CN116576792B - Intelligent shooting integrated device based on Internet of things - Google Patents
Intelligent shooting integrated device based on Internet of things Download PDFInfo
- Publication number
- CN116576792B CN116576792B CN202310849695.XA CN202310849695A CN116576792B CN 116576792 B CN116576792 B CN 116576792B CN 202310849695 A CN202310849695 A CN 202310849695A CN 116576792 B CN116576792 B CN 116576792B
- Authority
- CN
- China
- Prior art keywords
- photosensitive
- punctuation
- unit
- camera
- shooting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000001502 supplementing effect Effects 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 29
- 238000003384 imaging method Methods 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000002775 capsule Substances 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims description 6
- 239000010720 hydraulic oil Substances 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 230000005855 radiation Effects 0.000 claims description 5
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 claims description 2
- 238000004321 preservation Methods 0.000 claims 1
- 230000008859 change Effects 0.000 description 7
- 239000013535 sea water Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010070834 Sensitisation Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008313 sensitization Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention discloses intelligent shooting integrated equipment based on the Internet of things, and particularly relates to the field of shooting, comprising a shooting unit, a light supplementing unit and a detection unit; the camera shooting unit comprises a camera, and the camera shooting end of the camera is right opposite to the joint between the adjacent tunnels and is used for shooting photosensitive punctuation arranged on the two adjacent tunnels; the light supplementing unit comprises a light source, wherein the light source is used for illuminating photosensitive punctuation on adjacent tunnels; the detection unit is used for shooting pictures with photosensitive punctuation at the joints in real time based on the camera unit, and comparing the positions of the photosensitive punctuation in the pictures with preset calibration pictures. According to the invention, the positions of each group of photosensitive punctuation which is shot by the shooting unit and the preset position of each group of comparison photo are compared, so that the distance deviation between the shot photosensitive punctuation and the preset photosensitive punctuation is obtained, and whether the structure deformation occurs at the connecting position between the corresponding adjacent two tunnels is intelligently detected.
Description
Technical Field
The invention relates to the technical field of shooting, in particular to intelligent shooting integrated equipment based on the Internet of things.
Background
The submarine tunnel is formed by splicing a plurality of huge immersed tubes, and the connection part of the tunnel needs to be periodically detected to determine whether structural deformation occurs or not in the operation process, so as to judge the safety state of the tunnel.
Because GPS or Beidou positioning cannot be carried out in the submarine tunnel, mapping tools such as total stations, level gauges and the like are generally adopted, and structural deformation monitoring is carried out on two sides of adjacent immersed tube joints at regular intervals (for example, every quarter) by mapping professionals so as to measure the structural change condition of tunnel pipelines on two sides of the joints; however, the detection is performed on the seabed in an artificial mode, so that the difficulty is high, the cost is high, human errors are easy to generate, and the accuracy cannot be ensured.
Disclosure of Invention
The invention provides intelligent shooting integrated equipment based on the Internet of things, which aims to solve the technical problems.
In order to achieve the above purpose, the present invention provides the following technical solutions: an intelligent shooting integrated device based on the Internet of things is arranged on an annular track and reciprocates along the annular track, and comprises a shooting unit, a light supplementing unit and a detecting unit;
the camera shooting unit comprises a camera, and the camera shooting end of the camera is right opposite to the joint between the adjacent tunnels and is used for shooting photosensitive punctuation arranged on the two adjacent tunnels;
the light supplementing unit comprises a light source, wherein the light source is used for illuminating photosensitive punctuation on adjacent tunnels;
the detection unit comprises a processor and an output system, wherein the processor shoots a picture with a photosensitive punctuation at a joint in real time based on the camera shooting unit, compares the position of the photosensitive punctuation in the picture with a preset calibration picture to obtain a deviation distance between the centers of the photosensitive punctuation in the comparison picture and the two points of the photosensitive punctuation in the preset calibration picture, compares the deviation distance with a preset safety distance to obtain a structural deformation result at the joint, and transmits the structural deformation result at the joint to the output system; the photosensitive punctuation is arranged at the position of the adjacent two-section tunnel close to the junction, and the photosensitive punctuation installed on the adjacent two-section tunnel is symmetrically arranged about the junction surface of the adjacent two-section tunnel, and the photosensitive punctuation is provided with a plurality of continuous photosensitive punctuations which are uniformly arranged along the circumference of the cross section outline of the tunnel on the same tunnel.
