CN109116368B - Displacement monitoring system and method - Google Patents
Displacement monitoring system and method Download PDFInfo
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- CN109116368B CN109116368B CN201811181230.7A CN201811181230A CN109116368B CN 109116368 B CN109116368 B CN 109116368B CN 201811181230 A CN201811181230 A CN 201811181230A CN 109116368 B CN109116368 B CN 109116368B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 268
- 238000012544 monitoring process Methods 0.000 title claims abstract description 223
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000002159 abnormal effect Effects 0.000 claims abstract description 31
- 238000005259 measurement Methods 0.000 claims description 24
- 238000012806 monitoring device Methods 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 claims 1
- 238000013519 translation Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
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- 238000010276 construction Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the application provides a displacement monitoring system and a displacement monitoring method, and relates to the technical field of displacement monitoring equipment. The system comprises: the concave reflection platform is arranged at the displacement monitoring point. The distance measuring device is arranged at the measuring point and is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting table from the measuring point, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and a second position where the displacement monitoring point is historically located according to the displacement monitoring point measured by the history of the distance measuring device, wherein at least four distance measuring points are not at least partially coplanar. And then whether the displacement of the displacement monitoring point is abnormal or not is judged by utilizing the absolute displacement determined by the first position and the second position, so that a more accurate result can be obtained, and the technical problem of inaccurate result caused by larger measured displacement error in the prior art is solved.
Description
Technical Field
The application relates to the technical field of displacement monitoring equipment, in particular to a displacement monitoring system and a method.
Background
Engineering construction generally involves foundation pits and side slopes, but as engineering exploitation depth is increased and the angle of the side slope is increased, stability problems of the foundation pits and the side slopes are more remarkable. Collapse is easy to occur in deep foundation pits and high slopes, so that serious safety accidents are caused, and casualties are caused. Therefore, the displacement of the foundation pit and the side slope is dynamically monitored in real time to determine the stability of the foundation pit and the side slope, which is an important subject for ensuring construction safety.
At present, enterprises consider the cost of monitoring, and usually detect the relative displacement generated by monitoring points at a foundation pit or a side slope through methods such as a mechanical measurement method, a extensometer method, total station measurement, digital close-range photography and the like, and determine the displacement of the foundation pit or the side slope through the relative displacement. However, there is often a large error in the manner of relative displacement, so that the monitoring result is affected.
Disclosure of Invention
The present application provides a displacement monitoring system and method for effectively solving the above-mentioned technical drawbacks.
In order to achieve the above object, an embodiment of the present application is achieved by:
in a first aspect, an embodiment of the present application provides a displacement monitoring system, including: the concave reflection platform is arranged at the displacement monitoring point. The distance measuring device is arranged at a measuring point and is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting table from the measuring point, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and a second position where the displacement monitoring point is historically located according to the history of the distance measuring device, wherein the at least four distance measuring points are at least partially not coplanar.
With reference to the first aspect, in some possible implementations, the ranging device includes: and the cradle head is arranged at the measuring point. The laser ranging device is arranged on the cradle head, and is used for obtaining at least four position parameters of at least four ranging points on the concave reflection platform from the measuring points based on position adjustment measurement in the process of controlling the cradle head to adjust the position of the laser ranging device, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal according to the first position and a second position where the displacement monitoring point is historically located according to the history of the ranging device.
With reference to the first aspect, in some possible implementations, the ranging device further includes: the camera is arranged on the holder or outside the holder, and is used for obtaining a current monitoring view screen at the displacement monitoring point, and transmitting the current monitoring view screen to external monitoring equipment based on the control of the laser ranging equipment when the laser ranging equipment determines that the displacement of the displacement monitoring point is abnormal.
With reference to the first aspect, in some possible implementations, the concave reflecting platform includes a concave laser reflecting surface for setting at least four ranging points, and the concave laser reflecting surface is a sphere, a paraboloid, and a hyperboloid.
