Deformation measurement method, device, electronic device, and storage medium

Abstract

A deformation measurement method is provided, the method including: When the mobile platform travels to a first measurement position, a first camera in the camera array photographs J1 measurement points in a first measurement area in the measurement target area to obtain a first image, and a second camera in the camera array photographs J2 second measurement points in the measurement target area to obtain a second image (201); when the mobile platform travels to a second measurement position in the measurement target area, the first camera photographs the J1 first measurement points to obtain a third image, and the second camera photographs the J2 measurement points to obtain a fourth image (202); based on the first and third images, J1 first measurement points are determined, and based on the second and fourth images, J2 second measurement points are determined (203); based on the first, second, third, and fourth images, the horizontal displacement and vertical subsidence amounts of each of the J1 first measurement points and the horizontal displacement and vertical subsidence amounts of each of the J2 second measurement points are obtained (204). Additionally, a deformation measurement device, an electronic device, and a storage medium are provided.

Description

[Technical field]

[0001] The present application relates to the field of image processing technology, and more particularly to a deformation measuring method, device, electronic device, and storage medium. [Background technology]

[0002] At present, it has been proposed to use the imaging measurement technology of serial-parallel camera network to realize deformation measurement for deformation measurement of large-scale structural engineering works. On the one hand, this method requires fixed monitoring stations when constructing a serial camera network. For the process measurement demand of wide-range, long-distance, and multi-point measurement, such as urban road settlement measurement, railway roadbed settlement measurement, tunnel ceiling settlement and arch shoulder horizontal convergence deformation measurement, etc., a large number of measuring devices need to be deployed, and the input of the equipment is large. On the other hand, the on-site monitoring environment may not have the conditions for deploying a large number of fixed monitoring stations. Therefore, it is currently necessary to provide a large-scale structural deformation measurement method that can be applied to all monitoring scenes, saves costs, and is simple, efficient, and automatic. Summary of the Invention

[0003] The embodiments of the present application provide a deformation measurement method, device, electronic device, and storage medium that can be applied to all monitoring scenes, save costs, improve the efficiency of deformation measurement, and enhance the simplicity of the measurement system.

[0004] In a first aspect, an embodiment of the present application provides a deformation measurement method applied to a deformation measurement apparatus. The deformation measurement apparatus is provided with a camera array and a moving platform. The method includes: When the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image, wherein the measurement point in the first measurement target area and the measurement point in the second measurement target area are located on either side of the first measurement position, and the photographing directions of the first camera and the second camera are opposite; When the moving platform travels to a second measurement position in the measurement target area, a third image is acquired by photographing a measurement point in the first measurement target area with a first camera, and a fourth image is acquired by photographing a measurement point in the second measurement target area with a second camera; First and second images 3 determining J1 first measurement points based on the image and determining J2 second measurement points based on the second and fourth images, where the J1 first measurement points are measurement points included in both the first and third images and the J2 second measurement points are measurement points included in both the second and fourth images; Obtaining a horizontal displacement amount and a vertical subsidence amount of each of the J1 first measurement points and a horizontal displacement amount and a vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image; Includes.

[0005] In a second aspect, an embodiment of the present application provides a deformation measurement apparatus, the deformation measurement apparatus being provided with a camera array and a moving platform, the apparatus including an acquisition unit and a processing unit. The acquisition unit is configured to perform the following: When the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image, the measurement points in the first measurement target area and the measurement points in the second measurement target area are located on both sides of the first measurement position, and the photographing directions of the first camera and the second camera are opposite to each other; When the moving platform travels to a second measurement position in the measurement target area, the first camera photographs the measurement point in the first measurement target area to obtain a third image, and the second camera photographs the measurement point in the second measurement target area to obtain a fourth image. The processing unit is configured to perform the following: First and second images 3 Based on the image, J1 first measurement points are determined, and based on the second image and the fourth image, J2 second measurement points are determined, and the J1 first measurement points are determined based on the first image and the fourth image. 3 the J2 second measurement points are measurement points that are included in both the second image and the fourth image; and Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount and the vertical subsidence amount of each first measurement point among the J1 first measurement points, and the horizontal displacement amount and the vertical subsidence amount of each second measurement point among the J2 second measurement points are obtained.

[0006] In a third aspect, embodiments of the present application provide an electronic device comprising a processor and a memory, the processor coupled to the memory and having a computer program stored therein, the processor configured to execute the computer program stored in the memory to cause the electronic device to perform a method according to the first aspect.

[0007] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon a computer program for causing a computer to perform the method according to the first aspect.

[0008] In a fifth aspect, embodiments of the present application provide a computer program product, the computer program product including a non-transitory computer readable storage medium having a computer program stored thereon, the computer program product being operable by a computer to perform the method according to the first aspect.

[0009] By implementing the embodiments of the present application, the following beneficial effects can be obtained.

[0010] In an embodiment of the present application, when the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image. Next, when the moving platform travels to a second measurement position in the measurement target area, the first camera photographs a measurement point in the first measurement target area to obtain a third image, and the second camera photographs a measurement point in the second measurement target area to obtain a fourth image. Next, the first image and the second image are compared. 3 Based on the image, J1 first measurement points are determined, and based on the second and fourth images, J2 second measurement points are determined. Finally, based on the first, second, third, and fourth images, the horizontal displacement and vertical subsidence of each of the first measurement points in J1 first measurement points and the horizontal displacement and vertical subsidence of each of the second measurement points in J2 second measurement points are obtained. In such a measurement method based on the construction of a camera linkage network, the cameras are integrated on a moving platform, and no human intervention is required in the measurement process, realizing automatic measurement, saving a large amount of labor and materials, improving the efficiency of measurement, and enhancing the simplicity and flexibility of the measurement system. [Brief description of the drawings]

[0011] In order to more clearly describe the technical solutions in the embodiments of the present application, the following briefly introduces the drawings necessary for describing the embodiments. Obviously, the drawings described are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative efforts. [Figure 1A] 1 is a schematic diagram of a deformation measurement system according to an embodiment of the present application. [Figure 1B] FIG. 2 is a schematic diagram of another deformation measurement system according to an embodiment of the present application. [Diagram 2] 1 is a flowchart of a deformation measurement method according to an embodiment of the present application. [Diagram 3] A flowchart of a method for obtaining the horizontal displacement and vertical subsidence of each of J1 first measurement points and the horizontal displacement and vertical subsidence of each of J2 second measurement points based on a first image, a second image, a third image, and a fourth image according to an embodiment of the present application. [Figure 4] 1 is a schematic diagram of a basic principle of camera imaging and measurement according to an embodiment of the present application; [Diagram 5] 1 is a flowchart of another deformation measurement method according to an embodiment of the present application. [Figure 6] 1 is a block diagram showing a configuration of functional units of a deformation measuring device according to an embodiment of the present application; [Figure 7] 1 is a schematic diagram illustrating a configuration of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the technical solutions of the embodiments of the present application will be described clearly and comprehensively with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all embodiments. Based on the embodiments in the present application, all other embodiments that a person skilled in the art can obtain without creative efforts all belong to the protection scope of the present application.

[0013] The terms "first", "second", "third", "fourth", etc. in the specification, claims and drawings of this application are intended to distinguish different objects and not to describe a particular order. In addition, the terms "comprise", "have" and any variations thereof are intended to cover, not exclude, the inclusion of other elements. For example, a process, method, system, product, or device that includes a series of operations or units is not limited to the listed operations or units, and may optionally include unlisted operations or units, or may optionally include other operations or units inherent to those processes, methods, products, or devices.

[0014] An "embodiment" referred to in this specification means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. The appearance of such words anywhere in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with another embodiment. Those skilled in the art can understand, explicitly or implicitly, that an embodiment described in this specification can be combined with another embodiment.

[0015] Referring to Fig. 1A, Fig. 1A is a schematic diagram of a deformation measurement system according to an embodiment of the present application. The deformation measurement system includes a deformation measurement device 10. A moving platform 20 is provided on the deformation measurement device 10, and a camera array 30 is provided on the moving platform 20. The camera array 30 includes at least two cameras with opposite imaging directions. The cameras in the camera array 30 are fixed to each other, and the model number and focal length of each camera are not limited to the present application.

[0016] In the embodiment of the present application, when the mobile platform 20 travels to the first measurement position, the mobile platform 20 transmits a control signal to the camera array 30, and upon receiving the control signal, the camera array 30 controls the first and second cameras to photograph the measurement point. Then, the deformation measuring device 10 calculates the vertical subsidence and horizontal displacement of the measurement point based on the images photographed by the first and second cameras.

[0017] For example, when the moving platform in the deformation measuring device 10 travels to the first measurement position in the measurement target area, a first camera in a camera array integrated on the moving platform photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image. The measurement points in the first measurement target area and the measurement points in the second measurement target area are provided on both sides of the first measurement position, and the photographing directions of the first camera and the second camera are opposite. Note that, in the embodiment of the present application, when the moving platform in the deformation measuring device 10 travels to the first measurement position in the measurement target area, the first camera and the second camera in the camera array simultaneously photograph the measurement points in the measurement target area, that is, while the first camera photographs the measurement points in the first measurement target area, the second camera also photographs the measurement points in the second measurement target area.

[0018] Similarly, when the moving platform in the deformation measurement device 10 travels to a second measurement position in the measurement target area, the first camera photographs the measurement point in the first measurement target area to obtain a third image, and the second camera photographs the measurement point in the second measurement target area to obtain a fourth image.

[0019] Next, the first and second images 3 Based on the image, J1 first measurement points are determined, and based on the second image and the fourth image, J2 second measurement points are determined. The J1 first measurement points are measurement points included in both the first image and the third image, and the J2 second measurement points are measurement points included in both the second image and the fourth image.

[0020] Finally, based on the first image, the second image, the third image, and the fourth image, the deformation measuring device 10 acquires the horizontal displacement and vertical subsidence amount of each of the J1 first measurement points, and the horizontal displacement and vertical subsidence amount of each of the J2 second measurement points.

[0021] Optionally, refer to FIG. 1B, which is a schematic diagram of another deformation measurement system according to an embodiment of the present application. The deformation measurement system includes a deformation measurement device 10 and a cloud processing end 40. The deformation measurement device 10 is provided with a moving platform 20, and a camera array 30 is provided on the moving platform 20. The camera array 30 is provided with at least two cameras with opposite imaging directions. The cameras in the camera array 30 are fixed to each other, and the model number and focal length of each camera are not limited to the present application.

[0022] It should be noted that the method of acquiring the first, second, third, and fourth images by the deformation measurement system shown in Fig. 1B is the same as the method of acquiring the first, second, third, and fourth images by the deformation measurement system shown in Fig. 1A, and will not be described further. On the other hand, the deformation measurement system shown in Fig. 1B differs from the deformation measurement system shown in Fig. 1A in that after acquiring the first, second, third, and fourth images, the deformation measurement device 10 in Fig. 1B transmits the first, second, third, and fourth images to the cloud processing end 40, and then the cloud processing end 40 calculates the vertical subsidence amount and horizontal displacement amount of the measurement point based on the first, second, third, and fourth images.

