Transition point compensation method and related apparatus

Abstract

The embodiment of the application provides a kind of transfer point compensation method and related device, method includes: obtaining reference test point information;Obtain first test point information;According to first test point information and reference test point information, determine abnormal test point;According to the second test point information of abnormal test point, determine the target transfer point instead of abnormal test point;Error compensation model of target transfer point is constructed;According to error compensation model, determine the measurement result of test point.It can realize the reference test point information observed under comparison reference working condition and the first test point information under current working condition to determine abnormal test point, establish temporary transfer point instead of abnormal test point, and establish error compensation model to reduce the error influence brought by temporary transfer point, it is favorable to improve the accuracy of mobile monitoring system measurement.

Description

Technical Field

[0001] This application belongs to the field of visual measurement technology, specifically relating to a point-shifting compensation method and related apparatus. Background Technology

[0002] Turning points are a core concept in engineering surveying, primarily used to address line-of-sight obstruction issues in long-distance leveling or angle transfer. In leveling, when the instrument cannot directly see the point to be measured or the distance between stations exceeds the instrument's effective sight distance, turning points are used as intermediate nodes for elevation transfer, forming segmented measurement links (such as: traverse leveling routes, closed leveling routes).

[0003] Traditional point relocation operations rely on manual visual judgment of point status (such as damage or displacement), which is inefficient and prone to overlooking problems. Furthermore, the introduction of temporary point relocation can lead to systematic errors due to point offset or changes in instrument line of sight. Traditional methods lack dynamic compensation mechanisms, affecting overall measurement accuracy. Summary of the Invention

[0004] This application provides a switching point compensation method and related apparatus, which can identify abnormal switching points by comparing the reference test point information observed under the reference working condition with the first test point information under the current working condition, establish temporary switching points to replace abnormal test points, and establish an error compensation model to reduce the error impact caused by temporary switching points, which is beneficial to improving the measurement accuracy of mobile monitoring systems.

[0005] In a first aspect, embodiments of this application provide a relocation compensation method applied to a processing device in a mobile monitoring system. The mobile monitoring system includes a mobile inspection device, a point to be measured, and the processing device, wherein the processing device is connected to the mobile inspection device. The method includes: Obtain reference test point information of the mobile inspection equipment under reference working conditions to observe the structure under test; Obtain the information of the first test point of the structure under test observed by the mobile inspection equipment under the current working conditions; Based on the first test point information and the reference test point information, abnormal test points are determined; Based on the second test point information of the abnormal test point, determine the target turning point to replace the abnormal test point; Construct an error compensation model for the target turning point; Based on the error compensation model, the measurement results of the test point are determined.

[0006] In one possible example, determining the abnormal test point based on the first test point information and the reference test point information includes: Based on the reference test point information, a first reference image is determined by the mobile inspection equipment at the target monitoring location, where the target monitoring location is any one of the multiple monitoring locations along the current inspection route. Based on the information of the first test point, determine multiple frames of first images continuously captured by the mobile inspection equipment at the target monitoring location within a preset time period; Based on the reference image, multiple reference test points are determined; Based on the first image, multiple first test points are determined; Based on the plurality of reference test points and the plurality of first test points of the first frame of the first image, determine the first target reference test point among the plurality of reference test points; If it is determined that none of the multiple frames of the first image include a test point that matches the first target reference test point, then the first target reference test point is taken as the abnormal test point.

[0007] In one possible example, the method for determining a first target reference test point among the plurality of reference test points based on the plurality of reference test points and the plurality of first test points of the first frame of the first image includes: Match the first coding flags of multiple reference test points with the second coding flags of multiple first test points to obtain the first target matching relationship between the reference test points and the first test points. The coding flags of different test points are different. Based on the first target matching relationship, a first target reference test point that does not match the first test point is determined among multiple reference test points.

[0008] In one possible example, matching the first encoding flags of multiple reference test points and the second encoding flags of multiple first test points to obtain a first target matching relationship between the reference test points and the first test points includes: Perform the following operation on the second coding flag of each first test point to obtain the second target matching relationship between the first coding flag of the reference test point and the second coding flag of the first test point; Extract the first image features of the first coded label for each reference test point; Extract the second image features of the second encoded label of the first test point currently being processed; Determine the matching degree between the second image feature corresponding to the first test point being processed and the first image feature corresponding to each reference test point, and obtain multiple matching degrees; Determine the maximum matching degree among multiple matching degrees; If the maximum matching degree is determined to be greater than or equal to the preset matching threshold, then it is determined that there is a matching relationship between the second encoding flag of the first test point being processed and the first encoding flag of the reference test point corresponding to the maximum matching degree. If the maximum matching degree is determined to be less than the preset matching threshold, then it is determined that there is no first coding flag that has a matching relationship with the second coding flag of the first test point being processed at the moment; Based on the second target matching relationship, a first target matching relationship is determined between the reference test point and the first test point. In a possible example, the method for determining abnormal test points based on the first test point information and the reference test point information includes: If it is detected that any first image captured by the mobile inspection device at the target monitoring position does not include a test point that matches the second target reference test point, then based on the reference test point information, a plurality of second images captured by the mobile inspection device within a preset distance after the target monitoring position are determined, and the second target reference test point is any one of the plurality of reference test points. Based on the second image, multiple second test points are determined; If it is determined that none of the multiple second test points in each second image include a test point that matches the second target reference test point, then the second target reference test point is taken as the abnormal test point.

