Real-time measurement method and system for the posture of underwater prefabricated piers

Abstract

The present invention relates to the technical field of bridge construction, and specifically refers to a real-time measurement method and system for the posture of prefabricated piers in water. A ruler and a measuring target are arranged on the prefabricated pier, and a reference target and an industrial camera are installed on the steel casing around the installation position of the prefabricated pier; during the hoisting process of the prefabricated pier, the scale of the corresponding ruler is obtained by the industrial camera, and the verticality of the current prefabricated pier and the elevation of the top surface of the prefabricated pier are obtained based on the three-dimensional coordinates of the ruler scale and the industrial camera; the image information along the plane of the corresponding reference targets and measuring targets in the same group is obtained by the industrial camera, and the horizontal coordinates of the prefabricated pier are determined based on the plane image information and the coordinates of the reference targets. The real-time measurement method for the posture of prefabricated piers in water of the present application can be completely unaffected by the interference of wind and waves on the water surface, and completely relies on machine vision to perform measurements during the lowering and installation of the prefabricated pier. The overall measurement accuracy is extremely high, and the measurement method is very simple.

Description

Technical Field

[0001] The invention relates to the technical field of bridge construction, and in particular to a real-time measurement method and system for the posture of a prefabricated pier in water. Background Art

[0002] Prefabricated piers are lightweight in structure, with guaranteed construction quality and durability. They only require installation and connection of components, which can significantly reduce the impact on the environment. They are being used more and more widely in offshore bridge construction.

[0003] For example, the Chinese invention patent with the patent number "CN113428769A" and the title "Integrated hoisting and positioning system and process for large offshore prefabricated piers" discloses a method for installing offshore prefabricated piers. This method can realize the installation of large offshore prefabricated piers by hoisting and positioning the prefabricated piers through a hoisting system and a positioning system. However, the scheme only mentions hoisting and positioning, and does not provide a detailed description of how to accurately measure the prefabricated piers to cooperate with the positioning method. At present, for the accurate measurement of prefabricated piers during the hoisting process, measurement control points are generally arranged on the piers in advance, and the coordinates of the control points are measured using a total station to achieve the installation positioning and adjustment of the piers. Compared with the installation and construction measurement of piers in a land environment, offshore bridge construction usually faces a complex marine environment. Under the impact of waves, the prefabricated piers are shaken, and the accuracy of the total station positioning of the measurement control points cannot be guaranteed. On the other hand, using a plumb bob to measure verticality is a common method, but it is necessary to pump water in the casing to ensure the accuracy of the measurement, and the work efficiency is difficult to meet the needs of on-site construction. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology and provide a real-time measurement method and system for the posture of a prefabricated pier in water.

[0005] The technical solution of the present invention is: a method for real-time measurement of the posture of a prefabricated pier in water, wherein a group of vertically arranged rulers are arranged on the prefabricated pier, and the group of rulers includes at least three rulers that are not in the same vertical plane and have the same height;

[0006] At least two measurement targets are installed on the prefabricated pier, and reference targets corresponding to the measurement targets are installed on the steel casing around the installation position of the prefabricated pier;

[0007] At least two industrial cameras capable of acquiring image information of the above-mentioned scale, reference target and measurement target are installed on the steel casing around the prefabricated pier installation position;

[0008] During the hoisting process of the prefabricated pier, the industrial camera is used to obtain the scale of the corresponding ruler, and the verticality of the current prefabricated pier and the elevation of the top surface of the prefabricated pier are obtained based on the scale of the ruler and the three-dimensional coordinates of the industrial camera;

[0009] An industrial camera is used to obtain the image information along the plane of the corresponding reference targets and measurement targets of the same group, and the horizontal coordinates of the prefabricated pier are determined based on the plane image information and the coordinates of the reference targets.

[0010] According to a method for real-time measurement of the posture of a prefabricated pier in water provided in the present application, the method for arranging a group of vertically arranged rulers on the prefabricated pier includes: installing at least three rulers on at least two vertical sides of the prefabricated pier, the rulers are arranged vertically, and the upper edges of at least three rulers are not on the same straight line and are at the same height from the top surface of the prefabricated pier.

[0011] According to a real-time measurement method for the posture of a prefabricated pier in water provided in the present application, the midpoint of the scale is the zero point, the scale above the zero point is the positive scale, the scale below the zero point is the negative scale, and the zero point of the scale is selected as the adjustment point.

[0012] According to a real-time measurement method for the posture of a prefabricated pier in water provided in the present application, the method of installing and arranging at least two measurement targets on the prefabricated pier includes: selecting at least two vertical sides of the prefabricated pier, and installing measurement targets at the center position of the selected vertical sides.

[0013] According to a real-time measurement method for the posture of a prefabricated pier in water provided in the present application, the method of installing a reference target corresponding to the measurement target on the steel casing around the installation position of the prefabricated pier includes: selecting a steel casing close to the measurement target as the installation point of the reference target, and installing the reference target at a position close to the top of the steel casing and close to one side of the prefabricated pier.

[0014] According to a real-time measurement method for the posture of a prefabricated pier in water provided in the present application, the method of installing at least two industrial cameras that can obtain the image information of the above-mentioned ruler, reference target and measurement target on the steel casings around the installation position of the prefabricated pier includes: selecting a steel casing close to the measurement target and the ruler as the installation point of the industrial camera, installing an industrial camera on each of the at least two steel casings, and the industrial camera is installed on the top of the steel casing through a support adjustment structure with adjustable height and angle.