In a preferred embodiment, the device further comprises an internet of things wireless transmission module and a display screen, wherein the internet of things wireless transmission module is used for transmitting the picture with the photosensitive punctuation shot by the camera shooting unit to the processor, and based on the processing of the processor, the structure deformation result of the connecting part is transmitted to the display screen through the output system to be displayed.
In a preferred embodiment, the camera unit further comprises an incubator, the camera is mounted in the incubator, the observation window is mounted on one side of the camera, and the flash is mounted on the side of the camera on which the observation window is mounted.
In a preferred embodiment, the light source is a spotlight and the surface of the light sensitive punctuation is coated with a coating that reflects the spotlight.
In a preferred embodiment, a hydraulic adjusting mechanism is arranged on one side, far away from the shooting end, of the shooting unit, the hydraulic adjusting mechanism is arranged on the walking robot and comprises a hydraulic telescopic component, the output end of the hydraulic telescopic component is connected with the shooting unit, and when the walking robot moves along the circular orbit, the hydraulic adjusting mechanism adjusts the distance between the shooting end of the shooting unit and the connecting positions of two adjacent tunnels to be shot to be always in a preset range.
In a preferred embodiment, the fixed end of the hydraulic telescopic assembly is connected with a guide frame, a sliding block is arranged on the guide frame in a sliding mode, and the telescopic end of the hydraulic telescopic assembly penetrates through the sliding block and is fixedly connected with the heat insulation box.
In a preferred embodiment, one side of the hydraulic adjusting mechanism is provided with a pressure compensating unit, the pressure compensating unit comprises a thin-wall oil tank, an oil pipe is arranged on one side of the thin-wall oil tank, the other end of the oil pipe is connected with an oil inlet of the hydraulic telescopic assembly, and a pressure pump is arranged in the thin-wall oil tank and used for pumping the hydraulic oil in the thin-wall oil tank into the hydraulic telescopic assembly.
In a preferred embodiment, the pressure compensation unit further comprises a housing, wherein a compensation capsule is mounted in the housing and is communicated with the thin-wall oil tank, and a through hole is formed in one side of the housing.
In a preferred embodiment, the pressure compensation unit further comprises a radar ranging unit, and the radar ranging unit is used for measuring whether the distance between the imaging end of the imaging unit and the junction of the two adjacent tunnels is adjusted to be within a preset range.
In a preferred embodiment, the walking robot, the hydraulic adjusting mechanism and the pressure compensating unit are all subjected to waterproof treatment, and a plurality of temperature sensors are arranged in the incubator; the processor is also used for acquiring temperature information acquired by the temperature sensors in real time.
The invention has the technical effects and advantages that:
1. according to the invention, the positions of each group of photosensitive punctuation which is shot by the shooting unit and the preset position of each group of comparison photo are compared, so that the distance deviation between the shot photosensitive punctuation and the preset photosensitive punctuation is obtained, and whether the structure deformation occurs at the connecting position between the corresponding adjacent two tunnels is intelligently detected.
2. By comparing and detecting the deformation degree of the central connecting lines of all groups of photosensitive punctuation points, the invention can easily determine whether the deformation area has radiation influence on the adjacent area, the radiation influence is small, and the detection result is more accurate.
Drawings
Fig. 1 is a schematic front view of the structure of the device of the present invention applied to a spliced tunnel.
FIG. 2 is a schematic cross-sectional view of the invention from the perspective A-A of FIG. 1.
Fig. 3 is a schematic view of the structure of the apparatus of the present invention mounted on a walking robot.
Fig. 4 is a schematic diagram of a matching structure of the camera unit and the hydraulic adjusting mechanism.
Fig. 5 is a schematic diagram of the structure of the front view of fig. 4 according to the present invention.
FIG. 6 is a schematic cross-sectional view of the invention at the B-B view of FIG. 5.
Fig. 7 is a schematic view of an image captured by the image capturing unit of the present invention.
Fig. 8 is a schematic diagram of a detection image of the detection unit of the present invention.
