CN116380016A - Soil body layered settlement monitoring system and method based on machine vision - Google Patents
Soil body layered settlement monitoring system and method based on machine vision Download PDFInfo
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- G—PHYSICS
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- 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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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G01C15/06—Surveyors' staffs; Movable markers
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Abstract
The invention relates to a machine vision-based soil body layering settlement monitoring system and a machine vision-based soil body layering settlement monitoring method. The monitoring system comprises a measuring sleeve, a sliding rail system, a target medium injection system, a vision sensor system, a power supply module, a voltage stabilizing and clamping device and the like; the invention realizes the visual monitoring of the soil body layered settlement condition through single measurement drilling, improves the accuracy and the efficiency of monitoring, has stronger universality and adaptability, and can be suitable for monitoring the soil body layered settlement of different types.
Description
Technical Field
The invention relates to the technical detection field of underground engineering, in particular to a soil body layered settlement monitoring system and method based on machine vision.
Background
The soil body layered settlement refers to the fact that soil layers with different depths in the soil body generate different degrees of sinking movement due to uneven stress or external interference, so that the structure and the property of the soil body are changed. Soil mass layered settlement is a common geological disaster, and can cause serious damage and influence on underground engineering, buildings, roads, bridges and the like, and even threaten the life and property safety of human beings. Therefore, in underground engineering, it is often necessary to monitor the layered settlement in the soil body, grasp the settlement amounts of different depths and different periods of the soil layer, and use the settlement amounts for predicting the settlement trend after the engineering is finished and judging the steady state of the engineering.
At present, the soil mass layered settlement monitoring mainly adopts a deep punctuation level method, an electromagnetic settlement meter method and the like, and a plurality of measuring holes with different depths are arranged in a monitoring area for measurement. Specifically, the deep punctuation level method is to drill holes at preset positions by a drilling machine, then put measuring rods with sedimentation plates into the holes, lead the measuring rods out of the ground by adopting sleeve protection outside the measuring rods, and observe by a level height measuring method manually. The disadvantages of this method are: (1) Often, only one deep punctuation point can be arranged in one drilling hole, and the drilling hole is only suitable for the condition with fewer measuring points; (2) The measurement process is greatly influenced by weather conditions, the monitoring data cannot be acquired and processed in real time, abnormal conditions cannot be found and early warned in time, and the accuracy of the measurement result is limited; (3) When the distance between the monitoring point and the datum point is far, long-distance guiding measurement is needed, and the measuring process is time-consuming and labor-consuming; (4) The monitoring equipment is easy to damage or interfere, and the maintenance cost is high.
The electromagnetic sedimentation meter method is to vertically drill holes in soil to embed sedimentation pipes, arranging sedimentation magnetic rings in the axial direction of the sedimentation pipes according to layered measurement intervals, arranging reed claws outside the sedimentation magnetic rings to extend into the hole wall soil, and measuring the initial position and the post-sedimentation position of the magnetic rings by using an electromagnetic measuring head along with the sedimentation of the hole wall soil. The disadvantages of this method are: (1) Because the anchor force of the magnetic ring reed claw is weaker, the wall of a drilling hole is difficult to grip tightly, and in addition, the gap between the sedimentation pipe and the sedimentation magnetic ring is easy to fill by soil body, larger resistance can be generated on the sedimentation magnetic ring, and the sedimentation magnetic ring is difficult to settle synchronously with the soil layer; (2) The human error is large, the height of the mouth of the sedimentation pipe needs to be regularly calibrated in the measuring process, and the requirement on the level of operators is high; and (3) the settlement of the soil layer cannot be observed in real time.
Disclosure of Invention
The invention provides a machine vision-based soil body layered settlement monitoring system and a machine vision-based soil body layered settlement monitoring method, which solve the problems of high cost, low automation degree, low measurement accuracy and the like of the existing soil body layered settlement monitoring.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
on the one hand, the invention provides a machine vision-based soil layering settlement monitoring method, wherein a plurality of layers of target mediums are arranged on the section of a soil to be monitored at intervals, the position information of the plurality of layers of target mediums is repeatedly collected through a vision sensor, the position change parameters of the target mediums at different moments are obtained through comparison, and the relative layering settlement of each soil layering is obtained through calculation.
Further, the method comprises:
applying measurement drilling holes downwards to the soil body to be monitored along the upper end surface of the soil body to be monitored;
injecting liquid of a fluorescence mark along the longitudinal interval of the inner wall of the measuring borehole to serve as a fluorescence position target;
the vision sensor traverses all the fluorescent position targets, and acquires the height information of each fluorescent position target as first range data;
repeatedly acquiring the height information of each position target by a visual sensor at preset time intervals to obtain a plurality of range data;
and comparing the plurality of range data with the first range data, and calculating the relative layered settlement of each soil body layering in different time periods.
Further, the method further comprises:
setting an integral settlement measuring device on the upper end surface of the soil body to be monitored, and measuring the integral settlement of the soil body monitored at different time periods;
and combining the integral settlement amount and the relative layered settlement amount to obtain the relative layered real settlement amount of each soil body layering in different time periods.
Further, the vision sensor traverses all position targets, gathers height information for each position target, including:
the vision sensor directly obtains the height information of each position target through the scale;
or alternatively, the first and second heat exchangers may be,
and calculating the height information of each position target through the movement speed, the acceleration and the movement time of the vision sensor.