[0023] Further, in the embodiment of the present application, the deformation measurement system shown in FIG. 1A or FIG. 1B can be applied to deformation monitoring of large construction structures such as roads, railways, bridges, and tunnels. For example, a plurality of measurement positions are provided in a tunnel, and a plurality of measurement points are provided on both sides of each measurement position, and the deformation measurement system calculates the vertical subsidence and horizontal displacement of each measurement point, and then compares the vertical subsidence and horizontal displacement of the measurement point with a first threshold value. If the vertical subsidence and horizontal displacement are greater than the first threshold value, an early warning can be presented to the monitoring center. Optionally, after calculating the vertical subsidence and horizontal displacement of each measurement point, the ratio of the vertical subsidence of each measurement point to the time interval between two adjacent patrol measurements is set as the subsidence deformation speed of each measurement point, and the ratio of the horizontal displacement of each measurement point to the time interval between two adjacent patrol measurements is set as the horizontal deformation speed of each measurement point. Then, the subsidence deformation speed and horizontal deformation speed of each measurement point are compared with a second threshold value, and a measurement point whose subsidence deformation speed and / or horizontal deformation speed is greater than the second threshold value is determined as an abnormal measurement point. In this way, an early warning about the abnormal measurement point can be provided to the monitoring center, and the abnormal measurement point can be repaired. Note that in practice, many more application scenarios may be possible, and this application will not enumerate them one by one.

[0024] As can be seen from the above, in an embodiment of the present application, when the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image. Next, when the moving platform travels to a second measurement position in the measurement target area, the first camera photographs a measurement point in the first measurement target area to obtain a third image, and the second camera photographs a measurement point in the second measurement target area to obtain a fourth image. Next, the first image and the second image are compared. 3Based on the image, J1 first measurement points are determined, and based on the second and fourth images, J2 second measurement points are determined. Finally, based on the first, second, third, and fourth images, the horizontal displacement and vertical subsidence of each of the first measurement points in J1 first measurement points and the horizontal displacement and vertical subsidence of each of the second measurement points in J2 second measurement points are obtained. In such a measurement method based on the construction of a camera linkage network, the cameras are integrated on a moving platform, and no human intervention is required in the measurement process, realizing automatic measurement, saving a large amount of labor and materials, improving the efficiency of measurement, and enhancing the simplicity and flexibility of the measurement system.

[0025] Referring to Fig. 2, Fig. 2 is a flow chart of a deformation measurement method according to an embodiment of the present application. The method is applied to the above-mentioned deformation measurement apparatus 10, which is equipped with a camera array and a moving platform. The method includes, but is not limited to, steps 201 to 204.

[0026] 201: When the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image.

[0027] The measurement point in the first measurement target area and the measurement point in the second measurement target area are provided on either side of the first measurement position, and the shooting directions of the first camera and the second camera are opposite to each other.

[0028] In an embodiment of the present application, the mobile platform may be a mobile measuring vehicle, a mobile measuring ship, a mobile aircraft, etc., and the mobile platform may be equipped with a positioning device such as a mileage encoder or a GPS positioning system, and may also be equipped with an attitude measurement device such as an inertial navigation system or a gyroscope, and the present application is not limited thereto.

[0029] The camera array means that a plurality of cameras are fixed to each other, but the shooting direction of each camera may be different, and the model number and focal length of each camera may also be different, and are not limited in the present application. In an embodiment of the present application, the camera array includes at least two cameras, and the shooting direction of at least one camera is opposite to the shooting direction of the other camera. Exemplarily, the camera array includes a first camera and a second camera, and the shooting directions of the first camera and the second camera are opposite. For example, the first camera is a rear camera, and the second camera is a front camera. The rear camera is a camera whose shooting direction is opposite to the running direction of the moving platform, and the front camera is a camera whose shooting direction is the same as the running direction of the moving platform.

[0030] Accordingly, the above-mentioned rear camera and front camera photograph the sign at the measurement point while the moving platform is moving, that is, the rear camera photographs the sign at the measurement point in the first measurement target area, and the front camera photographs the sign at the measurement point in the second measurement target area. At the same time, the deformation measurement device 10 synchronously records the position of the moving platform at the time of this photographing, that is, the first measurement position. Note that the method of recording the position of the moving platform may be artificial marking, may record the scale of a mileage encoder, may use a GPS positioning system, etc., but is not limited here. In addition, for the sign at the measurement point, for example, the natural feature of the measurement point may be used, or an artificial cooperative sign may be provided at the measurement point, but is not limited thereto.

[0031] 202: When the moving platform travels to a second measurement position in the measurement target area, a first camera photographs a measurement point in the first measurement target area to obtain a third image, and a second camera photographs a measurement point in the second measurement target area to obtain a fourth image.

[0032] In step 201, the first measurement position is a position when the first camera in the camera array photographs the measurement points in the first measurement target area and the second camera photographs the measurement points in the second measurement target area during the first cyclic measurement from the start point to the end point of the deformation measurement device 10. Similarly, the second measurement position is a position when the first camera in the camera array photographs the measurement points in the first measurement target area and the second camera photographs the measurement points in the second measurement target area during the second cyclic measurement from the start point to the end point of the deformation measurement device 10. Here, considering actual conditions, the position where the first camera photographs the measurement points in the first measurement target area and the second camera photographs the measurement points in the second measurement target area during the first patrol measurement may differ from the position where the first camera photographs the measurement points in the first measurement target area and the second camera photographs the measurement points in the second measurement target area during the second patrol measurement. Therefore, in the embodiment of the present application, the first measurement position and the second measurement position may be different, thereby enabling a six-degree-of-freedom motion to be generated in the deformation measurement device itself.

[0033] In addition, the measurement points in the first measurement target area and the measurement points in the second measurement target area are provided in the measurement target area based on the requirements of a preset measurement standard. For example, the measurement points in the first measurement target area and the measurement points in the second measurement target area can both be disposed as subsidence measurement points and / or horizontal displacement measurement points, that is, the subsidence measurement points and horizontal displacement measurement points provided may be the same points or different points. Besides, the present application does not limit the positions and shapes of the measurement points.

[0034] Deformation measurement for large construction structures can be realized by one patrol measurement or multiple patrol measurements. When it is realized by one patrol measurement, the vertical settlement and horizontal displacement of the measurement point obtained at this time are shape variations caused by this patrol measurement compared to the reference patrol measurement. When it is realized by multiple patrol measurements, the multiple patrol measurements are two adjacent patrol measurements, for example, the first patrol measurement and the second patrol measurement. The time interval between two adjacent patrol measurements is not limited in this application. In this case, the vertical settlement and horizontal displacement of the measurement point obtained are shape variations caused by the second patrol measurement compared to the first patrol measurement.

[0035] 203: Determine J1 first measurement points based on the first image and the third image, and determine J2 second measurement points based on the second image and the fourth image.

[0036] Here, the J1 first measurement points are measurement points included in both the first image and the third image, i.e., the first image includes J1 first measurement points and the third image also includes J1 first measurement points. The J2 second measurement points are measurement points included in both the second image and the fourth image, i.e., the second image includes J2 second measurement points and the fourth image also includes J2 second measurement points.

[0037] In practical applications, since the measurement points may be damaged or lost during the patrol measurement, the number of measurement points captured by the cameras in the camera array during the first patrol measurement may be different from the number of measurement points captured by the cameras in the camera array during the second patrol measurement. As an example, at a first measurement position during a first patrol measurement, a first camera captures measurement points in a first measurement target area to obtain a first image, and then the number of measurement points captured in the first patrol measurement can be determined from the first image. At a second measurement position during a second patrol measurement, a first camera again captures measurement points in a first measurement target area to obtain a third image, and then the number of measurement points captured in the second patrol measurement can be determined from the third image. If the measurement points are damaged or lost in the second patrol measurement, the number of measurement points captured in the second patrol measurement is smaller than the number of measurement points captured in the first patrol measurement, and it can be understood that the number of measurement points in the first image is greater than J1 and the number of measurement points in the third image is equal to J1. Therefore, it is necessary to identify the measurement points contained in both the first and third images, that is, J1 first measurement points. At the same time, if the measurement points do not suffer from the above-mentioned damage, loss, etc. during the patrol measurement, the measurement points in the first and third images are the same, and the quantity is all J1. Similarly, the principle of the second camera capturing the measurement points in the second measurement target area and determining J2 second measurement points is similar to the principle of the first camera capturing the measurement points in the first measurement target area and determining J1 first measurement points, so it will not be described further here.

[0038] 204: Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points, and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points are obtained.

[0039] In the embodiment of the present application, when the subsidence measurement point and the horizontal displacement measurement point are the same point, that is, when each measurement point in the J1 first measurement points and the J2 second measurement points is the subsidence measurement point of the point where the measurement point is located, and also the horizontal displacement measurement point of the point where the measurement point is located, the horizontal displacement amount and the vertical subsidence amount of each first measurement point in the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each second measurement point in the J2 second measurement points can be obtained based on the first image, the second image, the third image, and the fourth image. As shown in FIG. 3, FIG. 3 provides a flowchart of a method for obtaining the horizontal displacement amount and the vertical subsidence amount of each first measurement point in the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each second measurement point in the J2 second measurement points based on the first image, the second image, the third image, and the fourth image, the method includes, but is not limited to, steps 301 to 305.

[0040] 301: Obtain J1 first pixel coordinates of J1 first measurement points in the first image and J1 second pixel coordinates of J1 first measurement points in the third image.

[0041] There is a one-to-one correspondence between the J1 first pixel coordinates and the J1 first measurement points, and there is a one-to-one correspondence between the J1 second pixel coordinates and the J1 first measurement points.

[0042] Optionally, before obtaining the first pixel coordinate and the second pixel coordinate, the first image and the third image may be pre-processed, such as noise removal and grayscale processing. Then, pixel coordinates are obtained based on the pre-processed images. Note that obtaining the first pixel coordinate and the second pixel coordinate of the first measurement point of J1 is for determining the position of the first measurement point of J1 in the first image and the third image. An image sub-pixel positioning technique may be used to determine the position of the first measurement point of J1 in the first image and the third image. The image sub-pixel positioning technique may include, but is not limited to, an adaptive template correlation filtering method, an adaptive threshold centroid method, a grayscale matching method, etc.

[0043] 302: For any one of the J1 first measurement points, a first vertical change amount and a first horizontal change amount of the arbitrary one of the J1 first measurement points are obtained based on the first pixel coordinate and the second pixel coordinate corresponding to the arbitrary one of the first measurement points.

[0044] The first vertical change amount is the vertical change amount in the image of any one of the first measurement points, that is, the vertical change amount generated at this first measurement point by comparing the third image with the first image. This vertical change amount is the first pixel coordinate of this first measurement point, that is, (x 1, y1) and the second pixel coordinate, i.e. (x 2, The first horizontal change is the horizontal change in the image of any one of the first measurement points, i.e., the horizontal change that occurs at the first measurement point by comparing the third image with the first image. Similarly, the horizontal change can be represented by the horizontal change in the image coordinate system of the first pixel coordinate and the second pixel coordinate of the first measurement point, i.e., the horizontal change is (x1?x2).

[0045] 303: Obtain J2 third pixel coordinates of the J2 second measurement points in the second image and J2 fourth pixel coordinates of the J2 second measurement points in the fourth image.

[0046] Here, there is a one-to-one correspondence between the J2 third pixel coordinates and the J2 second measurement points, and there is a one-to-one correspondence between the J2 fourth pixel coordinates and the J2 second measurement points.

[0047] Optionally, before obtaining the third and fourth pixel coordinates, 2 The image and the fourth image may be pre-processed, such as noise removal and grayscale processing. Then, pixel coordinates are obtained based on the pre-processed image. Note that obtaining the third pixel coordinates and the fourth pixel coordinates of the J2 second measurement points is intended to determine the positions of the J2 second measurement points in the second image and the fourth image. In order to determine the positions of the J2 second measurement points in the second image and the fourth image, an image sub-pixel positioning technique may be used, and the present application is not limited thereto.

