observation point The translation difference.

[0083] Among them, see Figure 5 , Figure 5 This is a schematic diagram of a scenario for automated engineering deformation measurement provided by an embodiment of the present application. Figure 5 As shown, in the world coordinate system, since the target observation point Deformation has occurred relative to the corresponding benchmark data , target observation point Deformation has occurred relative to the corresponding benchmark data , mobile monitoring equipment From the target observation point Move to the target observation point The moving distance of the mobile monitoring equipment also changes. From the target observation point Move to the target observation point Target observation point during the journey The on-site external parameter data also changes during observation, which is the external parameter variation. .

[0084] It can be seen that in this example, the extrinsic parameter change of each target observation point is determined based on the on-site extrinsic parameter data and the benchmark extrinsic parameter data of each target observation point, and thus the deformation of each target observation point is determined based on the pixel change and extrinsic parameter change of each target observation point. This not only realizes the automation of engineering deformation measurement and reduces monitoring costs, but also can obtain data and calculation results on-site without waiting for internal calculations. The deformation calculation is highly accurate, which greatly improves monitoring efficiency.

[0085] In a possible embodiment, the benchmark patrol data also includes benchmark data for each target observation point, and the benchmark data is used to characterize the spatial data of the corresponding target observation point in the benchmark state. The determining of the deformation amount of each target observation point based on the pixel change and the external parameter change of each target observation point includes: obtaining a preset scale factor of each target observation point and the benchmark internal parameter data of the mobile monitoring device; determining the deformation amount of each target observation point based on the scale factor, the benchmark data, the benchmark external parameter data, the pixel change, the external parameter change and the benchmark internal parameter data of each target observation point.

[0086] The scale factor is used to characterize the projected length of the straight-line distance from the corresponding camera to the corresponding target observation point in the direction of the optical axis of the corresponding camera. Since the mobile monitoring device is in continuous motion and continuously shoots during movement, although the position of the mobile monitoring device changes due to the deformation of the corresponding target observation point during the current patrol, this change is negligible relative to the distance from the mobile monitoring device to the corresponding target observation point. In this case, the scale factor can be considered a constant, that is, the scale factor of the mobile monitoring device relative to the same target observation point in the current patrol data and the baseline patrol data is equal. For example, this relationship can be expressed by the following formula:

[0087]

[0088] in, Refers to mobile monitoring equipment Relative to the target observation point in the baseline survey data The base scale factor, It is a mobile monitoring device Relative to the target observation point during the i-th patrol The field scale factor, This is the scale factor.

[0089] Among them, the deformation amount of each target observation point is determined according to the scale factor, the benchmark data, the benchmark extrinsic parameter data, the pixel change, the extrinsic parameter change and the benchmark intrinsic parameter data of each target observation point. Specifically, it can be: determining the benchmark imaging equation according to the scale factor, the benchmark data, the benchmark extrinsic parameter data and the benchmark intrinsic parameter data of each target observation point; determining the deformation amount of each target observation point according to the pixel change, the extrinsic parameter change and the benchmark imaging equation of each target observation point.

[0090] The determining of the reference imaging equation according to the scale factor, the reference data, the reference extrinsic parameter data, and the reference intrinsic parameter data of each target observation point may specifically be: determining the reference imaging equation according to the reference image coordinates, the scale factor, the reference data, the reference extrinsic parameter data, and the reference intrinsic parameter data of each target observation point. The reference imaging equation may be, for example, Formula (1):

[0091] (1)

[0092] in, refers to the benchmark internal reference data, The target observation point The three-dimensional coordinates expressed in homogeneous form in the world coordinate system in the reference state. Refers to the mobile monitoring equipment at the target observation point The benchmark external reference data at this time.

[0093] Among them, the determining of the deformation amount of each target observation point according to the pixel change amount, the extrinsic parameter change amount and the benchmark imaging equation of each target observation point can be specifically: determining the on-site imaging equation according to the on-site image coordinates, the scale factor and the on-site intrinsic parameter data of each target observation point; determining the deformation amount of each target observation point according to the basic imaging equation, the on-site imaging equation, the pixel change amount and the extrinsic parameter change amount of each target observation point.

[0094] The on-site imaging equation is determined according to the on-site image coordinates of each target observation point, the scale factor, and the on-site internal parameter data. The on-site imaging equation may be, for example, Formula (2):

[0095] (2)

[0096] in, The target observation point The three-dimensional coordinates expressed in homogeneous form in the world coordinate system during the current survey. Refers to the mobile monitoring equipment at the target observation point On-site external reference data at that time.

