CN116576792B - An intelligent shooting all-in-one device based on the Internet of Things - Google Patents

Abstract

The invention discloses an intelligent shooting integrated device based on the Internet of Things, specifically related to the field of shooting, including a camera unit, a light supplement unit and a detection unit; the camera unit includes a camera, and the camera's camera end is facing the connection between adjacent tunnels for Photograph the photosensitive marking points arranged on two adjacent tunnels; the supplementary light unit includes a light source, and the light source is used to illuminate the photosensitive marking points on the adjacent tunnels; the detection unit takes pictures with the photosensitive marking points at the connection in real time based on the camera unit, and combines the photosensitive marking points with the Compare the position of the punctuation points in the image with the preset calibration image. The present invention compares the positions of each group of photosensitive mark points photographed by the camera unit with each set of preset photosensitive mark points on the comparison photos, and obtains the distance deviation between the photographed photosensitive mark points and the preset photosensitive mark points, thereby intelligently It can effectively detect whether the structural deformation occurs at the connection between the corresponding adjacent two tunnels.

Description

An intelligent shooting all-in-one device based on the Internet of Things

Technical field

The present invention relates to the field of photography technology, and more specifically, the invention relates to an intelligent photography integrated device based on the Internet of Things.

Background technique

Undersea tunnels are generally made up of many sections of giant immersed tubes. During operation, it is necessary to regularly detect whether there is structural deformation at the tunnel joints to determine the safety status of the tunnel.

Since GPS or Beidou positioning is not possible in undersea tunnels, surveying and mapping tools such as total stations and levels are usually used. Surveying and mapping professionals regularly (for example, every quarter) monitor the structural deformation of both sides of adjacent immersed pipe joints to measure Structural changes of tunnel pipes on both sides of the joint; however, manual detection on the seabed is not only difficult and costly, but also prone to human error, and accuracy cannot be guaranteed.

Contents of the invention

The present invention provides an intelligent shooting integrated device based on the Internet of Things to solve the above technical problems.

In order to achieve the above objectives, the present invention provides the following technical solution: an intelligent shooting integrated device based on the Internet of Things, which is installed on a circular track and reciprocates along the circular track. The device includes a camera unit, a light fill unit and a detection unit;

The camera unit includes a camera, the camera's camera is oriented at the connection between adjacent tunnels, and is used to capture the light-sensitive marking points arranged on the two adjacent tunnels;

The supplementary light unit includes a light source, which is used to illuminate the light-sensitive marking points on the adjacent tunnel;

The detection unit includes a processor and an output system. Based on the camera unit, the processor takes real-time pictures with light-sensitive marking points at the connection, compares the position of the light-sensitive marking point in the picture with the preset calibration picture, and obtains the comparison between the light-sensitive marking points in the picture and The deviation distance between the two centers of the photosensitive mark points in the preset calibration picture is compared with the preset safety distance to obtain the structural deformation result of the joint, and the structural deformation result of the joint is passed to the output system; where , the light-sensitive marking points are arranged near the connection between two adjacent tunnel sections, and the light-sensitive marking points installed on the two adjacent tunnel sections are arranged symmetrically with respect to the connecting surface of the two adjacent tunnel sections, and the light-sensitive marking points are provided with multiple consecutive , multiple light-sensitive marking points located on the same tunnel are evenly arranged circumferentially along the outer contour of the tunnel's cross section.

In a preferred embodiment, the device also includes an Internet of Things wireless transmission module and a display screen. The Internet of Things wireless transmission module is used to transmit pictures with photosensitive markings taken by the camera unit to the processor. Based on the processing of the processor, The structural deformation results of the joints are transmitted to the display screen through the output system for display.

In a preferred embodiment, the camera unit further includes an insulating box, the camera is installed in the insulating box, an observation window is installed on one side of the camera, and a flash is installed on the side of the camera where the observation window is installed.

In a preferred embodiment, the light source is a spotlight, and the surface of the photosensitive mark is coated with a coating that reflects the spotlight.

In a preferred embodiment, a hydraulic adjustment mechanism is provided on the side of the camera unit away from the camera end. The hydraulic adjustment mechanism is installed on the walking robot. The hydraulic adjustment mechanism includes a hydraulic telescopic component. The output end of the hydraulic telescopic component is connected to the camera unit. When the walking robot moves along the circular track, the hydraulic adjustment mechanism adjusts the distance between the camera end of the camera unit and the joint of the two adjacent tunnels photographed to always be within the preset range.

In a preferred embodiment, the fixed end of the hydraulic telescopic assembly is connected to a guide frame, a slider is slidably provided on the guide frame, and the telescopic end of the hydraulic telescopic assembly penetrates the slider and is fixedly connected to the insulating box.

