CN111750825A - Settlement monitoring system and method based on CMOS image measurement - Google Patents
Settlement monitoring system and method based on CMOS image measurement Download PDFInfo
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- CN111750825A CN111750825A CN202010576936.4A CN202010576936A CN111750825A CN 111750825 A CN111750825 A CN 111750825A CN 202010576936 A CN202010576936 A CN 202010576936A CN 111750825 A CN111750825 A CN 111750825A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
- G01C15/06—Surveyors' staffs; Movable markers
Abstract
The invention belongs to the field of displacement deformation, and particularly discloses a settlement monitoring system and method based on CMOS image measurement. The system comprises a plurality of settlement monitoring devices and a control module, wherein each settlement monitoring device comprises a laser transmitter, an adjusting holder, an infrared scale, a polarized light filtering screen, a main circuit board, a shell and a mounting rack, and the main circuit board comprises a CMOS image recognition sensor, an attitude sensor and a wireless communication assembly. The method comprises the following steps: the method comprises the steps of acquiring image information of an infrared scale and a polarized light filtering screen by a CMOS image recognition sensor, carrying out attitude deflection calibration on laser spot pixels and infrared scale pixel positions in the image information, and carrying out real-time settlement monitoring on a settlement monitoring area to be monitored according to the change condition of the position information of laser spots on settlement monitoring devices of all measuring points in a time period. The invention does not need to adjust the horizontal pose of each device, and has the advantages of convenient and quick calculation, high precision, low cost and strong applicability.
Description
Technical Field
The invention belongs to the technical field of displacement deformation, and particularly relates to a settlement monitoring system and method based on CMOS image measurement.
Background
The monitoring of the settlement safety of the building is one of the important means for judging the safety use of the building, and the deformation displacement measurement plays an important role in scientific and technical research and engineering construction, such as measuring the horizontal and vertical displacement of a dam, the displacement around a tunnel, the horizontal and vertical displacement of a building and the like. The method for measuring deformation displacement mainly adopts a static level gauge, a total station and other equipment for settlement monitoring at present. Measurements are made with laser rangefinders, total stations, digital (traditional) theodolites and digital photography.
The existing deformation displacement measurement has the defects of complex measuring device, large error and the like, for example, when a total station instrument, a distance meter and the like are used for monitoring the deformation displacement, the precision of the equipment, particularly the error of manual operation in the use process is inevitable; the digital photogrammetry also has unreliable reference frame and system error in subsequent analysis, and the use range is limited. Meanwhile, the static force level gauge is seriously influenced by temperature drift, and the temperature drift error is up to several mm. The total station is precise in equipment, but is expensive and high in cost. A CMOS image sensor is a typical solid-state imaging sensor, and generally comprises an image sensor cell array, a row driver, a column driver, a timing control logic, an AD converter, a data bus output interface, a control interface, and the like, which are usually integrated on the same silicon chip. The working process can be generally divided into a reset part, a photoelectric conversion part, an integration part and a reading part. The method can be used in the image recognition technology in the existing monitoring system.
Therefore, there is a need in the art for improvements to existing monitoring systems that address the temperature drift effects of conventional material sensor technology.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a settlement monitoring system based on CMOS image measurement, which is characterized in that a plurality of settlement monitoring devices comprise a reference point settlement monitoring device arranged outside a to-be-settled monitoring area and a matched design of measuring point settlement monitoring devices arranged in the to-be-settled monitoring area at intervals, meanwhile, the structures of a laser transmitter, an infrared scale, a polarized light filtering screen, a CMOS image recognition sensor, an attitude sensor, a wireless communication assembly and the like of each settlement monitoring device and the specific arrangement mode of the structures are researched and designed, so that the position information of laser spots can be accurately and quickly extracted correspondingly, the real-time intelligent settlement monitoring can be carried out on the to-be-settled monitoring area according to the change condition of the position information of the laser spots on all measuring point settlement monitoring devices in a time period, and the horizontal pose adjustment of each device is not needed, the method has the advantages of convenient and quick calculation, high precision, low cost and strong applicability.