[0015] According to a real-time measurement method for the posture of a prefabricated pier in water provided by the present application, the method for obtaining the verticality of the current prefabricated pier based on the scale of the ruler and the three-dimensional coordinates of the industrial camera includes: adjusting the height and angle of the industrial camera so that the viewing angles of all industrial cameras are highly consistent and the viewing angles are in a horizontal state, the hoisting system hoists the prefabricated pier down and adjusts the verticality of the prefabricated pier, and when the scale of the ruler on the prefabricated pier is consistent within the viewing angle of the corresponding industrial camera, it is judged that the verticality of the current prefabricated pier meets the requirements.

[0016] According to a real-time measurement method for the posture of a prefabricated pier in water provided by the present application, the method for obtaining the current top surface elevation of the prefabricated pier based on the scale graduations and the three-dimensional coordinates of an industrial camera includes: adjusting the height and angle of the industrial camera so that the viewing angles of all industrial cameras are in a horizontal state, hoisting the prefabricated pier with a hoisting system, and lowering it, the industrial camera obtaining the scale graduations of the corresponding scale, obtaining the three-dimensional coordinates of the current industrial camera based on a total station, using the elevation value in the three-dimensional coordinates of the industrial camera as an elevation reference point, converting the scale graduations of the corresponding scale in the industrial camera into the elevation value of the scale based on the elevation reference point, and calculating the top surface elevation of the current prefabricated pier through the elevation values ​​of at least three scales in a group of scales that are not in the same vertical plane and have the same height.

[0017] According to a method for real-time measurement of the posture of a prefabricated pier in water provided by the present application, the method of using an industrial camera to obtain image information along a plane of a corresponding group of benchmark targets and measurement targets, and determining the horizontal coordinates of the prefabricated pier based on the plane image information and the coordinates of the benchmark targets includes: adjusting the viewing angle of the industrial camera downward so that the benchmark targets and measurement targets corresponding to the industrial camera are within the viewing angle of the industrial camera, the industrial camera obtains overhead image information of the corresponding benchmark targets and measurement targets, obtains the three-dimensional coordinates of the benchmark targets based on a total station, calculates the number of pixels of the center of the benchmark target and the center of the measurement target in the X and Y directions in the acquired overhead image information, converts the actual distance represented by a single pixel point to obtain the distance between the center of the benchmark target and the center of the measurement target in the X and Y directions, and obtains the horizontal coordinates of the center of the measurement target according to the three-dimensional coordinates of the benchmark target.

[0018] The present application also provides a system for real-time measurement of the posture of a prefabricated pier in water. The system is operated by using the above-mentioned method for real-time measurement of the posture of a prefabricated pier in water, including:

[0019] A set of rulers, wherein the rulers are rulers with scales arranged vertically on the prefabricated pier, and the set of rulers includes at least three rulers that are not in the same vertical plane and have the same height;

[0020] A plurality of measurement targets, wherein the measurement targets are measurement points installed on the prefabricated pier;

[0021] A plurality of reference targets, wherein the reference targets are reference points installed on the steel casing and corresponding one to one with the measurement targets;

[0022] A plurality of industrial cameras, which are mounted on the steel casing with adjustable height and angle, and are used to obtain image information of the scale and plane image information of the corresponding reference target and measurement target;

[0023] A verticality acquisition module, which acquires the verticality of the current prefabricated pier based on the scale scale and the three-dimensional coordinates of the industrial camera;

[0024] An elevation acquisition module, wherein the elevation acquisition module acquires the current elevation of the top surface of the prefabricated pier based on the scale and the three-dimensional coordinates of the industrial camera;

[0025] A horizontal coordinate acquisition module is used to determine the horizontal coordinate of the prefabricated pier based on the image information of the same group of reference targets and measurement targets along the plane and the coordinates of the reference targets.

[0026] According to a real-time measurement system for the posture of a prefabricated underwater pier provided by the present application, the verticality acquisition module includes:

[0027] A first adjustment module, the first adjustment module is used to adjust the height and angle of the industrial camera so that the viewing angles of all industrial cameras are highly consistent and in a horizontal state;

[0028] A first ruler scale acquisition module, wherein the ruler scale acquisition module acquires scale image information of a corresponding ruler through an adjusted industrial camera;

[0029] A judgment module, wherein when the scale on the prefabricated pier is consistent with the scale within the viewing angle of the corresponding industrial camera, the judgment module judges that the verticality of the current prefabricated pier meets the requirements.

[0030] According to a real-time measurement system for the posture of a prefabricated underwater pier provided in the present application, the elevation acquisition module includes:

[0031] A second adjustment module, the second adjustment module is used to adjust the height and angle of the industrial cameras so that the viewing angles of all industrial cameras are in a horizontal state;

[0032] A second ruler scale acquisition module, wherein the second ruler scale acquisition module acquires scale image information of a corresponding ruler through an adjusted industrial camera;

[0033] A reference point setting module, wherein the reference point setting module obtains the three-dimensional coordinates of the current industrial camera based on the total station, and uses the elevation value in the three-dimensional coordinates of the industrial camera as the elevation reference point;

[0034] An elevation calculation module converts the scale of a corresponding ruler in an industrial camera into the elevation value of the ruler based on an elevation reference point, and calculates the top surface elevation of the current prefabricated pier through the elevation values ​​of at least three rulers in a group of rulers that are not in the same vertical plane and have the same height.