In a preferred embodiment, a pressure compensation unit is provided on one side of the hydraulic adjustment mechanism. The pressure compensation unit includes a thin-walled oil tank. An oil pipe is installed on one side of the thin-walled oil tank. The other end of the oil pipe is connected to the oil inlet of the hydraulic telescopic assembly. Connection, a pressure pump is provided inside the thin-walled oil tank, and the pressure pump is used to pump the hydraulic oil in the thin-walled oil tank into the hydraulic telescopic assembly.

In a preferred embodiment, the pressure compensation unit further includes a housing, a compensation capsule is installed inside the housing, the compensation capsule is connected to the thin-walled oil tank, and a through hole is provided on one side of the housing.

In a preferred embodiment, the pressure compensation unit also includes a radar ranging unit, which is used to measure whether the distance between the camera end of the camera unit and the connection between two adjacent tunnels photographed is adjusted to a preset range.

In a preferred embodiment, the walking robot, hydraulic adjustment mechanism and pressure compensation unit are all waterproofed, and multiple temperature sensors are arranged in the insulating box; wherein, the processor is also used to obtain the temperatures collected in real time by the multiple temperature sensors. information.

Technical effects and advantages of the present invention:

1. The present invention obtains the distance deviation between the photographed photosensitive marking points and the preset photosensitive marking points by comparing the positions of each group of photosensitive marking points captured by the camera unit with each set of preset photosensitive marking points on the comparison photos. This intelligently detects whether structural deformation occurs at the connection between the corresponding two adjacent tunnels.

2. By comparing and detecting the degree of deformation of the lines connecting the centers of all group sensing cursor points, the present invention can easily determine whether the deformation area has a radiation impact on adjacent areas, whether the radiation impact is large or not, and the detection results are more accurate.

Description of the drawings

Figure 1 is a schematic front structural view of the equipment of the present invention applied to a spliced tunnel.

FIG. 2 is a schematic cross-sectional view from the A-A perspective in FIG. 1 of the present invention.

Figure 3 is a schematic structural diagram of the equipment of the present invention installed on a walking robot.

Figure 4 is a schematic diagram of the cooperation structure between the camera unit and the hydraulic adjustment mechanism of the present invention.

Figure 5 is a schematic structural diagram of the front view of Figure 4 of the present invention.

Fig. 6 is a schematic cross-sectional view from the B-B perspective in Fig. 5 of the present invention.

Figure 7 is a schematic diagram of images captured by the camera unit of the present invention.

Figure 8 is a schematic diagram of an image detected by the detection unit of the present invention.

The reference numbers are: 100, circular track; 200, walking robot; 300, photosensitive marking point; 1, camera unit; 11, camera; 12, incubator; 13, observation window; 14, flash; 2, fill light unit; 3 , Hydraulic adjustment mechanism; 31. Hydraulic telescopic assembly; 32. Oil pipe; 33. Guide frame; 34. Slider; 4. Pressure compensation unit; 41. Shell; 42. Thin-walled oil tank; 43. Compensation capsule.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Example 1

Referring to Figures 1 to 8 of the description, an intelligent shooting integrated device based on the Internet of Things is installed on the circular track 100 and reciprocates along the circular track 100. The device includes a camera unit 1, a fill light unit 2 and a detection unit. ;

The camera unit 1 includes a camera 11, the camera end of the camera 11 is facing the connection between adjacent tunnels, and is used to capture the photosensitive marking points 300 arranged on the two adjacent tunnels;

The light supplement unit 2 includes a light source, which is used to illuminate the photosensitive marking point 300 on the adjacent tunnel;

The detection unit includes a processor and an output system. The processor takes pictures in real time based on the camera unit 1 with the light-sensitive mark 300 at the connection, and compares the position of the light-sensitive mark 300 in the picture with the preset calibration picture. Obtain the deviation distance between the two point centers of the photosensitive mark point 300 in the comparison picture and the preset calibration picture. Based on the comparison between the deviation distance and the preset safe distance, the structural deformation result of the joint is obtained, and the joint is The structural deformation results are passed to the output system;

Among them, the light-sensitive marking points 300 are arranged near the connection between two adjacent tunnel sections, and the light-sensitive marking points 300 installed on the two adjacent tunnel sections are arranged symmetrically with respect to the connecting surface of the two adjacent tunnel sections. The light-sensitive marking points 300 are provided with A plurality of consecutive photosensitive marking points 300 located on the same tunnel are evenly arranged along the circumferential direction of the cross-sectional outer contour of the tunnel; when the device moves along the circular track 100, the camera end of the camera unit 1 is in contact with the adjacent two photographed objects. The distance between the two tunnel connections is always within the preset range, eliminating the influence of changes in the pixels of the image imaged by the camera unit 1 and the position of the photosensitive mark 300 in the image due to distance changes.