To achieve the above object, according to one aspect of the present invention, there is provided a settlement monitoring system based on CMOS image measurement, including a plurality of settlement monitoring devices and a control module, wherein,
the settlement monitoring devices comprise a reference point settlement monitoring device arranged outside the to-be-settled monitoring area and measuring point settlement monitoring devices arranged in the to-be-settled monitoring area at intervals, each settlement monitoring device comprises a laser transmitter, an adjusting holder, an infrared scale, a polarized light filtering screen, a main circuit board, a shell and a mounting rack, the laser transmitter is rotatably erected on the adjusting holder and is in communication connection with the control module and used for transmitting laser spots to the infrared scale and the polarized light filtering screen, the adjusting holder is fixedly arranged at the top of the shell, the main circuit board is embedded in the shell, a CMOS image recognition sensor, an attitude sensor and a wireless communication component are integrated on the main circuit board, the CMOS image recognition sensor is used for recognizing the infrared scale and the polarized light filtering screen image information mapped with the laser spots, the image information is sent to a control module through the wireless communication assembly, and the attitude sensor is used for adaptively calibrating the polar planes of the infrared ruler and the polarized light filtering screen so as to generate attitude deflection information of the infrared ruler and the polarized light filtering screen;
the control module is used for receiving the image information and the attitude deflection information, calculating the position information of the laser spot according to the image information and the attitude deflection information, and then carrying out real-time settlement monitoring on the settlement monitoring area to be monitored according to the change condition of the position information of the laser spot on the settlement monitoring devices of all the measuring points in a time period.
Preferably, a laser spot emitted by the laser emitter of the reference point settlement monitoring device is mapped on the infrared scale and the polarized light filtering screen of the first measuring point settlement monitoring device, and a laser spot emitted by the laser emitter of the N-1 measuring point settlement monitoring device is mapped on the infrared scale and the polarized light filtering screen of the N measuring point settlement monitoring device, where N is a positive integer greater than 1.
Preferably, each settlement monitoring device further comprises a laser polarizer, and the laser polarizer is arranged at a laser emitting end of the laser emitter.
As a further preferred option, each settlement monitoring device further includes a laser transmitter housing, a waterproof sealing front cover and a waterproof sealing rear cover, the laser transmitter housing is used for accommodating the laser transmitter, the waterproof sealing front cover is fixedly arranged on one side of the laser transmitter housing close to the laser transmitting end, a hole embedded with the laser polarizer is formed in the waterproof sealing front cover, and the waterproof sealing rear cover is fixedly arranged on one side of the laser transmitter housing far away from the laser transmitting end.
As further preferred, every settlement monitoring device still includes sealed protecgulum and sealed tailhood, sealed protecgulum is fixed to be located the shell is close to one side of infrared scale and polarized light filtering screen, and this sealed protecgulum has seted up the quad slit, the shape of this quad slit with infrared scale and polarized light filtering screen suit, make laser emitter's transmission laser facula can be thrown the appointed region of infrared scale and polarized light filtering screen, sealed tailhood is fixed to be located the shell is kept away from one side of infrared scale and polarized light filtering screen.
Preferably, the infrared scale and the polarization and filtering screen include a polarization and filtering screen and an infrared scale fixedly disposed on the polarization and filtering screen, and the infrared scale includes infrared scale points uniformly spaced along an X axis and a Y axis of the polarization and filtering screen.
Further preferably, the control module comprises a data acquisition unit, a data storage unit, a data processing unit, a display unit and a wireless communication unit, the data acquisition unit is used for acquiring image information and attitude deflection information of the settlement monitoring device, and transmits the image information and the attitude deflection information to the data storage unit through a transmission line for storage, the data processing unit is used for reading the image information and the attitude deflection information stored in the data storage unit and processing the image information and the attitude deflection information, to calculate the position information of the laser spot and the change condition of the position information of the laser spot on the settlement monitoring devices of all measuring points in a time period, the display unit is used for displaying the change condition of the position information of the laser spots on the settlement monitoring devices of all the measuring points in a time period.
According to another aspect of the present invention, there is also provided a method for monitoring settlement based on CMOS image measurement, comprising the steps of:
s1, mounting the reference point settlement monitoring devices to the reference points, and arranging the N measuring point settlement monitoring devices in the area to be settled at intervals;
s2 starting a control module, debugging a reference point settlement monitoring device and N measuring point settlement monitoring devices, and enabling laser spots emitted by a laser emitter of the reference point settlement monitoring device to be mapped on an infrared scale and a polarized light filtering screen of the first measuring point settlement monitoring device, and laser spots emitted by a laser emitter of the N-1 measuring point settlement monitoring device to be mapped on the infrared scale and the polarized light filtering screen of the N measuring point settlement monitoring device, wherein N is a positive integer greater than 1;
s3, recognizing the image information of the infrared scale and the polarized light filtering screen mapped with the laser spots by a CMOS image recognition sensor on the measuring point settlement monitoring device, and sending the image information to a control module through a wireless communication assembly, wherein a posture sensor on the measuring point settlement monitoring device adaptively calibrates the polar planes of the infrared scale and the polarized light filtering screen to generate posture deflection information of the infrared scale and the polarized light filtering screen;
s4, the control module receives the image information and the attitude deflection information, calculates the position information of the laser spot according to the image information and the attitude deflection information, and then carries out real-time settlement monitoring on the settlement monitoring area to be monitored according to the change condition of the position information of the laser spot on the settlement monitoring devices of all the measuring points in the time period.