[0009] In one possible example, the method for constructing the error compensation model for the target turning point includes: Determine the error term, constant vector, and coefficient matrix; The measurement model is determined based on the error term, the constant vector, and the coefficient matrix; Construct the weight compensation matrix for the points to be measured. In one possible example, the processing device is connected to a terminal device, and after determining the abnormal test point based on the first test point information and the reference test point information, the method further includes: Determine the information of the second test point of the abnormal test point; The second test point information is sent to the terminal device.

[0010] Secondly, embodiments of this application provide a relocation compensation device applied to a processing device in a mobile monitoring system. The mobile monitoring system includes a mobile inspection device, a point to be measured, and the processing device, with the processing device connected to the mobile inspection device. The device includes an acquisition unit, a determination unit, and a construction unit. The acquisition unit is used to acquire reference test point information of the mobile inspection equipment when observing the structure under test under reference working conditions; The acquisition unit is also used to acquire the first test point information of the structure under test observed by the mobile inspection equipment under the current working conditions; The determining unit is used to determine abnormal test points based on the first test point information and the reference test point information; The determining unit is further configured to determine a target turning point to replace the abnormal test point based on the second test point information of the abnormal test point; The construction unit is used to construct the error compensation model for the target turning point; The determining unit is used to determine the measurement result of the point to be measured based on the error compensation model.

[0011] A third aspect of this application provides an electronic device including: a processor and a memory; and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for some or all of the steps as described in the first aspect.

[0012] A fourth aspect of this application provides a computer-readable storage medium for storing a computer program that causes a computer to perform some or all of the steps described in the first aspect of this application.

[0013] A fifth aspect of this application provides a computer program product, comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of this application. This computer program product may be a software installation package.

[0014] As can be seen from the embodiments of this application, the processing device in the mobile monitoring system can first acquire reference test point information of the structure under test observed by the mobile inspection device under reference working conditions, then acquire first test point information of the structure under test observed by the mobile inspection device under current working conditions, then determine abnormal test points based on the first test point information and the reference test point information, further determine target transfer points to replace the abnormal test points based on the second test point information of the abnormal test points, further construct an error compensation model for the target transfer points, and finally determine the measurement results of the test points based on the error compensation model. This enables the identification of abnormal test points by comparing the reference test point information observed under reference working conditions with the first test point information under current working conditions, establishing temporary transfer points to replace the abnormal test points, and establishing an error compensation model to reduce the error impact of temporary transfer points, which is beneficial to improving the measurement accuracy of the mobile monitoring system. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1A This is a schematic diagram of the architecture of a mobile monitoring system provided in an embodiment of this application; Figure 1B This is a schematic diagram of a survey route provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a reversal point compensation method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating a method for determining abnormal test points according to an embodiment of this application; Figure 4 This is a schematic diagram of a camera capturing a point to be measured, provided in an embodiment of this application; Figure 5 This is a schematic diagram of another process for determining abnormal test points provided in an embodiment of this application; Figure 6 This is a schematic diagram of a process for constructing an error compensation model provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 8 This is a block diagram of the functional units of a turning point compensation device provided in an embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating 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; B exists alone. Among them, A and B can be singular or plural.

[0021] In this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0022] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0023] In this application's embodiments, "equal to" can be used with "greater than" and is applicable to technical solutions using the "greater than" condition, or it can be used with "less than" and is applicable to technical solutions using the "less than" condition. When "equal to" is used with "greater than," it is not used with "less than"; when "equal to" is used with "less than," it is not used with "greater than."

[0024] To better understand the solutions of the embodiments of this application, the electronic devices, related concepts and background that may be involved in the embodiments of this application will be introduced below.

[0025] The electronic device in this application embodiment is a device with wireless communication capabilities, and may be referred to as a terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal device, vehicle-mounted terminal device, industrial control terminal device, UE unit, UE station, mobile station, remote station, remote terminal device, mobile device, UE terminal device, wireless communication device, UE agent, or UE device, etc. The terminal device can be fixed or mobile. It should be noted that the terminal device can support at least one wireless communication technology, such as LTE, New Radio (NR), Wideband Code Division Multiple Access (WCDMA), etc. For example, terminal devices can be mobile phones, tablets, desktop computers, laptops, all-in-one computers, in-vehicle terminals, virtual reality (VR) terminal devices, augmented reality (AR) terminal devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, electronic devices or other processing devices connected to a wireless modem, wearable devices, terminal devices in future mobile communication networks, or terminal devices in future evolved public land mobile networks (PLMNs), etc. Electronic devices can be processing devices in image measurement systems.

[0026] Please see Figure 1A , Figure 1A This is a schematic diagram of the architecture of a mobile monitoring system provided in an embodiment of this application. Figure 1AAs shown, the mobile monitoring system 1 includes a mobile inspection device 10, a monitoring point 20, and a processing device 30.

[0027] The mobile inspection equipment 10 includes a mobile platform 11 and a camera array 12 mounted on the mobile platform 11. The mobile platform 11 is used to drive the camera array 12 to move and observe along a preset inspection route. The camera array 12 includes cameras, and there are no limitations on the field of view, shooting direction, or focal length of the cameras. For example, the camera array 12 includes a front-view camera and a rear-view camera. The shooting direction of the front-view camera is the same as the moving direction of the mobile inspection equipment 10, and the shooting direction of the rear-view camera is opposite to the moving direction of the mobile inspection equipment 10. There are no limitations on the form of the mobile platform 11. For example, the mobile platform 11 can be a vehicle, drone, unmanned boat, handheld or carried by a person.