It should be noted that the circular track 100 is arranged outside the connection between adjacent tunnels; a walking robot 200 is installed on the circular track 100, and the walking robot 200 moves back and forth along the circular track 100. The equipment of the present invention is installed on the walking robot 200 and follows the walking The robots 200 move together; the photosensitive mark 300 is embedded in the tunnel surface, and the surface of the photosensitive mark 300 can be made of fluorescent material or reflective material.

In one embodiment of the present invention, the device of the present invention also includes an Internet of Things wireless transmission module and a display screen. The Internet of Things wireless transmission module is used to transmit the picture with the photosensitive mark 300 taken by the camera unit 1 to the processor. Based on Processed by the processor, the structural deformation results of the joints are transmitted to the display screen through the output system for display.

It should be noted that the display screen and the device of the present invention are connected through communication through the Internet of Things wireless transmission module, that is, the display screen is used to display the results output by the device of the present invention. The structural deformation result of the connection not only includes the connection between two adjacent tunnels Whether the structure is deformed, the type and degree of deformation, and also includes the image with the photosensitive mark 300 at the connection between two adjacent tunnels captured by the camera unit 1 .

In this embodiment, the specific implementation scenario is: initially, adjust the posture of the device of the present invention on the walking robot 200 so that the shooting end of the camera unit 1 is aligned with the connection between the connected tunnels; make the light source of the supplementary light unit 2 follow the The walking robot 200 illuminates the photosensitive mark 300 corresponding to the photograph;

The walking robot 200 drives the equipment of the present invention to move intermittently along the circular track 100. That is, the walking robot 200 first drives the equipment of the present invention to move to the first group of light-sensitive marking points 300 and then stops; then the camera unit 1 takes pictures of the first group of light-sensitive marking points. 300 pictures, after the shooting is completed, based on the Internet of Things wireless transmission module, the pictures with the first group of light-sensitive mark points 300 will be displayed on the display screen, or the pictures with the first group of light-sensitive mark points 300 will be input into the detection unit. Compare the position of the photosensitive mark 300 in the picture with the preset calibration picture to obtain the deviation distance between the two centers of the photosensitive mark 300 in the comparison picture and the preset calibration picture. Based on the deviation distance and the preset calibration picture, the deviation distance is obtained. Set the safety distance for comparison to obtain the structural deformation results of the connection, and then display the result information on the display screen transmitted by the output system;

Then the walking robot 200 drives the equipment of the present invention to move to the location of the connection between two adjacent tunnels corresponding to the next group of photosensitive landmarks 300, and repeats the above operations to shoot, process and output the result information until all groups of photosensitive landmarks 300 are photographed and Processing, arrange the pictures of the photosensitive mark points 300 in all groups, connect the centers of the photosensitive mark points 300 in all the pictures to form a connection line, detect the deformation degree of the connection line, and obtain the deformation of the connection line based on the comparison between the deformation degree and the preset connection line deformation. Whether the degree of deformation meets the standard. If it does, it proves that the connection between two adjacent tunnels has no distortion and deformation and is in a safe state. Otherwise, it is an abnormal state.

The present invention first determines whether structural deformation occurs at the connection between two adjacent tunnels corresponding to each group of light-sensitive mark points 300 through the above method, and then compares and detects the deformation degrees of the center lines of all groups of light-sensitive mark points 300 to facilitate the determination of the structure. The influence of the deformation area on other areas is determined by judging the offset value between the position of each group of light-sensitive mark points 300 and the preset position to determine the degree of deformation there. However, the position and results of each group of light-sensitive mark points 300 are independent and cannot be integrated. Therefore, by connecting the centers of all photosensitive marking points 300 on the same tunnel, it is easier to determine whether the deformation area has a radiation impact on adjacent areas and whether the radiation impact is significant.

In one embodiment of the present invention, the camera unit 1 also includes an insulating box 12. The camera 11 is installed in the insulating box 12. An observation window 13 is installed on one side of the camera 11. The observation window 13 is also installed on the side of the camera 11. Has flash 14.

In one embodiment of the present invention, the light source is a spotlight, and the surface of the photosensitive mark 300 is coated with a coating that reflects the spotlight.