More preferably, in step S3, the image information includes reference point image information and measurement point image information, the reference point image information is image information of an infrared scale and a polarization filter screen of a first measurement point settlement monitoring device, the measurement point image information is image information of an infrared scale and a polarization filter screen of an mth measurement point settlement monitoring device, where M is greater than or equal to 2 and less than or equal to N;
the reference point image information comprises initial reference point image information and current reference point image information, and the measuring point image information comprises initial measuring point image information and current measuring point image information.
More preferably, step S4 specifically includes the following steps:
s41 the control module receives TiThe method comprises the steps of obtaining image information at any moment, extracting the relative position relation between a laser spot and an infrared scale in the image information, and then calculating the position information of the laser spot in a polarized light filtering screen according to the actual scale of the infrared scale;
s42 is according to TiPerforming polar plane calibration on the position information of the laser spots in the polarized light filtering screen in the step S41 according to the attitude deflection information of the infrared scale and the polarized light filtering screen generated by the time attitude sensor to generate the position information of the laser spots in a reference system;
s43 repeating the step S41 and the step S42 to obtain the position information of the laser spots at the settlement monitoring devices of the N measuring points at each time point;
s44, constructing a displacement calculation model at the measuring point, and calculating the position variation of the laser spot at the settlement monitoring device at each measuring point according to the displacement calculation model;
and S45, carrying out real-time settlement monitoring on the area to be monitored according to the position variation.
Wherein the displacement calculation model is:
Wherein, Δ xiAnd Δ yiIs the position variation of the laser spot at the settlement monitoring device at the ith measuring point,
and
is at the tmThe position information of the laser spot at the settlement monitoring device at the ith measuring point,
and
the position information of the laser spot at the settlement monitoring device at the ith measuring point at the initial moment.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the system, through the matched design of a plurality of settlement monitoring devices comprising a reference point settlement monitoring device arranged outside the to-be-settled monitoring region and measuring point settlement monitoring devices arranged in the to-be-settled monitoring region at intervals, the structures of a laser transmitter, an infrared scale, a polarized light filtering screen, a CMOS image recognition sensor, an attitude sensor, a wireless communication assembly and the like of each settlement monitoring device and the specific arrangement mode of the structures are researched and designed, so that the position information of laser spots can be accurately and quickly extracted correspondingly, the real-time intelligent settlement monitoring can be carried out on the to-be-settled monitoring region according to the change condition of the position information of the laser spots on all the measuring point settlement monitoring devices in a time period, the horizontal pose adjustment of each device is not needed, the calculation is convenient and quick, the precision is high, the cost is low, and the.
2. The attitude sensor of the system can realize the self-adaptive calibration of the pose of each pixel point in the identification image of the CMOS image identification sensor, and can accurately and conveniently acquire the pixel position of the laser spot by matching with the arrangement of the infrared ruler and the polarization filtering screen.
3. The system has low cost and high measurement precision, and solves the problems of large measurement error, high cost, low applicability and the like caused by factors such as temperature drift and the like in the traditional equipment.
4. The system of the invention adopts the automatic polar plane calibration and the infrared calibration scale in the equipment to reduce the problem of inaccurate measurement caused by the problems of installation posture, pixel conversion and the like of the traditional image recognition camera.
5. The system has low cost, high precision and high stability, and can greatly improve the accuracy and stability of deformation monitoring. And a better application and popularization scheme is provided for the industry monitoring means. Can be widely applied to: the monitoring working conditions of settlement deformation are needed to be carried out on tunnels, bridges, subways, critical houses, side slopes, foundation pits and the like.