In a second aspect, an embodiment of the present application provides a displacement monitoring system, including: the concave reflection platform is arranged at the displacement monitoring point. The distance measuring device is arranged at the measuring point and is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting table from the measuring point through measurement, wherein the at least four distance measuring points are at least partially non-coplanar. The monitoring equipment obtains at least four position parameters sent by the distance measuring device, determines a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determines whether the displacement of the displacement monitoring point is abnormal or not according to the first position and a second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
In a third aspect, an embodiment of the present application provides a displacement monitoring method applied to a ranging device disposed at a measurement point in a displacement monitoring system, where the displacement monitoring system further includes a concave reflection stage disposed at the displacement monitoring point, the method including: obtaining at least four position parameters of at least four ranging points on the concave reflecting table from the measuring points, wherein the at least four ranging points are at least partially non-coplanar; determining a first position where the displacement monitoring point is currently located according to the at least four position parameters; and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and the second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
With reference to the third aspect, in some possible implementations, the obtaining at least four position parameters of at least four ranging points on the concave reflecting table from the measuring point includes: according to at least four azimuth parameters corresponding to at least four ranging points on the concave reflecting table, adjusting the ranging device to sequentially move to each azimuth direction corresponding to each azimuth parameter in the at least four azimuth parameters; and measuring each corresponding ranging point in the at least four ranging points based on each azimuth direction, and obtaining the position parameters of each ranging point from the measuring point by measuring to obtain at least four position parameters.
With reference to the third aspect, in some possible implementations, the determining, according to the at least four position parameters, a first position where the displacement monitoring point is currently located includes: determining that the at least four ranging points are mapped to at least four coordinate points in a coordinate space according to the at least four position parameters; and determining a spherical shape fitting the at least four coordinate points according to the at least four coordinate points, and determining the coordinate point of the spherical center of the spherical shape in the coordinate space as the current first position of the displacement monitoring point.
With reference to the third aspect, in some possible implementations, the displacement monitoring points are multiple, and the method further includes: the displacement monitoring system performs the displacement monitoring method according to the third aspect and any implementation manner of the third aspect for each displacement monitoring point in the plurality of displacement monitoring points, so that the displacement monitoring system loops to monitor whether the displacement of each displacement monitoring point is abnormal.
In a third aspect, an embodiment of the present application provides a displacement monitoring method, which is applied to a monitoring device in a displacement monitoring system, where the displacement monitoring system further includes: a ranging device disposed at a measurement point, and a concave reflective stage disposed at a displacement monitoring point, the method comprising: controlling the distance measuring device to measure the distance between at least four distance measuring points on the concave reflecting table, so that the at least four distance measuring points obtained by the distance measuring device are at least four position parameters from the measuring points, wherein at least part of the at least four distance measuring points are not coplanar; acquiring the at least four position parameters transmitted by the ranging device; determining a first position where the displacement monitoring point is currently located according to the at least four position parameters; and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and the second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
Based on the above, the beneficial effects of the application include:
the distance measuring device measures at least four position parameters of at least four distance measuring points from the measuring points, and then the distance measuring device can determine that the displacement monitoring point is currently located at the first position according to the at least four position parameters. Under the condition that the first position and the second position where the displacement monitoring point history is located are both the positions of the displacement monitoring point, the absolute displacement with smaller error of the displacement monitoring point can be determined according to the first position and the second position, and then whether the displacement of the displacement monitoring point is abnormal or not can be judged by utilizing the absolute displacement of the displacement monitoring point, so that a more accurate result can be obtained, and the technical problem of inaccurate result caused by larger measured displacement error in the prior art is solved.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a displacement monitoring system according to a first embodiment of the present application;
FIG. 2 is a first block diagram of a displacement monitoring system according to a first embodiment of the present application;
FIG. 3 is a schematic view showing a first view angle structure of a concave reflection stage in a displacement monitoring system according to a first embodiment of the present application;
FIG. 4 is a schematic view showing a second view angle structure of a concave reflecting table in a displacement monitoring system according to a first embodiment of the present application;
FIG. 5 is a second block diagram of a displacement monitoring system according to the first embodiment of the present application;
FIG. 6 is a first flowchart of a displacement monitoring method according to a second embodiment of the present application;
fig. 7 shows a method sub-flow of step S110 in a first flowchart of a displacement monitoring method according to a second embodiment of the present application;
fig. 8 shows a method sub-flow of step S120 in a first flowchart of a displacement monitoring method according to a second embodiment of the present application;
fig. 9 shows a second flowchart of a displacement monitoring method according to a second embodiment of the present application.
Icon: 100-displacement monitoring system; 110-a concave reflecting stage; 111-concave laser reflection surface; 120-ranging device; 121-a cradle head; 122-a laser ranging device; 123-cameras; 130-monitoring device.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without any creative effort, are within the protection scope of the present application based on the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. The terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In the description of the application, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the application will be understood by those of ordinary skill in the art in a specific context.