[0048] 304: For any one of the J2 second measurement points, a second vertical change amount and a second horizontal change amount of the any one second measurement point are obtained based on a third pixel coordinate and a fourth pixel coordinate corresponding to the any one second measurement point.

[0049] The second vertical change amount is the vertical change amount in the image of the arbitrary one of the second measurement points, i.e., the vertical change amount generated at the arbitrary one of the second measurement points by comparing the fourth image with the second image. The second horizontal change amount is the horizontal change amount in the image of the arbitrary one of the second measurement points, i.e., the horizontal change amount generated at the arbitrary one of the second measurement points by comparing the fourth image with the second image. Note that the method of obtaining the vertical change amount and the horizontal change amount of the second measurement point is similar to the method of obtaining the vertical change amount and the horizontal change amount of the first measurement point, and will not be described further.

[0050] 305: Based on the J1 first vertical change amounts and the J1 first horizontal change amounts corresponding to the J1 first measurement points, the J2 second vertical change amounts and the J2 second horizontal change amounts corresponding to the J2 second measurement points, the first angle and the second angle of the camera array, the J1 first object surface resolutions corresponding to the J1 first measurement points, the J2 second object surface resolutions corresponding to the J2 second measurement points, the J1 first distances, the J2 second distances, and the 6-degree-of-freedom motion of the deformation measuring device, the horizontal displacement amount and the vertical subsidence amount of each first measurement point at the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each second measurement point at the J2 second measurement points are determined.

[0051] Here, the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, the J1 first distances are the distances between the first camera and each of the J1 first measurement points, and the J2 second distances are the distances between the second camera and each of the J2 second measurement points. Note that the J1 first distances and the J2 second distances are all previously determined.

[0052] Besides, the first object plane resolution of J1 is the magnification of the third image for the first measurement point of J1, and the second object plane resolution of J2 is the magnification of the fourth image for the second measurement point of J2. Illustratively, as shown in FIG. 4, FIG. 4 provides a schematic diagram of the basic principle of camera imaging measurement. Assuming that the size of the imaging field of view is W×H, the resolution of the first camera is M×N, the size of the photosensitive image is dx×dy, the focal length is f, and the object distance is D, the formula 1 can be obtained from the similarity relationship shown in FIG. 4.

number

number

number

[0053] Here, R x and R y Both indicate the first object plane resolution, i.e., R x is the object plane resolution of the third image for the J1 first measurement points in the horizontal direction, and R y indicates the object plane resolution of the third image for the J1 first measurement points in the vertical direction, that is, the first object plane resolution includes the vertical object plane resolution and the horizontal object plane resolution. Therefore, when measuring the vertical subsidence amount for the J1 first measurement points below, the first object plane resolution at this time is the vertical object plane resolution, that is, R y When measuring the horizontal displacement amount for J1 first measurement points, the first object plane resolution is the object plane resolution in the horizontal direction.

[0054] Similarly, the method of calculating the second object plane resolution is similar to that of the first object plane resolution, and will not be further described here.

[0055] Optionally, in actual cases, the object plane resolution value here may be based on the value determined during the first cyclic measurement, i.e., the initial cyclic measurement, or may be based on the value determined during any one cyclic measurement, or may be based on the average value of the object plane resolution values ​​determined during different cyclic measurements, and is not limited here.

[0056] Furthermore, in the embodiment of the present application, step 305 specifically includes steps S1 to S4.

[0057] S1: Obtain a first simultaneous equation corresponding to any one of the first measurement points based on a first vertical change amount, a first horizontal change amount, a first angle, a first object surface resolution, a first distance, and a six-degree-of-freedom momentum corresponding to the any one of the first measurement points.

[0058] In the embodiment of the present application, if any one first measurement point is the m-th first measurement point among the J1 first measurement points, the first simultaneous equations can be obtained by Equation 4.

number

[0059] JPEG2025512775000006.jpg173170

[0060] S2: Based on the second vertical change amount, the second horizontal change amount, the second angle, the second object surface resolution, the second distance, and the six-degree-of-freedom momentum corresponding to any one of the second measurement points, a second simultaneous equation corresponding to the any one of the second measurement points is obtained.

[0061] In the embodiment of the present application, when any one second measurement point is the n-th second measurement point among the J2 measurement points, the second simultaneous equations can be obtained by Equation 5.

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[0062] JPEG2025512775000008.jpg142170

[0063] S3: Obtain a first target simultaneous equation and a second target simultaneous equation based on J1 first simultaneous equations corresponding to the J1 first measurement points and J2 second simultaneous equations corresponding to the J2 second measurement points.

[0064] JPEG2025512775000009.jpg105170

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[0065] JPEG2025512775000011.jpg83170

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[0066] S4: Based on the first target simultaneous equations, the vertical subsidence amount of each first measurement point among the J1 first measurement points and the vertical subsidence amount of each second measurement point among the J2 second measurement points are obtained, and based on the second target simultaneous equations, the horizontal displacement amount of each first measurement point among the J1 first measurement points and the horizontal displacement amount of each second measurement point among the J2 second measurement points are obtained.

[0067] In the embodiment of the present application, in order to obtain the vertical subsidence amount of each of the first measurement points among the J1 first measurement points and the vertical subsidence amount of each of the second measurement points among the J2 second measurement points based on the first target simultaneous equations, it is necessary to satisfy that the first target simultaneous equations have a solution. In order to obtain the horizontal displacement amount of each of the first measurement points among the J1 first measurement points and the horizontal displacement amount of each of the second measurement points among the J2 second measurement points based on the second target simultaneous equations, it is also necessary to satisfy that the second target simultaneous equations have a solution.

[0068] In addition, when the first camera photographs the measurement target points in the first measurement target area to obtain J1 first measurement points, and the second camera photographs the measurement target points in the second measurement target area to obtain J2 second measurement points, the obtained first target simultaneous equations and second target simultaneous equations must both satisfy two types of basic constraints and one type of optimization constraint. The two types of basic constraints include a fixed joint constraint and a constraint of the same name. The fixed joint constraint means that the camera array is fixed to the moving platform, and all the cameras included in the camera array in the deformation measurement device 10 have the same 6-degree-of-freedom motion at the same measurement position, for example, the first camera and the second camera in the deformation measurement device 10 have the same 6-degree-of-freedom motion at the second measurement position. The same name constraint means that when the same first measurement point or the same second measurement point is photographed by different cameras, that is, when the first measurement point is not photographed only by the first camera and the second measurement point is not photographed only by the second camera, the vertical subsidence amount of the same first measurement point is the same physical amount, the vertical subsidence amount of the same second measurement point is the same physical amount, the horizontal displacement amount of the same first measurement point is the same physical amount, and the horizontal displacement amount of the same second measurement point is the same physical amount. For example, during the same patrol measurement, when the same second measurement point is photographed by the second camera at one first measurement position and by the first camera at another first measurement position, the vertical subsidence amount of the same second measurement point photographed by the first camera and the second camera is the same, and the horizontal displacement amount is also the same. In order to satisfy the above-mentioned same name constraint, it can be selectively assumed that, during one patrol measurement process, i.e., during the process in which the moving platform travels from the starting point to the end point, all measurement points in the measurement target area will not be deformed after being photographed by the cameras in the camera array, and this application is not limited thereto. For example, since the J2 second measurement points no longer deform after being photographed by the second camera, the vertical subsidence amount of the J2 second measurement points photographed by the first camera is the same as the vertical subsidence amount of the J2 second measurement points photographed by the second camera.The optimization constraint means that while the moving platform is moving, the cameras in the camera array take pictures continuously and synchronously, for example, when the first camera and the second camera take pictures continuously and synchronously, the same first measurement point or second measurement point is photographed multiple times and measured multiple times to obtain the vertical subsidence and horizontal displacement of the same first measurement point or second measurement point, which can be further leveled and optimized.

[0069] Furthermore, as can be seen from the first target simultaneous equation and the second target simultaneous equation, two independent equations can be enumerated each time an arbitrary first measurement point or a second measurement point is imaged. In an actual scene, when deformation measurement is performed on a large construction structure, deformation measurement can be realized by one patrol measurement as described above, and deformation measurement can also be realized by multiple patrol measurements. Among them, there can be multiple measurement positions during each patrol measurement, that is, during the patrol measurement from the starting point to the end point. Therefore, when deformation measurement is realized by one patrol measurement, the vertical settlement amount and horizontal displacement amount of the measurement point can be obtained by comparing the images taken at each measurement position in this patrol measurement with the images taken at the corresponding measurement position in the reference patrol measurement. When deformation measurement is realized by multiple patrol measurements, for example, the first patrol measurement and the second patrol measurement, the vertical settlement amount and horizontal displacement amount of the measurement point can be obtained by comparing the images taken at each measurement position in the second patrol measurement with the images taken at the corresponding measurement positions in the first patrol measurement. In the embodiment of the present application, deformation measurement by multiple cyclic measurements will be described as an example. That is, during the first cyclic measurement, and the second camera takes a photograph at the first measurement position to obtain the first and second images, and during the second patrol measurement, First camera and The second camera captures a third image and a fourth image at the second measurement position, and then the first image and the third image are compared to obtain the vertical subsidence and horizontal displacement of the J1 first measurement points, and the second image and the fourth image are compared to obtain the vertical subsidence and horizontal displacement of the J2 second measurement points.

[0070] Based on this, the present application takes a plurality of first measurement positions as an example to state whether a plurality of first target simultaneous equations and a plurality of second target simultaneous equations corresponding to a plurality of first measurement positions have solutions. The number of first measurement positions is a, the total number of signs is E, that is, the total number of measurement points is E, and the numbers of signs photographed at the a first measurement positions are summed up to be G1, G2, G3...G a Then, the number of signs photographed by more than one camera (denoted as signs of the same name) is L = G1 + G2 + G3 + … G a ?E, and the number of independent equations that can be enumerated is (G1+G2+G3+…G a )*2, and the number of unknown parameters in the simultaneous equations is 2*E+6*a, that is, the unknown parameters include the vertical subsidence of E markers, the horizontal displacement of E markers, and the 6 degrees of freedom of motion of 6a deformation measuring devices. Therefore, in order to ensure that the simultaneous equations have a solution, the number of independent equations ≧ the number of unknown parameters, that is, (G1+G2+G3+…G a )*2≧(2*E+6*a) must be satisfied, and by rearranging, we obtain L≧3a. In other words, when L≧3a is satisfied, each unknown parameter in the simultaneous equations can be solved, and the vertical subsidence and horizontal displacement of the E measurement points and the six-degree-of-freedom motion of the deformation measuring device 10 can be obtained.

[0071] Note that each unknown parameter obtained above is a relative change amount. If it is necessary to obtain the absolute vertical subsidence and absolute horizontal displacement of all measurement points, or the vertical subsidence and horizontal displacement relative to the reference point, it is necessary to arrange three arbitrary reference points or three measurement points with known vertical subsidence and horizontal displacement on the entire measurement route from the starting point to the end point. In this case, even if a camera in the camera array photographs an arbitrary reference point or an arbitrary measurement point with known vertical subsidence and horizontal displacement, two independent equations are generated. In other words, taking the above assumption as an example, if the total number of measurement points is E, the E measurement points must include three reference points or three measurement points with known vertical subsidence and horizontal displacement, and there is no need to limit the specific positions of these three reference points or three measurement points with known vertical subsidence and horizontal displacement. Alternatively, in the first patrol measurement process of the embodiment of the present application, if there is only one measurement position, i.e., the first measurement position, and a measurement point in the first measurement target area and a measurement point in the second measurement target area are provided on both sides of the first measurement position, then during the second patrol measurement, the above-mentioned damage, loss, etc. has not occurred to both the measurement points in the first measurement target area and the measurement points in the second measurement target area, i.e., in both the first patrol measurement and the second patrol measurement, the measurement points in the first measurement target area are J1 first measurement points, and the measurement points in the second measurement target area are J2 second measurement points, then the total number of measurement points is (J1+J2), that is, these (J1+J2) measurement points must include three reference points or three measurement points whose vertical subsidence and horizontal displacement are known.