[0028] The shape of the structure to be tested is not limited. For example, the structure to be tested can be a subway tunnel, a highway tunnel, a bridge, a building, a foundation pit, a slope, a dam, a pipeline, etc.

[0029] Among them, the point to be measured 20 has physical structural information, which can be natural or artificial signs, without limitation. For example, natural signs include, but are not limited to, lane lines on highways, rails, sleepers, and spikes on railways; artificial signs include, but are not limited to, luminous light source signs, reflective signs, and regular patterns on flat panels.

[0030] The camera is connected to the processing device 30. The camera is used to capture images of the point to be measured 20 and transmit the captured images to the processing device 30.

[0031] The mobile monitoring system 1 also includes a device for obtaining mileage information. It can use a visual odometer or a mobile platform equipped with multi-source sensors, such as accelerometers, inertial measurement units (IMUs), inertial navigation systems, global positioning systems (GPS), coded odometers, etc., to obtain the first mileage information of the camera array. The mileage information includes, but is not limited to, the speed, acceleration, distance traveled, and direction of travel of the camera array.

[0032] The processing device 30 can also be installed on the mobile inspection device 10, and there is no limitation on this.

[0033] In one possible example, the processing device 30 of the mobile monitoring system 1 acquires reference test point information of the structure under test observed by the mobile inspection device 10 under reference operating conditions. The processing device 30 then acquires first test point information of the structure under test observed by the mobile inspection device 10 under current operating conditions. Based on the first test point information and the reference test point information, the processing device 30 determines an abnormal test point. Further, based on the second test point information of the abnormal test point, the processing device 30 determines a target transfer point to replace the abnormal test point. Further still, the processing device 30 constructs an error compensation model for the target transfer point. Finally, based on the error compensation model, the processing device 30 determines the measurement result of test point 20. This system can identify abnormal test points by comparing the reference test point information observed under reference operating conditions with the first test point information under current operating conditions, establish temporary transfer points to replace abnormal test points, and establish an error compensation model to reduce the error impact of temporary transfer points, thus improving the measurement accuracy of the mobile monitoring system 1.

[0034] Please see Figure 2 , Figure 2 This is a flowchart illustrating a relocation compensation method provided in an embodiment of this application, applied to a processing device in a mobile monitoring system. The mobile monitoring system includes a mobile inspection device, a point to be measured, and the processing device. The processing device is connected to the mobile inspection device. The method includes: Step S201: Obtain reference test point information of the mobile inspection equipment under reference working conditions to observe the structure under test.

[0035] The mobile survey equipment can be pre-programmed with its survey route. Please refer to [link / reference]. Figure 1B , Figure 1B This is a schematic diagram of a survey route provided in an embodiment of this application. A single survey route includes a starting point, multiple monitoring locations, multiple test points, and an end point. During the survey, the mobile inspection equipment can use the front-view camera and the rear-view camera to capture images of the test points in the field of view in real time along the route, thereby obtaining images of the test points. Alternatively, monitoring locations can be preset. When the mobile inspection equipment reaches a monitoring location, the front-view camera and the rear-view camera capture images of the test points in the field of view. No limitation is made here.

[0036] The reference working condition can be a normal working condition where the test point is not damaged or lost, such as the working condition of the first inspection.

[0037] The reference test point information includes multiple images of the reference test point that have been captured.

[0038] Step S202: Obtain the information of the first test point of the structure under test observed by the mobile inspection equipment under the current working conditions.

[0039] In both the current and reference operating conditions, the mobile inspection equipment follows the same inspection route.

[0040] The information for the first test point includes multiple images of the first test point taken.

[0041] Step S203: Determine abnormal test points based on the first test point information and the reference test point information.

[0042] Among them, abnormal test points refer to test points that have been damaged or lost. Under the reference working conditions, the mobile inspection equipment can normally observe the abnormal test points, but under the current working conditions, the mobile inspection equipment cannot observe the abnormal test points.

[0043] Step S204: Based on the second test point information of the abnormal test point, determine the target turning point to replace the abnormal test point.

[0044] The second test point information includes the coding information and location information of the abnormal test point. The coding information includes the coding mark and number of the abnormal test point. The coding mark of the test point is not limited and can be a special shape (polygon, circle, ellipse, or a combination of polygons, circles, and ellipses), a ring code, a QR code, a barcode, etc. The location information includes the three-dimensional coordinates of the abnormal test point.

[0045] The processing device is connected to the user's terminal device. After determining the abnormal test point based on the first test point information and the reference test point information, the process further includes the following steps: determining second test point information for the abnormal test point; and sending the second test point information to the terminal device. Sending the second test point information to the terminal device serves as a notification to the user that the abnormal test point is damaged or lost, prompting the user to perform a point relocation operation. For example, a temporary target can be placed at the initial location of the abnormal test point based on its location information.

[0046] When an abnormal test point is observed under the current working conditions, a point switching operation can be performed to introduce a target point to temporarily replace the abnormal test point.

[0047] Step S205: Construct the error compensation model for the target turning point.