[0035] According to a real-time measurement system for the posture of a prefabricated underwater pier provided by the present application, the horizontal coordinate acquisition module includes:

[0036] A third adjustment module, the third adjustment module is used to adjust the height and angle of the industrial camera so that the reference target and the measurement target corresponding to the industrial camera are within the viewing angle of the industrial camera;

[0037] A top-view image information acquisition module, which acquires top-view image information of corresponding reference targets and measurement targets through an adjusted industrial camera;

[0038] A reference target coordinate acquisition module, wherein the reference target coordinate acquisition module acquires the three-dimensional coordinates of the reference target based on the total station;

[0039] A horizontal coordinate calculation module calculates the number of pixels of the center of the reference target and the center of the measurement target in the X and Y directions in the acquired overhead image information, converts the actual distance represented by a single pixel point to obtain the distance between the center of the reference target and the center of the measurement target in the X and Y directions, and converts the three-dimensional coordinates of the reference target to obtain the horizontal coordinates of the center of the measurement target.

[0040] The advantages of the present application are as follows: 1. The present application installs an industrial camera and a reference target on a stable structure, i.e., a steel casing, and uses the industrial camera and the reference target to measure the scale and measuring target on the prefabricated pier, so as to obtain the verticality, top elevation and plane coordinate position of the prefabricated pier. The entire measurement process is very stable and is not affected by water surface shaking and wind and waves. The measurement result is accurate and is completely based on the machine vision of the industrial camera. The overall measurement method is very simple and can be fully remotely operated intelligently. Compared with the existing total station measurement method, the measurement difficulty is greatly reduced, and the measurement accuracy is greatly improved, which assists the installation of prefabricated piers on water and improves the construction efficiency and accuracy.

[0041] 2. The present application arranges at least three scales on the side of the prefabricated pier. The scales are located on the side of the prefabricated pier to facilitate the industrial camera to obtain the scale information of the scales. At least three scales can construct a set of adjustment planes. The adjustment planes are parallel to the horizontal plane where the center of the prefabricated pier is located. By monitoring the situation of the adjustment planes, the lowering situation of the prefabricated pier can be reflected. The arrangement structure is simple and the operation monitoring method is efficient.

[0042] 3. The ruler of the present application sets the middle zero point as the adjustment point, sets the scale above the adjustment point as the positive scale, and sets the scale below as the negative scale. By using the industrial camera to identify the scale on the ruler, the height difference between the point represented by the current ruler and the industrial camera in the vertical direction can be accurately obtained, which is very convenient for obtaining the elevation change and verticality of the prefabricated pier, and the overall operation is very simple;

[0043] 4. In the present application, at least two measuring targets are installed on the side of the prefabricated pier, and the measuring targets are used to represent the position of the horizontal plane of the prefabricated pier. As long as the horizontal coordinates of the measuring targets at the center of the vertical side of the prefabricated pier are obtained, the horizontal coordinates of the current prefabricated pier can be obtained. The measurement scheme is very simple and the operation difficulty is small;

[0044] 5. The present application installs a reference target on the steel casing. The reference target is a fixed reference point. When installed on the steel casing, it is in a fixed and stable state and is not affected by interference. The measurement target is converted based on the reference target. The horizontal coordinates of the measurement target can be quickly obtained by machine vision methods. The measurement accuracy is extremely high and the operation is simple and convenient.

[0045] 6. This application installs an industrial camera on the steel casing. The industrial camera is on a fixed structure and is not affected by wind and waves. The measurement accuracy is extremely high. In addition, the measurement difficulty is greatly reduced and the measurement accuracy is improved by using the industrial camera for measurement.

[0046] 7. The present invention is very simple in judging the verticality of the current prefabricated pier. By using an industrial camera to identify the scale of the current ruler and comparing the scales of the three rulers in the same group, the verticality of the current prefabricated pier can be obtained. The overall operation is very simple, and the installation of the prefabricated pier can be greatly improved by cooperating with the hoisting equipment;

[0047] 8. The method for obtaining the elevation of the top surface of the prefabricated pier in this application is very simple. By obtaining the scale of the current corresponding ruler through an industrial camera, the vertical height difference of the point corresponding to the current ruler relative to the industrial camera can be determined. After a simple conversion, the elevation of the current ruler can be obtained. Based on the distance between the ruler and the top surface of the prefabricated pier, the elevation of the top surface of the prefabricated pier can be obtained. The overall calculation is very simple, which greatly facilitates the lowering and installation of the prefabricated pier.

[0048] 9. The method of measuring the horizontal coordinates of the prefabricated pier in this application is very simple. By using the horizontal position relationship between the reference target and the measurement target, based on the conversion of the distance represented by the pixel points between them, the three-dimensional coordinates of the reference target can be used to convert the horizontal coordinates of the measurement target. The overall operation is very simple, the measurement results are accurate, and intelligent and remote operation measurement can be performed;

[0049] 10. The present application also provides a measurement system. The measurement system of the present application is constructed according to the above-mentioned measurement method, that is, after the arrangement of the ruler, measurement target, reference target, and industrial camera is completed, remote intelligent operation can be performed, the overall measurement accuracy is high, and it is not affected by wind and wave interference, which greatly improves the efficiency of prefabricated pier construction.