[0072] JPEG2025512775000013.jpg234170

[0073] Based on this, when one or more of the six degrees of freedom momentum changes from unknown parameters to known parameters, the principle of determining whether there are solutions to the multiple first target simultaneous equations and the multiple second target simultaneous equations corresponding to the multiple first measurement positions when the six degrees of freedom momentum are all unknown parameters is similar to the principle of determining whether there are solutions to the multiple first target simultaneous equations and the multiple second target simultaneous equations corresponding to the multiple first measurement positions when the six degrees of freedom momentum are all unknown parameters, and will not be described here.

[0074] 5, which is a flow chart of another deformation measurement method according to an embodiment of the present application, the method includes, but is not limited to, steps 501-504.

[0075] 501: The number of J1 first measurement points is an even number, and the J1 first measurement points are made up of J1 / 2 third measurement points and J1 / 2 fourth measurement points.

[0076] In the embodiment of the present application, when the number of J1 first measurement points is an even number and the J1 first measurement points are composed of J1 / 2 third measurement points and J1 / 2 fourth measurement points, that is, when the J1 first measurement points include J1 / 2 subsidence measurement points and J 1 / 2 horizontal displacement measurement points are included, that is, J1 / 2 third measurement points are all horizontal Displacement measurement point and the J1 / 2 fourth measurement points are all subsidence measurement points, that is, the subsidence measurement points and the horizontal displacement measurement points are not the same points.

[0077] 502: The number of J2 second measurement points is an even number, and the J2 second measurement points are made up of J2 / 2 fifth measurement points and J2 / 2 sixth measurement points.

[0078] In the embodiment of the present application, when the number of the J2 second measurement points is an even number and the J2 second measurement points are composed of J2 / 2 fifth measurement points and J2 / 2 sixth measurement points, that is, the J2 second measurement points include J2 / 2 subsidence measurement points and J2 / 2 horizontal displacement measurement points, that is, all of the J2 / 2 fifth measurement points are horizontal. Displacement measurement point and all of the J2 / 2 sixth measurement points are subsidence measurement points, that is, the subsidence measurement points and the horizontal displacement measurement points are not the same point.

[0079] 503: Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount of each of the J1 / 2 third measurement points and the horizontal displacement amount of each of the J2 / 2 fifth measurement points are obtained.

[0080] In the embodiment of the present application, step 503 includes, but is not limited to, steps A1 to A4.

[0081] A1: Obtain J1 / 2 fifth pixel coordinates in the first image and J1 / 2 sixth pixel coordinates in the third image of J1 / 2 third measurement points.

[0082] Here, there is a one-to-one correspondence between the J1 / 2 fifth pixel coordinates and the J1 / 2 third measurement points, and there is a one-to-one correspondence between the J1 / 2 sixth pixel coordinates and the J1 / 2 third measurement points.

[0083] Optionally, before acquiring the fifth and sixth pixel coordinates, the first and third images may be subjected to pre-processing such as noise removal and grayscale processing. Then, pixel coordinates are acquired based on the pre-processed images. Note that acquiring the fifth and sixth pixel coordinates of the J1 / 2 third measurement points is intended to determine the positions of the J1 / 2 third measurement points in the first and third images. Here, an image sub-pixel positioning technique may be used to determine the positions of the J1 / 2 third measurement points in the first and third images.

[0084] A2: Obtain J2 / 2 seventh pixel coordinates in the second image and J2 / 2 eighth pixel coordinates in the fourth image of the J2 / 2 fifth measurement points.

[0085] Here, there is a one-to-one correspondence between the J2 / 2 seventh pixel coordinates and the J2 / 2 fifth measurement points, and there is a one-to-one correspondence between the J2 / 2 eighth pixel coordinates and the J2 / 2 fifth measurement points.

[0086] A3: For any one of the J1 / 2 third measurement points and any one of the J2 / 2 fifth measurement points, a third horizontal change amount of any one of the third measurement points is obtained based on the fifth pixel coordinate and sixth pixel coordinate corresponding to the any one of the third measurement points, and a fourth horizontal change amount of any one of the fifth measurement points is obtained based on the seventh pixel coordinate and eighth pixel coordinate corresponding to the any one of the fifth measurement points.

[0087] The third horizontal change amount is the horizontal change amount in the image of any one of the third measurement points, i.e., the horizontal change amount generated at this one of the third measurement points by comparing the third image with the first image. The fourth horizontal change amount is the horizontal change amount in the image of the corresponding one of the fifth measurement points, i.e., 4 Image and Article 2 The horizontal change amount generated at any one of the corresponding fifth measurement points by comparison with the image. Here, the method of determining the horizontal change amount at the third measurement point and the horizontal change amount at the fifth measurement point is similar to the method of determining the horizontal change amount at the first measurement point described above, and will not be described further.

[0088] A4: Based on the J1 / 2 third horizontal change amounts corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth horizontal change amounts corresponding to the J2 / 2 fifth measurement points, the first angle and the second angle of the camera array, the J1 / 2 third object plane resolutions corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth object plane resolutions corresponding to the J2 / 2 fifth measurement points, the J1 / 2 third distances, the J2 / 2 fourth distances, and the three-degree-of-freedom motion of the deformation measuring device 10, the horizontal displacement amounts of each third measurement point at the J1 / 2 third measurement points and the horizontal displacement amounts of each fifth measurement point at the J2 / 2 fifth measurement points are determined.

[0089] Here, the J1 / 2 third distances are respectively distances between the first camera and each of the J1 / 2 third measurement points, and the J2 / 2 fourth distances are respectively distances between the second camera and each of the J2 / 2 fifth measurement points. Note that the J1 / 2 third distances and the J2 / 2 fourth distances are both pre-defined.

[0090] In addition, the J1 / 2 third object plane resolution is the magnification factor of the third image for the J1 / 2 third measurement points, and the J2 / 2 fourth object plane resolution is the magnification factor of the fourth image for the J2 / 2 fifth measurement points.

[0091] Furthermore, in the embodiment of the present application, step A4 includes, but is not limited to, steps B1 to B4.

[0092] B1: A first equation corresponding to any one of the third measurement points is obtained based on a third horizontal change amount, a third object surface resolution, a third distance, a first angle, and a three-degree-of-freedom momentum corresponding to any one of the third measurement points.

[0093] In the embodiment of the present application, when any one third measurement point is the Qth third measurement point among the J1 / 2 third measurement points, the first equation can be obtained by Equation 8.

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[0094] JPEG2025512775000015.jpg61170

[0095] B2: A second equation corresponding to any one of the fifth measurement points is obtained based on the fourth horizontal change amount, the fourth object surface resolution, the fourth distance, the second angle, and the three-degree-of-freedom momentum corresponding to any one of the fifth measurement points.

[0096] In the embodiment of the present application, when any one fifth measurement point is the Tth fifth measurement point among the J2 / 2 fifth measurement points, the second equation can be obtained by Equation 9.

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[0097] JPEG2025512775000017.jpg62170

[0098] B3: A third target simultaneous equation is obtained based on J1 / 2 first equations corresponding to the J1 / 2 third measurement points and J2 / 2 second equations corresponding to the J2 / 2 fifth measurement points.

[0099] JPEG2025512775000018.jpg76170

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[0100] B4: Based on the third target simultaneous equation, the horizontal displacement amount of each of the J1 / 2 third measurement points and the horizontal displacement amount of each of the J2 / 2 fifth measurement points are obtained.

[0101] In an embodiment of the present application, in order to calculate the horizontal displacement amount of each of the J1 / 2 third measurement points and the horizontal displacement amount of each of the J2 / 2 fifth measurement points based on the third target simultaneous equations, it is necessary to satisfy that the third target simultaneous equations have a solution.

[0102] In addition, when the first camera photographs J1 / 2 third measurement points and the second camera photographs J2 / 2 fifth measurement points, the first and second equations obtained must also satisfy the above-mentioned two basic constraints and one optimization constraint. In addition, the fixed-joint constraint here means that all cameras included in the camera array in the deformation measurement device 10 have the same three-degree-of-freedom momentum at the same measurement position, and other constraints other than the fixed-joint constraint will not be described again here.

[0103] Furthermore, according to the third target simultaneous equation, one independent equation can be enumerated each time an arbitrary one of the first measurement points or the second measurement points is imaged. In the embodiment of the present application, an example will be described in which, based on one measurement position during one patrol measurement, i.e., the first measurement position, J1 / 2 third measurement points are arranged on the left side of the first measurement position and J2 / 2 fifth measurement points are arranged on the right side of the first measurement position.

[0104] Next, the present application takes a plurality of first measurement positions as an example to describe whether a plurality of third target simultaneous equations corresponding to a plurality of first measurement positions have a solution. The number of first measurement positions is a1, the total number of signs is E1, that is, the total number of measurement points is E1, and the number of signs photographed at the a1 first measurement positions is summed up to G 11 , G 21 , G 31 …G a1 Then, the number of signs (called signs of the same name) photographed by one or more cameras is L1 = G 11 +G 21 +G 31 +...G a1-E1, and the number of independent equations that can be enumerated is (G 11 +G 21 +G 31 +...G a1 ), and the number of unknown parameters in the simultaneous equations is E1+3*a1, that is, the unknown parameters include the horizontal displacement of E1 markers and the three-degree-of-freedom momentum of 3a1 deformation measuring devices. Therefore, in order to ensure that the simultaneous equations have a solution, the number of independent equations ≧ the number of unknown parameters, that is, (G 11 +G 21 +G 31 +...G a1 )≧(E1+3*a1), which can be rearranged to obtain L1≧3a1. In other words, when L1≧3a1 is satisfied, the horizontal displacement of E1 measurement points and the three-degree-of-freedom movement of the deformation measuring device 10 can be obtained.

[0105] Note that each unknown parameter found above is a relative change amount. If it is necessary to obtain the absolute horizontal displacement amount of all measurement points, or the horizontal displacement amount relative to a reference point, it is necessary to place three arbitrary reference points or three measurement points with known horizontal displacement amounts along the entire measurement route from the start point to the end point. In this case, even if a camera in the camera array captures an arbitrary reference point or an arbitrary measurement point with a known horizontal displacement amount, one independent equation is generated.

[0106] The presence or absence of solutions of the multiple third target simultaneous equations corresponding to the multiple first measurement positions described above has been described on the premise that all of the five degrees of freedom momentum are unknown parameters, but in the embodiment of the present application, any one or more of the above-mentioned five degrees of freedom momentum can be made known parameters instead of unknown parameters according to the actual construction environment, so that the number of unknown parameters in the third target simultaneous equations can be reduced. Here, the method of changing the corresponding degree of freedom momentum of the five degrees of freedom momentum of the deformation measurement device 10 from an unknown parameter to a known parameter is similar to the method of changing the corresponding degree of freedom momentum of the six degrees of freedom momentum of the deformation measurement device 10 described above from an unknown parameter to a known parameter, and will not be described further here.