First embodiment
Referring to fig. 1 and 2, an embodiment of the present application provides a displacement monitoring system 100, as a first implementation of the displacement monitoring system 100, the displacement monitoring system 100 includes: concave reflecting table 110 and ranging device 120.
As shown in fig. 3, the concave reflecting table 110 may be provided with a displacement monitoring point, where the displacement monitoring point may be a position point to be monitored in a foundation pit and a slope in construction engineering. The concave reflection table 110 is arranged in such a way that a bracket is arranged at the displacement monitoring point, and the concave reflection table 110 can be fixed on the bracket, so that the concave reflection table 110 is rigidly connected with the displacement monitoring point. Based on the rigid connection, the displacement generated by the foundation pit and the side slope at the displacement monitoring point can be directly reflected on the concave reflection platform 110, so that the corresponding position of the concave reflection platform 110 also appears. Thus, determining the displacement of the concave reflecting table 110 can determine the displacement of the displacement monitoring point.
In this embodiment, the concave reflecting table 110 is provided with a concave laser reflecting surface 111, the edge of the concave laser reflecting surface 111 may be circular, and the surface of the concave laser reflecting surface 111 may be spherical, parabolic or hyperboloid, i.e. the surface of the concave laser reflecting surface 111 needs to be ensured to be not planar. At least four ranging points can be generated on the concave laser reflection surface 111 of the concave reflection stage 110 during the laser irradiation of the ranging device 120, wherein each of the at least four ranging points can be generated due to the laser irradiation. Then, in the case where the concave laser reflection surface 111 is not planar, the at least four ranging points may be caused to be at least partially non-coplanar, so that the position of the displacement monitoring point may be subsequently determined based on the at least partially non-coplanar at least four ranging points.
For example, as shown in fig. 4, the laser irradiation of the ranging device 120 may generate four ranging points a, B, C, and D on the concave laser reflection surface 111.
Referring to fig. 1 and 2, the distance measuring device 120 may be disposed at a measuring point, where the measuring point may be within a range of 10-800 meters from the displacement monitoring point, where the distance measuring device 120 may be configured to obtain at least four position parameters of at least four distance measuring points on the concave reflecting table 110 from the measuring point, determine a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determine whether the displacement of the displacement monitoring point is abnormal according to the first position and a second position where the displacement monitoring point is historically located according to the displacement monitoring point measured by the history of the distance measuring device 120.
The detailed structure of the ranging device 120 will be described below.
The ranging device 120 may include: cradle head 121, laser rangefinder 122 and camera 123. The laser ranging device 122 is mounted on the pan-tilt head 121, the camera 123 may be mounted on the pan-tilt head 121 or outside the pan-tilt head 121, and the pan-tilt head 121 is fixed at the measuring point.
Cradle head 121 may be a conventional high-precision cradle head 121 device in the market, and cradle head 121 may establish a communication relationship with laser ranging device 122, so that movement of cradle head 121 may be controlled by laser ranging device 122.
The camera 123 may be a conventional high-definition camera 123 in the market, and the camera 123 may collect video including external environment.
The laser ranging device 122 may be a laser range finder with data processing capability, and the laser ranging device 122 may measure and calculate the current position of the displacement monitoring point.
In this embodiment, when the laser ranging device 122 first measures the distance of the concave reflecting table 110 to determine the current position of the displacement monitoring point for the first time, because the azimuth parameter of the displacement monitoring point is not obtained yet, human intervention is required to determine the azimuth parameter of the displacement monitoring point, so that the laser ranging device 122 can perform automatic measurement based on the azimuth parameter subsequently.
In detail, the camera 123 can transmit the collected video to the monitoring device 130 in real time based on communication with the external monitoring device 130, so that the monitoring device 130 plays the video, and an operator can find the position of the concave reflecting table 110 based on the played video. Because the pan-tilt 121 can also communicate with the monitoring device 130, an operator can control the movement of the pan-tilt 121 based on the position of the concave reflecting platform 110 in the video, and the movement of the pan-tilt 121 enables the orientation of the laser ranging device 122, which changes in orientation along with the movement of the pan-tilt 121, to change to be oriented toward the concave reflecting platform 110. When the operator observes in the video that the laser ranging device 122 is facing the concave reflecting table 110, the laser emitted by the ranging device 120 also generates a macroscopic measuring point on the concave reflecting table 110, and then the operator can stop controlling the movement of the cradle head 121; wherein, since the laser is visible light, the measuring point generated by the laser on the concave reflecting table 110 can be observed by the operator in the video. Since the monitoring device 130 may also be in communication with the ranging device 120, an operator may control the ranging device 120 by the monitoring device 130 to record an azimuth parameter corresponding to an orientation of a measurement point generated on the concave reflective platform 110, where the azimuth parameter may include the monitoring device 130: pitch angle and azimuth angle.
