CN216523687U - High-rise building shakes real-time supervision device based on vision fuses with sensor - Google Patents
High-rise building shakes real-time supervision device based on vision fuses with sensor Download PDFInfo
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- CN216523687U CN216523687U CN202123421028.7U CN202123421028U CN216523687U CN 216523687 U CN216523687 U CN 216523687U CN 202123421028 U CN202123421028 U CN 202123421028U CN 216523687 U CN216523687 U CN 216523687U
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Abstract
A high-rise building shaking real-time monitoring device based on fusion of vision and a sensor relates to dynamic position and attitude measurement. The device comprises a CCD, an IMU, an inclination angle sensor, a base, a direction-changeable supporting frame, an embedded processor module, a data line, a protective shell and an auxiliary measuring plate; an ArUco label is arranged on the auxiliary measuring plate; the CCD and the IMU are fixed together and fixed on the base through a reversible supporting frame, and the coordinate relationship between the IMU and the CCD is fixed; the CCD is provided with a zoom telephoto lens; the inclination angle sensor is fixed on the base; the embedded processor module is fixed on the base, is connected with the CCD, the IMU and the tilt sensor through a communication interface and a data line, and sends information to the remote monitoring user terminal in real time; the protective shell encapsulates the overall structure. On the premise of lower cost, the monitoring instrument with certain precision requirement is realized, and the high-rise building shaking condition is monitored in real time in all weather without depending on other external information.
Description
Technical Field
The utility model relates to dynamic position and attitude measurement, in particular to a high-rise building shaking real-time monitoring device based on vision and sensor fusion.
Background
With the increasing of various high-rise buildings, the safety monitoring of building structures becomes very important. The traditional monitoring means includes contact measurement, such as a displacement meter, a telescopic meter and the like, but is easily influenced and disturbed by weather and environmental factors, has high failure rate and can only perform one-dimensional measurement; non-contact measurement is widely used in geodetic surveying and mapping instruments such as a level, a theodolite, an infrared distance meter and the like, and the devices need manual operation and cannot transmit data in real time and in a long distance and track for a long time.
Other monitoring means also include using methods such as LVDT displacement sensor, laser measurement displacement, GPS positioning measurement to realize building sway monitoring. The LVDT displacement sensor mainly takes a fixed datum point as a reference and measures the displacement change of a movable point relative to the datum point. The method is suitable for measuring the displacement of a small structure, and for monitoring the dynamic displacement of a large structure, such as the horizontal displacement of the top of a super high-rise building, and the like, because the structure has a large volume, a fixed reference point can not be found on the structure, so that the application of the LVDT displacement sensor in the aspect is limited. The laser measurement mode uses laser to measure distance, has high precision, wide range and high price, has certain requirements on a reflecting surface during remote observation, and has high use cost in common and complex daily life scenes. The GPS utilizes the carrier phase of the received navigation satellite to carry out real-time phase difference, namely an RTK technology, so as to measure the dynamic displacement of the structure in real time. RTK has advantages such as positioning speed is fast, relative accuracy is high, but relies on base station measurement information its autonomy is not high, and is easily influenced by electromagnetic interference, multipath effect, base station condition etc..
Disclosure of Invention
The utility model aims to provide a high-rise building shaking real-time monitoring device based on fusion of vision and a sensor, which aims to realize a monitoring instrument with certain precision requirement on the premise of lower cost and monitor the shaking condition of a high-rise building in real time in all weather without depending on other external information.