[0107] Based on this, when one or more of the five-degree-of-freedom momentums change from unknown parameters to known parameters, the principle of determining whether there are solutions to the multiple third target simultaneous equations corresponding to the multiple first measurement positions is similar to the principle of determining whether there are solutions to the multiple first target simultaneous equations and the multiple second target simultaneous equations corresponding to the multiple first measurement positions when the above six-degree-of-freedom momentums are all unknown parameters, and will not be described here.

[0108] 504: Based on the first image, the second image, the third image, and the fourth image, the vertical subsidence amount of each of the J1 / 2 fourth measurement points and the vertical subsidence amount of each of the J2 / 2 sixth measurement points are obtained.

[0109] In the embodiment of the present application, step 504 includes, but is not limited to, steps C1 to C4.

[0110] C1: Obtain J1 / 2 9th pixel coordinates in the first image and J1 / 2 10th pixel coordinates in the third image of the J1 / 2 fourth measurement points.

[0111] Here, there is a one-to-one correspondence between the J1 / 2 ninth pixel coordinates and the J1 / 2 fourth measurement points, and there is a one-to-one correspondence between the J1 / 2 tenth pixel coordinates and the J1 / 2 fourth measurement points.

[0112] C2: The coordinates of the 11th pixel of the J2 / 2 sixth measurement points in the second image and the coordinates of the J2 / 2 sixth measurement points in the fourth image J Get 2 / 2 12th pixel coordinates.

[0113] Here, the 11th pixel coordinates of J2 / 2 pixels correspond one-to-one to the 6th measurement points of J2 / 2 pixels. J The 2 / 2 twelfth pixel coordinates and the J2 / 2 sixth measurement points correspond one-to-one.

[0114] C3: For any one of the J1 / 2 fourth measurement points and any one of the J2 / 2 sixth measurement points, a third vertical change amount of any one of the fourth measurement points is obtained based on the 9th pixel coordinates and the 10th pixel coordinates corresponding to the any one of the fourth measurement points, and a fourth vertical change amount of any one of the sixth measurement points is obtained based on the 11th pixel coordinates and the 12th pixel coordinates corresponding to the any one of the sixth measurement points.

[0115] The third vertical change amount is the vertical change amount of the arbitrary one fourth measurement point in the image, i.e., 3 Image and Article 1 The fourth vertical variation is the vertical variation of the sixth measurement point in the image, i.e., the vertical variation of the sixth measurement point in the image, which is generated by comparing the fourth image with the second image. The method of determining the vertical variation of the fourth measurement point and the vertical variation of the sixth measurement point is similar to the method of determining the vertical variation of the first measurement point, and will not be described further.

[0116] C4: Based on the third vertical change amount J1 / 2 corresponding to the J1 / 2 fourth measurement points, the fourth vertical change amount J2 / 2 corresponding to the J2 / 2 sixth measurement points, the first angle and second angle of the camera array, the fifth object plane resolution J1 / 2 corresponding to the J1 / 2 fourth measurement points, the sixth object plane resolution J2 / 2 corresponding to the J2 / 2 sixth measurement points, the fifth distance J1 / 2, the sixth distance J2 / 2, and the five-degree-of-freedom motion of the deformation measuring device 10, the vertical subsidence amount of each fourth measurement point at the J1 / 2 fourth measurement points and the vertical subsidence amount of each sixth measurement point at the J2 / 2 sixth measurement points are determined.

[0117] The J1 / 2 fifth distances are respectively distances between the first camera and each of the J1 / 2 fourth measurement points, and the J2 / 2 sixth distances are respectively distances between the second camera and each of the J2 / 2 sixth measurement points. Note that the J1 / 2 fifth distances and the J2 / 2 sixth distances are both pre-defined.

[0118] In addition, the J1 / 2 fifth object plane resolution is the magnification factor of the third image for the J1 / 2 fourth measurement points, and the J2 / 2 sixth object plane resolution is the magnification factor of the fourth image for the J2 / 2 sixth measurement points.

[0119] Optionally, in actual cases, the object plane resolution value here may be based on the value determined during the first cyclic measurement, i.e., the initial cyclic measurement, or may be based on the value determined during any one cyclic measurement, or may be based on the average value of the object plane resolution values ​​determined during different cyclic measurements, and is not limited here.

[0120] In the embodiment of the present application, step C4 includes, but is not limited to, steps D1 to D4.

[0121] D1: Obtain a third equation corresponding to any one of the fourth measurement points based on a third vertical change amount, a fifth object plane resolution, a fifth distance, and a fifth degree of freedom momentum corresponding to any one of the fourth measurement points.

[0122] In the embodiment of the present application, when any one fourth measurement point is the Uth fourth measurement point among the J1 / 2 fourth measurement points, the third equation can be obtained by Equation 11.

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[0123] JPEG2025512775000021.jpg68170

[0124] D2: A fourth equation corresponding to any one of the sixth measurement points is obtained based on the fourth vertical change amount, the sixth object plane resolution, the sixth distance, and the five-degree-of-freedom momentum corresponding to any one of the sixth measurement points.

[0125] In the embodiment of the present application, when any one sixth measurement point is the Wth sixth measurement point of the J2 / 2 sixth measurement points, the fourth equation can be obtained by Equation 12.

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[0126] JPEG2025512775000023.jpg67170

[0127] D3: A fourth target simultaneous equation is obtained based on J1 / 2 third equations corresponding to J1 / 2 fourth measurement points and J2 / 2 fourth equations corresponding to J2 / 2 sixth measurement points.

[0128] JPEG2025512775000024.jpg98170

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[0129] D4: Based on the fourth target simultaneous equation, the vertical subsidence amount of each of the J1 / 2 fourth measurement points and the vertical subsidence amount of each of the J2 / 2 sixth measurement points are obtained.

[0130] In an embodiment of the present application, in order to calculate the vertical displacement amount of each of the J1 / 2 fourth measurement points and the vertical displacement amount of each of the J2 / 2 sixth measurement points based on the fourth target simultaneous equations, it is necessary to satisfy that the fourth target simultaneous equations have a solution.

[0131] In addition, when the first camera photographs J1 / 2 fourth measurement points and the second camera photographs J2 / 2 sixth measurement points, the obtained third and fourth equations must also satisfy the above two basic constraints and one optimization constraint. In addition, the fixed-joint constraint here means that all cameras included in the camera array in the deformation measurement device 10 have the same five-degree-of-freedom momentum at the same measurement position, and other constraints other than the fixed-joint constraint will not be described again here.

[0132] Furthermore, according to the fourth target simultaneous equation, one independent equation can be enumerated each time an arbitrary one of the fourth measurement point or the sixth measurement point is imaged. In the embodiment of the present application, an example will be described in which, based on one measurement position of one patrol measurement, i.e., the first measurement position, J1 / 2 fourth measurement points are arranged on the left side of the first measurement position and J2 / 2 sixth measurement points are arranged on the right side of the first measurement position.

[0133] Next, the present application takes a plurality of first measurement positions as an example to describe whether there are solutions to a plurality of fourth target simultaneous equations corresponding to a plurality of first measurement positions. The number of first measurement positions is a2, the total number of signs is E2, that is, the total number of measurement points is E2, and the number of signs photographed at the a2 first measurement positions is summed up to G 12 , G 22 , G 32 …G a2 Then, the number of signs (called signs of the same name) photographed by one or more cameras is L2 = G 12 +G 22 +G 32 +...G a2 -E2, and the number of independent equations that can be enumerated is (G 12 +G 22 +G 32 +...G a2 ), and the number of unknown parameters in the simultaneous equations is E2+5*a2, that is, the unknown parameters include the horizontal displacements of the E2 markers and the five-degree-of-freedom motions of the 3a2 deformation measuring devices 10. Therefore, in order to ensure that the simultaneous equations have a solution, the number of independent equations is greater than or equal to the number of unknown parameters, that is, (G 12 +G 22 +G 32 +...G a2 ) ≧ (E2+5*a2) must be satisfied, and by rearranging we obtain L2 ≧ 5a2. In other words, when L2 ≧ 5a2 is satisfied, the vertical displacement amount of E2 measurement points and the five-degree-of-freedom movement amount of the deformation measuring device 10 can be obtained.

[0134] Note that each unknown parameter found above is a relative change amount. If it is necessary to obtain the absolute vertical displacement amount of all measurement points, or the vertical displacement amount relative to a reference point, it is necessary to place five arbitrary reference points or five measurement points with known vertical displacement amounts along the entire measurement route from the start point to the end point. In this case, even if a camera in the camera array captures an arbitrary reference point or an arbitrary measurement point with a known vertical displacement amount, one independent equation is generated.

[0135] The presence or absence of solutions of the multiple fourth target simultaneous equations corresponding to the multiple first measurement positions described above has been described on the premise that all of the three degrees of freedom momentum are unknown parameters, but in the embodiment of the present application, any one or more of the above-mentioned three degrees of freedom momentum can be made known parameters instead of unknown parameters according to the actual construction environment, so that the number of unknown parameters in the fourth target simultaneous equations can be reduced. Here, the method of changing the corresponding degree of freedom momentum of the three degrees of freedom momentum of the deformation measurement device 10 from an unknown parameter to a known parameter is similar to the method of changing the corresponding degree of freedom momentum of the six degrees of freedom momentum of the deformation measurement device 10 described above from an unknown parameter to a known parameter, and will not be described further here.

[0136] Based on this, when one or more of the three-degree-of-freedom momenta change from unknown parameters to known parameters, the principle of determining whether there are solutions to the multiple fourth target simultaneous equations corresponding to the multiple first measurement positions is similar to the principle of determining whether there are solutions to the multiple first target simultaneous equations and the multiple second target simultaneous equations corresponding to the multiple first measurement positions when the above six-degree-of-freedom momenta are all unknown parameters, and will not be described here.

[0137] 6, which is a block diagram showing a configuration of functional units of a deformation measuring apparatus according to an embodiment of the present application. The deformation measuring apparatus 600 includes an acquisition unit 601 and a processing unit 602.

[0138] The acquisition unit 601 is configured to perform the following: When the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image, the measurement points in the first measurement target area and the measurement points in the second measurement target area are located on both sides of the first measurement position, and the photographing directions of the first camera and the second camera are opposite to each other; When the moving platform travels to a second measurement position in the measurement target area, a third image is obtained by photographing a measurement point in the first measurement target area with a first camera, and a fourth image is obtained by photographing a measurement point in the second measurement target area with a second camera; The processing unit 602 is configured to perform the following: Based on the first image and the third image, J1 first measurement points are determined, and based on the second image and the fourth image, J2 second measurement points are determined, where the J1 first measurement points are measurement points contained in both the first image and the third image, and the J2 second measurement points are measurement points contained in both the second image and the fourth image. Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount and the vertical subsidence amount of each first measurement point among the J1 first measurement points, and the horizontal displacement amount and the vertical subsidence amount of each second measurement point among the J2 second measurement points are obtained.