6. The method adopts the CMOS image recognition sensor to recognize the image information of the infrared scale and the polarized light filtering screen mapped with the laser spots, adopts the infrared scale to acquire the position information of the laser spot pixels, adopts the attitude sensor to self-adaptively calibrate the polar planes of the infrared scale and the polarized light filtering screen so as to acquire the position information of the laser spots under a reference system, and carries out real-time settlement monitoring on a to-be-settled monitoring area according to the change condition of the position information of the laser spots at each measuring point.
Drawings
Fig. 1 is a schematic structural diagram of a settlement monitoring system based on CMOS image measurement according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of the sedimentation monitoring apparatus shown in fig. 1;
fig. 3 is an exploded view of the settlement monitoring device referred to in fig. 2;
fig. 4 is a schematic structural view of the infrared scale and the polarization filter screen shown in fig. 3.
In all the figures, the same reference numerals denote the same features, in particular: the device comprises a laser emitter 1, a sealed waterproof front cover 2, a laser polarizer 3, a fixing screw 4, an adjusting holder 5, a shell 6, a main circuit board 7, a fixing screw 8, a sealed tail cover 9, a main circuit board adjusting bolt 10, a tail cover fixing screw 11, an equipment fixing frame 12, an L-shaped mounting frame 13, a mounting screw 14, an infrared scale 15, a polarized light filtering screen 16, a sealed waterproof tail cover 17 and a laser emitter shell 18.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a settlement monitoring system based on CMOS image measurement according to an embodiment of the present invention includes a plurality of settlement monitoring devices and a control module, where the plurality of settlement monitoring devices include a reference point settlement monitoring device located outside a to-be-settled monitoring region and a measuring point settlement monitoring device arranged at intervals in the to-be-settled monitoring region. Every settlement monitoring device all includes laser emitter 1, adjusts cloud platform 5, infrared scale and polarized light filter screen 15, main circuit board 7, shell 6 and mounting bracket 13, laser emitter 1 is rotatable set up adjust on the cloud platform 5, and with control module communication connection, be used for to infrared scale and polarized light filter screen 15 transmission laser facula, adjust cloud platform 5 fixed locate the shell 6 top, main circuit board 7 inlays and locates in the shell 6, integrated CMOS image recognition sensor, attitude sensor and wireless communication subassembly on this main circuit board 7, CMOS image recognition sensor is used for discerning and is mapped with laser facula infrared scale and polarized light filter screen 15 image information to pass through this image information wireless communication subassembly sends control module for, attitude sensor is used for the self-adaptation calibration infrared scale and polarized light filter screen 15's polar plane, to generate the attitude deflection information of the infrared scale and the polarization and filtering screen 15.
More specifically, in the system placement process of the present invention, the location of the fiducial is first determined, and in general, the fiducial is a fixed location that does not settle or otherwise deform to affect a change in the pose of the fiducial, and then fiducial settlement monitoring devices are installed at the fiducial. Because each settlement monitoring device is provided with a pose sensor, the pose of the device can be calibrated in real time, so that the mounted settlement monitoring devices do not need to be horizontally calibrated, the workload is reduced, and the pose deviation existing in horizontal calibration is reduced. Then, the area to be monitored for settlement is divided, and the number of the measuring points and the positions of the measuring points are arranged according to the set detection distance. The position between every two adjacent measuring points at least ensures that the laser facula emitted by the settlement monitoring device at the last measuring point can be mapped to the infrared scale and the polarized light filtering screen 15 of the next settlement monitoring device, so that the settlement at each measuring point can be effectively monitored. In more detail, a laser spot emitted by the laser emitter 1 of the reference point settlement monitoring device is mapped on the infrared scale and the polarized light filtering screen 15 of the first measuring point settlement monitoring device, and a laser spot emitted by the laser emitter 1 of the N-1 measuring point settlement monitoring device is mapped on the infrared scale and the polarized light filtering screen 15 of the N measuring point settlement monitoring device, where N is a positive integer greater than 1. Thus, the whole settlement monitoring system arrangement is completed.