In another aspect, the present invention provides a machine vision-based soil mass layered settlement monitoring system, comprising:
the measuring sleeve is a transparent pipe and is arranged in the measuring borehole, and a scale and a plurality of injection holes are longitudinally arranged along the transparent pipe;
the sliding rail system is arranged in the measuring sleeve and comprises a measuring sliding rail and a self-driven sliding block main body arranged on the measuring sliding rail, and the self-driven sliding block main body is connected with the power supply module;
the target medium injection system is arranged on the self-driven sliding block main body and can move up and down along the measuring sliding rail along with the self-driven sliding block main body;
the visual sensor is arranged on the self-driven sliding block main body and can move up and down along the measuring sliding rail along with the self-driven sliding block main body.
Further, a surface calibration sedimentation system is arranged on the upper end face of the measurement drilling hole, the surface calibration sedimentation system comprises a surface calibration sealing cover, a surface detection target is arranged at the upper end of the surface calibration sealing cover, and a machine vision instrument is arranged outside the surface calibration sealing cover.
Further, the section of the measuring sleeve is elliptical, the measuring sleeve is tightly attached to the inner wall of one side of the measuring drill hole, a gap is formed between the inner wall of the other side of the measuring drill hole and the measuring sleeve, and a pressure stabilizing clamping device is arranged in the gap.
Further, the voltage-stabilizing clamping device comprises a voltage-stabilizing air bag, the voltage-stabilizing air bag is connected with a voltage-stabilizing air pump through an air pipe and a pressure gauge, and the voltage-stabilizing air pump is connected with the power supply module.
Further, the voltage-stabilizing clamping device comprises a voltage-stabilizing liquid bag, the voltage-stabilizing liquid bag is connected with a voltage-stabilizing liquid pump through a liquid pipe and a pressure gauge, and the voltage-stabilizing air pump is connected with the power supply module.
Further, the measuring slide rail comprises a rail body, a slide block clamping groove and a power transmission groove are formed in the extending direction of the rail body, and a baffle is arranged at the upper end of the rail body.
Further, the self-driven sliding block main body is arranged on the rail body in a penetrating way, and a servo motor and a driving wheel connected with the servo motor are arranged in the self-driven sliding block; the self-driven sliding block main body is electrically connected with the power transmission groove through the power taking contact, and the power transmission groove is connected with the power supply module.
Further, an illumination light source is arranged on the self-driven sliding block main body.
Further, an acceleration sensor or a high-precision pedometer is arranged on the self-driven sliding block main body.
Further, target medium injection system includes the reservoir, and the reservoir is connected the booster pump, and the booster pump passes through the unidirectional injection needle of liquid union coupling, and unidirectional injection needle is provided with injection needle telescopic machanism, booster pump and injection needle telescopic machanism all are connected with power module.
Further, a one-way check valve is arranged at the orifice of the injection hole, and an injection needle clamping groove is arranged at the inner wall of the measurement sleeve where the injection hole is located.
Further, the vision sensor comprises a plurality of high-definition cameras which are arranged on the outer end face of the self-driven sliding block main body and are connected with the power supply module, and the high-definition cameras are connected with the image processing terminal through wired or wireless transmission.
Compared with the prior art, the invention has the following beneficial effects:
1. the system is based on single measurement drilling of machine vision, can inject liquid of inert fluorescent marks in soil of different layers, collect image data of fluorescent position targets, directly obtain height information of each position target through a ruler provided by the system, and calculate relative layered settlement of soil layering of different time periods by an image processing terminal. The system can realize the visual monitoring of the soil body layering settlement condition, improves the accuracy and the efficiency of monitoring, has stronger universality and adaptability, and can be suitable for different types of soil bodies and target media.
2. The embodiment of the invention discloses a soil body layering settlement monitoring system based on machine vision, which can realize free up-and-down movement of a target medium injection system and a vision sensor system in a measuring sleeve by utilizing a slide rail system, so that target mediums are conveniently injected into soil bodies in different layers, image data of targets at all positions are acquired, and the monitoring efficiency and flexibility are improved.
3. The embodiment of the invention discloses a soil body layering settlement monitoring system based on machine vision, which utilizes the cooperation of an elliptical measuring sleeve, namely a stable clamping device, to realize the firm compression of the measuring sleeve in a measuring drill hole, prevent the measuring device from moving or rotating in the measuring drill hole and ensure the stability and the accuracy of monitoring.
4. The embodiment of the invention discloses a machine vision-based soil body layered settlement monitoring method, which can directly measure the displacement change of target mediums of different time periods through a scale and obtain the relative layered settlement of each soil body layered in different time periods, thereby reflecting the change trend and rule of soil body layered settlement and providing basis for prediction and prevention and control of soil body settlement.
5. The embodiment of the invention discloses a soil body layered settlement monitoring method based on machine vision, which can obtain the motion parameters of a vision sensor through an acceleration sensor or a high-precision pedometer when the scale marks are covered or damaged due to reasons, calculate and obtain the missing relative layered settlement amount, and ensure the monitoring continuity and integrity; meanwhile, under the normal measurement condition, the relative layered settlement calculated through the motion parameters can be compared with the relative layered settlement directly measured by the scale, and the correctness and the accuracy of monitoring are verified.
Of course, it is not necessary for all of the above advantages to be achieved simultaneously in practicing the various aspects of the invention.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other embodiments of the drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram showing the system constitution of embodiment 3 of the present invention.
Fig. 2 is a schematic diagram showing the overall structure of the monitoring system according to embodiment 3 of the present invention.