[0050] The real-time measurement method of the underwater prefabricated pier posture of the present application can be completely unaffected by the interference of wind and waves on the water surface, and completely relies on machine vision to perform measurements during the lowering and installation process of the prefabricated pier. The overall measurement accuracy is extremely high, the measurement method is very simple, and it has great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 : The ruler, industrial camera, reference target and measurement target of the present application are arranged in the axis view;

[0052] Figure 2 : A top view of the arrangement of the reference target and the measurement target of the present application;

[0053] Figure 3 : Schematic diagram of the industrial camera of the present application obtaining the scale of the ruler;

[0054] Figure 4 : Schematic diagram of coordinate conversion between reference target and measurement target of the present application;

[0055] Among them: 1—prefabricated pier; 2—steel casing; 3—industrial camera; 4—ruler; 5—reference target; 6—measurement target. DETAILED DESCRIPTION

[0056] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0057] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0060] The present application relates to a real-time measurement method for the posture of a prefabricated pier in water. The measurement method of the present application is mainly aimed at the measurement during the hoisting, lowering and installation of the prefabricated pier. The present application is completely based on the machine vision of an industrial camera to measure the verticality, top surface elevation and horizontal coordinates of the prefabricated pier during the lowering process, and cooperates with the hoisting system to accurately lower the prefabricated pier. The measurement method of the present application is completely unaffected by the influence and interference of wind and waves on the water surface, and the measurement accuracy is extremely high. In addition, since the measurement is based on the machine vision of an industrial camera, remote and intelligent operation control can be performed, which greatly improves the efficiency of the lowering and installation of the prefabricated pier.

[0061] Specifically, the real-time measurement method of the underwater prefabricated pier posture of the present application is carried out according to the following steps:

[0062] S1. Arrange a group of rulers 4 arranged vertically on the prefabricated pier 1, wherein the group of rulers 4 includes at least three rulers 4 that are not in the same vertical plane and have the same height;

[0063] The scale 4 is used to reflect the elevation change of the prefabricated pier 1 during the lowering process, that is, the verticality change. A positioning plane can be constructed by a group of scales 4 that are not in the same vertical plane and have the same height. This positioning plane is parallel to the horizontal plane where the center of the prefabricated pier 1 is located, and actually represents the prefabricated pier 1. During the lowering process of the prefabricated pier 1, the lowering status of the current prefabricated pier 1 can be determined by monitoring the changes of this positioning plane.

[0064] S2, installing and arranging at least two measurement targets 6 on the prefabricated pier 1, and installing reference targets 5 corresponding to the measurement targets 6 on the steel casing 2 around the installation position of the prefabricated pier 1;

[0065] The measuring target 6 is installed on the prefabricated pier 1 to represent the horizontal position of the prefabricated pier 1. In the actual measurement process, the horizontal position of the prefabricated pier 1 can be obtained by measuring the horizontal coordinates of the measuring target 6, and the auxiliary lifting equipment can accurately adjust the prefabricated pier 1 in the horizontal direction.

[0066] The reference target 5 corresponds to the measurement target 6. The reference target 5 is installed on the steel casing 2. The steel casing 2 is a fixed device that has been inserted and is in the water. The reference target 5 is installed on the steel casing 2. The reference target 5 is not affected by wind and waves. During actual measurement, the coordinates of the measurement target 6 can be converted by the coordinates of the reference target 5.

[0067] S3, installing at least two industrial cameras 3 that can obtain image information of the above-mentioned scale 4, reference target 5 and measurement target 6 on the steel casing 2 around the installation position of the prefabricated pier 1;

[0068] Similarly, an industrial camera 3 is installed on the steel casing 2 for measurement. The process of the industrial camera 3 acquiring image information is not affected by wind and waves. The measurement is completely performed by the industrial camera 3. The operation method is simple and intelligent remote operation can be performed to provide real-time monitoring for the lowering and installation of the prefabricated pier 1.

[0069] S4, during the hoisting process of the prefabricated pier 1, the industrial camera 3 is used to obtain the scale of the corresponding ruler 4, and the verticality of the current prefabricated pier and the elevation of the top surface of the prefabricated pier are obtained based on the scale of the ruler and the three-dimensional coordinates of the industrial camera 3;

[0070] The three-dimensional coordinates of the industrial camera 3 can be measured by the total station after installation. The industrial camera 3 can easily obtain the scale information on the ruler 4, and the elevation information of the ruler 4 can be obtained by conversion. Based on the relationship between the ruler 4 and the top surface of the prefabricated pier 1, the top surface elevation of the prefabricated pier 1 can be obtained.

[0071] S5, using the industrial camera 3 to obtain the image information of the corresponding reference target 5 and the measurement target 6 along the plane, and determining the horizontal coordinates of the prefabricated pier 1 based on the plane image information and the coordinates of the reference target 5;

[0072] The industrial camera 3 obtains the planar image information of the reference target 5 and the measurement target 6, utilizes the relative position relationship between the reference target 5 and the measurement target 6 in the planar image information, and then converts the coordinates of the reference target 5 to obtain the horizontal coordinates of the measurement target 6. The horizontal coordinates of the prefabricated pier 1 can be obtained by obtaining the horizontal coordinates of the measurement target 6. The overall operation is very simple.