The reference numerals are: 100. an endless track; 200. a walking robot; 300. sensitization punctuation; 1. an image pickup unit; 11. a camera; 12. an insulation box; 13. an observation window; 14. a flash lamp; 2. a light supplementing unit; 3. a hydraulic adjustment mechanism; 31. a hydraulic telescoping assembly; 32. an oil pipe; 33. a guide frame; 34. a slide block; 4. a pressure compensation unit; 41. a housing; 42. a thin-walled oil tank; 43. and (5) compensating the capsule.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1 to 8 of the drawings, an intelligent shooting integrated apparatus based on internet of things is installed on an annular track 100 and reciprocates along the annular track 100, and the apparatus comprises a camera unit 1, a light supplementing unit 2 and a detection unit;
the image capturing unit 1 comprises a camera 11, wherein the image capturing end of the camera 11 is right opposite to the joint between two adjacent tunnels and is used for capturing photosensitive punctuation 300 arranged on the two adjacent tunnels;
the light supplementing unit 2 comprises a light source, wherein the light source is used for illuminating the photosensitive punctuation 300 on the adjacent tunnels;
the detection unit comprises a processor and an output system, wherein the processor shoots a picture with a photosensitive punctuation 300 at a joint in real time based on the camera shooting unit 1, compares the position of the photosensitive punctuation 300 in the picture with a preset calibration picture to obtain a deviation distance between the centers of the photosensitive punctuation 300 in the comparison picture and the two points of the photosensitive punctuation 300 in the preset calibration picture, compares the deviation distance with a preset safety distance based on the deviation distance to obtain a structural deformation result at the joint, and transmits the structural deformation result at the joint to the output system;
the photosensitive punctuation points 300 are arranged at the positions, close to the connecting positions, of the two adjacent sections of tunnels, and the photosensitive punctuation points 300 arranged on the two adjacent sections of tunnels are symmetrically arranged about the connecting surfaces of the two adjacent sections of tunnels, wherein a plurality of continuous photosensitive punctuation points 300 are arranged, and a plurality of photosensitive punctuation points 300 positioned on the same tunnel are uniformly arranged along the circumferential direction of the outer contour of the cross section of the tunnel; when the device moves along the circular track 100, the distance between the imaging end of the imaging unit 1 and the junction of the two adjacent tunnels is always within the preset range, and the influence of the change of the imaging position of the imaging unit 1 on the imaging picture pixels and the change of the photosensitive punctuation 300 caused by the change of the distance is eliminated.
It should be noted that, the annular track 100 is disposed outside the junction between adjacent tunnels; the walking robot 200 is installed on the circular track 100, the walking robot 200 moves back and forth along the circular track 100, the equipment is installed on the walking robot 200, and moves along with the walking robot 200; the photosensitive punctuation 300 is embedded on the tunnel surface, and the surface of the photosensitive punctuation 300 can be made of fluorescent material or reflective material.
In one embodiment of the present invention, the device further includes an internet of things wireless transmission module and a display screen, where the internet of things wireless transmission module is configured to transmit the picture with the photosensitive punctuation 300, which is shot by the camera unit 1, to the processor, and based on the processing of the processor, transmit the structure deformation result of the connection location to the display screen through the output system for displaying.
It should be noted that, the display screen is in communication connection with the device according to the present invention through the wireless transmission module of the internet of things, that is, the display screen is used for displaying the result output by the device according to the present invention, and the structure deformation result at the connection position includes not only whether the structure at the connection position of two adjacent sections of tunnels is deformed, the deformation type and the deformation degree, but also the image with the photosensitive punctuation 300 at the connection position of two adjacent sections of tunnels, which is obtained by shooting by the camera unit 1.
In this embodiment, the implementation scenario specifically includes: initially, the posture of the equipment on the walking robot 200 is adjusted, so that the shooting end of the shooting unit 1 is opposite to the connecting position between the connected tunnels; the light source of the light supplementing unit 2 is led to illuminate the corresponding photographed photosensitive punctuation 300 along with the walking robot 200;
the walking robot 200 drives the equipment to intermittently move along the circular track 100, namely, the walking robot 200 drives the equipment to move to the first group of photosensitive punctuation points 300 and stops; then the camera unit 1 shoots a picture with a first group of photosensitive punctuation 300, after shooting is completed, the picture with the first group of photosensitive punctuation 300 is displayed from a display screen based on a wireless transmission module of the Internet of things, or the picture with the first group of photosensitive punctuation 300 is input into a detection unit, the position of the photosensitive punctuation 300 in the picture is compared with a preset calibration picture, the deviation distance between the centers of the photosensitive punctuation 300 in the comparison picture and the two points of the photosensitive punctuation 300 in the preset calibration picture is obtained, the structure deformation result of the joint is obtained based on the deviation distance and the preset safety distance, and then the result information is displayed in the display screen transmitted by an output system;
then the walking robot 200 drives the equipment to move to the position of the connecting position of the adjacent two sections of tunnels corresponding to the next group of photosensitive punctuations 300, the operation is repeated, the result information is shot, processed and output until all groups of photosensitive punctuations 300 are shot and processed, all groups of photosensitive punctuations 300 are arranged, the centers of the photosensitive punctuations 300 in all the pictures are connected to form a connecting line, the deformation degree of the connecting line is detected, whether the deformation degree of the connecting line meets the standard or not is obtained based on the comparison of the deformation degree and the deformation of the preset connecting line, if so, the fact that the connecting position of the adjacent two tunnels is integrally free of distortion and is in a safe state is proved, and otherwise, the connecting line is in an abnormal state.