The utility model includes a monitoring device body and a peripheral auxiliary part; the monitoring device main body comprises a CCD camera, an IMU, an inclination angle sensor, a base, a direction-changeable supporting frame, an embedded processor module, a data line and a protective shell; the peripheral auxiliary part comprises an auxiliary measuring plate; an Aruco label is arranged on the auxiliary measuring plate;
the CCD camera and the IMU are fixed together and fixed on the base through the reversible support frame, and the coordinate relation between the IMU and the CCD camera is fixed, so that offline calibration and data fusion are facilitated, and the measurement precision is improved; the CCD camera is provided with a variable-focus long-focus lens and is used for acquiring image information and measuring the pose through an ArUco label on the auxiliary measuring plate;
the inclination angle sensor is fixed on the base and used for measuring the accurate angle (horizontal two axes) during low-frequency shaking or inclining;
the embedded processor module is fixed on the base, is connected with the CCD camera, the IMU and the tilt angle sensor through a communication interface and a data line, and is used for acquiring image information, acceleration angle speed information and tilt angle information and obtaining a more accurate final measurement result through information fusion; the embedded processor module also comprises an Internet network transceiver, has network communication capacity and is used for sending information to a remote monitoring user terminal and the like in real time when the monitored high-rise building really shakes obviously; the protective shell is arranged outside the monitoring device main body, and other structures of the monitoring device main body are packaged in the protective outer box.
The IMU is an inertial measurement unit and comprises an accelerometer and a gyroscope.
The ArUco label of the ArUco auxiliary measuring plate is attached to the surface of the light-emitting element; the Aruco tags can be arranged in four symmetrical positions. The light-emitting element can adopt an LED lamp box, and an Aruco label is attached to the surface of the LED lamp box when the light-emitting element is used, so that the pose information can be normally acquired under the dark environmental condition, and the measurement accuracy is improved.
The protection shell can be provided with a visual window for conveniently adjusting the angle and monitoring the internal condition of the device during working.
Mounting holes can be formed in the base in four directions and used for fixing the monitoring device main body to the top of a measured high-rise building.
Compared with the prior art, the utility model has the beneficial effects that:
1. the Aruco label adopted by the utility model can measure the relation between the distance and the angle of the X, Y, Z axis in the three-dimensional space, and the measurement precision is improved; meanwhile, the long-focus lens is used, so that the camera can obtain image information at a longer distance, and the method has better adaptability to buildings at different heights. The Aruco label used by the device is attached to the surface of the light-emitting element, so that the normal capture of the Aruco label can be still realized under the condition that the laser is deformed in common severe environments such as high temperature, rainwater and the like; and the method does not have strong dependence on the auxiliary measuring board, and when the auxiliary measuring board fails to capture, the measurement can be carried out by extracting and matching the environmental characteristics near the measuring board. By using the Aruco label, X, Y, Z displacement information in three directions can be obtained, and more accurate measurement data can be obtained by being assisted by the IMU and the tilt sensor. The IMU and the camera are fixed together, so that the coordinate relation between the IMU and the camera is not influenced by the steering support frame, and coordinate calibration and fusion of vision measurement information and IMU measurement information are facilitated.
2. The embedded processor module collects image information of a camera, acceleration angle speed information of an IMU (inertial measurement Unit) and angle information of the tilt angle sensor in real time, and performs information fusion with the acceleration angle speed information and the tilt angle information after the relative pose (offset) of 6 degrees of freedom obtained by the ArUco label positioning is operated, so that the measurement precision is improved, the influence of weather and light change on the device is reduced, and all-weather real-time measurement is realized; the measurement result can be transmitted to a corresponding network monitoring system in real time for storage processing and analysis; under the condition of shaking or inclination, the embedded processor processes the obtained displacement, posture and the space size and direction of the acceleration vector thereof, compares the obtained displacement, posture and acceleration vector with a set safety value to judge whether obvious shaking occurs or not, and gives alarm information.
3. The IMU and the CCD camera are combined for monitoring, so that the coordinate relation between the IMU and the CCD camera is not influenced by the steering support frame, and coordinate calibration and fusion of visual measurement information and IMU measurement information are facilitated. In addition, the method does not depend on whether good base station conditions exist nearby (compared with RTK measurement), so that the real-time and full-automatic monitoring on the high-rise building can be realized on the premise of meeting certain measurement accuracy. Meanwhile, the CCD camera uses a long-focus lens, so that the camera can obtain image information at a longer distance, and the camera has better adaptability to buildings at different heights.