[0097] in, and The relationship between can be expressed by the following formula (3):

[0098] (3)

[0099] Assume that the target observation point The three-dimensional displacement of the deformation variable in the world coordinate system is ,So It can be expressed by the following formula (4):

[0100] (4)

[0101] in, yes Three-dimensional coordinates expressed in homogeneous form in the world coordinate system.

[0102] Among them, the determining of the deformation amount of each target observation point according to the basic imaging equation, the on-site imaging equation, the pixel change and the extrinsic parameter change of each target observation point can be specifically: determining the target solution equation of each target observation point according to the basic imaging equation and the on-site imaging equation; determining the deformation amount of each target observation point according to the target solution equation of each target observation point, the pixel change and the extrinsic parameter change.

[0103] The target solution equation for each target observation point is determined based on the basic imaging equation and the on-site imaging equation. The target solution equation can be obtained by, for example, subtracting formula (1) from formula (2) to obtain formula (5) as follows:

[0104] (5)

[0105]

[0106] The deformation variable of each target observation point is determined according to the target solution equation of each target observation point, the pixel change amount and the external parameter change amount. For example, formula (3) and formula (4) are substituted into formula (5) to obtain formula (6), and the pixel change amount and the external parameter change amount are substituted into formula (6) to obtain the target observation point. The three-dimensional displacement of the deformation variable in the world coordinate system is , which is the target observation point The deformation variable, formula (6) is as follows:

[0107] (6)

[0108] Among them, see Figure 6 , Figure 6 This is another flow chart of automated engineering deformation measurement provided by the embodiment of this application. Figure 6 As shown, the method of determining the deformation amount of each target observation point according to the on-site external parameter data and on-site image information of each target observation point includes the following steps:

[0109] Step S441: Obtain benchmark patrol data.

[0110] The reference patrol data includes reference image information of each target observation point, and the reference image information is used to represent imaging data of the corresponding target observation point in a reference state.

[0111] Step S442: determining the pixel variation of each target observation point according to the on-site image information and the reference image information of each target observation point.

[0112] The pixel change is used to characterize the relative change of the corresponding target observation point in the imaging dimension.

[0113] The reference patrol data further includes reference external parameter data of each target observation point, and the reference external parameter data is used to characterize the external parameters of the mobile monitoring device when the mobile monitoring device is in a reference state at the corresponding target observation point.

[0114] Step S443 : determining the extrinsic parameter variation of each target observation point according to the on-site extrinsic parameter data of each target observation point and the reference extrinsic parameter data.

[0115] The external parameter variation is used to characterize the influence of the deformation of the corresponding target observation point on the external parameters of the mobile monitoring device.

[0116] The benchmark patrol data also includes benchmark data of each target observation point, and the benchmark data is used to represent the spatial data of the corresponding target observation point in a benchmark state.

[0117] Step S444: Obtain the preset benchmark internal parameter data of the mobile monitoring device for the scale factor of each target observation point.

[0118] Step S445 , determining the deformation amount of each target observation point according to the scale factor, the benchmark data, the benchmark extrinsic parameter data, the pixel variation, the extrinsic parameter variation, and the benchmark intrinsic parameter data of each target observation point.

[0119] It can be seen that in this example, the deformation variable of each target observation point is determined based on the scale factor, benchmark data, benchmark external parameter data, pixel change and external parameter change and the benchmark internal parameter data of each target observation point. This not only realizes the automation of engineering deformation measurement and reduces monitoring costs, but also can obtain data and calculation results on site without waiting for internal calculations. The deformation calculation is highly accurate, which greatly improves monitoring efficiency.

[0120] It can be seen that in this application, the controller obtains the monitoring task instructions for the target project; determines the target patrol strategy according to the monitoring task instructions, and the target patrol strategy is used to instruct the mobile monitoring equipment to observe each target observation point in the target project; executes the target patrol strategy to obtain the on-site external parameter data and on-site image information of each target observation point, and the on-site external parameter data is used to characterize the external parameters of the mobile monitoring equipment when it is at the corresponding target observation point; determines the deformation of each target observation point according to the on-site external parameter data and on-site image information of each target observation point. In this way, a target patrol strategy for observing each target observation point of the target project is generated according to the monitoring task instructions, and the mobile monitoring equipment obtains the on-site external parameter data and on-site image information of each target observation point by executing the target patrol strategy, thereby obtaining the deformation of each target observation point. This not only realizes the automation of engineering deformation measurement and reduces monitoring costs, but also can obtain data and calculation results on-site without waiting for internal calculations. The deformation calculation accuracy is high, which greatly improves the monitoring efficiency.