As shown in fig. 2 and 3, the specific structure of the settlement monitoring device is as follows: the settlement monitoring device further comprises a laser polarizer 3, and the laser polarizer 3 is arranged at a laser emitting end of the laser emitter 1. More specifically, every settlement monitoring device still includes laser emitter shell 18, sealed waterproof front shroud 2 and sealed waterproof tail-hood 17, laser emitter shell 18 is used for holding and is the laser emitter 1, sealed waterproof front shroud 2 is fixed to be located one side that laser emitter shell 18 is close to the laser emission end, and this sealed waterproof front shroud 2 has been seted up and has been inlayed and establish the hole of laser polarizer 3, and sealed waterproof tail-hood 17 is fixed to be located one side that laser emitter shell 18 kept away from the laser emission end. The sealed waterproof front cover 2 and the sealed waterproof tail cover 17 are fixedly connected with the laser transmitter shell 18 through fixing screws 1. The adjusting cradle head 5 comprises a bogie and a steering support component, the steering support component is used for supporting the bogie, and the bogie can rotate 360 degrees by taking the central line of the steering support component as a rotating shaft. Every settlement monitoring device still includes sealed protecgulum 16 and sealed tailhood 9, and sealed protecgulum 16 is fixed to be located shell 6 is close to one side of infrared scale and polarized light filter screen 15, and this sealed protecgulum 16 has seted up the quad slit, the shape of this quad slit with infrared scale and polarized light filter screen 15 suit, make the laser facula of 1 transmission of laser emitter can be thrown infrared scale and polarized light filter screen 15's specified region, sealed tailhood 9 is fixed to be located shell 6 is kept away from one side of infrared scale and polarized light filter screen 15. The sealed front cover 16 and the sealed tail cover 9 are fixedly connected with the shell 6 through tail cover fixing screws. The main circuit board 7 is adjustably connected with the sealing front cover 16 through the main circuit board adjusting bolt 10. The main circuit board 7 is also provided with a fixing screw 6. Sealed front shroud 16 and sealed tail-hood 9 all are through equipment mount 12 and L type mounting bracket 13 fixed connection, and L type mounting bracket 13 is equipped with and is connected through the cooperation of installation screw 14 with mounting hole with installation screw 14 assorted mounting hole for equipment mount 12 and L type mounting bracket 13 fixed connection.
As shown in fig. 4, in the present invention, the infrared scale and the polarization and filter screen 15 include a polarization and filter screen and an infrared scale fixed on the polarization and filter screen, and the infrared scale includes infrared scale points uniformly spaced along the X axis and the Y axis of the polarization and filter screen. For convenience of calculation, in the present invention, the pitches between the infrared scale dots arranged along the X axis are equal, and in general, the distance between two adjacent infrared scale dots is an integral multiple of a pixel of the CMOS image recognition sensor recognition image. The arrangement mode of the infrared scale points uniformly arranged along the Y axis at intervals is the same as that of the X axis, and the purpose is to facilitate the calculation of laser spot position information in the image processing stage. In the invention, the position information of the laser spot in the polarized light filtering screen is extracted through the pixels of the image and then is obtained through the measurement of the infrared scale, so that the calculation difficulty is reduced, and meanwhile, the position information coordinate of the laser spot can be rapidly calculated through the position coordinate of the laser spot pixel and the pixel coordinate of each infrared scale point, thereby completing the conversion calculation of the physical coordinate and the pixel coordinate and reducing the problem of inaccurate measurement caused by the problems of installation posture, pixel conversion and the like of the traditional image recognition camera.
In the invention, the control module comprises a data acquisition unit, a data storage unit, a data processing unit, a display unit and a wireless communication unit, wherein the data acquisition unit is used for acquiring image information and attitude deflection information of the settlement monitoring device and transmitting the image information and the attitude deflection information to the data storage unit through a transmission line for storage, the data processing unit is used for reading the image information and the attitude deflection information stored in the data storage unit and processing the image information and the attitude deflection information to calculate the position information of the laser spot and calculate the change condition of the position information of the laser spot on the settlement monitoring device of all measuring points in a time period, and the display unit is used for displaying the change condition of the position information of the laser spot on the settlement monitoring device of all measuring points in the time period.
As a preferred scheme of the present invention, the system settlement monitoring device further includes wired and wireless LORA modules for realizing data transmission of each sensor. Meanwhile, the wired and wireless LORA modules are also used for a wireless aerial awakening settlement monitoring device and a low-power-consumption dormancy settlement monitoring device. Furthermore, each settlement monitoring device of the system also comprises a solar power supply module, and the solar power supply module can reasonably select a networking mode according to the field working condition.
The invention adopts the CMOS sensor with 200W-500W pixels and the image recognition technology, greatly improves the image recognition resolution, adopts the multi-point recognition technology for image recognition, and can carry out automatic scale calibration and correct position calculation under any environment by means of the infrared calibration scale arranged in the device. The resolution is as high as 0.05mm, and the absolute precision is less than 0.1 mm.