According to the method, whether structural deformation occurs at the connection position between two adjacent tunnels corresponding to each group of photosensitive punctuation 300 is judged firstly, then the deformation degree of the central connection lines of all groups of photosensitive punctuation 300 is compared and detected, so that the influence of the structural deformation region on other regions is conveniently determined, the deformation degree of each group of photosensitive punctuation 300 can be determined due to the fact that the position of each group of photosensitive punctuation 300 is judged to be offset from a preset position, but the position and the result of each group of photosensitive punctuation 300 are independent and cannot be integrally connected, and therefore, whether the deformation region has radiation influence on an adjacent region or not can be more easily determined by connecting the central connection lines of all the photosensitive punctuation 300 on the same tunnel, and the radiation influence is not great.
In one embodiment of the present invention, the camera unit 1 further includes an incubator 12, the camera 11 is installed in the incubator 12, the observation window 13 is installed on one side of the camera 11, and the flash 14 is also installed on the side of the camera 11 where the observation window 13 is installed.
In one embodiment of the invention, the light source is a spotlight and the surface of the light sensitive punctuation 300 is coated with a coating that reflects the spotlight.
Example 2
Based on the above-mentioned embodiment, this embodiment provides an implementation manner that can automatically regulated the camera end of camera unit 1 with shoot the shortest distance of two adjacent tunnel junctions that correspond, one side that camera unit 1 kept away from the camera end is equipped with hydraulic pressure adjustment mechanism 3, hydraulic pressure adjustment mechanism 3 installs on walking robot 200, hydraulic pressure adjustment mechanism 3 includes hydraulic telescoping assembly 31, the output of hydraulic telescoping assembly 31 is connected with camera unit 1, when walking robot 200 moves along circular orbit 100, the distance of two adjacent tunnel junctions that camera end and shooting of hydraulic pressure adjustment mechanism 3 adjustment camera unit 1 is in the preset range all the time.
In the exploration and exploitation of ocean resources, hydraulic transmission is widely used as an effective driving mode of underwater equipment; and the circular track 100 cannot be guaranteed to be always arranged concentrically with the tunnel, so that the distance between the image capturing unit 1 and the tunnel corresponding to the corresponding photographed photosensitive punctuation 300 needs to be adjusted in real time to guarantee that the position of the photosensitive punctuation 300 in the photographed image is at the actual position where it should be.
The fixed end of the hydraulic telescopic component 31 is connected with a guide frame 33, a sliding block 34 is arranged on the guide frame 33 in a sliding mode, and the telescopic end of the hydraulic telescopic component 31 penetrates through the sliding block 34 and is fixedly connected with the heat insulation box 12.
One side of the hydraulic adjusting mechanism 3 is provided with a pressure compensating unit 4, the pressure compensating unit 4 comprises a thin-wall oil tank 42, an oil pipe 32 is arranged on one side of the thin-wall oil tank 42, the other end of the oil pipe 32 is connected with an oil inlet of the hydraulic telescopic assembly 31, and a pressure pump is arranged in the thin-wall oil tank 42 and used for pumping hydraulic oil in the thin-wall oil tank 42 into the hydraulic telescopic assembly 31.
The pressure compensation unit 4 further comprises a shell 41, a compensation capsule 43 is installed in the shell 41, the compensation capsule 43 is communicated with the thin-wall oil tank 42, and a through hole is formed in one side of the shell 41.
The pressure compensation unit 4 further comprises a radar ranging unit, and the radar ranging unit is used for measuring whether the distance between the imaging end of the imaging unit 1 and the junction of two adjacent tunnels is adjusted to be within a preset range.