Based on the above manner of determining the azimuth parameters, the operator may control the ranging device 120 through the monitoring device 130 to record each azimuth parameter corresponding to each measurement point generated, so that at least four azimuth parameters may be recorded correspondingly by generating at least four ranging points. Thus, in subsequent measurements, the ranging device 120 may control the pan-tilt 121 to move to at least four corresponding orientations based on the recorded at least four azimuth parameters, thereby automatically determining the position of the displacement monitoring point.
The laser ranging device 122 will be described in detail below to automatically determine the position of the displacement monitoring point, and it will be understood that the laser ranging device 122 may determine the position of the displacement monitoring point based on at least four azimuth parameters multiple times, and this embodiment is described with the laser ranging device 122 determining the position of the displacement monitoring point a certain time.
In detail, in the process of controlling the cradle head 121 to adjust the position of the laser range finder, the laser range finder 122 can adjust the movement of the cradle head 121 according to at least four azimuth parameters corresponding to at least four ranging points on the concave reflection platform 110, so that the laser range finder 122 moves to each azimuth direction corresponding to each azimuth parameter in the at least four azimuth parameters in sequence. Thus, the laser ranging device 122 measures each corresponding ranging point in the at least four ranging points based on each azimuth direction, so that the position parameter of each ranging point from the measuring point can be measured, and at least four position parameters can be obtained in total. Wherein each location parameter may include: the pitch angle of the laser ranging device 122, the azimuth angle of the laser ranging device 122, and the measured distance value of each ranging point from the measurement point. It will be appreciated that each positional parameter obtained by the laser ranging device 122 may be based on each measured distance value and each azimuth parameter combination at the time of measurement.
The laser ranging device 122 may determine the first location where the displacement monitoring point is currently located based on the obtained at least four location parameters. That is, the laser ranging device 122 may establish a coordinate space with the location at the measurement point as a center point, and the laser ranging device 122 may determine that at least four ranging points are mapped to at least four coordinate points in the coordinate space based on the at least four location parameters. In this way, the laser ranging device 122 determines, according to at least four coordinate points, a sphere fitting the at least four coordinate points, and determines a coordinate point of a center of the sphere in the coordinate space, and then the coordinate point of the center of the sphere in the coordinate space may be used as the first position where the displacement monitoring point is currently located.
For example, according to the four position parameters, it is determined that four ranging points are mapped to four coordinate points in the coordinate space:
A(x a ,y a ,z a )、B(x b ,y b ,z b )、C(x c ,y c ,z c )、D(x d ,y d ,z d )
then, the following formula (1) can be obtained:
the radius r of the ball shape can be determined by calculating the formula (1) o The spherical center coordinates of the ball are: o (O) o (x o ,y o ,z o ) Thus, O can be o (x o ,y o ,z o ) As the coordinates of the first position where the displacement monitoring point is currently located.
It will be appreciated that, in the case where the concave laser reflection surface 111 is spherical, if it is determined that the radius of the sphere does not match the radius of the sphere of the concave laser reflection surface 111, it may indicate that at least four measurement points are all coplanar or that at least four measurement points are not located on the concave laser reflection surface 111, so that it is necessary to re-determine at least four measurement points. Otherwise, under the condition of matching, the first position where the displacement monitoring point is currently located can be determined.
In this embodiment, the laser ranging device 122 also records the second position where the displacement monitoring point is historically located, which is historically measured by the laser ranging device 122, that is, the second position where the displacement monitoring point is last measured. Then, the laser ranging device 122 may determine a displacement vector by subtracting the first position from the second position, and the value of the displacement vector may be the displacement of the displacement monitoring point.