[0139] In an embodiment of the present application, in terms of obtaining the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image, the processing unit 602 is specifically configured to perform the following: Obtaining J1 first pixel coordinates in the first image of the J1 first measurement points; Obtaining J1 second pixel coordinates in the third image of the J1 first measurement points; For any one of the J1 first measurement points, a first vertical change amount and a first horizontal change amount of the any one of the first measurement points are obtained based on a first pixel coordinate and a second pixel coordinate corresponding to the any one of the first measurement points; Obtaining J2 third pixel coordinates in the second image of the J2 second measurement points; Obtaining J2 fourth pixel coordinates in the fourth image of the J2 second measurement points; for any one of the J2 second measurement points, a second vertical change amount and a second horizontal change amount of the any one second measurement point are obtained based on a third pixel coordinate and a fourth pixel coordinate corresponding to the any one second measurement point; Based on the J1 first vertical change amounts and the J1 first horizontal change amounts corresponding to the J1 first measurement points, the J2 second vertical change amounts and the J2 second horizontal change amounts corresponding to the J2 second measurement points, the first angle and the second angle of the camera array, the J1 first object surface resolutions corresponding to the J1 first measurement points, the J2 second object surface resolutions corresponding to the J2 second measurement points, the J1 first distances, the J2 second distances, and the six-degree-of-freedom motion of the deformation measuring device, a horizontal displacement and a vertical subsidence of each of the first measurement points at the J1 first measurement points and a horizontal displacement and a vertical subsidence of each of the second measurement points at the J2 second measurement points are determined, wherein the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, the J1 first distances are separately the distances between the first camera and each of the first measurement points at the J1 first measurement points, and the J2 second distances are separately the distances between the second camera and each of the second measurement points at the J2 second measurement points.

[0140] In an embodiment of the present application, in terms of determining the horizontal displacement amount and vertical subsidence amount of each first measurement point at the J1 first measurement points and the horizontal displacement amount and vertical subsidence amount of each second measurement point at the J2 second measurement points based on the J1 first vertical change amounts and the J1 first horizontal change amounts corresponding to the J1 first measurement points, the J2 second vertical change amounts and the J2 second horizontal change amounts corresponding to the J2 second measurement points, the first angle and the second angle of the camera array, the J1 first object plane resolutions corresponding to the J1 first measurement points, the J2 second object plane resolutions corresponding to the J2 second measurement points, the J1 first distances, the J2 second distances, and the 6-DOF motion amount of the deformation measurement device, the processing unit 602 is specifically configured to perform the following: obtaining a first simultaneous equation corresponding to any one of the first measurement points based on a first vertical change amount, a first horizontal change amount, a first angle, a first object surface resolution, a first distance, and a six-degree-of-freedom momentum corresponding to the any one of the first measurement points; obtaining a second simultaneous equation corresponding to any one of the second measurement points based on a second vertical change amount, a second horizontal change amount, a second angle, a second object surface resolution, a second distance, and a six-degree-of-freedom momentum corresponding to the any one of the second measurement points; Obtain a first target simultaneous equation and a second target simultaneous equation based on J1 first simultaneous equations corresponding to the J1 first measurement points and J2 second simultaneous equations corresponding to the J2 second measurement points; Based on the first target simultaneous equations, the vertical subsidence amount of each first measurement point among the J1 first measurement points and the vertical subsidence amount of each second measurement point among the J2 second measurement points are obtained, and based on the second target simultaneous equations, the horizontal displacement amount of each first measurement point among the J1 first measurement points and the horizontal displacement amount of each second measurement point among the J2 second measurement points are obtained.

[0141] In an embodiment of the present application, in terms of obtaining the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image, the processing unit 602 is specifically configured to perform the following: The number of the J1 first measurement points is an even number, and the J1 first measurement points are composed of J1 / 2 third measurement points and J1 / 2 fourth measurement points, the number of the second measurement points is an even number, and the second measurement points are composed of J2 / 2 fifth measurement points and J2 / 2 sixth measurement points; Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount of each of the J1 / 2 third measurement points, the horizontal displacement amount of each of the J2 / 2 fifth measurement points, the vertical subsidence amount of each of the J1 / 2 fourth measurement points, and the vertical subsidence amount of each of the J2 / 2 sixth measurement points are obtained.

[0142] In an embodiment of the present application, in terms of obtaining the horizontal displacement amount of each third measurement point among the J1 / 2 third measurement points, the horizontal displacement amount of each fifth measurement point among the J2 / 2 fifth measurement points, the vertical subsidence amount of each fourth measurement point among the J1 / 2 fourth measurement points, and the vertical subsidence amount of each sixth measurement point among the J2 / 2 sixth measurement points based on the first image, the second image, the third image, and the fourth image, the processing unit 602 is specifically configured to perform the following, namely: Obtaining J1 / 2 fifth pixel coordinates in the first image and J1 / 2 sixth pixel coordinates in the third image of the J1 / 2 third measurement points; Obtaining J2 / 2 seventh pixel coordinates in the second image and J2 / 2 eighth pixel coordinates in the fourth image of the J2 / 2 fifth measurement points; For any one of the J1 / 2 third measurement points and any one of the J2 / 2 fifth measurement points, a third horizontal change amount of any one of the third measurement points is obtained based on the fifth pixel coordinate and the sixth pixel coordinate corresponding to the any one of the third measurement points, and a fourth horizontal change amount of any one of the fifth measurement points is obtained based on the seventh pixel coordinate and the eighth pixel coordinate corresponding to the any one of the fifth measurement points; Obtaining J1 / 2 9th pixel coordinates in the first image and J1 / 2 10th pixel coordinates in the third image of the J1 / 2 fourth measurement points; Obtaining J2 / 2 11th pixel coordinates in the second image and J2 / 2 12th pixel coordinates in the fourth image of the J2 / 2 sixth measurement points; For any one of the J1 / 2 fourth measurement points and any one of the J2 / 2 sixth measurement points, a third vertical change amount of any one of the fourth measurement points is obtained based on the ninth pixel coordinates and the tenth pixel coordinates corresponding to the any one of the fourth measurement points, and a fourth vertical change amount of any one of the sixth measurement points is obtained based on the eleventh pixel coordinates and the twelfth pixel coordinates corresponding to the any one of the sixth measurement points; Based on the J1 / 2 third horizontal displacements corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth horizontal displacements corresponding to the J2 / 2 fifth measurement points, the first angle and the second angle of the camera array, the J1 / 2 third object plane resolutions corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth object plane resolutions corresponding to the J2 / 2 fifth measurement points, the J1 / 2 third distances, the J2 / 2 fourth distances, and the three-degree-of-freedom motion of the deformation measurement device, the horizontal displacements of each of the J1 / 2 third measurement points and the horizontal displacements of each of the J2 / 2 fifth measurement points are determined, where the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, the J1 / 2 third distances are the distances between the first camera and each of the J1 / 2 third measurement points, and the J2 / 2 fourth distances are the distances between the first camera and each of the J1 / 2 third measurement points, respectively. 4 The distances are respectively between the second camera and each of the J2 / 2 fifth measurement points, Based on the third vertical displacements J1 / 2 corresponding to the fourth measurement points J1 / 2, the fourth vertical displacements J2 / 2 corresponding to the sixth measurement points J2 / 2, the first angle and the second angle of the camera array, the fifth object plane resolutions J1 / 2 corresponding to the fourth measurement points J1 / 2, the sixth object plane resolutions J2 / 2 corresponding to the sixth measurement points J2 / 2, the fifth distances J1 / 2, the sixth distances J2 / 2, and the five-degree-of-freedom motion of the deformation measuring device, a vertical subsidence amount of each fourth measurement point at the J1 / 2 fourth measurement points and a vertical subsidence amount of each sixth measurement point at the J2 / 2 sixth measurement points are determined, where the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, and the fifth vertical displacements J1 / 2 corresponding to the sixth measurement points J2 / 2 are determined. 5 The distances are the distances between the first camera and each of the J1 / 2 fourth measurement points, and the distances between the first camera and each of the J2 / 2 fourth measurement points. 6 The distance is the distance between the second camera and each of the J2 / 2 sixth measurement points separately.

[0143] Referring to Fig. 7, Fig. 7 is a schematic diagram showing a configuration of an electronic device according to an embodiment of the present application. As shown in Fig. 7, an electronic device 700 includes a transceiver 701, a processor 702, and a memory 703. These are connected via a bus 704. The memory 703 is used to store computer programs and data, and can transmit data stored in the memory 703 to the processor 702.

[0144] The processor 702 is configured to read a computer program in the memory 703 and execute the following operations: The transceiver 701 controls the camera array so that, when the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array is used to photograph a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array is used to photograph a measurement point in a second measurement target area in the measurement target area to obtain a second image, the measurement point in the first measurement target area and the measurement point in the second measurement target area are located on both sides of the first measurement position, and the photographing directions of the first camera and the second camera are opposite to each other; control the transceiver 701 so that, when the moving platform travels to a second measurement position in the measurement target area, the first camera is used to photograph a measurement point in the first measurement target area to obtain a third image, and the second camera is used to photograph a measurement point in the second measurement target area to obtain a fourth image; determining J1 first measurement points based on the first image and the third image, and determining J2 second measurement points based on the second image and the fourth image, the J1 first measurement points being measurement points included in both the first image and the third image, and the J2 second measurement points being measurement points included in both the second image and the fourth image; Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount and the vertical subsidence amount of each first measurement point among the J1 first measurement points, and the horizontal displacement amount and the vertical subsidence amount of each second measurement point among the J2 second measurement points are obtained.

[0145] In one embodiment of the present application, with regard to obtaining the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image, the processor 702 is specifically configured to perform the following: Obtaining J1 first pixel coordinates in the first image of the J1 first measurement points; Obtaining J1 second pixel coordinates in the third image of the J1 first measurement points; For any one of the J1 first measurement points, a first vertical change amount and a first horizontal change amount of the any one of the first measurement points are obtained based on a first pixel coordinate and a second pixel coordinate corresponding to the any one of the first measurement points; Obtaining J2 third pixel coordinates in the second image of the J2 second measurement points; Obtaining J2 fourth pixel coordinates in the fourth image of the J2 second measurement points; for any one of the J2 second measurement points, a second vertical change amount and a second horizontal change amount of the any one second measurement point are obtained based on a third pixel coordinate and a fourth pixel coordinate corresponding to the any one second measurement point; Based on the J1 first vertical change amounts and the J1 first horizontal change amounts corresponding to the J1 first measurement points, the J2 second vertical change amounts and the J2 second horizontal change amounts corresponding to the J2 second measurement points, the first angle and the second angle of the camera array, the J1 first object surface resolutions corresponding to the J1 first measurement points, the J2 second object surface resolutions corresponding to the J2 second measurement points, the J1 first distances, the J2 second distances, and the six-degree-of-freedom motion of the deformation measuring device, a horizontal displacement and a vertical subsidence of each of the first measurement points at the J1 first measurement points and a horizontal displacement and a vertical subsidence of each of the second measurement points at the J2 second measurement points are determined, wherein the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, the J1 first distances are separately the distances between the first camera and each of the first measurement points at the J1 first measurement points, and the J2 second distances are separately the distances between the second camera and each of the second measurement points at the J2 second measurement points.

[0146] In an embodiment of the present application, regarding determining the horizontal displacement amount and vertical subsidence amount of each first measurement point at the J1 first measurement points and the horizontal displacement amount and vertical subsidence amount of each second measurement point at the J2 second measurement points based on the J1 first vertical change amounts and the J1 first horizontal change amounts corresponding to the J1 first measurement points, the J2 second vertical change amounts and the J2 second horizontal change amounts corresponding to the J2 second measurement points, the first angle and the second angle of the camera array, the J1 first object plane resolutions corresponding to the J1 first measurement points, the J2 second object plane resolutions corresponding to the J2 second measurement points, the J1 first distances, the J2 second distances, and the 6-degree-of-freedom motion amount of the deformation measurement device, the processor 702 is specifically configured to perform the following, namely: obtaining a first simultaneous equation corresponding to any one of the first measurement points based on a first vertical change amount, a first horizontal change amount, a first angle, a first object surface resolution, a first distance, and a six-degree-of-freedom momentum corresponding to the any one of the first measurement points; obtaining a second simultaneous equation corresponding to any one of the second measurement points based on a second vertical change amount, a second horizontal change amount, a second angle, a second object surface resolution, a second distance, and a six-degree-of-freedom momentum corresponding to the any one of the second measurement points; Obtain a first target simultaneous equation and a second target simultaneous equation based on J1 first simultaneous equations corresponding to the J1 first measurement points and J2 second simultaneous equations corresponding to the J2 second measurement points; Based on the first target simultaneous equations, the vertical subsidence amount of each first measurement point among the J1 first measurement points and the vertical subsidence amount of each second measurement point among the J2 second measurement points are obtained, and based on the second target simultaneous equations, the horizontal displacement amount of each first measurement point among the J1 first measurement points and the horizontal displacement amount of each second measurement point among the J2 second measurement points are obtained.

