CN112330745A - Tunnel portal side and elevation slope stability monitoring and early warning system and method based on binocular vision - Google Patents
Tunnel portal side and elevation slope stability monitoring and early warning system and method based on binocular vision Download PDFInfo
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Abstract
The invention relates to a binocular vision-based tunnel portal side-up slope stability monitoring and early warning system and method, and belongs to the technical field of tunnels. The system comprises: the infrared reflection cooperative mark is fixedly arranged in the area grid to be monitored; a binocular telematic industrial camera; an industrial personal computer; a solar photovoltaic panel power supply device; monitoring an early warning information center; the infrared light-reflecting cooperative mark and the point to be measured are connected into a whole and move together with the point to be measured, so that the displacement of the point to be measured is visualized; the binocular long-range shooting industrial camera collects image information of a point to be measured in real time; the industrial personal computer is implanted with an image analysis algorithm to obtain the three-dimensional coordinates of the point to be measured relative to the position of the camera station, restores the absolute position coordinates of the point to be measured according to the absolute coordinates of the station position, and transmits the processed data to the monitoring and early warning information center through a built-in remote data transmission module; and the monitoring and early warning information center displays the three-dimensional deformation form of the side slope and the top slope of the tunnel in real time and simultaneously issues early warning information to a user.
Description
Technical Field
The invention belongs to the technical field of tunnels, and relates to a binocular vision-based tunnel portal side-up slope stability monitoring and early warning system and method.
Background
The stability problem of tunnel portal side up slope is always an important part and link of safety control in the tunnel construction operation period, the current conventional method is manual leveling measurement and manual total station measurement to obtain measurement robot automatic measurement, but the methods cannot meet the requirements of monitoring on large range, high density, high frequency, digitization and intellectualization, meanwhile, certain monitoring empty window period and blind area exist in time and space, which causes unnecessary disaster accidents, and along with the development of image analysis technology and binocular stereo vision technology, the real-time three-dimensional form measurement of the tunnel portal side up slope becomes possible, thereby realizing real-time dynamic monitoring and early warning.
Disclosure of Invention
In view of this, the invention aims to provide a system and a method for monitoring and early warning stability of a tunnel portal slope based on binocular vision.
In order to achieve the purpose, the invention provides the following technical scheme:
tunnel cave entrance side slope stability monitoring early warning system based on binocular vision, this system includes:
the infrared reflection cooperative mark is fixedly arranged in the area grid to be monitored;
a binocular telematic industrial camera;
an industrial personal computer;
a solar photovoltaic panel power supply device;
monitoring an early warning information center;
the infrared light-reflecting cooperative mark and the point to be measured are connected into a whole and move together with the point to be measured, so that the displacement of the point to be measured is visualized;
the binocular long-range shooting industrial camera collects image information of a point to be measured in real time;
the industrial personal computer is implanted with an image analysis algorithm to obtain the three-dimensional coordinates of the point to be measured relative to the position of the camera station, restores the absolute position coordinates of the point to be measured according to the absolute coordinates of the station position, and transmits the processed data to the monitoring and early warning information center through a built-in remote data transmission module;
the power supply device of the solar photovoltaic panel supplies power to the binocular teletransmission industrial camera;
and the monitoring and early warning information center displays the three-dimensional deformation form of the side slope and the top slope of the tunnel in real time and simultaneously issues early warning information to a user.
Optionally, the solar photovoltaic panel power supply device comprises a photovoltaic panel, a solar controller and a lithium battery which are connected in sequence.
Optionally, the binocular teletransmission industrial camera comprises a video camera, a video image acquisition module, an embedded image data processing module, a communication module, a storage module, a field debugging interface and a video image data processing terminal which are connected in sequence; the embedded image data processing module is connected with a central control module of the monitoring and early warning information center.
The method for monitoring and early warning the stability of the tunnel portal side and up slope based on binocular vision comprises the following steps:
(1) determining a monitoring range; the longitudinal monitoring range is a monitoring area which is a shallow-buried section determined according to a design drawing and is diffused upwards by 45 degrees at the bottom of the tunnel in the transverse monitoring range;
(2) dividing a monitoring area grid in the determined monitoring area range;
(3) arranging a light-reflecting cooperative mark at the central point of the grid of each monitoring area, wherein the light-reflecting cooperative mark needs to be firmly combined with rock soil of a part to be monitored to cooperatively deform;
(4) selecting a part which is relatively stable and can cover the whole monitoring area in a view field range on a slope body on the opposite side of the tunnel portal, and pouring a base of the monitoring station by using concrete;
(5) installing a binocular tele-scopic industrial camera on a base of the monitoring station;
(6) carrying out initialization setting, finding a target to be detected accurately, and adjusting a lens and a focal length to optimize acquired image information;
(7) based on dual-camera dual-phase film measurement, according to the parallax of a space point in two images, obtaining the three-dimensional coordinate value of the same point to be measured in the images through certain coordinate transformation, wherein the binocular stereo vision three-dimensional measurement is based on the parallax principle, and the base line distance B is the distance between the projection center connecting lines of the two cameras; the focal length of the camera is f; two cameras are set to watch the same characteristic point (x, y, z) of a space object at the same time, images of a point P are obtained on the left eye and the right eye respectively, and the image coordinates of the point P are Pleft＝(xl，yl)，pright＝(xr，yr)；
The images of the two cameras are on the same plane, and the image coordinates Y coordinates of the characteristic points P are the same, namely Yl＝yrAnd y, calculating the three-dimensional coordinates of the feature point P in the camera coordinate system by using the triangular geometric relationship as follows:
the camera coordinate system is obtained in real time through a base Beidou measurement system GNSS in a built-in camera;
(8) and (4) carrying out coordinate settlement through an industrial personal computer, uploading a real-time monitoring result to a monitoring and early warning information center, drawing a slope three-dimensional deformation cloud picture according to the received monitoring result by the monitoring and early warning information center, displaying and issuing early warning information in real time.
Optionally, the size of the grid of monitoring regions is 2 × 2 m.
The invention has the beneficial effects that: the method comprises the steps of meshing an area to be monitored in a certain range of a tunnel side and elevation slope, arranging points to be measured in the mesh, arranging a stable measuring station on a mountain body far away from the side and elevation slope, arranging a remote binocular camera, shooting at a fixed frequency, and obtaining three-dimensional coordinate values of the points to be measured in real time through a certain image analysis technology and space coordinate conversion, so that the real-time three-dimensional space form of the tunnel portal side and elevation slope is obtained.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a constitutional view of the present invention;
FIG. 2 is a system diagram of the present invention;
FIG. 3 is a longitudinal monitoring range;
FIG. 4 is a lateral monitoring range;
FIG. 5 is a monitoring area gridding and reflectance targets;
fig. 6 is a coordinate conversion schematic diagram of a binocular camera.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Please refer to fig. 1-2, which illustrate a binocular vision based monitoring and early warning system and method for stability of tunnel entrance slope and uphill slope.
The system acquires the three-dimensional space form of the tunnel entrance side and elevation slope in real time by a remote binocular stereo vision method, thereby realizing the real-time, all-weather, remote and numerical monitoring of the stability of the tunnel side and elevation slope.
The whole set of system comprises: (1) the infrared reflection cooperative mark is fixedly arranged in the area grid to be monitored; (2) a tele-binocular camera survey station; (3) an industrial personal computer; (4) a solar photovoltaic panel power supply device; (5) and a monitoring and early warning information center.
The basic functions and division of the components are as follows:
(1) reflection cooperation sign: the displacement sensor is connected with the point to be measured into a whole and moves along with the point to be measured, so that the displacement of the point to be measured is visualized.
(2) A telephoto binocular camera: and acquiring image information of the point to be measured in real time.
(3) An industrial personal computer: and implanting an image analysis algorithm to obtain the three-dimensional coordinates of the point to be measured relative to the position of the camera measuring station in real time, restoring the absolute position coordinates of the point to be measured according to the absolute coordinates of the position of the measuring station, and transmitting the processed data to a monitoring and early warning information center through a built-in remote data transmission module.
(4) Solar photovoltaic panel: and power is supplied to the binocular telephoto camera.
(5) And the monitoring and early warning information center displays the three-dimensional deformation form of the side slope and the top slope of the tunnel in real time and simultaneously issues early warning information to a user.
The specific implementation method and steps are as follows:
(1) determining a monitoring range; the longitudinal monitoring range is a shallow-buried section determined according to a design drawing, and the monitoring area of the tunnel bottom of the transverse monitoring range is upwards diffused by 45 degrees, as shown in fig. 3 and 4.
(2) And dividing a monitoring area grid in the determined monitoring area range, wherein the size of the grid is 2 x 2 m.
(3) A light-reflecting cooperative mark is arranged at the central point of the grid of each monitoring area, and the light-reflecting cooperative mark needs to be firmly combined with rock soil of a part to be monitored to cooperatively deform, as shown in figure 5.
(4) Selecting a position which is relatively stable on a slope body on the opposite side of the tunnel portal and can cover the whole monitoring area within the view field range, and pouring the base of the monitoring station by using concrete.
(5) And a binocular tele-industrial camera is mounted on a base of the monitoring station.
(6) And carrying out initialization setting, finding the target to be detected accurately, and adjusting the lens and the focal length to optimize the acquired image information.
(7) Based on dual-camera dual-phase film measurement, according to the parallax of a space point in two images, three-dimensional coordinate values of the same point to be measured in the images are obtained through certain coordinate transformation, the binocular stereo vision three-dimensional measurement is based on the parallax principle, and the coordinate calculation method is shown in fig. 6, wherein the base line distance B is the distance between the projection center connecting lines of the two cameras; the camera focal length is f. Two cameras are set to watch the same characteristic point (x, y, z) of a space object at the same time, images of a point P are obtained on the left eye and the right eye respectively, and the image coordinates of the point P are Pleft＝(xl，yl)，pright＝(xr，yr)。
When the images of the two cameras are on the same plane, the image coordinates Y of the characteristic points P are the same, namely the Y coordinatesl＝yrAnd y, calculating the three-dimensional coordinate of the feature point P in the camera coordinate system according to the triangular geometric relationship, wherein the three-dimensional coordinate is as follows:
the camera coordinate system is obtained in real time through a base Beidou measurement system (GNSS) in a built-in camera.
(8) And (4) carrying out coordinate settlement through an industrial personal computer, uploading a real-time monitoring result to a monitoring and early warning information center, drawing a slope three-dimensional deformation cloud picture according to the received monitoring result by the monitoring and early warning information center, displaying and issuing early warning information in real time.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (5)
1. Tunnel entrance side and heading slope stability monitoring and early warning system based on binocular vision, its characterized in that: the system comprises:
the infrared reflection cooperative mark is fixedly arranged in the area grid to be monitored;
a binocular telematic industrial camera;
an industrial personal computer;
a solar photovoltaic panel power supply device;
monitoring an early warning information center;
the infrared light-reflecting cooperative mark and the point to be measured are connected into a whole and move together with the point to be measured, so that the displacement of the point to be measured is visualized;
the binocular long-range shooting industrial camera collects image information of a point to be measured in real time;
the industrial personal computer is implanted with an image analysis algorithm to obtain the three-dimensional coordinates of the point to be measured relative to the position of the camera station, restores the absolute position coordinates of the point to be measured according to the absolute coordinates of the station position, and transmits the processed data to the monitoring and early warning information center through a built-in remote data transmission module;
the power supply device of the solar photovoltaic panel supplies power to the binocular teletransmission industrial camera;
and the monitoring and early warning information center displays the three-dimensional deformation form of the side slope and the top slope of the tunnel in real time and simultaneously issues early warning information to a user.
2. The binocular vision based tunnel portal side-up slope stability monitoring and early warning system of claim 1, wherein: the solar photovoltaic panel power supply device comprises a photovoltaic panel, a solar controller and a lithium battery which are sequentially connected.
3. The binocular vision based tunnel portal side-up slope stability monitoring and early warning system of claim 1, wherein: the binocular teletransmission industrial camera comprises a video camera, a video acquisition module, an embedded image data processing module, a communication module, a storage module, a field debugging interface and a video data processing terminal which are connected in sequence; the embedded image data processing module is connected with a central control module of the monitoring and early warning information center.
4. Tunnel portal side and elevation slope stability monitoring and early warning method based on binocular vision is characterized in that: the method comprises the following steps:
(1) determining a monitoring range; the longitudinal monitoring range is a monitoring area which is a shallow-buried section determined according to a design drawing and is diffused upwards by 45 degrees at the bottom of the tunnel in the transverse monitoring range;
(2) dividing a monitoring area grid in the determined monitoring area range;
(3) arranging a light-reflecting cooperative mark at the central point of the grid of each monitoring area, wherein the light-reflecting cooperative mark needs to be firmly combined with rock soil of a part to be monitored to cooperatively deform;
(4) selecting a part which is relatively stable and can cover the whole monitoring area in a view field range on a slope body on the opposite side of the tunnel portal, and pouring a base of the monitoring station by using concrete;
(5) installing a binocular tele-scopic industrial camera on a base of the monitoring station;
(6) carrying out initialization setting, finding a target to be detected accurately, and adjusting a lens and a focal length to optimize acquired image information;
(7) based on dual-camera dual-phase film measurement, according to the parallax of a space point in two images, obtaining the three-dimensional coordinate value of the same point to be measured in the images through certain coordinate transformation, wherein the binocular stereo vision three-dimensional measurement is based on the parallax principle, and the base line distance B is the distance between the projection center connecting lines of the two cameras; the focal length of the camera is f; two cameras are set to watch the same characteristic point (x, y, z) of a space object at the same time, images of a point P are obtained on the left eye and the right eye respectively, and the image coordinates of the point P are Pleft＝(xl，yl)，pright＝(xr，yr)；
The images of the two cameras are on the same plane, and the image coordinates Y coordinates of the characteristic points P are the same, namely Yl＝yrAnd y, calculating the three-dimensional coordinates of the feature point P in the camera coordinate system by using the triangular geometric relationship as follows:
the camera coordinate system is obtained in real time through a base Beidou measurement system GNSS in a built-in camera;
(8) and (4) carrying out coordinate settlement through an industrial personal computer, uploading a real-time monitoring result to a monitoring and early warning information center, drawing a slope three-dimensional deformation cloud picture according to the received monitoring result by the monitoring and early warning information center, displaying and issuing early warning information in real time.
5. The binocular vision based tunnel portal side-up slope stability monitoring and early warning method according to claim 4, wherein the method comprises the following steps: the size of the monitoring area grid is 2 x 2 m.
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| CN113012222A (en) * | 2021-02-26 | 2021-06-22 | 中南大学 | Deformation monitoring system of tunnel portal |
| CN113280750A (en) * | 2021-06-09 | 2021-08-20 | 武汉大学 | Three-dimensional deformation monitoring method and device |
| CN114333243A (en) * | 2021-12-21 | 2022-04-12 | 长江三峡勘测研究院有限公司（武汉） | Landslide monitoring and early warning method, device, medium, electronic equipment and terminal |
| CN114444161A (en) * | 2021-09-24 | 2022-05-06 | 中建四局第一建设有限公司 | BIM technology-based three-dimensional grid monitoring method |
| CN114964375A (en) * | 2022-05-30 | 2022-08-30 | 广西新发展交通集团有限公司 | Tunnel portal monitoring system and safety evaluation method |
| CN115030125A (en) * | 2022-07-12 | 2022-09-09 | 黑龙江农垦建工路桥有限公司 | Tunnel portal slope deformation monitoring system |
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| CN114333243A (en) * | 2021-12-21 | 2022-04-12 | 长江三峡勘测研究院有限公司（武汉） | Landslide monitoring and early warning method, device, medium, electronic equipment and terminal |
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| CN115030125A (en) * | 2022-07-12 | 2022-09-09 | 黑龙江农垦建工路桥有限公司 | Tunnel portal slope deformation monitoring system |
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