In this embodiment, the implementation scenario specifically includes: the walking robot 200 drives the equipment to move to the first group of photosensitive punctuation points 300, stops, then the radar ranging unit scans the adjacent tunnel connection positions corresponding to the first group of photosensitive punctuation points 300, judges whether the distance is within a preset range based on the distance obtained by scanning of the radar ranging unit, and does not need the hydraulic adjusting mechanism 3 to adjust the camera unit 1 if the distance is within the preset range; if not, the hydraulic telescopic component 31 is controlled to correspondingly extend or shorten, so that the distance between the imaging end of the imaging unit 1 and the connecting position of the adjacent tunnels corresponding to shooting is adjusted to be within a preset range, and then the operation is stopped, thereby solving the problem that when the equipment moves along the annular track 100, the distance between the imaging end of the imaging unit 1 and the connecting position of the tunnels is changed due to the change of the depth position in the seabed, therefore, the position of the photosensitive mark point 300 in the image shot by the image shooting unit 1 is changed compared with the position which should be actually positioned in the image, and an error monitoring result is output (when the position of the photosensitive mark point 300 on the image is far left or far right compared with the actual position point, as shown in fig. 8, the connection line of the imaging and the mark points on the other imaging side can generate distortion change at the position, so that the monitoring result outputs the error result of structural deformation at the position, and the structural deformation is not generated at the position actually).
The invention also sets the pressure compensation unit 4, when the depth of the device is changed at the sea bottom, the sea water enters the shell 41, the sea water pressure acts on the compensation capsule 43 to compress the compensation capsule and transmit the pressures of different depths of the sea water to the hydraulic oil of the thin-wall oil tank 42, so that the internal pressure of the hydraulic oil of the thin-wall oil tank 42 is equal to the external sea water pressure, the self-balancing of the internal pressure and the external pressure of the thin-wall oil tank 42 is realized, the technical problem that the hydraulic adjusting mechanism 3 receives different pressures of external loads due to the depth change, and further the quick adjustment of any position cannot be completed in standard time is solved, and if the adjusting time is prolonged, the technical problem of the detection efficiency of the shooting device is reduced.
In one embodiment of the invention, the walking robot 200, the hydraulic adjusting mechanism 3 and the pressure compensating unit 4 are all waterproof treated, and a plurality of temperature sensors are arranged in the incubator 12; the processor is also used for acquiring temperature information acquired by the temperature sensors in real time.
Finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (6)
1. Intelligent shooting integrated equipment based on Internet of things is installed on an annular track (100) and moves back and forth along the annular track (100), and is characterized in that: the device comprises an image pick-up unit (1), a light supplementing unit (2) and a detection unit;
the camera shooting unit (1) comprises a camera, wherein the camera shooting end of the camera is right opposite to the joint between two adjacent tunnels and is used for shooting photosensitive punctuation (300) arranged on the two adjacent tunnels;
the light supplementing unit (2) comprises a light source, wherein the light source is used for illuminating a photosensitive punctuation (300) on an adjacent tunnel;
the detection unit comprises a processor and an output system, wherein the processor is used for shooting pictures with photosensitive punctuation (300) at the joint in real time based on the camera unit (1), comparing the positions of the photosensitive punctuation (300) in the pictures with a preset calibration picture to obtain deviation distances between the centers of the two points of the photosensitive punctuation (300) in the comparison picture and the photosensitive punctuation (300) in the preset calibration picture, comparing the deviation distances with the preset safety distance to obtain a structural deformation result at the joint, and transmitting the structural deformation result at the joint to the output system; the photosensitive punctuation (300) is arranged at a position of the adjacent two-section tunnel close to the joint, the photosensitive punctuation (300) arranged on the adjacent two-section tunnel is symmetrically arranged about the joint surface of the adjacent two-section tunnel, the photosensitive punctuation (300) is continuously and uniformly arranged along the circumferential direction of the cross section outline of the tunnel, and the plurality of photosensitive punctuation (300) are positioned on the same tunnel;
