阅读说明：本技术 一种基于机器视觉的隧道掌子面位移监测的方法 (A method of the tunnel tunnel face displacement monitoring based on machine vision ) 是由 胡启军 邱佳 何乐平 于 2019-09-30 设计创作，主要内容包括：本发明公开了涉及监测用的一种基于机器视觉的隧道掌子面位移监测的方法,主要由图像采集单元、信息传输单元、信息处理单元、报警单元及电源模块实现,其包括如下具体步骤：1)架设监测装置；2)CCD双目摄像机标定；3)采集掌子面图像；4)通过信息传输单元将采集的图像传输到信息处理单元,并进行隧道掌子面的三维模型重建；5)计算掌子面的相对位移及变形。若位移超过设定的阈值,则触发报警单元,发出警报；若位移未超限,则继续采集图像进行监测。通过机器视觉的方法进行隧道掌子面的变形监测,相比于现有变形监测技术——激光测距和传感器,具有更强的可操作性,且本装置实用简洁,很好地实现了掌子面的变形监测,更好地控制施工安全性。(The invention discloses a kind of methods for the tunnel tunnel face displacement monitoring based on machine vision for being related to monitoring, it is mainly realized by image acquisition units, information transmission unit, information process unit, alarm unit and power module comprising following specific steps: 1) setting up monitoring device；2) CCD binocular camera is demarcated；3) face image is acquired；4) pass through information transmission unit for the image transmitting of acquisition to information process unit, and carry out the reconstructing three-dimensional model of tunnel tunnel face；5) relative displacement and deformation of face are calculated.If displacement is more than the threshold value of setting, alarm unit is triggered, is sounded an alarm；If displacement is not transfinited, continues acquisition image and be monitored.The deformation monitoring of tunnel tunnel face is carried out by the method for machine vision, compared to existing technology for deformation monitoring --- laser ranging and sensor have stronger operability, and the present apparatus is practical succinct, the deformation monitoring of face is realized well, preferably control working security.)

1. a kind of method of the tunnel tunnel face displacement monitoring based on machine vision, mainly by power module (1), alarm unit (2), information process unit (3), information transmission unit (4) and image acquisition units are realized；Described image acquisition unit, feature Be: including mounting base (5), CCD binocular camera (6) and light source (7), while CCD binocular camera (6) is equipped with electricity Dynamic dust-proof door (8)；The tunnel tunnel face displacement monitoring method, which comprises the following steps:

Step 1: setting up monitoring device；

Step 2:CCD binocular camera (6) calibration；

Step 3: acquisition face image；

Step 4: by information transmission unit (4) by the image transmitting of acquisition to information process unit (3), and carrying out tunnel face The reconstructing three-dimensional model in face；

Step 5: calculating the relative displacement and deformation of face；

By comparing the three-dimensional coordinate of "current" model and initial model characteristic point, the relative displacement of each characteristic point is calculated, and by This obtains the displacement and deformation of face.

2. the method for tunnel tunnel face displacement monitoring according to claim 1, it is characterised in that: when each on monitored face When the deflection of observation point is more than the threshold value of setting, triggers alarm unit (2), sound an alarm.

3. the method for tunnel tunnel face displacement monitoring according to claim 1, it is characterised in that: suitable for full face tunneling Tunnel tunnel face displacement monitoring.

4. the method for tunnel tunnel face displacement monitoring according to claim 1, it is characterised in that: on CCD binocular camera (6) Equipped with electric dust-proof door (8), the electric dust-proof door (8) is controlled by information process unit (3)；When CCD binocular camera (6) is adopted When collecting image, electric dust-proof door (8) is opened, remaining time for closed state, can prevent dust from blocking camera lens, improves acquisition The quality of image.

Technical field

The present invention relates to a kind of methods of tunnel tunnel face displacement monitoring based on machine vision of monitoring.

Background technique

Since the 21th century, the tunnel Tunnel Engineering project in China is developed rapidly, and is made within 2016 according to China It is very huge that the 13rd fixed five-year plan can be seen that the development potentiality of Tunnel Engineering in recent years.Due to Tunnel Engineering Particularity, its safety monitoring during construction and operation is always an essential ring in construction safety link.Mesh Preceding tunnel, which monitors common means, laser ranging, sensor etc..

The displacement deformation observation of face can reflect the stability of current tunneling to a certain extent, close at present It is seldom in the technology of tunnel tunnel face deformation monitoring, but since tunnel tunnel face is constantly promoted with construction, have very big Mobility, and currently used monitoring means --- laser ranging and sensor in the monitoring for being applied to tunnel tunnel face by To limitation, it is not easy to realize.

Summary of the invention

To solve the shortage of the prior art and the limitation of existing monitoring means, the invention proposes one kind to be based on machine vision Tunnel tunnel face displacement monitoring method, using this contactless monitoring mode, its implementation is simple, monitoring effect Reliably, problem noted earlier has been well solved.

To achieve the purpose that foregoing invention, the invention adopts the following technical scheme:

A method of the tunnel tunnel face displacement monitoring based on machine vision, mainly by tunnel tunnel face Image Acquisition list Member, information transmission unit, information process unit, alarm unit and power module are realized, it is preferable that the monitoring method Are as follows:

1) monitoring device is set up；

It finds distance objective face certain distance first, not by construction infection and can collect entire having excavated part It is bolted mounting base on the ground of face image, then sets up CCD binocular camera and matched light source, electronic The equipment such as dust-proof door connect upper information process unit by information transmission unit, and information process unit and alarm unit connect respectively Device, which is set up, after module of connecting with the mains completes.