[0121] 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 is understandable that, in order to realize the above functions, the controller includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0122] In accordance with the above-mentioned embodiment, please refer to Figure 7 , Figure 7 This is a block diagram of the functional units of an automated engineering deformation measurement device provided in an embodiment of the present application, such as Figure 7 As shown, the automated engineering deformation measurement device 700 includes: a first receiving unit 701, used to obtain a monitoring task instruction for a target project; a first processing unit 702, used to determine a target patrol strategy according to the monitoring task instruction, wherein the target patrol strategy is used to instruct the mobile monitoring device to observe each target observation point in the target project; executing the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point, wherein the on-site external parameter data is used to characterize the external parameters of the mobile monitoring device at the corresponding target observation point; and determining the deformation amount of each target observation point according to the on-site external parameter data and on-site image information of each target observation point.

[0123] In a possible embodiment, the target patrol strategy includes a target patrol route, which is used to indicate the moving path of the mobile monitoring equipment to observe each target observation point. In determining the target patrol strategy according to the monitoring task instructions, the first processing unit 702 is specifically used to: determine the location information of each target observation point; obtain a three-dimensional map of the target project; and determine the target patrol route according to the monitoring task instructions, the three-dimensional map and the location information of each target observation point.

[0124] In a possible embodiment, the target patrol strategy also includes a target fill light strategy, which is used to instruct the mobile monitoring device to shoot and fill light for each target observation point. In terms of determining the target patrol strategy according to the monitoring task instructions, the first processing unit 702 is specifically used to: determine the lighting information of each target observation point according to the target patrol route, and the lighting information is used to characterize the lighting conditions when the mobile monitoring device observes the corresponding target observation point; determine the target fill light strategy according to the lighting information of each target observation point.

[0125] In a possible embodiment, the target patrol strategy also includes a speed control strategy, which is used to indicate the moving speed of the mobile monitoring equipment passing through each target observation point. In determining the target patrol strategy according to the monitoring task instructions, the first processing unit 702 is specifically used to: determine the engineering partition information of each target observation point, and the engineering partition is used to indicate the regional characteristics of the corresponding target observation point; determine the speed control strategy according to the target patrol route and the engineering partition information of each target observation point.

[0126] In one possible embodiment, in terms of determining the deformation amount of each target observation point based on the on-site external parameter data and on-site image information of each target observation point, the first processing unit 702 is specifically used to: obtain benchmark patrol data, the benchmark patrol data including benchmark image information of each target observation point, the benchmark image information being used to characterize the imaging data of the corresponding target observation point in a benchmark state; determine the pixel change amount of each target observation point based on the on-site image information and the benchmark image information of each target observation point, the pixel change amount being used to characterize the relative change of the corresponding target observation point in the imaging dimension; determine the deformation amount of each target observation point based on the pixel change amount and the on-site external parameter data of each target observation point.

[0127] In a possible embodiment, the benchmark patrol data also includes benchmark extrinsic parameter data of each target observation point, and the benchmark extrinsic parameter data is used to characterize the extrinsic parameters of the mobile monitoring device when the corresponding target observation point is in a benchmark state. In terms of determining the deformation amount of each target observation point based on the pixel change amount and the on-site extrinsic parameter data of each target observation point, the first processing unit 702 is specifically used to: determine the extrinsic parameter change amount of each target observation point based on the on-site extrinsic parameter data of each target observation point and the benchmark extrinsic parameter data, and the extrinsic parameter change amount is used to characterize the influence of the deformation of the corresponding target observation point and the change in the moving path of the mobile monitoring device on the external parameters of the mobile monitoring device; determine the deformation amount of each target observation point based on the pixel change amount and the extrinsic parameter change amount of each target observation point.

[0128] In a possible embodiment, the benchmark patrol data also includes benchmark data for each target observation point, and the benchmark data is used to characterize the spatial data of the corresponding target observation point in the benchmark state. In terms of determining the deformation variable of each target observation point based on the pixel change and the external parameter change of each target observation point, the first processing unit 702 is specifically used to: obtain the preset scale factor of each target observation point and the benchmark internal parameter data of the mobile monitoring device; determine the deformation variable of each target observation point based on the scale factor, the benchmark data, the benchmark external parameter data, the pixel change, the external parameter change and the benchmark internal parameter data of each target observation point.