the device comprises a camera unit (1), a hydraulic adjusting mechanism (3) is arranged on one side of the camera unit (1) away from a camera end, the hydraulic adjusting mechanism (3) is arranged on a walking robot (200), the hydraulic adjusting mechanism (3) comprises a hydraulic telescopic component (31), the output end of the hydraulic telescopic component (31) is connected with the camera unit (1), and when the walking robot (200) moves along an annular track (100), the hydraulic adjusting mechanism (3) adjusts the distance between the camera end of the camera unit (1) and the joint of two adjacent tunnels for shooting to be always in a preset range;
the method comprises the steps that an imaging unit (1) moves to the position of a connecting position of two adjacent tunnels corresponding to all groups of photosensitive punctuations (300), imaging, processing and outputting result information until the imaging and processing of all groups of photosensitive punctuations (300) are completed, a processor arranges images of all groups of photosensitive punctuations (300), the centers of the photosensitive punctuations (300) in all the images are connected to form an imaging connecting line, the deformation degree of the imaging connecting line is detected based on the comparison of the deformation degree and a preset connecting line, whether the deformation degree of the imaging connecting line meets the standard is obtained, if yes, the fact that the connecting position of the two adjacent tunnels is integrally not deformed and is in a safe state is confirmed, otherwise, the imaging unit is in an abnormal state, and whether the deformation region has radiation influence on an adjacent region is judged based on the result that whether the deformation degree of the imaging connecting line meets the standard is judged; the deformation area is a position where the deviation distance between the photosensitive punctuation (300) in the picture and the centers of two points of the photosensitive punctuation (300) in the preset calibration picture exceeds the preset safety distance, and the adjacent area is a position corresponding to the adjacent photosensitive punctuation (300) of the deformation area;
the camera shooting unit (1) further comprises an insulation box (12), the camera (11) is installed in the insulation box (12), an observation window (13) is installed on one side of the camera (11), and a flash lamp (14) is also installed on one side of the camera (11) where the observation window (13) is installed;
the fixed end of the hydraulic telescopic assembly (31) is connected with a guide frame (33), a sliding block (34) is arranged on the guide frame (33) in a sliding mode, and the telescopic end of the hydraulic telescopic assembly (31) penetrates through the sliding block (34) and is fixedly connected with the heat insulation box (12);
one side of the hydraulic adjusting mechanism (3) is provided with a pressure compensating unit (4), the pressure compensating unit (4) further comprises a radar ranging unit, and the radar ranging unit is used for measuring whether the distance between the shooting end of the shooting unit (1) and the connecting position of two adjacent tunnels is adjusted to be within a preset range.
2. The intelligent shooting integrated apparatus based on the internet of things as set forth in claim 1, wherein: the device further comprises an internet of things wireless transmission module and a display screen, wherein the internet of things wireless transmission module is used for transmitting pictures with photosensitive punctuations (300) shot by the camera shooting unit (1) to the processor, and based on the processing of the processor, the structure deformation result of the joint is transmitted to the display screen through the output system to be displayed.
3. The intelligent shooting integrated apparatus based on the internet of things as set forth in claim 2, wherein: the light source is a spotlight, and the surface of the photosensitive punctuation (300) is coated with a coating of the reflective spotlight.
4. The intelligent shooting integrated apparatus based on the internet of things as set forth in claim 3, wherein: the pressure compensation unit (4) comprises a thin-wall oil tank (42), an oil pipe (32) is arranged on one side of the thin-wall oil tank (42), the other end of the oil pipe (32) is connected with an oil inlet of the hydraulic telescopic assembly (31), a pressure pump is arranged in the thin-wall oil tank (42), and the pressure pump is used for pumping hydraulic oil in the thin-wall oil tank (42) into the hydraulic telescopic assembly (31).