[0048] Considering that the introduction of temporary switching points may cause systematic errors due to the positional offset between the temporary switching points and the abnormal test points or changes in the instrument line of sight, an error compensation model can be established to reduce the impact of errors caused by the introduction of temporary switching points during subsequent inspections and maintain the measurement accuracy of other test points.

[0049] Step S206: Determine the measurement result of the point to be measured according to the error compensation model.

[0050] Among them, the error compensation model can be based on weighting. Specifically, when adjusting the measurement data in the data processing stage, different weight values ​​are applied to the data of different test points, so that the contribution of the target turning point is reduced, which is conducive to maintaining the measurement accuracy of other test points.

[0051] The measurement result of the point to be measured can be the deformation of the point to be measured.

[0052] As can be seen from the embodiments of this application, the processing device in the mobile monitoring system can first acquire reference test point information of the structure under test observed by the mobile inspection device under reference working conditions, then acquire first test point information of the structure under test observed by the mobile inspection device under current working conditions, then determine abnormal test points based on the first test point information and the reference test point information, further determine target transfer points to replace the abnormal test points based on the second test point information of the abnormal test points, further construct an error compensation model for the target transfer points, and finally determine the measurement results of the test points based on the error compensation model. This enables the identification of abnormal test points by comparing the reference test point information observed under reference working conditions with the first test point information under current working conditions, establishing temporary transfer points to replace the abnormal test points, and establishing an error compensation model to reduce the error impact of temporary transfer points, which is beneficial to improving the measurement accuracy of the mobile monitoring system.

[0053] Please see Figure 3 , Figure 3 This is a flowchart illustrating a method for determining abnormal test points according to an embodiment of this application. In determining abnormal test points based on the first test point information and the reference test point information, the method may include the following steps: Step S301: Based on the reference test point information, determine the first reference image captured by the mobile inspection device at the target monitoring location.

[0054] The target monitoring location is any one of the multiple monitoring locations along the current patrol route.

[0055] The first reference image includes all the points to be measured in the field of view of the camera at the target monitoring position under the reference working condition.

[0056] Step S302: Based on the information of the first test point, determine the multiple first images continuously captured by the mobile inspection device at the target monitoring location within a preset time period.

[0057] The preset time period can be set manually or by system default; there are no restrictions here. The preset time period can be set to a relatively long period.

[0058] Step S303: Determine multiple reference test points based on the reference image.

[0059] The reference test point is the test point included in the reference image.

[0060] Step S304: Based on the first image, determine a plurality of first test points.

[0061] The first test point is the test point included in the first image.

[0062] Step S305: Based on the plurality of reference test points and the plurality of first test points of the first frame of the first image, determine the first target reference test point among the plurality of reference test points.

[0063] Among the multiple first images, the first frame image in chronological order is the first frame first image.

[0064] The first target reference test point is the test point included in the reference image and the test point missing (excluding) in the first frame of the first image.

[0065] Please refer to Figure 4 , Figure 4 This is a schematic diagram of a camera capturing test points according to an embodiment of this application. Under reference working conditions (normal working conditions), the camera can observe five test points coded as 1, 2, 3, 4 and 5. Under the current working conditions, due to the damage or absence of test point coded as 5, the camera can only observe four test points coded as 1, 2, 3 and 4.

[0066] Step S306: If it is determined that none of the multiple frames of the first image include a test point that matches the first target reference test point, then the first target reference test point is taken as the abnormal test point.

[0067] If it is determined that none of the first frames of the first image include a test point that matches the first target reference test point, then it is determined that the mobile inspection equipment has not observed the first target reference test point for a long period of time under the current working condition. It can be considered that the first target reference test point has been damaged or lost and cannot be observed normally. In this case, the first target reference test point can be regarded as an abnormal test point.

[0068] As can be seen, in this example, the processing device can determine the abnormal test point by comparing the reference test point information observed under the reference operating condition with the first test point information under the current operating condition, which is beneficial to improving the intelligence of abnormal test point identification.

[0069] In one possible example, determining the first target reference test point among the plurality of reference test points based on the plurality of reference test points and the plurality of first test points of the first frame of the first image includes: matching the first encoding flags of the plurality of reference test points and the second encoding flags of the plurality of first test points to obtain a first target matching relationship between the reference test points and the first test points; and determining the first target reference test point among the plurality of reference test points that does not match the first test point based on the first target matching relationship.

[0070] Optionally, the step of matching the first encoding flags of multiple reference test points and the second encoding flags of multiple first test points to obtain a first target matching relationship between the reference test points and the first test points includes: performing the following operations on the second encoding flags of each first test point to obtain a second target matching relationship between the first encoding flags of the reference test points and the second encoding flags of the first test points; extracting the first image features of the first encoding flags of each reference test point; extracting the second image features of the second encoding flags of the currently processed first test point; determining the matching degree between the second image features corresponding to the currently processed first test point and the first image features corresponding to each reference test point, obtaining multiple matching degrees; determining the maximum matching degree among the multiple matching degrees; if it is determined that the maximum matching degree is greater than or equal to a preset matching threshold, then it is determined that there is a matching relationship between the second encoding flags of the currently processed first test point and the first encoding flags of the reference test point corresponding to the maximum matching degree; if it is determined that the maximum matching degree is less than the preset matching threshold, then it is determined that there is no first encoding flag that has a matching relationship with the second encoding flags of the currently processed first test point; and determining the first target matching relationship between the reference test point and the first test point according to the second target matching relationship.