Continuing with the above assumption, if the second position measured last time is:
A(x an ,y an ,z an ),B(x bn ,y bn ,z bn ),C(x cn ,y cn ,z cn ),D(x dn ,y dn ,z dn )
the difference between the first position and the second position may be:
amount of X-axis translation: x is x n -xo
Amount of Y-axis translation: y is n -y o
Z-axis translation amount: z n -z o
Thus, the value of the displacement vector can be obtained by combining the obtained X-axis translation amount, Y-axis translation amount and Z-axis translation amount: i O o O n |。
The laser ranging device 122 presets a displacement threshold, and the laser ranging device 122 can determine whether the displacement of the displacement monitoring point is abnormal by determining whether the value of the displacement vector is greater than the displacement threshold.
If it is determined that the value of the displacement vector is not greater than the displacement threshold, the laser ranging device 122 may determine that the displacement of the movement monitoring point is normal, thereby continuing to perform the next measurement.
If it is determined that the value of the displacement vector is greater than the displacement threshold, the laser ranging device 122 may determine that the displacement of the displacement monitoring point is abnormal, then the laser ranging device 122 may control the camera 123 such that the camera 123 transmits the current view screen at the displacement monitoring point to the external monitoring device 130 based on the control of the laser ranging device 122, and the laser ranging device 122 may also generate and transmit displacement abnormality information to the monitoring device 130. The operator can know that the displacement abnormality occurs based on the displacement abnormality information displayed by the monitoring device 130, and can obtain the position of the displacement monitoring point according to the displayed view screen.
It will be appreciated that a plurality of displacement monitoring points may be provided, and the displacement monitoring system 100 may poll each of the plurality of displacement monitoring points to determine whether the displacement of each of the plurality of displacement monitoring points is abnormal. For example, there are 3 displacement monitoring points, namely, a displacement monitoring point a, a displacement monitoring point B and a displacement monitoring point C, respectively, and then the displacement monitoring system 100 sequentially determines whether the displacements of the displacement monitoring point a, the displacement monitoring point B and the displacement monitoring point C are abnormal again after sequentially determining whether the displacements of the displacement monitoring point a, the displacement monitoring point B and the displacement monitoring point C are abnormal, thereby forming a cycle. Of course, the operator may also control the displacement monitoring system 100 to stop the round robin through the monitoring device 130, and may control the displacement monitoring system 100 to continuously monitor for a certain displacement monitoring point through the monitoring device 130.
Referring to fig. 5, as a second embodiment of the displacement monitoring system 100, the displacement monitoring system 100 includes: concave reflecting stage 110, ranging device 120, and monitoring apparatus 130.
Wherein, the concave reflecting table 110, the said concave reflecting table 110 is set up at the displacement monitoring point.
The distance measuring device 120 is arranged at a measuring point, and the distance measuring device 120 is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting platform 110 from the measuring point through measurement, wherein the at least four distance measuring points are at least partially non-coplanar.
The monitoring device 130 obtains at least four position parameters sent by the ranging device 120, determines a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determines whether the displacement of the displacement monitoring point is abnormal according to the first position and a second position where the displacement monitoring point is historically located according to the history of the ranging device 120.
It will be appreciated that in the second embodiment, the determination of whether the first position is obtained and displacement is abnormal may be performed by the monitoring device 130, as compared to the first embodiment. Of course, the principle of determining the first position and determining whether the displacement is abnormal by the monitoring device 130 is the same as that of the first embodiment, and will be understood with reference to the description of the first embodiment, and will not be described again.
Second embodiment
Referring to fig. 6, an embodiment of the present application provides a displacement monitoring method, which is applied to a monitoring device in a displacement monitoring system 100, where the displacement monitoring system 100 further includes: a ranging device 120 disposed at the measurement point, and a concave reflecting stage 110 disposed at the displacement monitoring point. The displacement monitoring method comprises the following steps: step S110, step S120, and step S130.
Step S110: obtaining at least four position parameters of at least four ranging points on the concave reflecting table from the measuring points, wherein the at least four ranging points are at least partially non-coplanar.
Step S120: and determining a first position where the displacement monitoring point is currently located according to the at least four position parameters.
Step S130: and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and the second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
As shown in fig. 7, the sub-flow of step S110 includes: step S111 and step S112.
Step S111: and adjusting the ranging device to sequentially move to each azimuth direction corresponding to each azimuth parameter in the at least four azimuth parameters according to the at least four azimuth parameters corresponding to the at least four ranging points on the concave reflecting table.