[0073] In some embodiments of the present application, the present embodiment optimizes the above scale arrangement method. Specifically, Figure 1 As shown, in this embodiment, at least three scales 4 are installed on at least two vertical sides of the prefabricated pier. The scales 4 are arranged vertically, and the upper edges of at least three scales 4 are not on the same straight line and are at the same height from the top surface of the prefabricated pier. Figure 1As shown, in this embodiment, three rulers 4 are arranged on two vertical sides of the prefabricated pier 1, one ruler 4 is arranged on one side, and two rulers 4 are arranged on the other vertical side. The midpoint of the ruler 4 is the zero point, the scale above the zero point is the positive scale, and the scale below the zero point is the negative scale. The zero point of the ruler 4 is selected as the adjustment point.

[0074] The zero points of the three scales 4, i.e., the adjustment points, can form an adjustment plane, which is parallel to or coincides with the horizontal plane at the center of the prefabricated pier 1. By measuring the height of the adjustment point of the scale 4, the vertical height of a certain position of the prefabricated pier 1 represented by the current scale 4 can be obtained. By measuring the current vertical height of the three scales 4, the vertical of the current prefabricated pier 1 can be converted. The vertical height of the three scales 4 and the positional relationship between the scales 4 and the top surface of the prefabricated pier 1 can be used to obtain the top surface elevation of the prefabricated pier 1.

[0075] In other embodiments of the present application, the present embodiment optimizes the arrangement method of the above-mentioned measurement target 6 and reference target 5. Specifically, Figure 1 and 2 As shown, at least two vertical sides of the prefabricated pier 1 are selected, and the measurement target 6 is installed at the center of the selected vertical side. The steel casing 2 near the measurement target 6 is selected as the installation point of the reference target 5, and the reference target 5 is installed at a position close to the top of the steel casing 2 and close to one side of the prefabricated pier.

[0076] like Figure 1 and 2 As shown, in this embodiment, the measuring target 6 is arranged on the vertical side of the prefabricated pier 1 on which the ruler 4 is arranged. This method avoids the problem of arranging the measuring target 6 and the ruler 4 on different vertical sides, which leads to cumbersome arrangement and construction. Arranging the measuring target 6 and the ruler 4 on the same vertical side also facilitates the subsequent industrial camera to collect image information. The arrangement of the measuring target 6 and the ruler 4 described in this embodiment is installed and arranged before the prefabricated pier 1 is hoisted. The positional relationship between the ruler 4, the measuring target 6 and the prefabricated pier 1 is determined, that is, the vertical spacing between the upper edge of the ruler 4 and the top surface of the prefabricated pier 1 is known, and the measuring target 6 is at the center of the vertical plane. Therefore, it is only necessary to obtain the horizontal coordinates of the measuring target 6 to obtain the horizontal coordinates of the center of a certain vertical side of the prefabricated pier 1.

[0077] The measurement target 6 and the reference target 5 are in a one-to-one correspondence. This is because the coordinates of the measurement target 6 need to be converted through the reference target 5. Therefore, when arranging the measurement target 6 and the reference target 5 that are in a corresponding relationship, they are arranged as close as possible to facilitate the subsequent industrial camera to obtain the planar image information of the measurement target 6 and the reference target 5.

[0078] The measurement target 6 and the reference target 5 of this embodiment are LEDs that can emit 850nm infrared light, which facilitates image acquisition by industrial cameras.

[0079] In a further embodiment of the present application, the present embodiment optimizes the above-mentioned method of arranging the industrial camera 3. Specifically, Figure 1 and 2 As shown, a steel casing 2 close to the measuring target 6 and the scale 4 is selected as the installation point of the industrial camera 3 (the steel casings in this application include a, b, c, d, e and f, and steel casing a and steel casing d are selected as the installation points of the industrial camera 3), and an industrial camera 3 is installed on each of at least two steel casings 2. The industrial camera 3 is installed on the top of the steel casing 2 through a support adjustment structure with adjustable height and angle.

[0080] In fact, the steel casing close to the vertical side of the installation scale 4 is selected as the installation point of the industrial camera 3, and the industrial camera 3 can obtain image information of the scale 4 and the measurement target 6 on the vertical side. The industrial camera 3 of this embodiment is a camera with a near-infrared COMS image sensor. The support adjustment structure has the function of adjusting the height and angle of the industrial camera 3, and in fact, this function can be achieved through simple mechanical equipment for vertical height adjustment and rotation angle adjustment.

[0081] In fact, the measurement during the lowering process of the prefabricated pier 1 of the present application includes three aspects, namely, the verticality of the prefabricated pier 1, the top elevation of the prefabricated pier 1, and the horizontal coordinate of the prefabricated pier 1. The verticality measurement reflects whether the lowering of the prefabricated pier 1 is deflected, the top elevation measurement reflects whether the lowering of the prefabricated pier 1 is in place, and the horizontal coordinate measurement reflects whether the horizontal position of the prefabricated pier 1 meets the requirements.

[0082] Specifically, the verticality of the prefabricated pier 1 is measured using the industrial camera 3. First, the height and angle of the industrial camera 3 are adjusted to make the viewing angles of all industrial cameras 3 consistent in height and in a horizontal state (in fact, the heights of the industrial cameras 3 can also be inconsistent, but the heights of the industrial cameras 3 will need to be converted later. The solution of this embodiment sets the heights of all industrial cameras 3 to be consistent, which is convenient for subsequent measurement and conversion). The hoisting system hoists the prefabricated pier 1 down and adjusts the verticality of the prefabricated pier 1. When the scale 4 on the prefabricated pier 1 is consistent with the scale within the viewing angle of the corresponding industrial camera 3, it is determined that the verticality of the current prefabricated pier meets the requirements.