The working principle of the invention is as follows: the datum points are installed outside a settlement displacement area to be monitored, original basic indexes are provided, other measured points are taken as data origin points, and space coordinate information calculation is carried out. The position and the distance of the infrared scale points are designed in advance, so that the position information coordinates of the laser spots can be rapidly calculated through the position coordinates of the laser spots and the pixel coordinates of the infrared scale points. Thereby completing the conversion calculation of the physical coordinates and the pixel coordinates. When one measuring point is settled or horizontally displaced, the displacement change occurs to the point image identification coordinate and the image identification coordinate information of the next measuring point, and the two variable quantities are equal, so that the fact of the position change of the point to be measured can be determined. Otherwise, the measured point is regarded as a noise point, and the device at the measured point can be adjusted in a regarded adjustment mode or the initial position used for calculation at the measured point is adjusted. And the inside of the equipment is provided with the attitude sensor, and automatic polar plane calibration is carried out through self installation attitude data, so that the process of installation horizontal adjustment is omitted, and the construction process is reduced.
The system of the invention has the following working procedures:
step 1, system arrangement.
And determining the number of the monitoring points and the position of the datum point according to the characteristics of the area to be monitored for settlement. Wherein, the datum point is positioned outside the monitoring area to be settled.
And installing the reference point settlement monitoring device at the reference point, and installing the measuring point settlement monitoring device at the monitoring point.
And 2, debugging the system.
Starting all the settlement monitoring devices, and adjusting the angles of the laser transmitters of all the settlement monitoring devices, so that laser spots emitted by the laser transmitters of the reference point settlement monitoring devices are mapped on an infrared scale and a polarized light filtering screen of the first measuring point settlement monitoring device, and laser spots emitted by the laser transmitters of the settlement monitoring devices at the N-1 th measuring point are mapped on the infrared scale and the polarized light filtering screen of the settlement monitoring device at the N-1 th measuring point, wherein N is a positive integer greater than 1.
In the invention, the laser transmitter of the settlement monitoring device at the last measuring point does not work.
And 3, monitoring the system settlement.
For each measuring point settlement monitoring device, the position information of the measuring point is obtained in the following manner.
(31) And a CMOS image recognition sensor on the measuring point settlement monitoring device recognizes the image information of the infrared scale and the polarized light filtering screen mapped with the laser spots, and sends the image information to a control module through a wireless communication component, and an attitude sensor on the measuring point settlement monitoring device adaptively calibrates the polar planes of the infrared scale and the polarized light filtering screen to generate attitude deflection information of the infrared scale and the polarized light filtering screen.
The image information comprises reference point image information and measuring point image information, the reference point image information is image information of an infrared scale and a polarized light filtering screen of a first measuring point settlement monitoring device, the measuring point image information is image information of an infrared scale and a polarized light filtering screen of an Mth measuring point settlement monitoring device, and M is more than or equal to 2 and less than or equal to N.
The reference point image information comprises initial reference point image information and current reference point image information, and the measuring point image information comprises initial measuring point image information and current measuring point image information.
(32) And the control module receives the image information and the attitude deflection information, calculates the position information of the laser spot according to the image information and the attitude deflection information, and then carries out real-time settlement monitoring on the settlement monitoring area to be monitored according to the change condition of the position information of the laser spot on the settlement monitoring devices of all the measuring points in a time period. Specifically, the method comprises the following steps:
first, the control module receives TiThe method comprises the steps of obtaining image information at any moment, extracting the relative position relation between a laser spot and an infrared scale in the image information, and then calculating the position information of the laser spot in a polarized light filtering screen according to the actual scale of the infrared scale;
then according to TiPerforming polar plane calibration on the position information of the laser spots in the polarized light filtering screen in the step S41 according to the attitude deflection information of the infrared scale and the polarized light filtering screen generated by the time attitude sensor to generate the position information of the laser spots in a reference system;
repeating the two steps to obtain the position information of the laser spots at the settlement monitoring devices of the N measuring points at each time point;
and then constructing a displacement calculation model at the measuring points, and calculating the position variation of the laser spot at the settlement monitoring device of each measuring point according to the displacement calculation model.
Wherein the displacement calculation model is:
Wherein, Δ xiAnd Δ yiIs the position variation of the laser spot at the settlement monitoring device at the ith measuring point,
and
is at the tmLaser spot at settlement monitoring device at ith measuring pointThe location information of (a) is stored in the storage unit,
and
the position information of the laser spot at the settlement monitoring device at the ith measuring point at the initial moment.