[0071] Among them, image features can be corner and internal pattern features of coded marks, or QR code / barcode features, such as grid structure, positioning pattern or coding rules, or AR tag features, such as the geometric shape, boundary or internal pattern of coded marks, or color coding features, such as features based on specific color combinations or color sequences, or regional image features, such as statistical attributes or texture information of specific regions in an image, without limitation.

[0072] The preset matching threshold can be set manually or by system default, and no restrictions are imposed here.

[0073] Optionally, in terms of the matching order, the points to be tested can be matched one by one according to the arrangement direction in the image. If the points to be tested are arranged in the vertical direction, the first encoding mark of the first reference point to be tested in the vertical direction and the second encoding mark of the first first point to be tested can be matched.

[0074] As can be seen, in this example, by matching the encoded markers of the test points according to their arrangement direction in the image, the first target matching relationship between the reference test point and the first test point is determined. Furthermore, the first target reference test point is determined based on the first target matching relationship, which helps to improve the efficiency and accuracy of determining the unmatched first target reference test point.

[0075] Please see Figure 5 , Figure 5 This is another flowchart illustrating the determination of abnormal test points provided in this application embodiment. In determining abnormal test points based on the first test point information and the reference test point information, the above method may include the following steps: Step S501, if it is detected that any first image captured by the mobile inspection device at the target monitoring position does not include a test point that matches the second target reference test point, then based on the reference test point information, determine a plurality of second images captured by the mobile inspection device within a preset distance after the target monitoring position, wherein the second target reference test point is any one of the plurality of reference test points; Step S502: Based on the second image, determine a plurality of second test points; Step S503: If it is determined that none of the multiple second test points in each second image include a test point that matches the second target reference test point, then the second target reference test point is taken as the abnormal test point.

[0076] The preset distance can be set manually or by system default, and there is no limitation here. The preset distance can be a relatively long distance. If it is determined that none of the second images include a test point that matches the second target reference test point, it means that the second target reference test point has not been observed within a long distance after the target monitoring position, indicating that the second target reference test point is damaged or lost, and the second target reference test point is an abnormal test point.

[0077] As can be seen in this example, the second target reference test point can be determined as an abnormal test point by judging whether the second image within a longer distance does not include any test points that match the second target reference test point. This helps to improve the accuracy of identifying abnormal test points.

[0078] Please see Figure 6 , Figure 6 This is a flowchart illustrating the construction of an error compensation model according to an embodiment of this application. In constructing the error compensation model for the target turning point, the method may include the following steps: Step S601: Determine the error term, constant vector, and coefficient matrix.

[0079] Step S602: Determine the measurement model based on the error term, the constant vector, and the coefficient matrix.

[0080] Step S603: Construct the weight compensation matrix for the points to be measured.

[0081] The measurement model is as follows: .

[0082] Where Y is a constant vector and X is a coefficient matrix. The vector to be determined is... This is the error term. Based on prior knowledge, a larger error term can be set for the target turning point compared to other test points.

[0083] Specifically, a W-diagonal weight matrix, i.e., a weight compensation matrix, is constructed, with diagonal elements... The weight of each data point can be preset. Since the measurement results of the test point need to be obtained based on the equations of the turning point and other test points, the weight of the target turning point equation is set smaller than that of other test points to reduce the contribution of the target turning point equation. For example, if the weight of the turning point equation is 0.5 and the weight of the equations of other test points is 1, then when calculating the residual sum of all equations, the residual of the turning point equation needs to be multiplied by 0.5, thus reducing the contribution of the turning point equation to the solution and suppressing the error.

[0084] The weighted least squares solution vector is: .

[0085] As can be seen in this example, a measurement model and a weight compensation matrix for the measurement points can be constructed to reduce the error caused by temporary relocation points, which is beneficial to improving the accuracy of measurements in mobile monitoring systems.

[0086] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, which is a processing device applied in a mobile monitoring system. The mobile monitoring system includes a mobile inspection device, a point to be measured, and the processing device, wherein the processing device is connected to the mobile inspection device; as shown. Figure 7 As shown, the electronic device includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs are configured to be executed by the processor according to the following instructions: Obtain reference test point information of the mobile inspection equipment under reference working conditions to observe the structure under test; Obtain the information of the first test point of the structure under test observed by the mobile inspection equipment under the current working conditions; Based on the first test point information and the reference test point information, abnormal test points are determined; Based on the second test point information of the abnormal test point, determine the target turning point to replace the abnormal test point; Construct an error compensation model for the target turning point; Based on the error compensation model, the measurement results of the test point are determined.

[0087] As can be seen, in this embodiment, the electronic device can first acquire reference test point information of the structure under test observed by the mobile inspection device under reference working conditions, then acquire first test point information of the structure under test observed by the mobile inspection device under current working conditions, then determine abnormal test points based on the first test point information and the reference test point information, further determine target switching points to replace the abnormal test points based on the second test point information of the abnormal test points, further construct an error compensation model for the target switching points, and finally determine the measurement results of the test points based on the error compensation model. This enables the identification of abnormal test points by comparing the reference test point information observed under reference working conditions with the first test point information under current working conditions, establishing temporary switching points to replace the abnormal test points, and establishing an error compensation model to reduce the error impact of the temporary switching points, which is beneficial to improving the measurement accuracy of the mobile monitoring system.