Drawings
Fig. 1 is a schematic structural diagram of a monitoring device body according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the peripheral auxiliary portion according to the embodiment of the present invention.
Fig. 3 is a use state reference diagram of an embodiment of the present invention.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
The embodiment of the utility model comprises a monitoring device main body and a peripheral auxiliary part; the monitoring device main body comprises a CCD camera, an IMU, an inclination angle sensor, a base, a direction-changeable supporting frame, an embedded processor, a data line and a protective shell; the peripheral auxiliary part comprises an auxiliary measuring board and a remote monitoring user terminal; an Aruco label is arranged on the auxiliary measuring plate.
Fig. 1 shows a schematic structural diagram of a main body of a monitoring device according to an embodiment of the present invention, in which a CCD camera 2 with a variable focal length lens 10 and an IMU module 3 are fixed together on a supporting plate 9 and mounted on a base 7 through a steering shaft 4 (the angle of the steering shaft 4 can be adjusted to allow the CCD camera 2 to obtain an appropriate viewing angle, such as to see an ArUco auxiliary measuring plate or an obvious environmental feature near a high-rise building to be measured); the steering shaft 4 and the support plate 9 form a support frame capable of changing direction; the tilt angle sensor 5 and the embedded processor 6 are fixed on the base 7, and the embedded processor 6 is connected with the CCD camera 2 and the IMU module 3 through USB interfaces and is connected with the tilt angle sensor 5 through UART; and the whole structure is encapsulated by the protective shell 1, and a visible window is arranged on the protective shell, so that the angle can be conveniently adjusted, and the internal condition of the device can be observed when the monitoring device works. The base 7 is provided with mounting holes 8 in four directions and used for fixing the monitoring device at the top of the measured high-rise building, and the base 7 is horizontally arranged. The tilt sensor can adopt at202-485 series of a tilt sensor n1000060sca60c manufactured by Changshanlang sensor, Inc.; the embedded processor may employ a raspberry pi RP2040-Zero microcontroller PICO development board.
Fig. 2 shows a schematic structural diagram of an auxiliary peripheral part in the embodiment of the utility model, the ArUco auxiliary measuring plate is composed of an LED lamp box and an ArUco label set, and when the measurement device is used, the ArUco label is attached to the surface of the LED lamp box, so that the pose information can be normally acquired under a dark environment condition, and the measurement accuracy is improved. The embedded processing module is connected with the camera, processes the image transmitted from the camera, finds the ArUco label by applying an image recognition algorithm, and obtains displacement and an offset angle in the direction opposite to X, Y, Z. And average value taking is carried out according to data measured by a plurality of groups of Aruco labels, so that the precision is improved.
Referring to the using state of the embodiment of the utility model, as shown in fig. 3, the monitoring device main body of the utility model is installed at the top end of a high-rise building to be detected, and an ArUco auxiliary measuring plate is installed on the ground or a low-rise building (the shaking of the default low-rise building is basically zero). When the monitoring device main part is installed, the direction (through the steering shaft) of the CCD camera and the focal length of the lens are required to be adjusted properly, so that the size of the ArUco auxiliary measuring plate in the visual field of the camera is moderate, and the position is proper. And starting the device to work.