Fig. 3 is a schematic cross-sectional view of fig. 2.
FIG. 4 is a schematic view showing the structure of the injection completion measuring cannula according to example 3 of the present invention after rotating 180 degrees.
Fig. 5 is a schematic diagram of the principle of calculating the relative delamination settlement amount when the scale of example 5 is deformed.
FIG. 6 is a schematic diagram of the calculation of the relative delamination settlement amount when the scale is covered or defective in example 5.
In the drawing the view of the figure,
1-measuring a sleeve, 101-injecting holes, 102-scale;
2-slide rail system, 201-measuring slide rail, 2011-rail body, 2012-baffle, 202-self-driving slide block main body;
3-target medium injection system, 301-unidirectional injection needle;
4-visual sensor, 401-high definition camera, 402-image processing terminal;
a 5-power module;
6-fluorescent position targets;
7-soil mass;
8-pressure-stabilizing clamping device, 801-pressure-stabilizing air bag, 802-air pipe, 803-pressure gauge, 804-pressure-stabilizing air pump;
9-ground surface calibration sedimentation system, 901-ground surface calibration sealing cover, 902-ground surface detection target, 903-machine vision instrument;
10-an acceleration sensor;
11-measuring the borehole.
Detailed Description
The invention will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, some operations associated with the present application have not been shown or described in the specification to avoid obscuring the core portions of the present application, and may not be necessary for a person skilled in the art to describe in detail the relevant operations based on the description herein and the general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g., "S1", "S2", etc., is used herein only to distinguish between the described objects and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated.
Example 1:
the embodiment relates to a soil body layering subsidence monitoring system based on machine vision, sets up in measuring the drilling, includes: the device comprises a measuring sleeve, a sliding rail system, a target medium injection system, a vision sensor and a power module.
The measuring sleeve in the embodiment is an elliptic pipe made of transparent material, and is specifically made of PVC transparent material; after the measuring sleeve pipe made of transparent materials is arranged in the measuring borehole, the vision sensor arranged in the pipe can clearly observe the fluorescent position target condition in the soil body. The oval structural design purpose of the measuring sleeve is as follows: firstly, enabling a measuring sleeve to be adapted to and fixed in measuring drilling holes with different calibers through a pressure stabilizing clamping device; and secondly, the sleeve is convenient to rotate and clamp in the measurement drilling hole, so that different functions are realized. Specifically, because oval-shaped measurement sleeve pipe is tightly attached to the inner wall of one side of the measurement drilling hole, a gap is formed between the inner wall of the other side of the measurement drilling hole and the measurement sleeve pipe, and a voltage-stabilizing clamping device is arranged in the gap and comprises a plurality of voltage-stabilizing liquid bags, the voltage-stabilizing liquid bags are connected with a voltage-stabilizing liquid pump through a liquid pipe and a pressure gauge, and the voltage-stabilizing liquid pump is connected with a power supply module. And the output of the stabilized pressure liquid pump is regulated, so that the stabilized pressure liquid bag is inflated and jacked in the gap, proper pressure is applied to the outer wall of the measuring sleeve, and the measuring sleeve is not easy to move.
The measuring sleeve is longitudinally provided with a scale along the tube, and the scale is used for visually measuring the height of the fluorescent position target by the visual sensor. A plurality of injection holes are formed in the measuring sleeve at certain intervals along the longitudinal direction of the pipe, the injection holes are opposite to the scale, the interval is 180 degrees, one-way check valves are arranged in each injection hole, the injection holes are used as channels for forming fluorescent position targets by injecting the target medium injection system into soil, and the one-way check valves can prevent liquid of a fluorescent mark from flowing back or leaking. The inner wall of the measuring sleeve and each injection hole are provided with an injection needle clamping groove, the injection needle clamping groove can fix and guide the unidirectional injection needle, the unidirectional injection needle and the injection holes are ensured to be inserted in alignment, and the friction between the injection needle and the measuring sleeve can be reduced.
The sliding rail system is arranged inside the measuring sleeve and comprises a measuring sliding rail and a self-driven sliding block main body arranged on the measuring sliding rail. The measuring slide rail comprises a rail body, wherein the upper end of the rail body is connected with a baffle, the upper end of the baffle is provided with a power supply module and a voltage stabilizing air pump, and a clamping groove and a power transmission groove are formed in the extending direction of the rail body. The self-driven sliding block main body is sleeved on the rail body and can move up and down along the rail body so as to complete target medium injection and image data acquisition of soil bodies in different layers. The clamping groove is used for positioning the self-driving sliding block main body and preventing the self-driving sliding block main body from rotating or deviating from the track; the power transmission groove is connected with the power module and provides power for the self-driving sliding block main body, the target medium injection system carried by the self-driving sliding block main body, the vision sensor and the like. The baffle is used for fixing the position of the rail body in the measuring sleeve, and can limit the upward moving range of the self-driving sliding block main body at the same time so as to prevent the self-driving sliding block main body from being separated from the rail body.
In this embodiment, the self-driving slider body includes a rectangular housing, a motor and a driving ball are disposed in the housing, and the servo motor drives the driving wheel to rotate, so as to control the accurate movement speed and direction of the self-driving slider body on the rail body, and the self-driving slider body is electrically connected with the power transmission slot of the rail body through the power-taking contact.