5. The intelligent shooting integrated apparatus based on the internet of things as set forth in claim 4, wherein: the pressure compensation unit (4) further comprises a shell (41), a compensation capsule (43) is mounted in the shell (41), the compensation capsule (43) is communicated with the thin-wall oil tank (42), and a through hole is formed in one side of the shell (41).
6. The intelligent shooting integrated apparatus based on the internet of things according to claim 5, wherein: the walking robot (200), the hydraulic adjusting mechanism (3) and the pressure compensating unit (4) are all subjected to waterproof treatment, and a plurality of temperature sensors are arranged in the heat preservation box (12); the processor is further used for acquiring temperature information acquired by the temperature sensors in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310849695.XA CN116576792B (en) | 2023-07-12 | 2023-07-12 | Intelligent shooting integrated device based on Internet of things |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310849695.XA CN116576792B (en) | 2023-07-12 | 2023-07-12 | Intelligent shooting integrated device based on Internet of things |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116576792A CN116576792A (en) | 2023-08-11 |
| CN116576792B true CN116576792B (en) | 2023-09-26 |
Family
ID=87543442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310849695.XA Active CN116576792B (en) | 2023-07-12 | 2023-07-12 | Intelligent shooting integrated device based on Internet of things |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116576792B (en) |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2596085Y (en) * | 2002-12-30 | 2003-12-31 | 哈尔滨工程大学 | Deep water hydraulic power source |
| CN101839692A (en) * | 2010-05-27 | 2010-09-22 | 西安交通大学 | Method for measuring three-dimensional position and stance of object with single camera |
| CN201892527U (en) * | 2010-11-10 | 2011-07-06 | 上海市电力公司 | Pipe section joint opening monitoring device for electric power tunnels |
| KR101604050B1 (en) * | 2015-04-30 | 2016-03-17 | 주식회사 맥서브 | Road tunnel inspection device |
| CN105866131A (en) * | 2016-05-27 | 2016-08-17 | 中国铁道科学研究院 | Vehicle-mounted appearance detection system and method for communication leaky coaxial cable in tunnel |
| CN107122719A (en) * | 2017-04-07 | 2017-09-01 | 北京讯腾智慧科技股份有限公司 | Pipeline deformation automatic recognition system and method based on image recognition |
| CN107356609A (en) * | 2017-08-23 | 2017-11-17 | 南京火眼猴信息科技有限公司 | A kind of vcehicular tunnel surface and internal detection vehicle |
| CN208474862U (en) * | 2018-07-13 | 2019-02-05 | 苏州玻色智能科技有限公司 | A kind of camera apparatus for automatically lifting |
| CN109483568A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of pipeline outer wall automatic flaw detection, carbon plane and welding robot |
| CN109682757A (en) * | 2019-02-25 | 2019-04-26 | 湖州市特种设备检测研究院 | A kind of vision inspection apparatus of line for polyethylene gas pipes sweat soldering connector |
| CN109741271A (en) * | 2018-12-14 | 2019-05-10 | 陕西高速公路工程试验检测有限公司 | A kind of detection method and system |
| CN110670633A (en) * | 2019-08-21 | 2020-01-10 | 柯贤泽 | Immersed tube tunnel joint connection method and intelligent monitoring device |
| CN112064686A (en) * | 2017-09-21 | 2020-12-11 | 东南大学 | Method for monitoring opening amount of immersed tube tunnel joint |
| CN113409285A (en) * | 2021-06-28 | 2021-09-17 | 上海交通大学 | Method and system for monitoring three-dimensional deformation of immersed tunnel joint |
| CN113720296A (en) * | 2021-08-30 | 2021-11-30 | 中交第一航务工程局有限公司 | Immersed tube underwater deformation monitoring method |
| CN114383526A (en) * | 2022-01-20 | 2022-04-22 | 中交第一航务工程局有限公司 | Immersed tube pipe joint deformation real-time monitoring method |
| CN216815272U (en) * | 2022-03-15 | 2022-06-24 | 中交第一航务工程局有限公司 | Immersed tube tunnel final joint underwater installation positioning system |
| CN114962944A (en) * | 2022-05-15 | 2022-08-30 | 浙江大学 | Three-dimensional high-precision rapid detection device for submarine pipeline suitable for complex sea area |
| CN217878929U (en) * | 2022-07-21 | 2022-11-22 | 广州广检技术发展有限公司 | Intelligent grading instrument for fuzzing and pilling |
| CN115540781A (en) * | 2022-09-16 | 2022-12-30 | 浙江大学 | Three-dimensional mapping driving device for submarine pipeline appearance structure |
| CN116132814A (en) * | 2022-04-01 | 2023-05-16 | 港珠澳大桥管理局 | Submarine immersed tube splicing structure information acquisition equipment, acquisition method, device and equipment |
| CN116170690A (en) * | 2022-12-15 | 2023-05-26 | 苏州镁伽科技有限公司 | Image shooting method, device, equipment and readable storage medium |
-
2023
- 2023-07-12 CN CN202310849695.XA patent/CN116576792B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2596085Y (en) * | 2002-12-30 | 2003-12-31 | 哈尔滨工程大学 | Deep water hydraulic power source |
| CN101839692A (en) * | 2010-05-27 | 2010-09-22 | 西安交通大学 | Method for measuring three-dimensional position and stance of object with single camera |
| CN201892527U (en) * | 2010-11-10 | 2011-07-06 | 上海市电力公司 | Pipe section joint opening monitoring device for electric power tunnels |