The use method and the working principle of the utility model are given as follows:
firstly, a monitoring device is arranged at the top of a building to be detected, an ArUco auxiliary measuring plate is arranged at an open position (or a low-rise building) with less interference near the ground of the building to be detected, a proper focal length of a telephoto lens is selected according to the distance between the monitoring device and the measuring plate, and the angle of a camera is adjusted to enable the obvious and clear ArUco label imaging to appear in the visual field range. And setting a sampling period of the camera, switching on a power supply, starting to acquire image information, and processing the image to obtain pose information relative to the measuring plate. Then, the image of each frame is compared with the image of the previous frame and calculated to obtain the displacement and the angle on the X, Y, Z axis of the monitoring device, thereby determining the displacement condition of the high-rise building in one monitoring period. And meanwhile, returning data obtained by the IMU and the tilt angle sensor, and fusing the data with image characteristics and pose information obtained by image calculation to obtain a final measurement result. If the measured value is larger than the preset value, the monitored high-rise building really shakes obviously, and alarm information is sent to the user terminal through an Internet network transceiver of the embedded processor module. In addition, under the conditions that the IMU detects high-frequency shaking (or vibration) and the tilt angle sensor detects low-frequency shaking, if the result measured by the CCD camera is greatly influenced by the environment and cannot timely obtain warning information, the monitoring device can judge whether the measured high-rise building obviously shakes according to the measurement result of the IMU or the tilt angle sensor to send an alarm.
In practical use, if a position suitable for installing the ArUco auxiliary measuring plate is not found, or the measuring plate cannot be used due to other reasons, a mode of using a CCD camera to adopt the point and line information of the surrounding environment of the measured high-rise building and fusion of the measurement information of the IMU and the tilt sensor can be adopted, and a measured value of the pose change can be obtained. In addition, the IMU, the inclination angle sensor and the like can give out an alarm in time under the condition that the measured high-rise building shakes (or shakes) at high and low frequencies, so that the device is still suitable under the condition that an auxiliary measuring plate is not used. It should be noted that the use of the auxiliary measuring board greatly contributes to the improvement of the accuracy of the visual measurement. And after one monitoring period is finished, the next monitoring period is entered again to realize the long-term real-time monitoring of the building.
The CCD camera of the utility model realizes the following functions: the method is characterized in that an ArUco auxiliary measuring plate is placed in advance at a place (the peripheral bottom of a measured high-rise building) with small interference degree of environmental conditions, a visual measuring mode is adopted, image information is collected through a camera, ArUco labels are identified, the coordinate relation between the measuring plate and the camera is calculated, and the shaking offset (relative to a fixed measuring plate) of the top of the high-rise building is obtained by combining the distance between every two ArUco labels. The Aruco auxiliary measuring plate comprises four Aruco labels with mutually symmetrical positions, and the measurement average value of the four groups of data is used for calculation, so that the precision of data obtained by measurement shaking is improved; and can ensure that the measurement can be performed when the building sway angle is large or the auxiliary measuring plate portion is damaged.
The IMU and the camera are fixed together and are installed on the reversible support frame, the tilt angle sensor is fixed on the base, and the coordinate relation between the IMU and the camera is fixed, so that offline calibration and data fusion are facilitated, and the measurement precision is improved; the functions realized by the two are as follows: in the case of high-frequency shaking, three-axis acceleration and three-axis angular velocity during shaking (including vibration) are mainly measured by an IMU and vision; the inclination angle sensor is mainly used for measuring the accurate angle (horizontal two axes) during shaking or inclining under the condition of low-frequency shaking, and the monitor can meet most shaking conditions and timely and accurately give an alarm to the vibration of the high-rise building due to the consideration of different conditions of high and low frequencies. Meanwhile, the mode of monitoring by combining the IMU and the camera is not dependent on whether good base station conditions exist nearby (compared with RTK measurement), so that the real-time and full-automatic monitoring of the high-rise building can be realized on the premise of meeting certain measurement precision.
The embedded processor module is fixed on the base and is connected with the CCD camera, the IMU and the inclination angle sensor through a communication interface and a data line to acquire image information, acceleration angle speed information and inclination angle information. In addition, the embedded processor module has network communication capacity, and can send the measurement information to a monitoring alarm system and a relevant supervision department through the internet in real time, and upload the measurement information to a cloud storage for processing and the like.