The target medium injection system is arranged on the self-driving sliding block main body and can synchronously move along with the self-driving sliding block main body, and the target medium injection system is electrically connected with the power supply module through the power transmission groove. The target medium injection system comprises a liquid storage bag, the liquid storage bag is connected with a booster pump, the booster pump is connected with a unidirectional injection needle through a liquid pipe, and the unidirectional injection needle is provided with an injection needle telescoping mechanism. In this embodiment, the telescopic mechanism of the injection needle selects a telescopic gear, and the telescopic gear can control the expansion of the unidirectional injection needle, so that the unidirectional injection needle can extend or retract from the injection hole of the measurement sleeve, and then the liquid of the fluorescence mark injected into the soil body is penetrated. The liquid storage bag is connected with the booster pump and is used for providing enough hydraulic pressure for the unidirectional injection needle, so that the liquid of the fluorescence mark can penetrate through the soil body to gather to form a fluorescence position target; in this embodiment, the liquid of the inert fluorescent mark is stored in the liquid storage bag, and specifically, the dispersion liquid of the phosphorescent pigment is selected, and the liquid of the inert fluorescent mark is a liquid which is not easy to react with the soil body or degrade biologically, has a strong fluorescent effect, can emit bright color under the irradiation of the illumination light source, and is convenient for the image recognition of the vision sensor. Through the design of the target medium injection system, clear visible fluorescent position targets can be formed in soil bodies of different layers, and meanwhile, the interference and pollution of monitoring activities to the soil bodies are reduced.
In this embodiment, the vision sensor includes three high definition digtal cameras, sets up a high definition digtal camera respectively at the self-driven slider main part casing side that one-way syringe needle is located, the upper and lower side of one-way syringe needle, and another one high definition digtal camera sets up at its casing contralateral central authorities, and three high definition digtal cameras passes through transmission groove connection power module 5, and three high definition digtal cameras are connected with image processing terminal, and in this embodiment, image processing terminal is cloud ware, can carry out image data's calculation, and three high definition digtal cameras communicate with cloud ware through wireless transmission's mode. The two high-definition cameras above and below the unidirectional injection needle are used for determining the position of the injection hole, so that the unidirectional injection needle can accurately extend out of the injection hole; and the other high-definition camera is used for collecting image data of the fluorescent position target.
According to the monitoring system, liquid of inert fluorescent markers can be injected into soil bodies of different levels, image data of the fluorescent position targets are collected, height information of each fluorescent position target is directly obtained through a ruler, and relative layered settlement of each soil body layering in different time periods is calculated by the image processing terminal.
Example 2:
the embodiment provides a soil body layering settlement monitoring system based on machine vision, and on the basis of the embodiment 1, the embodiment additionally adds a motion state measuring system, and the height information of a fluorescent agent target is obtained through motion parameter calculation.
Specifically, an acceleration sensor or a high-precision pedometer is arranged on the self-driven sliding block main body, and the acceleration sensor can be used for measuring the movement speed, the acceleration and the movement time of the self-driven sliding block main body; a high precision pedometer may be used to record the position, distance moved, and time of movement of the self-driven slider body. The two sensors can calculate and obtain the fluorescence position target height information of the fluorescent agent target through the obtained parameters such as the movement speed, the acceleration, the position, the movement distance, the movement time and the like of the self-driven sliding block main body (namely, the vision sensor).
In addition, in this embodiment, still be provided with the illumination light source on the self-driven slider main part, the illumination light source is used for exciting the liquid of fluorescence mark and improves its visibility, the accurate image acquisition of vision sensor to fluorescence position target of being convenient for.
The monitoring system of the embodiment provides a mode of directly acquiring the height parameter of the fluorescent position target by the scale and a mode of calculating the parameter by another algorithm through combining the motion parameter acquired from the driving slide block main body and the image data of the fluorescent position target acquired by the vision sensor, and the two modes under the same system can be mutually verified; in addition, under special conditions, if the scale is not photographed clearly or is shielded, the height parameter of the fluorescent position target can be obtained clearly through algorithm calculation, and finally the relative layered settlement of each soil body layering is obtained.
Example 3:
referring to fig. 1, the present embodiment relates to a machine vision-based soil mass layered settlement monitoring system, which is disposed in a measurement borehole, and includes: the system comprises a measuring sleeve 1, a sliding rail system 2, a target medium injection system 3, a visual sensor 4, a power module 5, a motion state measuring system and a ground surface calibration sedimentation system 9.
Referring to fig. 2-4, fig. 2 is a schematic diagram of the overall structure of the monitoring system; fig. 3 is a schematic cross-sectional view of fig. 2, and fig. 4 is a schematic structural view of the injection completion measuring cannula after 180 degrees of rotation.
The measuring sleeve 1 in the embodiment is an elliptical tube made of transparent material, such as PET transparent material; after the measuring sleeve 1 made of transparent materials is arranged in the measuring drill hole 11, the vision sensor 4 arranged in the pipe can clearly observe the condition of the fluorescent position target 6 in the soil body. The oval structural design purpose of the measuring sleeve 1 is as follows: firstly, the measuring sleeve 1 can be adapted to and fixed in measuring drilling holes 11 with different calibers through a voltage stabilizing clamping device 8; secondly, the measuring sleeve 1 is convenient to rotate and clamp in the measuring borehole 11, thereby realizing different functions. Specifically, because oval-shaped measurement sleeve 1 is tightly attached to the inner wall of one side of measurement drilling 11, a gap is formed between the inner wall of the other side of measurement drilling 11 and the measurement sleeve, and a voltage-stabilizing clamping device 8 is arranged in the gap, wherein the voltage-stabilizing clamping device 8 comprises a plurality of voltage-stabilizing air bags 801, the voltage-stabilizing air bags 801 are connected with a voltage-stabilizing air pump 804 through an air pipe 802 and a pressure gauge 803, and the voltage-stabilizing air pump 804 is connected with a power module 5. The output of the pressure stabilizing air pump 804 is regulated, so that the pressure stabilizing air bag 801 swells and jacks up in the gap, proper pressure is given to the outer wall of the measuring sleeve 1, and the measuring sleeve 1 is not easy to move.