[0088] In one possible example, regarding the determination of abnormal test points based on the first test point information and the reference test point information, the above procedure includes instructions for performing the following steps: Based on the reference test point information, a first reference image is determined by the mobile inspection equipment at the target monitoring location, where the target monitoring location is any one of the multiple monitoring locations along the current inspection route. Based on the information of the first test point, determine multiple frames of first images continuously captured by the mobile inspection equipment at the target monitoring location within a preset time period; Based on the reference image, multiple reference test points are determined; Based on the first image, multiple first test points are determined; Based on the plurality of reference test points and the plurality of first test points of the first frame of the first image, determine the first target reference test point among the plurality of reference test points; If it is determined that none of the multiple frames of the first image include a test point that matches the first target reference test point, then the first target reference test point is taken as the abnormal test point.

[0089] In one possible example, regarding the determination of a first target reference test point among the plurality of reference test points based on the plurality of reference test points and the plurality of first test points of the first frame of the first image, the above procedure includes instructions for performing the following steps: Match the first coding flags of multiple reference test points with the second coding flags of multiple first test points to obtain the first target matching relationship between the reference test points and the first test points. The coding flags of different test points are different. Based on the first target matching relationship, a first target reference test point that does not match the first test point is determined among multiple reference test points.

[0090] In one possible example, the first encoding flags of multiple reference test points and the second encoding flags of multiple first test points are matched to obtain a first target matching relationship between the reference test points and the first test points. The above program also includes instructions for performing the following steps: Perform the following operation on the second coding flag of each first test point to obtain the second target matching relationship between the first coding flag of the reference test point and the second coding flag of the first test point; Extract the first image features of the first coded label for each reference test point; Extract the second image features of the second encoded label of the first test point currently being processed; Determine the matching degree between the second image feature corresponding to the first test point being processed and the first image feature corresponding to each reference test point, and obtain multiple matching degrees; Determine the maximum matching degree among multiple matching degrees; If it is determined that the maximum matching degree is greater than or equal to the preset matching threshold, then it is determined that there is a matching relationship between the second encoding flag of the first test point being processed and the first encoding flag of the reference test point with the maximum matching degree. If the maximum matching degree is determined to be less than the preset matching threshold, then it is determined that there is no first coding flag that has a matching relationship with the second coding flag of the first test point being processed at the moment; Based on the second target matching relationship, a first target matching relationship is determined between the reference test point and the first test point.

[0091] In one possible example, regarding the determination of abnormal test points based on the first test point information and the reference test point information, the above procedure further includes instructions for performing the following steps: If it is detected that any first image captured by the mobile inspection device at the target monitoring position does not include a test point that matches the second target reference test point, then based on the reference test point information, a plurality of second images captured by the mobile inspection device within a preset distance after the target monitoring position are determined, and the second target reference test point is any one of the plurality of reference test points. Based on the second image, multiple second test points are determined; If it is determined that none of the multiple second test points in each second image include a test point that matches the second target reference test point, then the second target reference test point is taken as the abnormal test point.

[0092] In one possible example, regarding the construction of the error compensation model for the target turning point, the above procedure also includes instructions for performing the following steps: Determine the error term, constant vector, and coefficient matrix; The measurement model is determined based on the error term, the constant vector, and the coefficient matrix; Construct the weight compensation matrix for the points to be measured. In one possible example, the processing device is connected to a terminal device, and after determining the abnormal test point based on the first test point information and the reference test point information, the above program further includes instructions for performing the following steps: Determine the information of the second test point of the abnormal test point; The second test point information is sent to the terminal device.

[0093] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the electronic device includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] This application embodiment can divide the electronic device into functional units according to the above method example. For example, each function can be divided into a separate functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0095] When dividing each function into modules according to its corresponding function. Figure 8 This is a functional unit block diagram of a turning point compensation device provided in an embodiment of this application, such as... Figure 8 As shown, the transfer point compensation device includes an acquisition unit 801, a determination unit 802, a construction unit 803, and a transmission unit 804; wherein, The acquisition unit 801 is used to acquire reference test point information of the mobile inspection equipment when observing the structure under reference working conditions. The acquisition unit 801 is also used to acquire the first test point information of the mobile inspection equipment under the current working conditions of the structure under test; The determining unit 802 is used to determine abnormal test points based on the first test point information and the reference test point information; The determining unit 802 is further configured to determine a target turning point to replace the abnormal test point based on the second test point information of the abnormal test point; The construction unit 803 is used to construct an error compensation model for the target turning point; The determining unit 802 is used to determine the measurement result of the point to be measured based on the error compensation model.

[0096] As can be seen from the embodiments of this application, the relocation point compensation device can first obtain the reference test point information of the structure under test observed by the mobile inspection equipment under reference working conditions, then obtain the first test point information of the structure under test observed by the mobile inspection equipment under the current working conditions, then determine the abnormal test point based on the first test point information and the reference test point information, further determine the target relocation point to replace the abnormal test point based on the second test point information of the abnormal test point, further construct an error compensation model for the target relocation point, and finally determine the measurement result of the test point based on the error compensation model. This enables the identification of abnormal test points by comparing the reference test point information observed under reference working conditions with the first test point information under the current working conditions, establishing temporary relocation points to replace the abnormal test points, and establishing an error compensation model to reduce the error impact caused by the temporary relocation points, which is beneficial to improving the measurement accuracy of the mobile monitoring system.