Step S112: and measuring each corresponding ranging point in the at least four ranging points based on each azimuth direction, and obtaining the position parameters of each ranging point from the measuring point by measuring to obtain at least four position parameters.
As shown in fig. 8, the sub-process of step S120 includes: step S121 and step S122.
Step S121: and determining that the at least four ranging points are mapped to at least four coordinate points in a coordinate space according to the at least four position parameters.
Step S122: and determining a spherical shape fitting the at least four coordinate points according to the at least four coordinate points, and determining the coordinate point of the spherical center of the spherical shape in the coordinate space as the current first position of the displacement monitoring point.
And the displacement monitoring points are a plurality of, and the displacement monitoring method further comprises the following steps:
the displacement monitoring system executes the displacement monitoring method described in the second embodiment for each of a plurality of displacement monitoring points, so that the displacement monitoring system loops to monitor whether the displacement of each displacement monitoring point is abnormal.
It should be noted that, since it is clear to those skilled in the art that, for convenience and brevity of description, the specific working procedures of the system, the apparatus and the unit in the foregoing embodiments may be referred to, and will not be described in detail herein.
Third embodiment
Referring to fig. 9, an embodiment of the present application provides a displacement monitoring method, which is applied to a monitoring device in a displacement monitoring system 100, where the displacement monitoring system 100 further includes: a ranging device 120 disposed at the measurement point, and a concave reflecting stage 110 disposed at the displacement monitoring point. The shift monitoring method comprises the following steps: step S210, step S220, step S230, and step S240.
Step S210: the distance measuring device is controlled to measure distances between at least four distance measuring points on the concave reflecting platform 110, so that the distance measuring device obtains at least four position parameters of the at least four distance measuring points from the measuring points, wherein the at least four distance measuring points are at least partially non-coplanar.
Step S220: and obtaining the at least four position parameters sent by the distance measuring device.
Step S230: and determining a first position where the displacement monitoring point is currently located according to the at least four position parameters.
Step S240: and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and the second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
It should be noted that, since it is clear to those skilled in the art that, for convenience and brevity of description, the specific working procedures of the system, the apparatus and the unit in the foregoing embodiments may be referred to, and will not be described in detail herein.
In summary, the embodiment of the application provides a displacement monitoring system and a method, the displacement monitoring system includes: the concave reflection platform is arranged at the displacement monitoring point. The distance measuring device is arranged at the measuring point and is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting table from the measuring point, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and a second position where the displacement monitoring point is historically located according to the displacement monitoring point measured by the history of the distance measuring device, wherein at least four distance measuring points are not at least partially coplanar.
The distance measuring device measures at least four position parameters of at least four distance measuring points from the measuring points, and then the distance measuring device can determine that the displacement monitoring point is currently located at the first position according to the at least four position parameters. Under the condition that the first position and the second position where the displacement monitoring point history is located are both the positions of the displacement monitoring point, the absolute displacement with smaller error of the displacement monitoring point can be determined according to the first position and the second position, and then whether the displacement of the displacement monitoring point is abnormal or not can be judged by utilizing the absolute displacement of the displacement monitoring point, so that a more accurate result can be obtained, and the technical problem of inaccurate result caused by larger measured displacement error in the prior art is solved.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. A displacement monitoring system, the displacement monitoring system comprising:
the concave reflection platform is arranged at the displacement monitoring point;
the distance measuring device is arranged at a measuring point and is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting table from the measuring point, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and a second position where the displacement monitoring point is historically located according to the history of the distance measuring device, wherein the at least four distance measuring points are at least partially not coplanar;
the range unit includes cloud platform, laser rangefinder equipment and camera, the cloud platform the camera all communicates with outside supervisory equipment, the cloud platform is used for removing under operating personnel's control, drives laser rangefinder equipment follows the cloud platform removes and produces orientation change, until orientation concave surface reflection platform, the camera is used for gathering concave surface reflection platform's position and laser rangefinder equipment's orientation image, and will the image real-time transmission gives supervisory equipment makes supervisory equipment will the image display gives operating personnel.
2. The displacement monitoring system of claim 1, wherein the cradle head is disposed at a measurement point; the laser ranging device is arranged on the cradle head, and is used for obtaining at least four position parameters of at least four ranging points on the concave reflecting table from the measuring points based on position adjustment measurement in the process of controlling the cradle head to adjust the position of the laser ranging device, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal according to the first position and a second position where the displacement monitoring point is historically located according to the history of the ranging device.