[0129] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part and will not be repeated here.

[0130] In the case of integrated units, such as Figure 8 As shown, Figure 8 This is a functional unit block diagram of another automated engineering deformation measurement device provided by an embodiment of the present application. Figure 8 In the embodiment, the automated engineering deformation measurement device 700 includes: a processing module 812 and a communication module 811. The processing module 812 is used to control and manage the actions of the automated engineering deformation measurement device 700, for example, executing the steps of the first receiving unit 701 and the first processing unit 702, and / or other processes for executing the technology described herein. The communication module 811 is used to support the interaction between the automated engineering deformation measurement device 700 and other devices. Figure 8As shown, the automated engineering deformation measurement device 700 may further include a storage module 813 , which is used to store program codes and data of the automated engineering deformation measurement device 700 .

[0131] Among them, the processing module 812 can be a processor or controller, for example, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 811 can be a transceiver, an RF circuit or a communication interface, etc. The storage module 813 can be a memory.

[0132] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above-mentioned automated engineering deformation measurement device 700 can execute the above-mentioned Figure 4 The automated engineering deformation measurement method shown.

[0133] The above embodiments can be implemented in whole or in part via software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of this application are fully or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0134] Figure 9 This is a block diagram of a controller provided in an embodiment of the present application. Figure 9 As shown, the controller 120 may include one or more of the following components: a processor 310, a memory 320 coupled to the processor 310, wherein the memory 320 may store one or more computer programs 321, and the one or more computer programs 321 may be configured to implement the methods described in the above embodiments when executed by one or more processors 310.

[0135] The processor 310 may include one or more processing cores. The processor 310 utilizes various interfaces and circuits to connect various components within the controller 120. It executes instructions, programs, code sets, or instruction sets stored in the memory 320, as well as accesses data stored in the memory 320, to perform various functions of the controller 120 and process data. Optionally, the processor 310 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 310 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 310 and may be implemented separately via a communications chip.

[0136] The memory 320 may include a random access memory (RAM) or a read-only memory (ROM). The memory 320 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 320 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the controller 120 during use, etc.

[0137] It is understood that the controller 120 may include more or fewer structural elements than those in the above structural block diagram, and this is not limited here. The present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by the processor 310, implements the steps of the method described in any possible embodiment.

[0138] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the unit is merely a logical function division, and there may be other division methods in actual implementation; 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to actual needs.

[0141] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional units.

[0142] The above-mentioned integrated unit implemented as a software functional unit can be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform some of the steps of the method described in various embodiments of the present invention. The aforementioned storage medium includes a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a volatile memory, or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM), among other media that can store program code.

[0143] Although the present invention is disclosed above, it is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various modifications and alterations without departing from the spirit and scope of the present invention. Combinations of the above-described functions and implementation steps, including software and hardware implementations, are all within the scope of protection of the present invention.

Claims

1. An automated engineering deformation measurement method, characterized in that: A controller used in a mobile monitoring device, the method comprising: Obtain monitoring task instructions for the target project; Determining a target patrol strategy according to the monitoring task instruction, wherein the target patrol strategy is used to instruct the mobile monitoring device to observe each target observation point in the target project; Executing the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point, wherein the on-site external parameter data is used to characterize the external parameters of the mobile monitoring device at the corresponding target observation point; Determine the deformation amount of each target observation point according to the on-site external parameter data and on-site image information of each target observation point; Wherein, the target patrol strategy includes a target patrol route, and the target patrol route is used to indicate the moving path of the mobile monitoring equipment for observing each target observation point. The determining of the target patrol strategy according to the monitoring task instruction includes: determining the location information of each target observation point; obtaining a three-dimensional map of the target project; and determining the target patrol route according to the monitoring task instruction, the three-dimensional map, and the location information of each target observation point. Wherein, the target patrol strategy also includes a target fill light strategy, which is used to instruct the mobile monitoring device to shoot fill light for each target observation point, and the target patrol strategy is determined according to the monitoring task instruction, including: determining the lighting information of each target observation point according to the target patrol route, the lighting information is used to characterize the lighting conditions when the mobile monitoring device observes the corresponding target observation point; determining the target fill light strategy according to the lighting information of each target observation point; Among them, the target patrol strategy also includes a speed control strategy, which is used to indicate the moving speed of the mobile monitoring equipment passing through each target observation point. The target patrol strategy is determined according to the monitoring task instructions, including: determining the engineering partition information of each target observation point, and the engineering partition is used to indicate the regional characteristics of the corresponding target observation point; determining the speed control strategy according to the target patrol route and the engineering partition information of each target observation point.