[0147] In one embodiment of the present application, with regard to obtaining the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image, the processor 702 is specifically configured to perform the following: The number of the J1 first measurement points is an even number, and the J1 first measurement points are composed of J1 / 2 third measurement points and J1 / 2 fourth measurement points, the number of the second measurement points is an even number, and the second measurement points are composed of J2 / 2 fifth measurement points and J2 / 2 sixth measurement points; Based on the first image, the second image, the third image, and the fourth image, the horizontal displacement amount of each of the J1 / 2 third measurement points, the horizontal displacement amount of each of the J2 / 2 fifth measurement points, the vertical subsidence amount of each of the J1 / 2 fourth measurement points, and the vertical subsidence amount of each of the J2 / 2 sixth measurement points are obtained.

[0148] In one embodiment of the present application, with regard to obtaining the horizontal displacement amount of each third measurement point among the J1 / 2 third measurement points, the horizontal displacement amount of each fifth measurement point among the J2 / 2 fifth measurement points, the vertical subsidence amount of each fourth measurement point among the J1 / 2 fourth measurement points, and the vertical subsidence amount of each sixth measurement point among the J2 / 2 sixth measurement points based on the first image, the second image, the third image, and the fourth image, the processor 702 is specifically configured to perform the following, namely: Obtaining J1 / 2 fifth pixel coordinates in the first image and J1 / 2 sixth pixel coordinates in the third image of the J1 / 2 third measurement points; Obtaining J2 / 2 seventh pixel coordinates in the second image and J2 / 2 eighth pixel coordinates in the fourth image of the J2 / 2 fifth measurement points; For any one of the J1 / 2 third measurement points and any one of the J2 / 2 fifth measurement points, a third horizontal change amount of any one of the third measurement points is obtained based on the fifth pixel coordinate and the sixth pixel coordinate corresponding to the any one of the third measurement points, and a fourth horizontal change amount of any one of the fifth measurement points is obtained based on the seventh pixel coordinate and the eighth pixel coordinate corresponding to the any one of the fifth measurement points; Obtaining J1 / 2 9th pixel coordinates in the first image and J1 / 2 10th pixel coordinates in the third image of the J1 / 2 fourth measurement points; Obtaining J2 / 2 11th pixel coordinates in the second image and J2 / 2 12th pixel coordinates in the fourth image of the J2 / 2 sixth measurement points; For any one of the J1 / 2 fourth measurement points and any one of the J2 / 2 sixth measurement points, a third vertical change amount of any one of the fourth measurement points is obtained based on the ninth pixel coordinates and the tenth pixel coordinates corresponding to the any one of the fourth measurement points, and a fourth vertical change amount of any one of the sixth measurement points is obtained based on the eleventh pixel coordinates and the twelfth pixel coordinates corresponding to the any one of the sixth measurement points; Based on the J1 / 2 third horizontal displacements corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth horizontal displacements corresponding to the J2 / 2 fifth measurement points, the first angle and the second angle of the camera array, the J1 / 2 third object plane resolutions corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth object plane resolutions corresponding to the J2 / 2 fifth measurement points, the J1 / 2 third distances, the J2 / 2 fourth distances, and the three-degree-of-freedom motion of the deformation measurement device, the horizontal displacements of each of the J1 / 2 third measurement points and the horizontal displacements of each of the J2 / 2 fifth measurement points are determined, where the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, the J1 / 2 third distances are the distances between the first camera and each of the J1 / 2 third measurement points, and the J2 / 2 fourth distances are the distances between the first camera and each of the J1 / 2 third measurement points, respectively. 4 The distances are respectively between the second camera and each of the J2 / 2 fifth measurement points, Based on the third vertical displacements J1 / 2 corresponding to the fourth measurement points J1 / 2, the fourth vertical displacements J2 / 2 corresponding to the sixth measurement points J2 / 2, the first angle and the second angle of the camera array, the fifth object plane resolutions J1 / 2 corresponding to the fourth measurement points J1 / 2, the sixth object plane resolutions J2 / 2 corresponding to the sixth measurement points J2 / 2, the fifth distances J1 / 2, the sixth distances J2 / 2, and the five-degree-of-freedom motion of the deformation measuring device, a vertical subsidence amount of each fourth measurement point at the J1 / 2 fourth measurement points and a vertical subsidence amount of each sixth measurement point at the J2 / 2 sixth measurement points are determined, where the first angle is the angle between the optical axis of the first camera and the horizontal plane, the second angle is the angle between the optical axis of the second camera and the horizontal plane, and the fifth vertical displacements J1 / 2 corresponding to the sixth measurement points J2 / 2 are determined. 5The distances are the distances between the first camera and each of the J1 / 2 fourth measurement points, and the distances between the first camera and each of the J2 / 2 fourth measurement points. 6 The distance is the distance between the second camera and each of the J2 / 2 sixth measurement points separately.

[0149] Specifically, the transceiver 701 may be the acquisition unit 601 of the deformation measurement apparatus 600 of the embodiment of FIG. 6, and the processor 702 may be the processing unit 602 of the deformation measurement apparatus 600 of the embodiment of FIG.

[0150] It should be understood that the electronic devices in this application can include smartphones (e.g., Android mobile phones, iOS mobile phones, Windows Phone mobile phones, etc.), tablet computers, handheld computers, notebook computers, mobile Internet devices (abbreviated as MIDs), or wearable devices, etc. The above electronic devices are merely examples, and are not all electronic devices, including but not limited to the above electronic devices. In practical applications, the above electronic devices can also include smart car-mounted terminals, computer devices, etc.

[0151] The embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, realizes some or all of the steps of any one of the deformation measurement methods described in the above-mentioned method embodiments.

[0152] An embodiment of the present application further provides a computer program product, which includes a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being operable to cause a computer to perform some or all of the steps of any one of the deformation measurement methods described in the above method embodiments.

[0153] It should be noted that, for ease of explanation, each of the method embodiments is described as a combination of a series of operations. However, it should be understood by those skilled in the art that the present application is not limited to the order of operations described, and that some operations may be performed in other orders or simultaneously according to the present application. It should also be understood by those skilled in the art that any of the embodiments described in the specification are optional, and that such operations and modules are not necessarily required for the present application.

[0154] In the above embodiments, the description of each embodiment has its own emphasis, and for the parts that are not described in detail in one embodiment, reference can be made to the relevant descriptions of other embodiments.

[0155] In some embodiments of the present application, it should be understood that the disclosed device may be realized in other forms. For example, the above-mentioned device embodiment is merely illustrative. For example, the division of units is merely a division of logic functions, and may have other division forms when actually realized. For example, multiple units or components may be combined or integrated into another system, and some features may be ignored or not implemented. Furthermore, the couplings or direct couplings or communication connections between each other shown or discussed may be indirect couplings or communication connections by some interfaces, devices, or units, and may be electrical or other forms.

[0156] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, i.e., they may be located in one place or may be arranged in multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the technical solution of this embodiment.

[0157] In addition, each functional unit according to each embodiment of the present application may be integrated into one processing unit, each unit may exist physically alone, or two or more units may be integrated into one unit. The integrated units may be realized in the form of hardware or software program modules.

[0158] The integrated unit may be realized as a software program module and stored in a computer-readable recording medium when sold or used as an independent product. According to this understanding, the essential part of the technical solution of the present application, or the part that can contribute to the prior art, or all or part of the technical solution, may be expressed as a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to execute all or part of the method described in each embodiment of the present application. The storage medium includes various kinds of media capable of storing program code, such as a universal serial bus flash disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0159] Those skilled in the art can understand that some or all of the operations in each method of the above embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. The storage medium can include a flash memory, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc.

[0160] The above is a detailed description of the embodiments of the present application. In this specification, the principles and embodiments of the present application are described using specific examples. The above description of the embodiments is only used to facilitate understanding of the method and core ideas of the present application. At the same time, those skilled in the art may make changes in the specific embodiments and application scope based on the ideas of the present application. In summary, this specification should not be understood as limiting the present application.

Claims

1. A deformation measurement method applied to a deformation measurement device, comprising: The deformation measurement device includes a camera array and a moving platform, and the method includes: When the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image, wherein the measurement point in the first measurement target area and the measurement point in the second measurement target area are located on either side of the first measurement position, and the photographing directions of the first camera and the second camera are opposite to each other; When the moving platform travels to a second measurement position in the measurement target area, a third image is acquired by photographing a measurement point in the first measurement target area with the first camera, and a fourth image is acquired by photographing a measurement point in the second measurement target area with the second camera; determining J1 first measurement points based on the first image and the third image, and determining J2 second measurement points based on the second image and the fourth image, wherein the J1 first measurement points are measurement points included in both the first image and the third image, and the J2 second measurement points are measurement points included in both the second image and the fourth image; acquiring a horizontal displacement amount and a vertical subsidence amount of each of the J1 first measurement points and a horizontal displacement amount and a vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image; Including, A deformation measuring method comprising:

2. The above-mentioned obtaining the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image includes: Obtaining J1 first pixel coordinates in the first image of the J1 first measurement points; Obtaining J1 second pixel coordinates in the third image of the J1 first measurement points; acquiring a first vertical change amount and a first horizontal change amount of an arbitrary one of the J1 first measurement points based on a first pixel coordinate and a second pixel coordinate corresponding to the arbitrary one of the J1 first measurement points; Obtaining J2 third pixel coordinates in the second image of the J2 second measurement points; Obtaining J2 fourth pixel coordinates in the fourth image of the J2 second measurement points; acquiring a second vertical change amount and a second horizontal change amount of an arbitrary one of the J2 second measurement points based on a third pixel coordinate and a fourth pixel coordinate corresponding to the arbitrary one of the J2 second measurement points; a horizontal displacement of each of the J1 first measurement points based on J1 first vertical change amounts and J1 first horizontal change amounts corresponding to the J1 first measurement points, J2 second vertical change amounts and J2 second horizontal change amounts corresponding to the J2 second measurement points, a first angle and a second angle of the camera array, J1 first object surface resolutions corresponding to the J1 first measurement points, J2 second object surface resolutions corresponding to the J2 second measurement points, J1 first distances, J2 second distances, and a six-degree-of-freedom motion amount of the deformation measuring device. determining a horizontal displacement amount and a vertical subsidence amount of each of the J2 second measurement points, and a horizontal displacement amount and a vertical subsidence amount of each of the J2 second measurement points, wherein the first angle is an angle between the optical axis of the first camera and a horizontal plane, the second angle is an angle between the optical axis of the second camera and a horizontal plane, the J1 first distances are distances between the first camera and each of the J1 first measurement points separately, and the J2 second distances are distances between the second camera and each of the J2 second measurement points separately; Including, 2. The method of claim 1 .