3. The displacement monitoring system according to claim 2, wherein the camera is provided on or outside the cradle head, and the camera is configured to obtain a current monitoring view screen at the displacement monitoring point, and transmit the current monitoring view screen to an external monitoring device based on control of the laser ranging device when the laser ranging device determines that the displacement of the displacement monitoring point is abnormal.
4. A displacement monitoring system according to any one of claims 1-3,
the concave reflecting table comprises concave laser reflecting surfaces for setting at least four ranging points, and the concave laser reflecting surfaces are spherical surfaces, paraboloids and hyperboloids.
5. A displacement monitoring system, the displacement monitoring system comprising:
the concave reflection platform is arranged at the displacement monitoring point;
the distance measuring device is arranged at the measuring point and is used for obtaining at least four position parameters of at least four distance measuring points on the concave reflecting table from the measuring point through measurement, wherein the at least four distance measuring points are at least partially non-coplanar;
the monitoring equipment is used for obtaining at least four position parameters sent by the distance measuring device, determining a first position where the displacement monitoring point is currently located according to the at least four position parameters, and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and a second position where the displacement monitoring point is historically located according to the history of the distance measuring device;
the distance measuring device comprises a cradle head, laser distance measuring equipment and a camera, wherein the cradle head and the camera are communicated by the monitoring equipment, the cradle head is used for moving under the control of an operator and driving the laser distance measuring equipment to move along with the cradle head to generate orientation change until the laser distance measuring equipment faces the concave reflecting platform, and the camera is used for collecting the position of the concave reflecting platform and an orientation image of the laser distance measuring equipment and transmitting the image to the monitoring equipment in real time so that the monitoring equipment displays the image to the operator.
6. A displacement monitoring method for use in a distance measuring device disposed at a measurement point in a displacement monitoring system according to any one of claims 1 to 4, the displacement monitoring system further comprising a concave reflecting stage disposed at the displacement monitoring point, the method comprising:
obtaining at least four position parameters of at least four ranging points on the concave reflecting table from the measuring points, wherein the at least four ranging points are at least partially non-coplanar;
determining a first position where the displacement monitoring point is currently located according to the at least four position parameters;
and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and the second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
7. The method of claim 6, wherein obtaining at least four position parameters of at least four ranging points on the concave reflecting table from the measuring points comprises:
according to at least four azimuth parameters corresponding to at least four ranging points on the concave reflecting table, adjusting the ranging device to sequentially move to each azimuth direction corresponding to each azimuth parameter in the at least four azimuth parameters;
and measuring each corresponding ranging point in the at least four ranging points based on each azimuth direction, and obtaining the position parameters of each ranging point from the measuring point by measuring to obtain at least four position parameters.
8. The displacement monitoring method according to claim 6, wherein determining the first position where the displacement monitoring point is currently located according to the at least four position parameters comprises:
determining that the at least four ranging points are mapped to at least four coordinate points in a coordinate space according to the at least four position parameters;
and determining a spherical shape fitting the at least four coordinate points according to the at least four coordinate points, and determining the coordinate point of the spherical center of the spherical shape in the coordinate space as the current first position of the displacement monitoring point.
9. The displacement monitoring method of claim 6, wherein the displacement monitoring points are a plurality of, the method further comprising:
the displacement monitoring system performs the displacement monitoring method of any one of claims 6-8 for each of a plurality of displacement monitoring points, such that the displacement monitoring system loops around monitoring whether the displacement of each displacement monitoring point is abnormal.
10. A displacement monitoring method, characterized by being applied to a monitoring device in a displacement monitoring system according to claim 5, the displacement monitoring system further comprising: a ranging device disposed at a measurement point, and a concave reflective stage disposed at a displacement monitoring point, the method comprising:
controlling the distance measuring device to measure the distance between at least four distance measuring points on the concave reflecting table, so that the at least four distance measuring points obtained by the distance measuring device are at least four position parameters from the measuring points, wherein at least part of the at least four distance measuring points are not coplanar;
acquiring the at least four position parameters transmitted by the ranging device;
determining a first position where the displacement monitoring point is currently located according to the at least four position parameters;
and determining whether the displacement of the displacement monitoring point is abnormal or not according to the first position and the second position where the displacement monitoring point is historically located according to the history of the distance measuring device.
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