[0083] During the actual lowering, the scales on the current corresponding ruler 4 are obtained through the industrial camera 3. If the scales on the three rulers 4 are exactly the same, the front of the prefabricated pier 1 is in a horizontal state, and the verticality of the prefabricated pier 1 meets the set lowering requirements. If the scales on the three rulers 4 are different, it proves that the prefabricated pier 1 has a vertical deflection. At this time, the prefabricated pier 1 needs to be adjusted. The prefabricated pier 1 can be adjusted based on the vertical jack in the lifting system to ensure that the scales on the three rulers 4 are consistent.

[0084] The scale of the ruler 4 within the viewing angle of the corresponding industrial camera 3 described in the present application refers to the scale value of the ruler 4 at the height of the midpoint of the viewing angle of the industrial camera 3 within the viewing angle range of the corresponding industrial camera 3 .

[0085] The top elevation of the prefabricated pier 1 is measured by using the industrial camera 3, and the height and angle of the industrial camera 3 are adjusted (in fact, this step can be directly operated on the position of the industrial camera 3 adjusted in the previous step), so that the viewing angles of all industrial cameras 3 are in a horizontal state. The hoisting system hoists the prefabricated pier 1 and lowers it. The industrial camera 3 obtains the scale of the corresponding ruler 4, such as Figure 3 As shown, the three-dimensional coordinates of the current industrial camera 3 are obtained based on the total station, the elevation value in the three-dimensional coordinates of the industrial camera 3 is used as the elevation reference point, and the scale of the corresponding scale 4 in the industrial camera 3 is converted into the elevation value of the scale 4 based on the elevation reference point. The top surface elevation of the current prefabricated pier is calculated through the elevation values ​​of at least three scales 4 in a group of scales 4 that are not in the same vertical plane and have the same height.

[0086] The three-dimensional coordinates of the industrial camera 3 or the elevation coordinates of the industrial camera 3 are measured by a total station. The industrial camera 3 obtains the image information of the scale of the ruler 4 in real time. Combined with the elevation coordinates of the industrial camera 3, the elevation coordinates of the adjustment point on the ruler 4 can be converted (the length of the unit scale on the ruler 4 is known, and the length of the unit scale displayed in the image information obtained by the industrial camera 3 can be obtained by analyzing the image information. After conversion, the height difference between the current adjustment point of the ruler 4 and the industrial camera 3 can be obtained. The elevation coordinates of the adjustment point of the ruler 4 can be converted by the elevation coordinates of the industrial camera 3). After obtaining the elevation coordinates of the three adjustment points of the ruler 4, since the distance between the upper edge of the ruler 4 and the top surface of the prefabricated pier 1 is known, the top surface elevation of the current prefabricated pier 1 can be converted.

[0087] The horizontal coordinates of the prefabricated pier 1 are measured by using the industrial camera 3, and the viewing angle of the industrial camera 3 is adjusted downward so that the reference target 5 and the measuring target 6 corresponding to the industrial camera 3 are within the viewing angle of the industrial camera 3. This step of adjustment is different from the previous two adjustments of the industrial camera 3. This adjustment is to obtain the planar image information of the reference target 5 and the measuring target 6. Therefore, the industrial camera 3 needs to obtain the image information of the reference target 5 and the measuring target 6 in the vertical viewing direction. In this embodiment, the image information of the reference target 5 and the measuring target 6 is collected in a top-down viewing direction; the industrial camera 3 obtains the top-down image information corresponding to the reference target 5 and the measuring target 6, obtains the three-dimensional coordinates of the reference target 5 based on the total station, and calculates the number of pixels in the X and Y directions of the center of the reference target 5 and the center of the measuring target 6 in the obtained top-down image information, such as Figure 4 As shown in the figure (A represents the center of the reference target, and B represents the center of the measurement target), the actual distance represented by a single pixel point is converted to obtain the distance between the center of the reference target 5 and the center of the measurement target 6 in the X and Y directions, and the horizontal coordinates of the center of the measurement target 6 are converted according to the three-dimensional coordinates of the reference target 5.

[0088] The top-view plane image information of the reference target 5 and the measurement target 6 is processed. Since the three-dimensional coordinates of the center of the reference target 5 are known, the number of pixels between the center of the reference target 5 and the center of the measurement target 6 can be obtained by analyzing the top-view plane image information. The actual distance represented by each pixel can be converted by the size of the reference target 5. For example, the reference target 5 contains a number of pixels along the X direction and b number of pixels in the Y direction in the image information. Then, combined with the specific X-direction size and Y-direction size of the reference target 5, the actual distance represented by the X-direction pixel and the actual distance represented by the Y-direction pixel can be converted. In this way, the distance between the center of the reference target 5 and the center of the measurement target 6 in the X direction and the Y direction can be quickly obtained. Combined with the coordinate data of the center of the reference target 5, the horizontal coordinates of the center of the measurement target 6 can be obtained. The horizontal coordinates of the centers of the two measurement targets 6 represent the horizontal coordinates of the centers of the two vertical side surfaces of the prefabricated pier 1. Based on the horizontal coordinates of the centers of the two vertical side surfaces and the structural size of the prefabricated pier 1, the horizontal position of the current prefabricated pier 1 can be obtained.