And finally, carrying out real-time settlement monitoring on the area to be monitored according to the position variation.
In one embodiment of the invention, the real-time settlement monitoring is performed on the settlement monitoring area to be monitored according to the change of the position information of the laser spots on the settlement monitoring devices at all the measuring points in a time period as follows:
the settlement horizontal displacement of each point is calculated by taking the point C as an example:
Δ X ═ Ax-Ax) + (Bx-Bx) + (Cx-Cx), and (Dx-Dx) ═ Cx
Δ Y ═ Y (Ay-Ay) + (By-By) + (Cy-Cy), and (Dy-Dy) ═ Y-Cy
The system has low cost, high precision and high stability, and can greatly improve the accuracy and stability of deformation monitoring. And a better application and popularization scheme is provided for the industry monitoring means. The method can be widely applied to the working conditions needing settlement deformation monitoring, such as tunnels, bridges, subways, critical houses, side slopes, foundation pits and the like.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A settlement monitoring system based on CMOS image measurement is characterized by comprising a plurality of settlement monitoring devices and a control module, wherein,
the settlement monitoring devices comprise a reference point settlement monitoring device arranged outside the to-be-settled monitoring area and measuring point settlement monitoring devices arranged in the to-be-settled monitoring area at intervals, each settlement monitoring device comprises a laser transmitter (1), an adjusting cradle head (5), an infrared scale and a polarized light filtering screen (15), a main circuit board (7), a shell (6) and a mounting rack (13), the laser transmitter (1) is rotatably erected on the adjusting cradle head (5) and is in communication connection with the control module and used for transmitting laser spots to the infrared scale and the polarized light filtering screen (15), the adjusting cradle head (5) is fixedly arranged at the top of the shell (6), the main circuit board (7) is embedded in the shell (6), and a CMOS image recognition sensor, an attitude sensor and a wireless communication component are integrated on the main circuit board (7), the CMOS image recognition sensor is used for recognizing the image information of the infrared ruler and the polarized light filtering screen (15) mapped with the laser spots and sending the image information to the control module through the wireless communication assembly, and the attitude sensor is used for adaptively calibrating the polar plane of the infrared ruler and the polarized light filtering screen (15) so as to generate attitude deflection information of the infrared ruler and the polarized light filtering screen (15);
the control module is used for receiving the image information and the attitude deflection information, calculating the position information of the laser spot according to the image information and the attitude deflection information, and then carrying out real-time settlement monitoring on the settlement monitoring area to be monitored according to the change condition of the position information of the laser spot on the settlement monitoring devices of all the measuring points in a time period.
2. The settlement monitoring system based on CMOS image measurement as claimed in claim 1, wherein the laser spot emitted by the laser emitter (1) of the reference point settlement monitoring device is mapped on the infrared scale and the polarized light filtering screen (15) of the first measuring point settlement monitoring device, and the laser spot emitted by the laser emitter (1) of the N-1 measuring point settlement monitoring device is mapped on the infrared scale and the polarized light filtering screen (15) of the N measuring point settlement monitoring device, wherein N is a positive integer greater than 1.
3. The CMOS image measurement based settlement monitoring system as claimed in claim 1, wherein each of the settlement monitoring devices further comprises a laser polarizer (3), and the laser polarizer (3) is disposed at a laser emitting end of the laser emitter (1).
4. The settlement monitoring system based on CMOS image measurement according to claim 3, wherein each settlement monitoring device further comprises a laser emitter housing (18), a waterproof sealing front cover (2) and a waterproof sealing rear cover (17), the laser emitter housing (18) is used for accommodating the laser emitter (1), the waterproof sealing front cover (2) is fixedly arranged on one side, close to the laser emitting end, of the laser emitter housing (18), the waterproof sealing front cover (2) is provided with a hole for embedding the laser polarizer (3), and the waterproof sealing rear cover (17) is fixedly arranged on one side, far away from the laser emitting end, of the laser emitter housing (18).
5. The settlement monitoring system based on CMOS image measurement according to claim 1, wherein each settlement monitoring device further comprises a sealing front cover (16) and a sealing rear cover (9), the sealing front cover (16) is fixedly arranged on one side of the housing (6) close to the infrared scale and the polarized light filtering screen (15), the sealing front cover (16) is provided with a square hole, the shape of the square hole is adapted to the infrared scale and the polarized light filtering screen (15), so that a laser spot emitted by the laser emitter (1) can be projected on a designated area of the infrared scale and the polarized light filtering screen (15), and the sealing rear cover (9) is fixedly arranged on one side of the housing (6) far away from the infrared scale and the polarized light filtering screen (15).
6. The CMOS image measurement based settlement monitoring system according to claim 1, wherein the infrared scale and the polarization and filtering screen (15) include a polarization and filtering screen and an infrared scale fixed on the polarization and filtering screen, the infrared scale including infrared scale points uniformly spaced along an X axis and a Y axis of the polarization and filtering screen.
7. The settlement monitoring system based on CMOS image measurement as claimed in claim 1, it is characterized in that the control module comprises a data acquisition unit, a data storage unit, a data processing unit, a display unit and a wireless communication unit, the data acquisition unit is used for acquiring image information and attitude deflection information of the settlement monitoring device, and transmits the image information and the attitude deflection information to the data storage unit through a transmission line for storage, the data processing unit is used for reading the image information and the attitude deflection information stored in the data storage unit and processing the image information and the attitude deflection information, to calculate the position information of the laser spot and the change condition of the position information of the laser spot on the settlement monitoring devices of all measuring points in a time period, the display unit is used for displaying the change condition of the position information of the laser spots on the settlement monitoring devices of all the measuring points in a time period.
8. A settlement monitoring method based on CMOS image measurement is characterized by comprising the following steps:
s1, mounting the reference point settlement monitoring devices to the reference points, and arranging the N measuring point settlement monitoring devices in the area to be settled at intervals;
s2 starting a control module, debugging a reference point settlement monitoring device and N measuring point settlement monitoring devices, enabling laser spots emitted by a laser emitter (1) of the reference point settlement monitoring device to be mapped on an infrared scale and a polarized light filtering screen (15) of the first measuring point settlement monitoring device, and enabling laser spots emitted by a laser emitter (1) of the N-1 measuring point settlement monitoring device to be mapped on the infrared scale and the polarized light filtering screen (15) of the N measuring point settlement monitoring device, wherein N is a positive integer greater than 1;
s3, recognizing image information of the infrared ruler and the polarized light and filter screen (15) mapped with laser spots by a CMOS image recognition sensor on the measuring point settlement monitoring device, and sending the image information to a control module through a wireless communication component, wherein a posture sensor on the measuring point settlement monitoring device adaptively calibrates the polar planes of the infrared ruler and the polarized light and filter screen (15) to generate posture deflection information of the infrared ruler and the polarized light and filter screen (15);
s4, the control module receives the image information and the attitude deflection information, calculates the position information of the laser spot according to the image information and the attitude deflection information, and then carries out real-time settlement monitoring on the settlement monitoring area to be monitored according to the change condition of the position information of the laser spot on the settlement monitoring devices of all the measuring points in the time period.
9. The settlement monitoring method based on CMOS image measurement as claimed in claim 8, wherein in step S3, the image information includes reference point image information and measured point image information, the reference point image information is the image information of the infrared scale and the polarized light filter screen (15) of the settlement monitoring device at the first measured point, the measured point image information is the image information of the infrared scale and the polarized light filter screen (15) of the settlement monitoring device at the M measured point, wherein M is more than or equal to 2 and less than or equal to N;
the reference point image information comprises initial reference point image information and current reference point image information, and the measuring point image information comprises initial measuring point image information and current measuring point image information.
10. The settlement monitoring method based on CMOS image measurement according to claim 9, wherein the step S4 specifically includes the steps of:
s41 the control module receives TiThe method comprises the steps of obtaining image information at any moment, extracting the relative position relation between a laser spot and an infrared scale in the image information, and then calculating the position information of the laser spot in a polarized light filtering screen according to the actual scale of the infrared scale;
s42 is according to TiThe attitude deflection information of the infrared ruler and the polarized light filter screen (15) generated by the time attitude sensor is used for carrying out polar plane calibration on the position information of the laser spots in the polarized light filter screen in the step S41 so as to generate the position information of the laser spots in a reference system;
s43 repeating the step S41 and the step S42 to obtain the position information of the laser spots at the settlement monitoring devices of the N measuring points at each time point;
s44, constructing a displacement calculation model at the measuring point, and calculating the position variation of the laser spot at the settlement monitoring device at each measuring point according to the displacement calculation model;
and S45, carrying out real-time settlement monitoring on the area to be monitored according to the position variation.
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