[0097] In one possible example, regarding the determination of abnormal test points based on the first test point information and the reference test point information, the determining unit 802 is specifically used for: Based on the reference test point information, a first reference image is determined by the mobile inspection equipment at the target monitoring location, where the target monitoring location is any one of the multiple monitoring locations along the current inspection route. Based on the information of the first test point, determine multiple frames of first images continuously captured by the mobile inspection equipment at the target monitoring location within a preset time period; Based on the reference image, multiple reference test points are determined; Based on the first image, multiple first test points are determined; Based on the plurality of reference test points and the plurality of first test points of the first frame of the first image, determine the first target reference test point among the plurality of reference test points; If it is determined that none of the multiple frames of the first image include a test point that matches the first target reference test point, then the first target reference test point is taken as the abnormal test point.

[0098] In one possible example, in determining the first target reference test point among the plurality of reference test points based on the plurality of reference test points and the plurality of first test points of the first frame of the first image, the determining unit 802 is specifically used for: Match the first coding flags of multiple reference test points with the second coding flags of multiple first test points to obtain the first target matching relationship between the reference test points and the first test points. The coding flags of different test points are different. Based on the first target matching relationship, a first target reference test point that does not match the first test point is determined among multiple reference test points.

[0099] In one possible example, the process of matching the first encoding flags of multiple reference test points with the second encoding flags of multiple first test points to obtain a first target matching relationship between the reference test points and the first test points, wherein the determining unit 802 is specifically used for: Perform the following operation on the second coding flag of each first test point to obtain the second target matching relationship between the first coding flag of the reference test point and the second coding flag of the first test point; Extract the first image features of the first coded label for each reference test point; Extract the second image features of the second encoded label of the first test point currently being processed; Determine the matching degree between the second image feature corresponding to the first test point being processed and the first image feature corresponding to each reference test point, and obtain multiple matching degrees; Determine the maximum matching degree among multiple matching degrees; If it is determined that the maximum matching degree is greater than or equal to the preset matching threshold, then it is determined that there is a matching relationship between the second encoding flag of the first test point being processed and the first encoding flag of the reference test point with the maximum matching degree. If the maximum matching degree is determined to be less than the preset matching threshold, then it is determined that there is no first coding flag that has a matching relationship with the second coding flag of the first test point being processed at the moment; Based on the second target matching relationship, a first target matching relationship is determined between the reference test point and the first test point.

[0100] In one possible example, regarding the determination of abnormal test points based on the first test point information and the reference test point information, the determining unit 802 is further specifically configured to: If it is detected that any first image captured by the mobile inspection device at the target monitoring position does not include a test point that matches the second target reference test point, then based on the reference test point information, a plurality of second images captured by the mobile inspection device within a preset distance after the target monitoring position are determined, and the second target reference test point is any one of the plurality of reference test points. Based on the second image, multiple second test points are determined; If it is determined that none of the multiple second test points in each second image include a test point that matches the second target reference test point, then the second target reference test point is taken as the abnormal test point.

[0101] In one possible example, in the construction of the error compensation model for the target turning point, the determining unit 802 is further specifically used for: Determine the error term, constant vector, and coefficient matrix; The measurement model is determined based on the error term, the constant vector, and the coefficient matrix; Construct the weight compensation matrix for the points to be measured. In one possible example, the processing device is connected to a terminal device, and after determining the abnormal test point based on the first test point information and the reference test point information, the transmission unit 804 is further specifically used for: Determine the information of the second test point of the abnormal test point; The second test point information is sent to the terminal device.

[0102] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0103] The electronic device provided in this embodiment is used to execute the above-described point compensation method, and thus can achieve the same effect as the above-described implementation method.

[0104] When using integrated units, the electronic device may include a processing module, a storage module, and a communication module. The processing module can be used to control and manage the actions of the electronic device; for example, it can support the electronic device in executing the steps performed by the aforementioned functional units. The storage module can support the electronic device in executing stored program code and data. The communication module can support communication between the electronic device and other devices.

[0105] The processing module can be a processor or a controller. It can implement or execute 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 digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory. The communication module can specifically be a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, or other devices that interact with other electronic devices.

[0106] This application also provides a computer storage medium storing a computer program for electronic data interchange, which causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments, wherein the computer includes an electronic device.

[0107] This application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer includes a control platform.

[0108] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0111] The units described above as separate components may or may not be physically separate. 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 can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0113] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0114] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage device, which may include: a flash drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, etc.