[0089] When actually measuring, before the prefabricated pier 1 is hoisted:

[0090] Three scales 4 are arranged on two vertical sides of the prefabricated pier 1, one scale 4 is arranged on one side, and two scales 4 are arranged on the other vertical side. The midpoint of the scale 4 is the zero point, the scale above the zero point is the positive scale, and the scale below the zero point is the negative scale. The zero point of the scale 4 is selected as the adjustment point;

[0091] Select two vertical sides of the prefabricated pier 1 on which the scale 4 is installed, and install the measurement target 6 at the center of the selected vertical side; select the steel casing 2 close to the measurement target 6 as the installation point of the reference target 5, and install the reference target 5 at a position close to the top of the steel casing 2 and close to one side of the prefabricated pier;

[0092] Select the steel casing 2 close to the measuring target 6 and the scale 4 as the installation point of the industrial camera 3, install an industrial camera 3 on at least two steel casings 2 respectively, and install the industrial camera 3 on the top of the steel casing 2 through a support adjustment structure with adjustable height and angle;

[0093] During the hoisting process of prefabricated pier 1:

[0094] The verticality of the prefabricated pier 1 is measured by using the industrial camera 3, and the height and angle of the industrial camera 3 are adjusted so that the viewing angles of all the industrial cameras 3 are at the same height and in a horizontal state. The hoisting system hoists the prefabricated pier 1 down and adjusts the verticality of the prefabricated pier 1. When the scale 4 on the prefabricated pier 1 is consistent within the viewing angle of the corresponding industrial camera 3, it is determined that the verticality of the current prefabricated pier meets the requirements;

[0095] The top surface elevation of the prefabricated pier 1 is measured by using the industrial camera 3. The hoisting system hoists the prefabricated pier 1 and lowers it. The industrial camera 3 obtains the scale of the corresponding ruler 4. The three-dimensional coordinates of the current industrial camera 3 are obtained based on the total station. The elevation value in the three-dimensional coordinates of the industrial camera 3 is used as the elevation reference point. Based on the elevation reference point, the scale of the corresponding ruler 4 in the industrial camera 3 is converted into the elevation value of the ruler 4. The top surface elevation of the current prefabricated pier is calculated through the elevation values ​​of the three rulers 4.

[0096] The horizontal coordinates of the prefabricated pier 1 are measured by using the industrial camera 3. The viewing angle of the industrial camera 3 is adjusted downward so that the reference target 5 and the measuring target 6 corresponding to the industrial camera 3 are within the viewing angle of the industrial camera 3. The industrial camera 3 obtains overhead image information corresponding to the reference target 5 and the measuring target 6. The three-dimensional coordinates of the reference target 5 are obtained based on the total station. The number of pixels at the center of the reference target 5 and the center of the measuring target 6 in the X and Y directions is calculated in the obtained overhead image information. The actual distance represented by a single pixel is converted to obtain the distance between the center of the reference target 5 and the center of the measuring target 6 in the X and Y directions. The horizontal coordinates of the center of the measuring target 6 are converted according to the three-dimensional coordinates of the reference target 5.

[0097] In addition, the present application also provides a real-time measurement system for the posture of a prefabricated pier in water, comprising a set of rulers 4, a plurality of measuring targets 6, a plurality of reference targets 5, a plurality of industrial cameras 3, a verticality acquisition module, an elevation acquisition module and a horizontal coordinate acquisition module, wherein the ruler 4 is a ruler with a scale arranged vertically on the prefabricated pier 1, and a set of rulers 4 comprises at least three rulers 4 which are not in the same vertical plane and have the same height; the measuring target 6 is a measuring point installed on the prefabricated pier; the reference target 5 is a reference point installed on the steel casing 2 and corresponding to the measuring target 6 one by one; the industrial cameras 3, a verticality acquisition module, an elevation acquisition module and a horizontal coordinate acquisition module; ... the set of rulers 4 comprises at least three rulers 4 which are not in the same vertical plane and have the same height; the measuring target 6 is a measuring point installed on the prefabricated pier; the reference target 5 is a reference point installed on the steel casing 2 and corresponding to the measuring target 6 one by one; the industrial cameras 3, a verticality acquisition module, an elevation acquisition module and a horizontal coordinate acquisition module; the industrial cameras 3, a verticality acquisition module, an elevation acquisition module and a horizontal coordinate acquisition module; the industrial cameras 3, a verticality acquisition module, a verticality acquisition module The industrial camera 3 is installed on the steel casing 2 with adjustable height and angle, and is used to obtain the image information of the ruler scale and the plane image information of the corresponding reference target 5 and the measurement target 6; the verticality acquisition module obtains the verticality of the current prefabricated pier based on the ruler scale and the three-dimensional coordinates of the industrial camera 3; the elevation acquisition module obtains the top surface elevation of the current prefabricated pier based on the ruler scale and the three-dimensional coordinates of the industrial camera 3; the horizontal coordinate acquisition module determines the horizontal coordinate of the prefabricated pier 1 based on the image information along the plane of the same group of reference targets 5 and measurement targets 6 and the coordinates of the reference target 5.