| KR101604050B1 (en) * | 2015-04-30 | 2016-03-17 | 주식회사 맥서브 | Road tunnel inspection device |
| CN105866131A (en) * | 2016-05-27 | 2016-08-17 | 中国铁道科学研究院 | Vehicle-mounted appearance detection system and method for communication leaky coaxial cable in tunnel |
| CN107122719A (en) * | 2017-04-07 | 2017-09-01 | 北京讯腾智慧科技股份有限公司 | Pipeline deformation automatic recognition system and method based on image recognition |
| CN107356609A (en) * | 2017-08-23 | 2017-11-17 | 南京火眼猴信息科技有限公司 | A kind of vcehicular tunnel surface and internal detection vehicle |
| CN112064686A (en) * | 2017-09-21 | 2020-12-11 | 东南大学 | Method for monitoring opening amount of immersed tube tunnel joint |
| CN208474862U (en) * | 2018-07-13 | 2019-02-05 | 苏州玻色智能科技有限公司 | A kind of camera apparatus for automatically lifting |
| CN109483568A (en) * | 2018-11-21 | 2019-03-19 | 南通理工学院 | A kind of pipeline outer wall automatic flaw detection, carbon plane and welding robot |
| CN109741271A (en) * | 2018-12-14 | 2019-05-10 | 陕西高速公路工程试验检测有限公司 | A kind of detection method and system |
| CN109682757A (en) * | 2019-02-25 | 2019-04-26 | 湖州市特种设备检测研究院 | A kind of vision inspection apparatus of line for polyethylene gas pipes sweat soldering connector |
| CN110670633A (en) * | 2019-08-21 | 2020-01-10 | 柯贤泽 | Immersed tube tunnel joint connection method and intelligent monitoring device |
| CN113409285A (en) * | 2021-06-28 | 2021-09-17 | 上海交通大学 | Method and system for monitoring three-dimensional deformation of immersed tunnel joint |
| CN113720296A (en) * | 2021-08-30 | 2021-11-30 | 中交第一航务工程局有限公司 | Immersed tube underwater deformation monitoring method |
| CN114383526A (en) * | 2022-01-20 | 2022-04-22 | 中交第一航务工程局有限公司 | Immersed tube pipe joint deformation real-time monitoring method |
| CN216815272U (en) * | 2022-03-15 | 2022-06-24 | 中交第一航务工程局有限公司 | Immersed tube tunnel final joint underwater installation positioning system |
| CN116132814A (en) * | 2022-04-01 | 2023-05-16 | 港珠澳大桥管理局 | Submarine immersed tube splicing structure information acquisition equipment, acquisition method, device and equipment |
| CN114962944A (en) * | 2022-05-15 | 2022-08-30 | 浙江大学 | Three-dimensional high-precision rapid detection device for submarine pipeline suitable for complex sea area |
| CN217878929U (en) * | 2022-07-21 | 2022-11-22 | 广州广检技术发展有限公司 | Intelligent grading instrument for fuzzing and pilling |
| CN115540781A (en) * | 2022-09-16 | 2022-12-30 | 浙江大学 | Three-dimensional mapping driving device for submarine pipeline appearance structure |
| CN116170690A (en) * | 2022-12-15 | 2023-05-26 | 苏州镁伽科技有限公司 | Image shooting method, device, equipment and readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116576792A (en) | 2023-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2013333801B2 (en) | Improvements in relation to underwater imaging for underwater surveys | |
| CN102597419B (en) | Scanning tools | |
| US8542413B2 (en) | Laser scanner assembly | |
| CN101509801B (en) | Intelligent light source linear array CCD liquid level measuring method and device | |
| KR101538763B1 (en) | Apparatus and Method for Inspecting Crack in Tunnel | |
| US5883663A (en) | Multiple image camera for measuring the alignment of objects in different planes | |
| CN115046499B (en) | Annular laser pipeline detection system and method based on triangulation principle | |
| CN109631771B (en) | Crack dynamic change sensor based on multi-target image processing and crack measuring method | |
| US20180174318A1 (en) | Method and Apparatus for Endoscope with Distance Measuring for Object Scaling | |
| TW200501729A (en) | Method of aligning lens and sensor of camera | |
| US6907139B2 (en) | Three-dimensional image capturing device | |
| CN116576792B (en) | Intelligent shooting integrated device based on Internet of things | |
| US20220245555A1 (en) | System and method for depiction and counting of external structures on a fish | |
| WO2016068353A1 (en) | Image processing based distance measurement equipment and method therefor | |
| KR102061461B1 (en) | Stereo camera system using vari-focal lens and operating method thereof | |
| US20230260148A1 (en) | System and method for geolocation of an object in water | |
| KR101217854B1 (en) | A system updating digital map making | |
| US20190096075A1 (en) | Vehicle vicinity supervising device and vicinity supervising method | |
| KR20160082659A (en) | Method for the three-dimensional automatic measurement of structural vibration by multi-channel sequence digital images | |
| JP2011248414A (en) | Image processing system and method | |
| US20230358131A1 (en) | Advanced optical imaging of tubulars | |
| CN103019025A (en) | Lens precision detection system and method | |
| CN117470313A (en) | Real-time measurement device and method for fish body surface shape | |
| US20190383129A1 (en) | Inspection assembly lighting system | |
| CN117267518A (en) | Device and method for measuring deformation and corrosion degree of pipeline by laser profile method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |