Tunnel Deformation Monitoring System Based On Binocular Stereo Vision And Laser Ranging

With the rapid economic growth in our country,the construction of our transportation network has also rapidly increased.A large number of high-speed railway and highway networkconstruction,urban subway construction hasentered a period of rapid development,China's tunnel and underground engineering demand of TBM(Tunnel Boring Machine)is also growing.However,TBM equipment is huge and lack of adaptability to the geological conditions make it notable for deformation of surrounding rock during construction,if encounter adverse geological conditions without warning,excessive tunnel deformation will cause tunnel collapse,the jamming of TBM and other engineering accidents.So the deformation of the tunnel real-time monitoring has very important meaning.This paper presents a tunnel deformation monitoring scheme based on binocular vision and laser ranging to realize automatic,accurate and real-time monitoring of tunnel deformation.On the basis of the previous research results of the research group,artificial marker points are set on the rock wall of the tunnel and the measurement of anchor point is completed by the laser measurement system,the binocular stereo vision system is used to obtain the mutual position of other markers in the rock wall and the data fusion is completed by the stitching method based on semi-definite programming.This paper firstly introduces the general situation of TBM construction and the possible consequences of excessive tunnel deformation,the methods of tunnel deformation monitoring at home and abroad are briefly introduced and then put forward the research significance of the thesis.Then,the overall measurement scheme of this subject is described in detail,the error sources of binocular stereo vision system are analyzed,the error model of the system is established and then calculate the reasonable structural parameters of binocular system with different working distance.After that,the various steps of binocular stereo vision system are introduced in detail.The camera imaging model and calibration method,the camera distortion model,the method of distortion correction and polar line correction,extract the target centroid image processing method,stereo matching and three-dimensional information recovery method are introduced.A new method of data fusion based on three-point method for adjacent tunnel cross-sections and laser ranging and binocular vision system based on semi-definite programming is proposed to improve the measurement efficiency of the system.Finally,in order to verify whether the program meets the design requirements,an experimental system was set up to conduct experiments in laboratories and tunnel construction sites respectively.