The Aruco label adopted by the utility model can measure the relation between the distance and the angle of the X, Y, Z axis in the three-dimensional space, and the measurement precision is improved; meanwhile, the long-focus lens is used, so that the camera can obtain image information at a longer distance, and the method has better adaptability to buildings at different heights. Compared with the prior art that laser is adopted as an auxiliary measuring plate, the Aruco label used by the device is attached to the surface of the light-emitting element, so that the Aruco label can be normally captured under the condition that the laser deforms under the common severe environments of high temperature, rainwater and the like; and the method does not have strong dependence on the auxiliary measuring board, and when the auxiliary measuring board fails to capture, the measurement can be carried out by extracting and matching the environmental characteristics near the measuring board. Compared with the prior art, only two LED lamps are adopted as auxiliary measuring plates, only displacement information in two coordinate axis directions can be obtained, displacement information in X, Y, Z three directions can be obtained by using an ArUco label, and more accurate measuring data can be obtained by assisting an IMU and an inclination sensor.
The IMU and the camera are fixed together, so that the coordinate relation between the IMU and the camera is not influenced by the steering support frame, and coordinate calibration and fusion of vision measurement information and IMU measurement information are facilitated.
Claims (6)
1. A high-rise building shaking real-time monitoring device based on fusion of vision and a sensor is characterized by comprising a monitoring device main body and a peripheral auxiliary part; the monitoring device main body comprises a CCD camera, an IMU, an inclination angle sensor, a base, a direction-changeable supporting frame, an embedded processor module, a data line and a protective shell; the peripheral auxiliary part comprises an auxiliary measuring board and a remote monitoring user terminal; an Aruco label is arranged on the auxiliary measuring plate;
the CCD camera and the IMU are fixed together and fixed on the base through the reversible support frame, and the coordinate relation between the IMU and the CCD camera is fixed, so that offline calibration and data fusion are facilitated, and the measurement precision is improved; the CCD camera is provided with a variable-focus long-focus lens and is used for acquiring image information and measuring the pose through an ArUco label on the auxiliary measuring plate;
the inclination angle sensor is fixed on the base and used for measuring the accurate angle during low-frequency shaking or inclining;
the embedded processor module is fixed on the base, is connected with the CCD camera, the IMU and the tilt angle sensor through a communication interface and a data line, and is used for acquiring image information, acceleration angle speed information and tilt angle information and obtaining a more accurate final measurement result through information fusion; the embedded processor module also comprises an Internet network transceiver, has network communication capacity and is used for sending information to a remote monitoring user terminal in real time when the monitored high-rise building really shakes obviously;
the protective shell is arranged outside the monitoring device main body, and other structures of the monitoring device main body are packaged in the protective outer box.
2. The device for real-time monitoring of high-rise building shaking based on vision and sensor fusion as claimed in claim 1, wherein said IMU is an inertial measurement unit comprising an accelerometer and a gyroscope.
3. The device for monitoring the shaking of the high-rise building in real time based on the fusion of the vision and the sensor as claimed in claim 1, wherein the ArUco label of the ArUco auxiliary measuring plate is attached to the surface of the luminous element; the Aruco tags are four mutually symmetrical tags.
4. The high-rise building shake real-time monitoring device based on vision and sensor fusion as claimed in claim 3, characterized in that the light-emitting element adopts an LED lamp box, and an ArUco label is attached to the surface of the LED lamp box, so as to ensure that pose information can still be normally collected under dark environmental conditions, and improve measurement accuracy.
5. The device for monitoring the shaking of the high-rise building in real time based on the fusion of the vision and the sensor as claimed in claim 1, wherein the protective shell is provided with a visual window for conveniently adjusting the angle and observing the internal condition of the device when the monitoring device works.
6. The high-rise building shaking real-time monitoring device based on the fusion of vision and sensors as claimed in claim 1, wherein mounting holes are arranged on the base in four directions for fixing the monitoring device main body on the top of the measured high-rise building.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118436341A (en) * | 2024-07-08 | 2024-08-06 | 杭州锐见智行科技有限公司 | Head posture data acquisition method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118436341A (en) * | 2024-07-08 | 2024-08-06 | 杭州锐见智行科技有限公司 | Head posture data acquisition method and device, electronic equipment and storage medium |
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