3. Determining the horizontal displacement amount and vertical subsidence amount of each of the first measurement points at the J1 first measurement points and the horizontal displacement amount and vertical subsidence amount of each of the second measurement points at the J2 second measurement points based on the J1 first vertical change amounts and J1 first horizontal change amounts corresponding to the J1 first measurement points, the J2 second vertical change amounts and J2 second horizontal change amounts corresponding to the J2 second measurement points, the first angle and the second angle of the camera array, the J1 first object surface resolutions corresponding to the J1 first measurement points, the J2 second object surface resolutions corresponding to the J2 second measurement points, the J1 first distances, the J2 second distances, and the six-degree-of-freedom motion amount of the deformation measuring device, Obtaining a first simultaneous equation corresponding to the arbitrary one of the first measurement points based on a first vertical change amount, a first horizontal change amount, a first angle, a first object surface resolution, a first distance, and the six degrees of freedom momentum corresponding to the arbitrary one of the first measurement points; Obtaining a second simultaneous equation corresponding to the arbitrary one of the second measurement points based on a second vertical change amount, a second horizontal change amount, a second angle, a second object surface resolution, a second distance, and the six degrees of freedom momentum corresponding to the arbitrary one of the second measurement points; Obtaining a first target simultaneous equation and a second target simultaneous equation based on J1 first simultaneous equations corresponding to the J1 first measurement points and J2 second simultaneous equations corresponding to the J2 second measurement points; obtaining a vertical subsidence amount of each of the first measurement points among the J1 first measurement points and a vertical subsidence amount of each of the second measurement points among the J2 second measurement points based on the first target simultaneous equations, and obtaining a horizontal displacement amount of each of the first measurement points among the J1 first measurement points and a horizontal displacement amount of each of the second measurement points among the J2 second measurement points based on the second target simultaneous equations; Including, 3. The method of claim 2 .

4. The number of the J1 first measurement points is an even number, and the J1 first measurement points are composed of J1 / 2 third measurement points and J1 / 2 fourth measurement points, The number of the J2 second measurement points is an even number, and the J2 second measurement points are composed of J2 / 2 fifth measurement points and J2 / 2 sixth measurement points, The above-mentioned obtaining the horizontal displacement amount and the vertical subsidence amount of each of the J1 first measurement points and the horizontal displacement amount and the vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image includes: obtaining a horizontal displacement amount of each of the J1 / 2 third measurement points, a horizontal displacement amount of each of the J2 / 2 fifth measurement points, a vertical subsidence amount of each of the J1 / 2 fourth measurement points, and a vertical subsidence amount of each of the J2 / 2 sixth measurement points based on the first image, the second image, the third image, and the fourth image; 2. The method of claim 1 .

5. Acquiring the horizontal displacement amount of each of the third measurement points among the J1 / 2 third measurement points, the horizontal displacement amount of each of the fifth measurement points among the J2 / 2 fifth measurement points, the vertical subsidence amount of each of the fourth measurement points among the J1 / 2 fourth measurement points, and the vertical subsidence amount of each of the sixth measurement points among the J2 / 2 sixth measurement points based on the first image, the second image, the third image, and the fourth image as described above includes: Obtaining J1 / 2 fifth pixel coordinates in the first image and J1 / 2 sixth pixel coordinates in the third image of the J1 / 2 third measurement points; Obtaining J2 / 2 seventh pixel coordinates in the second image and J2 / 2 eighth pixel coordinates in the fourth image of the J2 / 2 fifth measurement points; For an arbitrary one of the J1 / 2 third measurement points and an arbitrary one of the J2 / 2 fifth measurement points, a third horizontal change amount of the arbitrary one of the third measurement points is obtained based on a fifth pixel coordinate and a sixth pixel coordinate corresponding to the arbitrary one of the third measurement points, and a fourth horizontal change amount of the arbitrary one of the fifth measurement points is obtained based on a seventh pixel coordinate and an eighth pixel coordinate corresponding to the arbitrary one of the fifth measurement points; Obtaining J1 / 2 ninth pixel coordinates in the first image and J1 / 2 tenth pixel coordinates in the third image of the J1 / 2 fourth measurement points; Obtaining J2 / 2 eleventh pixel coordinates in the second image and J2 / 2 twelfth pixel coordinates in the fourth image of the J2 / 2 sixth measurement points; For an arbitrary fourth measurement point among the J1 / 2 fourth measurement points and an arbitrary sixth measurement point among the J2 / 2 sixth measurement points, a third vertical change amount of the arbitrary fourth measurement point is obtained based on a ninth pixel coordinate and a tenth pixel coordinate corresponding to the arbitrary fourth measurement point, and a fourth vertical change amount of the arbitrary sixth measurement point is obtained based on an eleventh pixel coordinate and a twelfth pixel coordinate corresponding to the arbitrary sixth measurement point; a horizontal displacement of each of the J1 / 2 third measurement points based on J1 / 2 third horizontal displacements corresponding to the J1 / 2 third measurement points, J2 / 2 fourth horizontal displacements corresponding to the J2 / 2 fifth measurement points, a first angle and a second angle of the camera array, J1 / 2 third object surface resolutions corresponding to the J1 / 2 third measurement points, J2 / 2 fourth object surface resolutions corresponding to the J2 / 2 fifth measurement points, J1 / 2 third distances, J2 / 2 fourth distances, and a three-degree-of-freedom motion of the deformation measuring device. determining a horizontal displacement amount of each of the J2 / 2 fifth measurement points, wherein the first angle is an angle between the optical axis of the first camera and a horizontal plane, the second angle is an angle between the optical axis of the second camera and a horizontal plane, the J1 / 2 third distances are respectively distances between the first camera and each of the J1 / 2 third measurement points, and the J2 / 2 second distances are respectively distances between the second camera and each of the J2 / 2 fifth measurement points; A vertical sinking of each of the J1 / 2 fourth measurement points is calculated based on J1 / 2 third vertical displacements corresponding to the J1 / 2 fourth measurement points, J2 / 2 fourth vertical displacements corresponding to the J2 / 2 sixth measurement points, a first angle and a second angle of the camera array, J1 / 2 fifth object surface resolutions corresponding to the J1 / 2 fourth measurement points, J2 / 2 sixth object surface resolutions corresponding to the J2 / 2 sixth measurement points, J1 / 2 fifth distances, J2 / 2 sixth distances, and a five-degree-of-freedom motion of the deformation measuring device. determining a vertical subsidence amount and a vertical subsidence amount of each sixth measurement point among the J2 / 2 sixth measurement points, wherein the first angle is an angle between the optical axis of the first camera and a horizontal plane, the second angle is an angle between the optical axis of the second camera and a horizontal plane, the J1 / 2 first distances are distances between the first camera and each fourth measurement point among the J1 / 2 fourth measurement points, respectively, and the J2 / 2 second distances are distances between the second camera and each sixth measurement point among the J2 / 2 sixth measurement points, respectively; Including, 5. The method of claim 4.

6. Determining the horizontal displacement amount of each of the third measurement points among the J1 / 2 third measurement points and the horizontal displacement amount of each of the fifth measurement points among the J2 / 2 fifth measurement points based on the J1 / 2 third horizontal change amounts corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth horizontal change amounts corresponding to the J2 / 2 fifth measurement points, the first angle and the second angle of the camera array, the J1 / 2 third object surface resolutions corresponding to the J1 / 2 third measurement points, the J2 / 2 fourth object surface resolutions corresponding to the J2 / 2 fifth measurement points, the J1 / 2 third distances, the J2 / 2 fourth distances, and the three-degree-of-freedom motion amount of the deformation measuring device, Obtaining a first equation corresponding to the arbitrary one of the third measurement points based on a third horizontal change amount, a third object surface resolution, a third distance, the first angle, and the three-degree-of-freedom motion amount corresponding to the arbitrary one of the third measurement points; Obtaining a second equation corresponding to the arbitrary one of the fifth measurement points based on a fourth horizontal change amount, a fourth object surface resolution, a fourth distance, the second angle, and the three-degree-of-freedom motion amount corresponding to the arbitrary one of the fifth measurement points; Obtaining a third target simultaneous equation based on J1 / 2 first equations corresponding to the J1 / 2 third measurement points and J2 / 2 second equations corresponding to the J2 / 2 fifth measurement points; Obtaining a horizontal displacement amount of each of the J1 / 2 third measurement points and a horizontal displacement amount of each of the J2 / 2 fifth measurement points based on the third target simultaneous equation; Including, 6. The method of claim 5 .

7. Determining the vertical subsidence amount of each of the J1 / 2 fourth measurement points and the vertical subsidence amount of each of the J2 / 2 sixth measurement points based on the J1 / 2 third vertical change amounts corresponding to the J1 / 2 fourth measurement points, the J2 / 2 fourth vertical change amounts corresponding to the J2 / 2 sixth measurement points, the first angle and the second angle of the camera array, the J1 / 2 fifth object surface resolutions corresponding to the J1 / 2 fourth measurement points, the J2 / 2 sixth object surface resolutions corresponding to the J2 / 2 sixth measurement points, the J1 / 2 fifth distances, the J2 / 2 sixth distances, and the five-degree-of-freedom motion of the deformation measuring device, Obtaining a third equation corresponding to the arbitrary one of the fourth measurement points based on a third vertical displacement, a fifth object plane resolution, a fifth distance, the first angle, and the five degrees of freedom motion corresponding to the arbitrary one of the fourth measurement points; Obtaining a fourth equation corresponding to the arbitrary one of the sixth measurement points based on a fourth vertical displacement, a sixth object plane resolution, a sixth distance, the second angle, and the five-degree-of-freedom motion corresponding to the arbitrary one of the sixth measurement points; Obtaining a fourth target simultaneous equation based on J third equations corresponding to the J fourth measurement points and J fourth equations corresponding to the J sixth measurement points; Obtaining a vertical subsidence amount of each of the J1 / 2 fourth measurement points and a vertical subsidence amount of each of the J2 / 2 sixth measurement points based on the fourth target simultaneous equation; Including, 7. The method according to claim 5 or 6.

8. A deformation measuring device, comprising: The deformation measurement device is provided with a camera array and a moving platform, the device including an acquisition unit and a processing unit; The acquisition unit is adapted to perform the following: When the moving platform travels to a first measurement position in the measurement target area, a first camera in the camera array photographs a measurement point in a first measurement target area in the measurement target area to obtain a first image, and a second camera in the camera array photographs a measurement point in a second measurement target area in the measurement target area to obtain a second image, the measurement point in the first measurement target area and the measurement point in the second measurement target area are located on both sides of the first measurement position, and the photographing directions of the first camera and the second camera are opposite to each other; When the moving platform travels to a second measurement position in the measurement target area, the first camera photographs a measurement point in the first measurement target area to obtain a third image, and the second camera photographs a measurement point in the second measurement target area to obtain a fourth image; The processing unit is configured to: determining J1 first measurement points based on the first image and the third image, and determining J2 second measurement points based on the second image and the fourth image, the J1 first measurement points being measurement points included in both the first image and the third image, and the J2 second measurement points being measurement points included in both the second image and the fourth image; acquiring a horizontal displacement amount and a vertical subsidence amount of each of the J1 first measurement points and a horizontal displacement amount and a vertical subsidence amount of each of the J2 second measurement points based on the first image, the second image, the third image, and the fourth image; A deformation measuring device characterized by:

9. An electronic device comprising a processor and a memory, The processor is connected to the memory, the memory storing a computer program, and the processor is configured to execute the computer program stored in the memory to cause the electronic device to perform the method according to any one of claims 1 to 7.

1. An electronic device comprising:

10. 1. A computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to realize the method according to any one of claims 1 to 7. A computer-readable storage medium comprising:

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