[0115] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for compensation of turning points, characterized in that, A processing device is used in a mobile monitoring system, the mobile monitoring system including a mobile inspection device, a point to be measured, and the processing device, the processing device being connected to the mobile inspection device, the method comprising: Obtain reference test point information of the mobile inspection equipment under reference working conditions to observe the structure under test; Obtain the information of the first test point of the structure under test observed by the mobile inspection equipment under the current working conditions; Based on the first test point information and the reference test point information, abnormal test points are determined; Based on the second test point information of the abnormal test point, a target turning point is determined to replace the abnormal test point. The second test point information includes the encoding information and location information of the abnormal test point. Construct an error compensation model for the target turning point; Based on the error compensation model, the measurement results of the test point are determined; The step of determining abnormal test points based on the first test point information and the reference test point information includes: determining a first reference image captured by the mobile inspection device at a target monitoring location based on the reference test point information, wherein the target monitoring location is any one of multiple monitoring locations along the current inspection route; determining multiple frames of first images continuously captured by the mobile inspection device at the target monitoring location within a preset time period based on the first test point information; determining multiple reference test points based on the first reference images; determining multiple first test points based on the first images; determining a first target reference test point among the multiple reference test points based on the multiple reference test points and the multiple first test points in the first frame of the first image; if it is determined that none of the multiple frames of the first image include a match with the first target reference test point. If the first target reference test point is not found to be a test point, then the first target reference test point is taken as the abnormal test point; or, the step of determining the abnormal test point based on the first test point information and the reference test point information includes: if it is detected that any first image captured by the mobile inspection device at the target monitoring position does not include a test point matching the second target reference test point, then based on the reference test point information, determine multiple second images captured by the mobile inspection device within a preset distance after the target monitoring position, where the second target reference test point is any one of the multiple reference test points; determine multiple second test points based on the second images; if it is determined that none of the multiple second test points in each second image include a test point matching the second target reference test point, then the second target reference test point is taken as the abnormal test point.

2. The method according to claim 1, characterized in that, The step of determining the first target reference test point among the plurality of reference test points based on the plurality of reference test points and the plurality of first test points of the first frame of the first image includes: Match the first coding flags of multiple reference test points with the second coding flags of multiple first test points to obtain the first target matching relationship between the reference test points and the first test points. The coding flags of different test points are different. Based on the first target matching relationship, a first target reference test point that does not match the first test point is determined among multiple reference test points.

3. The method according to claim 2, characterized in that, The step of matching the first encoding flags of multiple reference test points and the second encoding flags of multiple first test points to obtain a first target matching relationship between the reference test points and the first test points includes: Perform the following operation on the second coding flag of each first test point to obtain the second target matching relationship between the first coding flag of the reference test point and the second coding flag of the first test point; Extract the first image features of the first coded label for each reference test point; Extract the second image features of the second encoded label of the first test point currently being processed; Determine the matching degree between the second image feature corresponding to the first test point being processed and the first image feature corresponding to each reference test point, and obtain multiple matching degrees; Determine the maximum matching degree among multiple matching degrees; If the maximum matching degree is determined to be greater than or equal to the preset matching threshold, then it is determined that the second encoding flag of the first test point being processed at the moment and the first encoding flag of the reference test point corresponding to the maximum matching degree have a matching relationship. If the maximum matching degree is determined to be less than the preset matching threshold, then it is determined that there is no first coding flag that has a matching relationship with the second coding flag of the first test point being processed at the moment; Based on the second target matching relationship, a first target matching relationship is determined between the reference test point and the first test point.

4. The method according to claim 1, characterized in that, The error compensation model for constructing the target turning point includes: Determine the error term, constant vector, and coefficient matrix; The measurement model is determined based on the error term, the constant vector, and the coefficient matrix; Construct the weight compensation matrix for the points to be measured.

5. The method according to claim 1, characterized in that, The processing device is connected to a terminal device. After determining the abnormal test point based on the first test point information and the reference test point information, the method further includes: Determine the information of the second test point of the abnormal test point; The second test point information is sent to the terminal device.

6. A turning point compensation device, characterized in that, A processing device is used in a mobile monitoring system, wherein the mobile monitoring system includes a mobile inspection device, a point to be monitored, and the processing device, the processing device being connected to the mobile inspection device, and the point-of-care compensation device includes an acquisition unit, a determination unit, and a construction unit, wherein... The acquisition unit is used to acquire reference test point information of the mobile inspection equipment when observing the structure under test under reference working conditions; The acquisition unit is also used to acquire the first test point information of the structure under test observed by the mobile inspection equipment under the current working conditions; The determining unit is configured to determine an abnormal test point based on the first test point information and the reference test point information; the determination of an abnormal test point based on the first test point information and the reference test point information includes: determining a first reference image captured by the mobile inspection device at a target monitoring location based on the reference test point information, wherein the target monitoring location is any one of multiple monitoring locations along the current inspection route; determining multiple frames of first images continuously captured by the mobile inspection device at the target monitoring location within a preset time period based on the first test point information; determining multiple reference test points based on the first reference image; determining multiple first test points based on the first image; determining a first target reference test point among the multiple reference test points based on the multiple reference test points and the multiple first test points of the first frame of the first image; if the multiple frames of the first image are determined to be abnormal, the determination unit is configured to determine an abnormal test point. If none of the images captured by the mobile inspection device at the target monitoring location include a test point that matches the first target reference test point, then the first target reference test point is designated as the abnormal test point; or, determining the abnormal test point based on the first test point information and the reference test point information includes: if any first image captured by the mobile inspection device at the target monitoring location does not include a test point that matches the second target reference test point, then based on the reference test point information, determining multiple second images captured by the mobile inspection device within a preset distance after the target monitoring location, wherein the second target reference test point is any one of the multiple reference test points; determining multiple second test points based on the second images; if it is determined that none of the multiple second test points in each second image include a test point that matches the second target reference test point, then the second target reference test point is designated as the abnormal test point; The determining unit is further configured to determine a target turning point to replace the abnormal test point based on the second test point information of the abnormal test point, wherein the second test point information includes the encoding information and location information of the abnormal test point; The construction unit is used to construct the error compensation model for the target turning point; The determining unit is used to determine the measurement result of the point to be measured based on the error compensation model.

7. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said one or more programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the method as described in any one of claims 1-5.

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