2) CCD binocular camera is demarcated；

Calibration of camera is carried out to binocular camera, obtains intrinsic parameters of the camera, and construct internal reference matrix.

3) face image is acquired；

After adjustment light source is reasonable, every the face image of acquisition in 10 seconds.

4) pass through information transmission unit for the image transmitting of acquisition to information process unit, and carry out the three of tunnel tunnel face Dimension module is rebuild；

After information process unit receives the image of acquisition, using SURF algorithm respectively to the figure of left and right camera acquisition Extraction as carrying out characteristic point, then the same characteristic features point of left and right image is tracked according to MHT algorithm, then use SGM algorithm Image Matching pixel-by-pixel is carried out, three-dimensional space point location is then carried out, that is, calculates seat of each characteristic point in world coordinate system Mark, obtains the surface geometry model of tunnel tunnel face by each coordinate calculated, finally carries out texture mapping and obtains complete tunnel Road face threedimensional model.

5): calculating the relative displacement and deformation of face；

By the three-dimensional coordinate of comparison "current" model and initial model characteristic point, the relative displacement of each characteristic point is calculated, And thus obtain the displacement and deformation of face.

Optionally, when the deflection of each observation point on monitored face is more than the threshold value of setting, alarm unit is triggered, It sounds an alarm.

Preferably, the method for the tunnel tunnel face displacement monitoring, the tunnel tunnel face suitable for full face tunneling are displaced Monitoring.

Preferably, the image collecting device includes mounting base, CCD binocular camera and light source, while CCD is bis- Lens camera be equipped with electric dust-proof door, so as to improve acquisition image quality compared with prior art, the present invention has and has Beneficial effect

1. the device and method of the present invention provides a kind of tunnel tunnel face displacement monitoring based on machine vision, the device Image acquisition units by being fixedly mounted carry out after being transferred to information process unit at interval of the face image of acquisition in 10 seconds Three-dimensional reconstruction simultaneously obtains the real-time displacement of face by the comparison with initial threedimensional model, reports more than triggering after the threshold value of setting Alarm device, to cope with and handle danger in time.

2. compared to currently used monitoring method --- laser ranging and sensor, the present invention use contactless Monitoring method is more suitable for using on this monitoring objective with mobility of face, and implementation method is simple and effective, very The monitoring to face is realized well.

Detailed description of the invention

Fig. 1 is scheme of installation when device of the present invention measures；

Fig. 2 is the structural schematic diagram of device of the present invention；

Fig. 3 is the flow diagram of the method for the invention.

In figure: 1. power modules；2. alarm unit；3. information process unit；4. information transmission unit (optical fiber)；5. installation Bottom plate；6.CCD binocular camera；7. light source；8. electric dust-proof door.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing with example to this Invention is described further.

As shown in Figure 1 and Figure 2, the present invention is a kind of method of tunnel tunnel face displacement monitoring based on machine vision, mainly It is realized by power module (1), alarm unit (2), information process unit (3), information transmission unit (4) and image acquisition units, Wherein, image acquisition units include: mounting base (5), CCD binocular camera (6), light source (7) and electric dust-proof door (8)；

As shown in figure 3, a kind of method of the tunnel tunnel face displacement monitoring based on machine vision, becomes using above-mentioned displacement Shape monitoring device carries out displacement deformation monitoring, comprising the following steps:

Step 1: setting up monitoring device；

It finds distance objective face certain distance first, not by construction infection and can collect entire having excavated part It is bolted mounting base (5) on the ground of face image, then sets up CCD binocular camera (6) and matched light The equipment such as source (7), electric dust-proof door (8) pass through information process unit (3) in information transmission unit (4) connection, information processing list First (3) and alarm unit (2) are separately connected power module (1), and device sets up completion afterwards；

Step 2:CCD binocular camera (6) calibration；

Calibration of camera is carried out to binocular camera, obtains intrinsic parameters of the camera, and construct internal reference matrix；

Step 3: acquisition face image；

After adjustment light source is reasonable, every the face image of acquisition in 10 seconds；

Step 4: by information transmission unit (4) by the image transmitting of acquisition to information process unit (3), and carrying out tunnel The reconstructing three-dimensional model of face；

After information process unit receives the image of acquisition, the extraction of image characteristic point is carried out using SURF algorithm, then The same characteristic features point of left and right image is tracked according to MHT algorithm, then carries out Image Matching pixel-by-pixel with SGM algorithm, so Three-dimensional space point location is carried out afterwards --- by coordinate [u v 1] of the characteristic point in image in pixel coordinate system^TIt is transformed into generation In boundary's coordinate system.Have respectively for left and right camera:

Wherein: Zc1, Zc2 respectively represent projection of the characteristic point in left and right camera coordinates system on Z axis；

Form camera internal parameter matrix；

[xw yw zw]^TTo put the coordinate in world coordinate system.

Two formulas arrangement above can be obtained:

X, Y, Z are solved using least square method, this coordinate is coordinate of this feature point in world coordinate system.

And each coordinate by calculating obtains the surface geometry model of tunnel tunnel face, finally carries out texture mapping and has obtained Whole tunnel tunnel face threedimensional model；

Step 5: calculating the relative displacement and deformation of face；

By the three-dimensional coordinate of comparison "current" model and initial model characteristic point, the relative displacement of each characteristic point is calculated, And thus obtain the displacement and deformation of face.

When the deflection of each observation point on monitored face is more than the threshold value of setting, triggers alarm unit (2), issue Alarm guarantees the safety of construction environment to cope with and handle unsafe condition in time.