A tunnel three-dimensional coordinate measurement and deformation calculation method, device and storage medium

Abstract

The application discloses a tunnel three-dimensional coordinate measurement and deformation calculation method, equipment and a storage medium; the method comprises the following steps: presetting at least three control points, determining the position of a reference terminal based on the control points, determining the three-dimensional coordinates and the attitude angle of a front view measurement camera of a master station and a slave station according to the structured light emitted by the reference terminal, obtaining three-dimensional coordinate points by the master station and the slave station, and judging whether the to-be-measured section is deformed or not by the three-dimensional coordinate points. In the application, the three-dimensional space information of the tunnel section can be accurately restored, high-precision three-dimensional reconstruction of the tunnel section is realized, small deformation of the to-be-measured section can be found in time by analyzing the three-dimensional coordinate points, timely and effective early warning information is provided for safety monitoring of the tunnel engineering, corresponding maintenance and reinforcement measures can be taken, and the structural safety of the tunnel is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel monitoring, and in particular to a tunnel three-dimensional coordinate measurement and deformation calculation method, device and storage medium. BACKGROUND

[0002] Tunnel engineering construction has great risk, and the deformation of surrounding rock needs to be monitored in time. In the process of tunnel excavation, stress redistribution of rock and soil mass will cause displacement and deformation of surrounding rock, and if the safety threshold is exceeded, it may cause collapse, water gushing and even ground subsidence and other disasters.

[0003] The total station measurement technology has become the main means of tunnel surrounding rock deformation monitoring at present due to its characteristics of rapidness, simplicity, high precision and the like. By obtaining the three-dimensional coordinate changes of the measurement points and the convergence of the measurement lines, a displacement and deformation vector model can be constructed to quantitatively analyze the stability of the surrounding rock. The core value of three-dimensional coordinate measurement lies in its ability to provide holographic information of the tunnel spatial displacement field. Unlike single-point displacement sensors, three-dimensional coordinates can synchronously obtain all-around deformation data such as arch crown settlement, sidewall convergence and bottom heave.

[0004] With the development of tunnel engineering towards deep and large cross-section, the traditional total station measurement is challenged by limited number of measurement points, manual operation risk and lack of real-time performance. As a new non-contact measurement method, machine vision technology can realize multi-target synchronous monitoring through image processing and three-dimensional reconstruction, and has significant advantages in efficiency and safety. However, the tunnel construction environment is relatively complex, and there are uneven illumination, dust diffusion and mechanical vibration interference factors in the tunnel construction environment. Influenced by these interference factors, when the machine vision technology is applied in the complex tunnel environment, there is a problem of poor image acquisition quality, which affects the accuracy of tunnel measurement. SUMMARY

[0005] The technical problem solved by the present application is to provide a tunnel three-dimensional coordinate measurement and deformation calculation method, which solves the problem of poor image acquisition quality when the machine vision technology is applied in the complex tunnel environment, and affects the accuracy of tunnel measurement.

[0006] To solve the above technical problems, one technical solution adopted by the present application is to provide a tunnel three-dimensional coordinate measurement and deformation calculation method, comprising the steps of: presetting at least three control points, determining the position of a reference terminal based on the control points, and the structured light emitted by the reference terminal coincides with the control points;

[0007] The measurement master station and the measurement slave station determine the three-dimensional coordinates and attitude angles of the rear-view measurement cameras in the measurement master station and the measurement slave station according to the structured light emitted by the reference terminal, and convert the three-dimensional coordinates and attitude angles of the rear-view measurement cameras into the three-dimensional coordinates and attitude angles of the front-view measurement cameras in the measurement master station and the measurement slave station.

[0008] The preset measurement terminal at the section to be measured, the measurement master station and the measurement slave station acquire left and right images respectively through the forward-looking measurement camera, match the structured light in the left and right images, acquire a disparity map, convert the disparity map into a depth map, calculate a three-dimensional coordinate point through the depth map, and determine whether the section to be measured is deformed according to the three-dimensional coordinate point.

[0009] The application further provides a computer device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the method when executing the computer program.

[0010] The application further provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the steps of the method.

[0011] The application has the beneficial effects that: in the application, the position of the reference terminal is determined by the control point, the measurement master station, the measurement slave station and the measurement terminal can move forward away from the position of the reference terminal to detect different sections, thereby accurate reference can be provided for subsequent measurement, measurement error caused by inaccurate reference is effectively reduced, consistency of long-term measurement results is ensured, and the accuracy and convenience of detection of the section to be measured are improved. The measurement master station and the measurement slave station determine the three-dimensional coordinates and the attitude angle of the backward-looking measurement camera according to the structured light emitted by the reference terminal, and then convert the three-dimensional coordinates and the attitude angle into the three-dimensional coordinates and the attitude angle of the forward-looking measurement camera. Thus, the relative position relationship between the backward-looking measurement camera and the forward-looking measurement camera can be utilized to avoid the tedious process of directly and complexly measuring the forward-looking measurement camera, the measurement efficiency is improved, and the error possibly introduced by direct measurement is reduced.

[0012] The forward-looking measurement cameras in the measurement master station and the measurement slave station can accurately restore the three-dimensional spatial information of the tunnel section by utilizing the binocular vision principle, high-precision three-dimensional reconstruction of the tunnel section is realized, and through analysis of the three-dimensional coordinate points, the small deformation of the section to be measured can be found in time, thereby providing timely and effective early warning information for safety monitoring of the tunnel engineering, helping to take corresponding maintenance and reinforcement measures, and ensuring the structural safety of the tunnel. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a flowchart according to an embodiment of the application;

[0014] Figure 2 is an installation schematic diagram of an apparatus according to an embodiment of the application;

[0015] Figure 3 is a matching flowchart according to an embodiment of the application;

[0016] Figure 4 This is a real-world image of the right image according to an embodiment of this application;

[0017] Figure 5 This is a real-world image of the left image according to an embodiment of this application;

[0018] Figure 6 This is a real-world image of the right image after correction according to an embodiment of this application;

[0019] Figure 7 This is a real-world image of the left image after correction according to an embodiment of this application;

[0020] Figure 8 This is a schematic diagram of the right image region division according to an embodiment of this application;

[0021] Figure 9 This is a schematic diagram of the left image region division according to an embodiment of this application;

[0022] Figure 10 This is a schematic diagram of the equal division of a tunnel cross-section according to an embodiment of this application;

[0023] Figure 11 This is an enlarged schematic diagram of three-dimensional coordinate points according to an embodiment of this application;

[0024] Reference numerals: 1. Reference terminal, 2. Measurement master station, 3. Measurement slave station, 4. Measurement terminal, 5. Section to be measured, 10. Left side wall, 20. Arch, 30. Right side wall. Detailed Implementation

[0025] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0026] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0027] Figure 1 An embodiment of the tunnel three-dimensional coordinate measurement and deformation calculation method of this application is shown, including:

[0028] Step S1: preset at least three control points, determine the position of the reference terminal based on the control points, the structured light emitted by the reference terminal coincides with the control points;

[0029] Step S2: measure the master station and the slave station according to the structured light emitted by the reference terminal, determine the three-dimensional coordinates and attitude angles of the rear-view measuring camera in the master station and the slave station, and convert the three-dimensional coordinates and attitude angles of the rear-view measuring camera into the three-dimensional coordinates and attitude angles of the front-view measuring camera in the master station and the slave station;

[0030] Step S3: preset a measurement terminal at the section to be measured, the master station and the slave station acquire left and right images respectively through the front-view measuring cameras, match the structured light in the left and right images, acquire a disparity map, convert the disparity map into a depth map, calculate three-dimensional coordinate points through the depth map, and determine whether the section to be measured is deformed according to the three-dimensional coordinate points.

[0031] In the present application, the position of the reference terminal is determined by the control points, and the master station, the slave station and the measurement terminal can be moved forward away from the position of the reference terminal to detect different sections, thereby providing an accurate reference for subsequent measurement, effectively reducing the measurement error caused by inaccurate reference, ensuring the consistency of long-term measurement results, and improving the accuracy and convenience of detecting the section to be measured. The master station and the slave station determine the three-dimensional coordinates and attitude angles of the rear-view measuring camera according to the structured light emitted by the reference terminal, and then convert them into the three-dimensional coordinates and attitude angles of the front-view measuring camera. Thus, the relative position relationship between the rear-view measuring camera and the front-view measuring camera can be utilized to avoid the tedious process of directly and complexly measuring the front-view measuring camera, improve the measurement efficiency, and reduce the error that may be introduced by direct measurement.

[0032] The front-view measuring cameras in the master station and the slave station can accurately restore the three-dimensional spatial information of the tunnel section by using the binocular vision principle, realize high-precision three-dimensional reconstruction of the tunnel section, and can timely discover the slight deformation of the section to be measured by analyzing the three-dimensional coordinate points, thereby providing timely and effective early warning information for the safety monitoring of the tunnel engineering, helping to take corresponding maintenance and reinforcement measures, and ensuring the structural safety of the tunnel.

[0033] As shown in Figure 2 At least two reference terminals 1 and at least two measurement terminals 4, a master station 2 and a slave station 3 are arranged in the tunnel. The reference terminals 1 and the measurement terminals 4 include laser emitters, which can emit structured light of horizontal laser, vertical laser or grid laser. The structured light can clearly outline the profile and details of the tunnel surface, so that the images captured by the master station 2 and the slave station 3 contain rich three-dimensional information, which helps to improve the measurement accuracy and accurately reflect the deformation of the tunnel.

[0034] The measurement master station 2 and the measurement slave station 3 each include a front-view measurement camera and a rear-view measurement camera, which can take the structured light emitted by the laser emitter.

[0035] The measurement terminal 4 is installed at the section to be measured 5 in the tunnel, and the reference terminal 1 is arranged in the tunnel that has been excavated, the measurement terminal 4 and the reference terminal 1 being located on the same side of the tunnel. The measurement master station 2 and the measurement slave station 3 are located between the measurement terminal 4 and the reference terminal 1, and are oppositely arranged on the two sides of the tunnel. The front-view measurement cameras of the measurement master station 2 and the measurement slave station 3 are directed towards the measurement terminal 4, for taking the structured light emitted by the measurement terminal 4, and the rear-view measurement cameras of the measurement master station 2 and the measurement slave station 3 are directed towards the reference terminal 1, for taking the structured light emitted by the reference terminal 1.

[0036] The measurement master station 2, the measurement slave station 3 and the measurement terminal 4 can be moved in the direction away from the reference terminal 1 as needed, and the reference terminal 1 needs to be kept within the shooting range of the measurement master station 2 and the measurement slave station 3 during the movement. Thus, an accurate reference can be provided for subsequent measurement, the measurement error caused by inaccurate reference can be effectively reduced, the consistency of long-term measurement results can be ensured, and the accuracy and convenience of detection of the section to be measured 5 can be improved.

[0037] In the tunnel that has been excavated, at least three control points A are preset, the control points A can be 3-10, and at least one control point A among the plurality of control points A is not on the same plane as the other control points A, so as to increase the accuracy of position positioning. The control points A can be measured by a total station, and after the control points A are determined, the reference terminal 1 is installed at the same section position as the control points A, and the emission angle of the laser emitter on the reference terminal 1 is adjusted so that the structured light emitted thereby passes through the control points A on the section. Thus, the position of the reference terminal 1 can be determined.

[0038] After the position of the reference terminal 1 is determined, the measurement master station 2 and the measurement slave station 3 are installed in the tunnel, the measurement master station 2 and the measurement slave station 3 can be installed at the front end of the inverted arch, the measurement master station 2 and the measurement slave station 3 are installed on the inner walls on the two sides of the tunnel, and the measurement master station 2 and the measurement slave station 3 are located on the same section of the tunnel.

[0039] After the measurement master station and the measurement slave station are installed, the three-dimensional coordinates and attitude angles of the measurement master station and the measurement slave station are determined according to the control points. The measurement master station and the measurement slave station determine the three-dimensional coordinates and attitude angles of the rear-view measurement cameras in the measurement master station and the measurement slave station according to the structured light emitted by the reference terminal, and convert the three-dimensional coordinates and attitude angles of the rear-view measurement cameras into the three-dimensional coordinates and attitude angles of the front-view measurement cameras in the measurement master station and the measurement slave station. As shown in FIG. 4. Figure 3

[0040] ​The measuring point, the photographic center (the optical center of the rear-view measuring camera in the measuring master station) and the corresponding image coordinate point of the rear-view measuring camera satisfy the collinearity equation in space, and the collinearity equation is:

[0041] ;

[0042] wherein, is the image plane coordinate of the image point; is the photographic center, and f is the focal length, which are all internal orientation elements; is the object space coordinate of the measuring master station; is the object space coordinate of the measuring point; is the 3 external orientation angle elements of the image consisting of 9 direction cosines.

[0043] The internal orientation elements of the rear-view measuring cameras of the measuring master station and the measuring slave station can be calculated by the camera calibration method. Given three (at least three, such as more than three, the least square method can be used for solving) control point coordinates and the corresponding image plane coordinates, six equations can be listed according to the collinearity equation, so as to solve the three-dimensional coordinates and the attitude angle of the rear-view measuring cameras of the measuring master station and the measuring slave station.

[0044] When measuring the section to be measured, the front-view measuring cameras of the measuring master station and the measuring slave station are needed to shoot the structured light emitted by the measuring terminal. Therefore, the three-dimensional coordinates and the attitude angle of the front-view measuring cameras need to be determined according to the three-dimensional coordinates and the attitude angle of the rear-view measuring cameras, and the following is described by taking the measuring master station as an example.

[0045] According to the first rotation matrix and the translation vector between the front-view measuring camera and the rear-view measuring camera in the measuring master station, the three-dimensional coordinates and the attitude angle of the front-view measuring camera of the measuring master station are obtained.

[0046] The first rotation matrix is expressed as:

[0047] ;

[0048] The translation vector is expressed as:

[0049] ;

[0050] wherein, respectively represent the displacement difference of the rear-view measuring camera and the front-view measuring camera in the measuring master station in x, y and z directions, represents the transposition.

[0051] The three-dimensional coordinates of the rear-view measurement camera in the measurement master station are converted into the three-dimensional coordinates of the front-view measurement camera by the following formula:

[0052] ;

[0053] wherein, is the three-dimensional coordinates of the front-view measurement camera in the measurement master station, is the three-dimensional coordinates of the rear-view measurement camera in the measurement master station, is the conversion matrix from the world coordinate system to the rear-view camera coordinate system, represents transposing the conversion matrix.

[0054] The attitude angle of the rear-view measurement camera in the measurement master station is converted into the attitude angle of the front-view measurement camera by the following formula:

[0055] ;

[0056] wherein, is the attitude angle of the front-view measurement camera in the measurement master station, is the attitude angle of the rear-view measurement camera in the measurement master station.

[0057] The conversion matrix from the world coordinate system to the rear-view camera coordinate system is represented as:

[0058] ;

[0059] wherein, is represented as the yaw angle of the rear-view measurement camera relative to the world coordinate system, and the pitch angle and the roll angle of the rear-view measurement camera are 0.

[0060] In the above manner, the three-dimensional coordinates and the attitude angle of the rear-view measurement camera in the measurement master station can be converted into the three-dimensional coordinates and the attitude angle of the front-view measurement camera in the measurement master station. Further, the deformation of the tunnel can be accurately measured by the front-view measurement camera.

[0061] After the three-dimensional coordinates and the attitude angle of the front-view measurement camera are determined, the front-view measurement cameras of the measurement master station and the measurement slave station are used to capture the structured light projected by the measurement terminal onto the section to be measured. The left image and the right image are obtained as shown in Figure 4 and Figure 5 The structured light can be regarded as a light ray composed of a plurality of light points. The three-dimensional coordinates of the light points are determined, and whether the tunnel is deformed is determined according to the three-dimensional coordinates of the light points.

[0062] When the measurement master station and the measurement slave station capture the structured light, the position of the measurement master station is taken as the origin to measure the three-dimensional coordinates of the light points on the section to be measured.

[0063] When measuring the three-dimensional coordinates of the structured light points on the section to be measured, the above-mentioned collinear equation can be used to obtain the three-dimensional coordinates of the light points in the structured light. In order to further improve the calculation efficiency, in the present application, based on the three-dimensional coordinates and the attitude angles of the front-view measurement cameras in the master station and the slave station, the three-dimensional coordinates of the light points in the structured light are calculated in a binocular matching manner. The steps are as shown in Figure 3 .

[0064] The premise of binocular matching is to correct the front-view measurement cameras in the master station and the slave station to be coplanar, so as to ensure that the epipolar lines of the right image photographed by the master station and the left image photographed by the slave station are aligned.

[0065] Specifically, the second rotation matrix and the translation matrix between the master station and the slave station are calculated according to the three-dimensional coordinates and the attitude angles of the front-view measurement cameras in the master station and the slave station.

[0066] The second rotation matrix is expressed as:

[0067]

[0068] The translation matrix is expressed as:

[0069]

[0070] wherein, is the attitude angle of the front-view measurement camera in the slave station, is the three-dimensional coordinate of the front-view measurement camera in the slave station.

[0071] According to the second rotation matrix and the translation matrix, the optical axes of the front-view measurement cameras in the master station and the slave station are made parallel and the imaging planes are made coplanar. The right image and the left image after the front-view measurement cameras in the master station and the slave station are corrected to be coplanar are as shown in Figure 6 and Figure 7 .

[0072] After the front-view measurement cameras in the master station and the slave station are corrected to be coplanar, the light points of the same scene in the right image and the left image are matched by a feature point matching or a region-based matching method, and a disparity map is obtained.

[0073] After the front-view measurement cameras in the master station and the slave station are corrected to be coplanar, the matching points are on the same horizontal line, and the tunnel detection lines collected by the front-view measurement cameras in the master station and the slave station are divided into three regions of a left sidewall 10, an arch part 20 and a right sidewall 30, as shown in Figure 8 and Figure 9 . The following method is adopted for dividing the regions of the left image or the right image:

[0074] Firstly, the image coordinates of the light points are set as P: {​​}, is the image coordinate set, and n is the total number of light spots; window average is performed on the initial image coordinate set, and the averaged point set is denoted as A: }, is the averaged point set, and m is the window size; the tangential angle is calculated according to the window-averaged point set, and for and , j e (1, 2,..., n / m), is a coordinate point in the image coordinate set. The tangential angle is is:

[0075] ;

[0076] The division in which the tangential angle is in the range is divided into the arch point set , the division on the left side of which is divided into the left side wall point set , and the division on the right side is divided into the right side wall point set , and W is the value threshold of the tangential angle, and W can take a value between 30° and 45°.

[0077] Second step: the left side wall point set in the left image and the left side wall point set in the right image can form matching points with the same vertical coordinates. The right side wall point set in the left image and the right side wall point set in the right image can form matching points with the same vertical coordinates.

[0078] Third step: for the arch point set, because the arch is close to horizontal at some positions, there are many points with the same vertical coordinates, which do not have uniqueness, and the following method is used for matching:

[0079] the depth value of the rightmost matching point of the left side wall is denoted as , the depth value of the leftmost matching point of the right side wall is denoted as ; for the arch point set in the left image, find the matching point in the arch point set in the right image, is the arch point coordinate in the left image, is the arch point coordinate in the right image. The potential matching point set that satisfies the following conditions is :

[0080] ;

[0081] wherein, , and are the number of arch points in the left image and the right image respectively, and abs represents the absolute value, is the allowed vertical coordinate error threshold, which is generally within 2.

[0082] More than one matching point meets the condition, and a potential matching point set is obtained The mean coordinate of the matching point set is taken as the matching coordinate point of the left image dome vertex.

[0083] After matching the light points in the same scene in the right image and the left image, a disparity map is obtained.

[0084] The disparity map is converted into a depth map, and the conversion formula between the disparity map and the depth map is:

[0085] ;

[0086] wherein, is the depth, is the disparity, is the baseline length, and are the column coordinates of the principal points of the front-view measurement camera corresponding to the right image and the left image, respectively.

[0087] The three-dimensional coordinate point (X, Y, Z) in the master station coordinate system is calculated by the depth map, and the formula is as follows:

[0088] ;

[0089] The dome settlement amount is determined based on the three-dimensional coordinate point. The light point cloud in the full-section structured light is dense and continuous, and is disturbed by light, shielding and other factors in the tunnel, causing the measurement line to be broken and the time sequence measurement point to be lost, and the structured light collected at the previous and subsequent time cannot be directly paired one by one. The following method is used for matching:

[0090] The three-dimensional coordinate points are on the same plane, and the ellipse center coordinate is obtained by fitting the ellipse to the three-dimensional coordinate point set. The tunnel section plane is equally divided by angle with the ellipse center coordinate as the center; as shown in Figure 10 The mean value of all light point coordinates in each angle is calculated as the measurement point coordinate corresponding to the angle, and the three-dimensional coordinate points corresponding to an angle α at the initial time and the current time t are respectively denoted as , If there is no measurement point in a certain angle due to shielding, the coordinate is set to 0, and the current time does not participate in the deformation calculation. The obtained three-dimensional coordinate points are shown in Figure 11 .

[0091] Dome settlement amount: assuming that the dome area range is , the dome settlement amount is expressed as:

[0092] ;

[0093] wherein, The angle of the vault region is preferably between 30° and 45°.

[0094] The peripheral convergence is expressed as:

[0095] ;

[0096] wherein, , are the three-dimensional coordinates of the left measuring point and the right measuring point on the same horizontal measuring line of the tunnel, respectively.

[0097] Therefore, according to the vault settlement and the peripheral convergence, a time deformation curve can be drawn, the deformation trend of the deformation curve is fitted by using a regression function, and whether the cross section deformation rate of the tunnel is continuously increasing or tends to converge is determined according to the regression function. Whether the deformation value of the tunnel exceeds the preset deformation control value can be determined in combination with the cumulative deformation in a period of time and the preset deformation control value.

[0098] In the present application, the position of the reference terminal is determined by the control point, and the measurement master station, the measurement slave station and the measurement terminal can move forward away from the position of the reference terminal to detect different cross sections, thereby providing an accurate reference for subsequent measurement, effectively reducing the measurement error caused by inaccurate reference, ensuring the consistency of long-term measurement results, and improving the accuracy and convenience of the detection of the measured cross section. The measurement master station and the measurement slave station first determine the three-dimensional coordinates and attitude angles of the rear-view measurement camera according to the structured light emitted by the reference terminal, and then convert them into the three-dimensional coordinates and attitude angles of the front-view measurement camera. Thus, the relative position relationship between the rear-view measurement camera and the front-view measurement camera can be utilized to avoid the tedious process of directly and complexly measuring the front-view measurement camera, thereby improving the measurement efficiency and reducing the error that may be introduced by direct measurement.

[0099] The front-view measurement camera in the measurement master station and the measurement slave station can accurately restore the three-dimensional spatial information of the tunnel cross section by using the binocular vision principle, realize high-precision three-dimensional reconstruction of the tunnel cross section, and through analysis of the three-dimensional coordinate points, the micro deformation of the measured cross section can be found in time, thereby providing timely and effective early warning information for the safety monitoring of the tunnel engineering, helping to take corresponding maintenance and reinforcement measures, and ensuring the structural safety of the tunnel.

[0100] The above is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A method for tunnel three-dimensional coordinate measurement and deformation calculation, characterized in that, The method comprises the steps of: presetting at least three control points, determining the position of a reference terminal based on the control points, and making the structured light emitted by the reference terminal coincide with the control points; measuring the main station and the measuring slave station to determine the three-dimensional coordinates and attitude angles of the rear-view measuring cameras in the main station and the measuring slave station according to the structured light emitted by the reference terminal, and converting the three-dimensional coordinates and attitude angles of the rear-view measuring cameras into the three-dimensional coordinates and attitude angles of the front-view measuring cameras in the main station and the measuring slave station; presetting a measuring terminal at the section to be measured, and respectively acquiring left and right images by the front-view measuring cameras of the main station and the measuring slave station, matching the structured light in the left and right images, acquiring a parallax map, converting the parallax map into a depth map, and calculating three-dimensional coordinate points by the depth map to determine whether the section to be measured is deformed.

2. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 1, characterized in that, The control points are 3-10, and at least one of the control points is not in the same plane as the other control points.

3. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 1, characterized in that, The measuring points, photographic centers and corresponding image coordinate points of the rear-view measuring cameras satisfy a collinearity equation in space, and the collinearity equation is: ； wherein, is the image plane coordinate of the image point; is the photographic center, and f is the focal length; is the object space coordinate of the measuring master station; is the object space coordinate of the measuring point; is the direction cosine composed of the exterior orientation elements, .

4. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 3, characterized in that, According to the first rotation matrix between the forward-looking measuring camera and the rear-looking measuring camera in the main measuring station Translation vector The three-dimensional coordinates and attitude angles of the forward-looking measurement camera in the main measurement station are obtained. The first rotation matrix is represented as: ； The translation vector is represented as: ； wherein, respectively represent the displacement difference of the rear-looking measurement camera and the front-looking measurement camera in the x, y, z three directions in the measurement master station, denotes the transpose; The three-dimensional coordinates of the rear-view measuring cameras in the main station are converted into the three-dimensional coordinates of the front-view measuring cameras by the following formula: ； wherein, is a three-dimensional coordinate of the forward-looking survey camera in the survey master station, is a three-dimensional coordinate of the rear-looking survey camera in the survey master station, is a transformation matrix from the world coordinate system to the rear-looking camera coordinate system, denotes the transpose of the transformation matrix; The attitude angles of the rear-view measuring cameras in the main station are converted into the attitude angles of the front-view measuring cameras by the following formula: ； wherein is an angle of the pose of the forward looking survey camera in the survey master station, is an angle of the pose of the backward looking survey camera in the survey master station; the conversion matrix from the world coordinate system to the rear-view camera coordinate system is represented as: ； wherein, is the yaw angle of the rearview measurement camera with respect to the world coordinate system, the pitch angle and the roll angle of the rearview measurement camera being 0.

5. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 4, characterized in that, According to the second rotation matrix and the translation matrix, the optical axes of the front-view measuring cameras in the main station and the measuring slave station are parallel and the imaging planes are coplanar; and according to the three-dimensional coordinates and attitude angles of the front-view measuring cameras in the main station and the measuring slave station, the second rotation matrix and the translation matrix between the main station and the measuring slave station are calculated; The second rotation matrix is represented as: ； The translation matrix is expressed as: ； wherein is the pose angle of the forward looking measurement camera in the measurement slave station, is the three-dimensional coordinate of the forward looking measurement camera in the measurement slave station.

6. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 5, characterized in that, After the front-view measuring cameras in the main station and the measuring slave station are corrected, the matching points are on the same horizontal line, the tunnel detection lines collected by the front-view measuring cameras in the main station and the measuring slave station are divided into three regions of left sidewall, arch and right sidewall, and the left image or the right image is divided into regions in the following manner: In a first step, the image coordinates of the light points are noted P: { }, are the light points, where n is the total number of light points; Window average is performed on the initial image coordinate set, and the averaged point set is denoted as A: }, is the averaged point, wherein m is the window size; according to the window-averaged point set, a tangent angle is calculated, and for and , j∈(1, 2,..., n / m), is a coordinate point in the image coordinate set, and the tangent angle is is denoted as: ； The tangent angle is in the range The division is divided into arch point set , the left side of which is outside the range, and the left side is divided into left side wall point set , the right side is divided into right side wall point set ; W is the value threshold of the tangent angle In the second step, the left sidewall point set in the left image and the left sidewall point set in the right image can form matching points with the same longitudinal coordinate; and the right sidewall point set in the left image and the right sidewall point set in the right image can form matching points with the same longitudinal coordinate. In the third step, the arch point set is matched in the following manner: Let the depth value of the rightmost matching point of the left side wall be denoted as , and the depth value of the leftmost matching point of the right side wall be denoted as ; for the set of vault points in the left image, find matching points in the set of vault points in the right image, be the vault point coordinates in the left image, be the vault point coordinates in the right image; the set of potential matching points satisfying the following conditions: ； wherein, , and are the number of vault points in the left and right images, respectively, abs denotes the absolute value, is the allowed longitudinal coordinate error threshold; More than one matching point meets the condition, find the potential matching point set The mean coordinate of the matching coordinate points of the left image vault point is found.

7. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 6, characterized in that, After the light points in the same scene in the right image and the left image are matched, a parallax map is obtained; the parallax map is converted into a depth map, and the conversion formula between the parallax map and the depth map is: ； wherein, is the depth, is the parallax, is the baseline length, and are the column coordinates of the principal point of the front-view measurement camera in the right and left images, respectively; Three-dimensional coordinate points (X, Y, Z) in the main station coordinate system are calculated by the depth map, and the formula is as follows: 。 8. The tunnel three-dimensional coordinate measurement and deformation calculation method according to claim 7, characterized in that, The three-dimensional coordinate points are on the same plane, and an ellipse fitting is performed on the three-dimensional coordinate point set to obtain an ellipse center coordinate ; a tunnel section plane is H-divided by angle with the ellipse center coordinate as the center, an average of all light point coordinates in each angle is calculated as a measuring point coordinate corresponding to the angle, and the three-dimensional coordinate points corresponding to an angle a at an initial moment and a current moment t are respectively denoted as , ; Let the range of the vault region be , and the vault settlement be expressed as: ； wherein is the angle of the vault region; Perimeter convergence is represented as: ； wherein , Xi, Yi, Zi and Xr, Yr, Zr are respectively the three-dimensional coordinates of the left measuring point and the right measuring point on the same horizontal measuring line of the tunnel; According to the vault settlement and the peripheral convergence, it is determined whether the section of the tunnel is deformed.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the steps of the tunnel three-dimensional coordinate measurement and deformation calculation method in any one of claims 1-8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the tunnel three-dimensional coordinate measurement and deformation calculation method in any one of claims 1-8.

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