Example 2

Based on the above embodiment, this embodiment provides an implementation that can automatically adjust the shortest distance between the camera end of the camera unit 1 and the connection point of two adjacent tunnels corresponding to the shooting. The side of the camera unit 1 away from the camera end is equipped with a hydraulic pressure Adjustment mechanism 3. The hydraulic adjustment mechanism 3 is installed on the walking robot 200. The hydraulic adjustment mechanism 3 includes a hydraulic telescopic assembly 31. The output end of the hydraulic telescopic assembly 31 is connected to the camera unit 1. When the walking robot 200 moves along the circular track 100, the hydraulic adjustment mechanism 3 The adjustment mechanism 3 adjusts the distance between the camera end of the camera unit 1 and the connection point of two adjacent tunnels photographed to always be within a preset range.

It should be noted that in the detection and mining of marine resources, hydraulic transmission is widely used as an effective driving method for underwater equipment; and the circular track 100 cannot always be arranged concentrically with the tunnel, so it is necessary to adjust the camera unit 1 and the tunnel in real time. The distance between the tunnels corresponding to the photographed photosensitive mark points 300 is used to ensure that the position of the photosensitive mark point 300 in the captured image is at the actual position it should be.

The fixed end of the hydraulic telescopic assembly 31 is connected to a guide frame 33. A slider 34 is slidably provided on the guide frame 33. The telescopic end of the hydraulic telescopic assembly 31 passes through the slider 34 and is fixedly connected to the insulating box 12.

A pressure compensation unit 4 is provided on one side of the hydraulic adjustment mechanism 3. The pressure compensation unit 4 includes a thin-walled oil tank 42. An oil pipe 32 is installed on one side of the thin-walled oil tank 42. The other end of the oil pipe 32 is connected to the oil inlet of the hydraulic telescopic assembly 31. Connection, a pressure pump is provided inside the thin-walled oil tank 42, and the pressure pump is used to pump the hydraulic oil in the thin-walled oil tank 42 into the hydraulic telescopic assembly 31.

The pressure compensation unit 4 also includes a housing 41. A compensation capsule 43 is installed inside the housing 41. The compensation capsule 43 communicates with the thin-walled oil tank 42. A through hole is provided on one side of the housing 41.

The pressure compensation unit 4 also includes a radar ranging unit, which is used to measure whether the distance between the camera end of the camera unit 1 and the connection between the two adjacent tunnels photographed is adjusted to a preset range.

In this embodiment, the specific implementation scenario is: the walking robot 200 first drives the device of the present invention to move to the first group of photosensitive landmarks 300 and stops, and then the radar ranging unit scans the adjacent tunnel connections corresponding to the first group of photosensitive landmarks 300 at , based on the distance scanned by the radar ranging unit, it is judged whether the distance is within the preset range. If so, the hydraulic adjustment mechanism 3 is not required to adjust the camera unit 1; if not, the hydraulic telescopic assembly 31 is controlled to extend accordingly. lengthen or shorten, so that the distance between the camera end of the camera unit 1 and the connection point of the two adjacent tunnels corresponding to the shooting is adjusted to a preset range, and then stops working, thereby solving the problem that when the equipment of the present invention moves along the circular track 100, due to When the depth position in the seabed changes, the distance between the camera end of the camera unit 1 and the tunnel connection changes, causing the position of the photosensitive mark 300 in the picture taken by the camera unit 1 to change from the actual position in the image, which in turn causes the output Wrong monitoring results (when the position of the photosensitive marker point 300 on the image is to the left or to the right of the actual position point, as shown in Figure 8, the line connecting the marker points on that side of the image and other images will be distorted there. changes, thus causing the monitoring results to output an erroneous result indicating that structural deformation occurred at that location, but in fact no structural deformation occurred there).

The present invention also provides a pressure compensation unit 4. When the depth of the equipment of the present invention changes on the seabed, seawater enters the shell 41, and the seawater pressure acts on the compensation capsule 43, causing it to compress and transmit the pressure of different depths of the seawater to The hydraulic oil in the thin-walled oil tank 42 makes the internal pressure of the hydraulic oil in the thin-walled oil tank 42 equal to the external seawater pressure, thereby achieving self-balancing of the internal and external pressures of the thin-walled oil tank 42 and solving the external load on the hydraulic adjustment mechanism 3 due to depth changes. The technical problem is that the pressure is different, and the rapid adjustment of any position cannot be completed within the standard time. If the adjustment time is prolonged, the detection efficiency of the shooting equipment of the present invention will be reduced.

In one embodiment of the present invention, the walking robot 200, the hydraulic adjustment mechanism 3 and the pressure compensation unit 4 are all waterproofed, and multiple temperature sensors are arranged in the insulating box 12; the processor is also used to obtain multiple temperatures. Temperature information collected by the sensor in real time.

Finally: The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection.

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.