On this measuring cannula 1, a scale 102 is arranged in the longitudinal direction of the tube, the scale 102 graduation being used for the direct measurement of the height of the fluorescent position target 6 by a visual sensor. A plurality of injection holes 101 are formed in the measuring sleeve 1 at intervals along the longitudinal direction of the pipe, the injection holes 101 are opposite to the scale 102, the intervals are 180 degrees, one-way check valves are arranged in the holes of each injection hole 101, the injection holes 101 serve as channels for injecting a target medium injection system into soil to form a fluorescent position target 6, and the one-way check valves can prevent liquid of a fluorescent mark from flowing back or leaking. The inner wall of the measuring sleeve 1 and each injection hole 101 are provided with an injection needle clamping groove, the injection needle clamping grooves can fix and guide the unidirectional injection needles 301, the unidirectional injection needles 301 are ensured to be inserted in alignment with the injection holes 101, and friction between the injection needles and the measuring sleeve can be reduced.
The sliding rail system 2 is arranged inside the measuring sleeve 1 and comprises a measuring sliding rail 201 and a self-driven sliding block main body 202 arranged on the measuring sliding rail 201. The measurement slide rail 201 comprises a rail body 2011, a baffle 2012 is connected to the upper end of the rail body 2011, a power supply module 5 and a stabilized air pump 804 are arranged at the upper end of the baffle 2012, and a clamping groove and a power transmission groove are formed in the extending direction of the rail body 2011. The self-driven sliding block main body 202 is sleeved on the rail body 2011 and can move up and down along the rail body 2011 so as to finish target medium injection and image data acquisition of different soil positions. The clamping groove is used for positioning the self-driving sliding block main body 202 and preventing the self-driving sliding block main body from rotating or deviating from a track; the power transmission groove is connected with the power module 5 and provides power for the self-driving sliding block main body 202, the target medium injection system 3 and the vision sensor 4 carried by the self-driving sliding block main body 202 and the like. The baffle 2012 is used for fixing the position of the rail 2011 in the measuring sleeve 1, and the baffle 2012 can limit the upward moving range of the self-driving slider main body 202 to prevent the self-driving slider main body from being separated from the rail 2011.
In this embodiment, the self-driving slider body 202 includes a rectangular housing, a servo motor and a driving wheel are disposed in the housing, and the servo motor drives the driving wheel to rotate, so as to control the accurate movement speed and direction of the self-driving slider body 202 on the rail 2011, and the self-driving slider body 202 is electrically connected with the power transmission slot of the rail 2011 through the power-taking contact. In other embodiments, the servo motor and the driving wheel can be replaced by other driving systems, such as a stepping motor and a driving ball, and precise movement position and direction control can be achieved. An illumination light source is further arranged on the self-driven sliding block main body 202, and the illumination light source is used for exciting liquid of the fluorescent mark and improving the visibility of the liquid, so that the image acquisition of the fluorescent position target 6 by the vision sensor 4 is facilitated.
The target medium injection system 3 is arranged on the self-driven sliding block main body 202, can synchronously move along with the self-driven sliding block main body 202, and is electrically connected with the power module 5 through a power transmission groove. The target medium injection system 3 comprises a liquid storage bag, the liquid storage bag is connected with a booster pump, the booster pump is connected with a unidirectional injection needle 301 through a liquid pipe, and the unidirectional injection needle 301 is provided with an injection needle telescoping mechanism. In this embodiment, the telescopic mechanism of the injection needle selects a telescopic gear, and the telescopic gear can control the expansion and contraction of the unidirectional injection needle 301, so that the unidirectional injection needle can extend or retract from the injection hole 101 of the measurement sleeve 1, and then the liquid of the fluorescence mark for injecting the soil body is penetrated. The liquid storage bag is connected with the booster pump to provide enough hydraulic pressure for the unidirectional injection needle 301, so that the liquid of the fluorescence mark can penetrate through the soil body to gather to form a fluorescence position target 6; in this embodiment, the liquid of the inert fluorescent marker is stored in the liquid storage bag, and optionally the dispersion liquid of the inert pigment (such as fluorescent pigment, phosphorescent pigment, etc.) or the nanoparticle solution of the inert metal, where the liquid of the inert fluorescent marker is a liquid that is not easy to react with the soil body or biodegrade, has a strong fluorescent effect, can emit bright color under the irradiation of the illumination light source, and is convenient for the image recognition of the visual sensor. Through the design of the target medium injection system, the clearly visible fluorescent position targets 6 can be formed in different layered soil bodies, and meanwhile, the interference and pollution of monitoring activities to the soil body 7 are reduced.
In this embodiment, the vision sensor 4 includes three high-definition cameras 401, a high-definition camera 401 is respectively disposed on the side of the housing of the self-driven slider body 202 where the unidirectional injection needle 301 is located and above and below the unidirectional injection needle 301, another high-definition camera 401 is disposed in the center of the opposite side of the housing, the three high-definition cameras 401 are connected with the power module 5 through the power transmission slot, the three high-definition cameras 401 are connected with the image processing terminal 402, in this embodiment, the image processing terminal 402 is a cloud server, and can perform calculation of image data, and the three high-definition cameras 401 communicate with the cloud server through a wireless transmission manner. The two high-definition cameras 401 above and below the unidirectional injection needle 301 are used for determining the position of the injection hole 101, so that the unidirectional injection needle 301 can accurately extend out of the injection hole 101; the other high-definition camera 401 is used for acquiring image data of the fluorescent position target 6.
The motion state measuring system comprises an acceleration sensor 10 or a high-precision pedometer arranged on the self-driven sliding block main body 202, wherein the acceleration sensor 10 is used for measuring the acceleration of the self-driven sliding block main body 202 so as to calculate the moving distance and speed of the self-driven sliding block main body; the high precision pedometer is used to record the position and distance of movement from the drive slider body 202. By obtaining parameters such as the movement speed, acceleration, and movement time of the self-driven slider body 202 (i.e., the vision sensor 4).
The monitoring system of the embodiment can inject liquid of the inert fluorescent mark into soil bodies of different layers, collect image data of the fluorescent position targets, directly obtain the height information of each fluorescent position target through a ruler provided by the monitoring system, and calculate relative layered settlement of each soil body layering of different time periods through the image processing terminal; in addition, the motion state measuring system provides a mode of directly acquiring the height parameter of the fluorescent position target by the ruler through acquiring the motion parameter of the self-driven sliding block main body and combining the image data of the fluorescent position target acquired by the vision sensor; in addition, under special conditions, such as when the scale is not photographed clearly or is shielded, the height parameter of the fluorescent position target can be obtained clearly through algorithm calculation, and finally the relative layered settlement of each soil body layering is obtained.
In addition, the embodiment further comprises a ground surface calibration sedimentation system 9, wherein the ground surface calibration sedimentation system 9 is arranged on the upper end face of the measurement drilling hole 11 and comprises a ground surface calibration sealing cover 901, a ground surface detection target 902 is arranged at the upper end of the ground surface calibration sealing cover 901, and a machine vision instrument 903 is arranged outside the ground surface calibration sealing cover 901.
The target point on the surface calibration sealing cover of the surface calibration sedimentation system 9 is measured, the integral sedimentation amount of the top end of the soil body can be determined, and the obtained integral sedimentation amount and the relative layered sedimentation amount are combined, so that the relative layered real sedimentation amount of each soil body layering in different time periods is obtained.
Example 4:
the embodiment provides a machine vision-based soil body layered settlement monitoring method, which comprises the following steps:
s1, arranging a plurality of layers of position targets on a section of a soil body to be monitored at certain intervals, wherein the position targets are a material which can be identified by a visual sensor;
s2, acquiring the position information of each position target through a visual sensor, and transmitting the position information to an image processing terminal;
s3, the image processing terminal calculates the height information of the position targets of each position according to the position information, and stores the height information as single range data;
s4, repeating the steps S2 and S3 at preset time intervals to obtain a plurality of range data;
s5, comparing the plurality of measuring range data, and calculating the relative layered settlement of each soil body layering in different time periods.
The position target may be any material that can be recognized by the visual sensor, for example, may be a liquid, powder or particle with a fluorescent effect, may be a metal sheet, a paper sheet or a plastic sheet with a reflective effect, or may be an object with a specific color or shape.
The method for setting the position target can be determined according to the property of the soil body and the shape of the target medium, for example, if the soil body is loose, the position target can be formed by injecting liquid or powdery target medium into the soil body through an injection needle; if the soil body is harder, solid target media can be inserted into the soil body through drilling or cutting to form a position target; if the soil body is relatively flat, materials with specific colors can be directly stuck or drawn on the surface of the soil body to serve as position targets.
According to the embodiment, the multilayer position targets are arranged on the section of the soil body to be monitored, the position information of the multilayer position targets is repeatedly collected through the visual sensor, the position change parameters of the position targets at different moments are obtained through comparison, and the relative layered settlement of each soil body layer is obtained through calculation. The method can realize the real-time monitoring of the soil layering settlement condition, improves the accuracy and efficiency of monitoring, has stronger universality and adaptability, and can be suitable for different types of soil and target media.
Example 5:
the embodiment provides a machine vision-based soil mass layered settlement monitoring method, which is based on the detection device of the embodiment 3 and comprises the following specific steps:
s1, a measuring drill hole is downwards drilled on a soil body to be monitored by a drilling machine, a measuring sleeve is assembled according to each joint, and then one side of the measuring drill hole is tightly attached to the measuring sleeve and placed into a hole.
S2, placing a pressure stabilizing air bag of the pressure stabilizing clamping device along the other side of the measuring drill hole, opening the pressure stabilizing air pump, expanding and propping the pressure stabilizing air bag in the gap, and giving proper pressure to the outer wall of the measuring sleeve so as to ensure that the measuring sleeve does not move.
S3, filling liquid of an inert fluorescent mark into a liquid storage bag of the target medium injection system.
S4, the sliding rail system is put into the measuring sleeve.
S5, the self-driven sliding block main body drives the target medium injection system to inject the liquid of the fluorescent mark into the soil layer from top to bottom or from bottom to top, and the self-driven sliding block main body specifically comprises: the high-definition camera detects that when the self-driving sliding block main body reaches the height of each injection hole of the measurement sleeve, the unidirectional injection needle extends out of the injection hole to inject a certain amount of liquid of the fluorescence mark into the soil layer; and after the liquid injection of the fluorescence marks at all the injection hole positions is finished, forming the fluorescence position target of the whole soil body.
S6, the unidirectional injection needle is completely retracted into the self-driven sliding block main body, an illumination light source is turned on, and the illumination light source irradiates the fluorescent position target at a uniform speed from bottom to top or from top to bottom, so that the fluorescent position target is excited to improve the visibility of the fluorescent position target.
S7, the pressure stabilizing and fixing device closes the pressure stabilizing air pump, the pressure stabilizing air bag leaks air, the measuring sleeve and the sliding rail system rotate together for 180 degrees, and at the moment, the scale of the measuring sleeve is aligned with the fluorescent position target.
S8, the pressure stabilizing and clamping device opens the pressure stabilizing air pump to provide proper pressure for the outer wall of the measuring sleeve, and the measuring sleeve is fixed and does not move.
S9, setting a surface calibration sedimentation system at the upper end of the measurement drilling hole.
S10, a high-definition camera of a vision sensor is opened, a self-driven sliding block main body drives the high-definition camera to move from top to bottom (or from bottom to top) for a measuring range, the high-definition camera shoots corresponding positions of a fluorescent position target and a scale of each soil body layering through a transparent pipe wall and transmits the corresponding positions to an image processing terminal, the corresponding positions are stored as initial measurement images, and initial measuring range data (initial fluorescent position target height parameters) are calculated.
S11, repeatedly acquiring corresponding positions of each fluorescent position target and the scale by the vision sensor at preset time interval, and transmitting the corresponding positions to the image processing terminal to obtain a plurality of subsequent measurement images, namely subsequent measurement range data (subsequent fluorescent position target height parameters).
S12, comparing the plurality of follow-up range data with the initial range data respectively, specifically, comparing the follow-up measurement image with the initial measurement image one by the image processing terminal, calculating the vertical position difference of the corresponding fluorescent position target, and calculating the relative layered settlement delta d of each soil body layering in different time periods.
S13, synchronously collecting the integral settlement delta D of the soil bodies at different time periods by the surface calibration settlement system at the same time of the steps S10 and S11.
And S14, combining the relative layered settlement delta D of the soil body layering with the integral settlement delta D of the soil body by the image processing terminal, and finally calculating to obtain the relative layered real settlement D of each soil body layering in different time periods, wherein D=delta d+delta D.
When the scale of the measurement image is clear and definite, the relative layered settlement delta d of each soil body layering in different time periods can be accurately obtained through the S1-S12.
If the image captured by the machine vision instrument is deformed, the actual relative delamination settlement Δd can be obtained through image pixel point conversion, see fig. 5, and the specific calculation method is as follows:
assuming that x pixel points represent a scale unit z, the scale unit of the image measured by the machine vision instrument is x 'pixel points, and the real relative layering settlement is y' pixel points measured by the machine vision instrument, then y pixel points represented by Δd can be calculated by y/y '=x/x' ×y.
Thus, Δd= (x/x' ×y) ×z.
If the scale is covered or defective, the Δd of the position cannot be directly obtained, and this embodiment provides another solution, which requires obtaining the motion speed, acceleration and motion time parameters of the vision sensor through the acceleration sensor mounted on the self-driven slider body, and calculating the missing relative delamination settlement Δd, see fig. 6, as follows:
d = v 0 Δt + (1/2)at 2
where d is the position of the target position, v 0 For the initial velocity, Δt is the time interval, a is the acceleration, and t is the time.
From the initial time v 0 =0；
Initial position target position:
d 0 = (1/2)a 1 t 10 2 +(1/2)a 2 t 20 2 +(1/2)a 3 t 30 2 +......+(1/2)a n t n0 2 ；
post-sedimentation position target position:
d t = (1/2)a 1 t 1t 2 +(1/2)a 2 t 2t 2 +(1/2)a 3 t 3t 2 +......+(1/2)a n t nt 2 ；
relative layered settlement amount: Δd=d t -d 0 ；
As in FIG. 6, wherein a n Is obtained by analyzing and intercepting the acceleration and time curve through a computer, and a when the time interval is sufficiently small n Approximately unchanged.
Of course, the above algorithm is also used for verification of the correctness of the relative delamination settlement Δd measured directly by the scale.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.
Claims (16)
1. The machine vision-based soil body layered settlement monitoring method is characterized in that multiple layers of target mediums are arranged on the section of a soil body to be monitored at intervals, position information of the multiple layers of target mediums is repeatedly collected through a vision sensor, position change parameters of the target mediums at different moments are obtained through comparison, and relative layered settlement of each soil body layer is obtained through calculation.
2. The machine vision based soil mass stratification settlement monitoring method of claim 1, comprising:
applying measurement drilling holes downwards to the soil body to be monitored along the upper end surface of the soil body to be monitored;
injecting liquid of a fluorescence mark along the longitudinal interval of the inner wall of the measuring borehole to serve as a fluorescence position target;
the vision sensor traverses all the fluorescent position targets, and acquires the height information of each fluorescent position target as first range data;
repeatedly acquiring the height information of each position target by a visual sensor at preset time intervals to obtain a plurality of range data;
and comparing the plurality of range data with the first range data, and calculating the relative layered settlement of each soil body layering in different time periods.
3. The machine vision based soil mass stratification settlement monitoring method of claim 1 or 2, further comprising:
setting an integral settlement measuring device on the upper end surface of the soil body to be monitored, and measuring the integral settlement of the soil body monitored at different time periods;
and combining the integral settlement amount and the relative layered settlement amount to obtain the relative layered real settlement amount of each soil body layering in different time periods.
4. The machine vision-based soil mass stratification and subsidence monitoring method of claim 2 wherein the vision sensor traverses all the positional targets and gathers the height information of each positional target comprising:
the vision sensor directly obtains the height information of each position target through the scale;
or alternatively, the first and second heat exchangers may be,
and calculating the height information of each position target through the movement speed, the acceleration and the movement time of the vision sensor.
5. Soil body layering subsides monitoring system based on machine vision, its characterized in that includes:
the measuring sleeve is a transparent pipe and is arranged in the measuring borehole, and a scale and a plurality of injection holes are longitudinally arranged along the transparent pipe;
the sliding rail system is arranged in the measuring sleeve and comprises a measuring sliding rail and a self-driven sliding block main body arranged on the measuring sliding rail, and the self-driven sliding block main body is connected with the power supply module;
the target medium injection system is arranged on the self-driven sliding block main body and can move up and down along the measuring sliding rail along with the self-driven sliding block main body;
the visual sensor is arranged on the self-driven sliding block main body and can move up and down along the measuring sliding rail along with the self-driven sliding block main body.
6. The machine vision-based soil body layering settlement monitoring system according to claim 5, wherein the earth surface calibration settlement system is arranged on the upper end face of the measurement drilling hole and comprises an earth surface calibration sealing cover, an earth surface detection target is arranged at the upper end of the earth surface calibration sealing cover, and a machine vision instrument is arranged outside the earth surface calibration sealing cover.
7. The machine vision based soil mass layered settlement monitoring system according to claim 5 or 6, wherein the section of the measuring sleeve is elliptical, the measuring sleeve is tightly attached to the inner wall of one side of the measuring borehole, a gap is formed between the inner wall of the other side of the measuring borehole and the measuring sleeve, and a pressure stabilizing clamping device is arranged in the gap.
8. The machine vision-based soil mass layered settlement monitoring system as set forth in claim 7, wherein the pressure stabilizing and fixing device comprises a pressure stabilizing air bag connected with a pressure stabilizing air pump through an air pipe and a pressure gauge, and the pressure stabilizing air pump is connected with the power supply module.
9. The machine vision-based soil mass layered settlement monitoring system as set forth in claim 7, wherein the pressure stabilizing and fixing device comprises a pressure stabilizing liquid bag connected with a pressure stabilizing liquid pump through a liquid pipe and a pressure gauge, and the pressure stabilizing air pump is connected with the power supply module.
10. The machine vision-based soil mass layered settlement monitoring system according to claim 8, wherein the measuring slide rail comprises a rail body, a slide block clamping groove and a power transmission groove are formed in the extending direction of the rail body, and a baffle is arranged at the upper end of the rail body.
11. The machine vision-based soil mass layered settlement monitoring system according to claim 10, wherein the self-driven slide block main body is arranged on the rail body in a penetrating manner, and a servo motor and a driving wheel connected with the servo motor are arranged in the self-driven slide block; the self-driven sliding block main body is electrically connected with the power transmission groove through the power taking contact, and the power transmission groove is connected with the power supply module.
12. The machine vision based soil mass stratification and subsidence monitoring system of claim 10 wherein said self-driven slide body is provided with an illumination source.
13. The machine vision based soil mass layered settlement monitoring system as set forth in claim 10, wherein an acceleration sensor or a high-precision pedometer is provided on the self-driven slider body.
14. The machine vision-based soil mass layered settlement monitoring system as claimed in claim 8, wherein the target medium injection system comprises a liquid storage bag, the liquid storage bag is connected with a booster pump, the booster pump is connected with a unidirectional injection needle through a liquid pipe, the unidirectional injection needle is provided with an injection needle telescopic mechanism, and the booster pump and the injection needle telescopic mechanism are both connected with a power supply module.
15. The machine vision-based soil mass layered settlement monitoring system according to claim 8, wherein the orifice of the injection hole is provided with a one-way check valve, and the inner wall of the measurement sleeve where the injection hole is located is provided with an injection needle clamping groove.
16. The machine vision-based soil mass layered settlement monitoring system according to claim 8, wherein the vision sensor comprises a plurality of high-definition cameras which are arranged on the outer end face of the self-driven sliding block main body and are connected with the power supply module, and the plurality of high-definition cameras are connected with the image processing terminal through wired or wireless transmission.
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| CN202310659430.3A CN116380016B (en) | 2023-06-06 | 2023-06-06 | Soil body layered settlement monitoring system and method based on machine vision |
| PCT/CN2023/142392 WO2024083272A1 (en) | 2023-06-06 | 2023-12-27 | Layered soil settlement monitoring system and method based on machine vision |
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| CN202310659430.3A CN116380016B (en) | 2023-06-06 | 2023-06-06 | Soil body layered settlement monitoring system and method based on machine vision |
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| WO2024083272A1 (en) * | 2023-06-06 | 2024-04-25 | 中铁第一勘察设计院集团有限公司 | Layered soil settlement monitoring system and method based on machine vision |
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| CN116380016B (en) | 2023-08-29 |
| WO2024083272A1 (en) | 2024-04-25 |
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