2. The method according to claim 1, characterized in that Determining the deformation amount of each target observation point according to the on-site external parameter data and on-site image information of each target observation point includes: Acquire benchmark inspection data, the benchmark inspection data including benchmark image information of each target observation point, the benchmark image information being used to represent imaging data of the corresponding target observation point in a benchmark state, the benchmark state being a standard state of the engineering structure of the target project; Determine a pixel change amount of each target observation point according to the on-site image information and the reference image information of each target observation point, wherein the pixel change amount is used to characterize a relative change of the corresponding target observation point in the imaging dimension; The deformation amount of each target observation point is determined according to the pixel change amount of each target observation point and the on-site external parameter data.

3. The method according to claim 2, characterized in that The benchmark patrol data also includes benchmark extrinsic parameter data of each target observation point, wherein the benchmark extrinsic parameter data is used to characterize the extrinsic parameters of the mobile monitoring device when the mobile monitoring device is in a benchmark state and corresponds to the target observation point. The deformation amount of each target observation point is determined based on the pixel change amount of each target observation point and the on-site extrinsic parameter data, including: Determining an external parameter variation of each target observation point based on the on-site external parameter data of each target observation point and the reference external parameter data, wherein the external parameter variation is used to characterize the influence of the deformation of the corresponding target observation point and the change of the moving path of the mobile monitoring device on the external parameter of the mobile monitoring device; The deformation amount of each target observation point is determined according to the pixel variation and the extrinsic parameter variation of each target observation point.

4. The method according to claim 3, characterized in that The benchmark patrol data also includes benchmark data of each target observation point, where the benchmark data is used to characterize spatial data of the corresponding target observation point in a benchmark state. Determining the deformation amount of each target observation point based on the pixel change amount and the extrinsic parameter change amount of each target observation point includes: Obtaining a preset scale factor of each target observation point and a benchmark internal reference data of the mobile monitoring device; The deformation amount of each target observation point is determined according to the scale factor of each target observation point, the benchmark data, the benchmark external parameter data, the pixel change amount, the external parameter change amount and the benchmark internal parameter data.

5. An automated engineering deformation measurement device, characterized in that: A controller used in a mobile monitoring device, the device comprising: A first receiving unit is used to obtain a monitoring task instruction for a target project; a first processing unit, configured to determine a target patrol strategy according to the monitoring task instruction, the target patrol strategy being used to instruct the mobile monitoring device to observe each target observation point in the target project; execute the target patrol strategy to obtain on-site external parameter data and on-site image information of each target observation point, the on-site external parameter data being used to characterize the external parameters of the mobile monitoring device at the corresponding target observation point; and determine a deformation amount of each target observation point according to the on-site external parameter data and on-site image information of each target observation point; Wherein, the target patrol strategy includes a target patrol route, and the target patrol route is used to indicate the moving path of the mobile monitoring equipment for observing each target observation point. The determining of the target patrol strategy according to the monitoring task instruction includes: determining the location information of each target observation point; obtaining a three-dimensional map of the target project; and determining the target patrol route according to the monitoring task instruction, the three-dimensional map, and the location information of each target observation point. Wherein, the target patrol strategy also includes a target fill light strategy, which is used to instruct the mobile monitoring device to shoot fill light for each target observation point, and the target patrol strategy is determined according to the monitoring task instruction, including: determining the lighting information of each target observation point according to the target patrol route, the lighting information is used to characterize the lighting conditions when the mobile monitoring device observes the corresponding target observation point; determining the target fill light strategy according to the lighting information of each target observation point; Among them, the target patrol strategy also includes a speed control strategy, which is used to indicate the moving speed of the mobile monitoring equipment passing through each target observation point. The target patrol strategy is determined according to the monitoring task instructions, including: determining the engineering partition information of each target observation point, and the engineering partition is used to indicate the regional characteristics of the corresponding target observation point; determining the speed control strategy according to the target patrol route and the engineering partition information of each target observation point.

6. A controller, characterized in that: The method comprises a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that A computer program / instruction is stored thereon, and when the computer program / instruction is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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