[0098] The verticality acquisition module includes a first adjustment module, a first ruler scale acquisition module and a judgment module. The first adjustment module is used to adjust the height and angle of the industrial camera 3 so that the viewing angles of all industrial cameras 3 are highly consistent and in a horizontal state; the ruler scale acquisition module obtains the scale image information of the corresponding ruler 4 through the adjusted industrial camera 3; the judgment module determines that the verticality of the current prefabricated pier meets the requirements when the scales of the ruler 4 on the prefabricated pier 1 are consistent within the viewing angle of the corresponding industrial camera 3.

[0099] The elevation acquisition module includes a second adjustment module, a second scale acquisition module, a reference point setting module and an elevation calculation module. The second adjustment module is used to adjust the height and angle of the industrial camera 3 so that the viewing angles of all industrial cameras 3 are in a horizontal state; the second scale acquisition module obtains the scale image information of the corresponding scale 4 through the adjusted industrial camera 3; the reference point setting module obtains the three-dimensional coordinates of the current industrial camera 3 based on the total station, and uses the elevation value in the three-dimensional coordinates of the industrial camera 3 as the elevation reference point; the elevation calculation module converts the scale of the corresponding scale 4 in the industrial camera 3 into the elevation value of the scale 4 based on the elevation reference point, and calculates the top surface elevation of the current prefabricated pier through the elevation values ​​of at least three scales 4 in a group of scales 4 that are not in the same vertical plane and have the same height.

[0100] The horizontal coordinate acquisition module includes a third adjustment module, a bird's-eye view image information acquisition module, a reference target 5 coordinate acquisition module and a horizontal coordinate calculation module. The third adjustment module is used to adjust the height and angle of the industrial camera 3 so that the reference target 5 and the measurement target 6 corresponding to the industrial camera 3 are within the viewing angle of the industrial camera 3; the bird's-eye view image information acquisition module acquires the bird's-eye view image information corresponding to the reference target 5 and the measurement target 6 through the adjusted industrial camera 3; the reference target 5 coordinate acquisition module acquires the three-dimensional coordinates of the reference target 5 based on the total station; the horizontal coordinate calculation module calculates the number of pixels in the center of the reference target 5 and the center of the measurement target 6 in the X and Y directions in the acquired bird's-eye view image information, and converts the actual distance represented by a single pixel to obtain the distance between the center of the reference target 5 and the center of the measurement target 6 in the X and Y directions, and obtains the horizontal coordinate of the center of the measurement target 6 according to the three-dimensional coordinates of the reference target 5.

[0101] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for real-time measurement of the posture of a prefabricated pier in water, characterized in that: A group of rulers (4) arranged vertically are arranged on the prefabricated pier (1), wherein the group of rulers (4) includes at least three rulers (4) that are not in the same vertical plane and have the same height; At least two measuring targets (6) are installed and arranged on the prefabricated pier (1), and reference targets (5) corresponding to the measuring targets (6) are installed on the steel casing (2) around the installation position of the prefabricated pier (1); At least two industrial cameras (3) capable of acquiring image information of the scale (4), reference target (5) and measurement target (6) are installed on the steel casing (2) around the installation position of the prefabricated pier (1); During the hoisting process of the prefabricated pier (1), the industrial camera (3) is used to obtain the scale of the corresponding ruler (4), and the verticality of the current prefabricated pier and the elevation of the top surface of the prefabricated pier are obtained based on the scale of the ruler and the three-dimensional coordinates of the industrial camera (3); Using an industrial camera (3) to obtain image information along a plane of a corresponding group of reference targets (5) and measurement targets (6), and determining the horizontal coordinates of the prefabricated pier (1) based on the plane image information and the coordinates of the reference targets (5); The method for arranging a group of vertically arranged rulers (4) on a prefabricated pier (1) comprises: installing at least three rulers (4) on at least two vertical sides of the prefabricated pier, the rulers (4) being arranged vertically, the upper edges of at least three rulers (4) not being on the same straight line and being at the same height from the top surface of the prefabricated pier; The method for obtaining the elevation of the top surface of the current prefabricated pier based on the scale graduations and the three-dimensional coordinates of the industrial camera (3) comprises: adjusting the height and angle of the industrial camera (3) so that the viewing angles of all the industrial cameras (3) are in a horizontal state, hoisting the prefabricated pier (1) by a hoisting system, the industrial camera (3) obtaining the scale graduations of the corresponding scale (4), obtaining the three-dimensional coordinates of the current industrial camera (3) based on a total station, using the elevation value in the three-dimensional coordinates of the industrial camera (3) as an elevation reference point, converting the scale graduations of the corresponding scale (4) in the industrial camera (3) into the elevation value of the scale (4) based on the elevation reference point, and calculating the elevation of the top surface of the current prefabricated pier through the elevation values ​​of at least three scales (4) in a group of scales (4) that are not in the same vertical plane and have the same height.

2. A method for real-time measurement of the posture of a prefabricated underwater pier according to claim 1, characterized in that: The midpoint of the ruler (4) is the zero point, the scale marks above the zero point are positive scale marks, and the scale marks below the zero point are negative scale marks. The zero point of the ruler (4) is selected as the adjustment point.

3. The method for real-time measurement of the posture of a prefabricated underwater pier according to claim 1, characterized in that: The method for installing and arranging at least two measurement targets (6) on a prefabricated pier (1) comprises: selecting at least two vertical side surfaces of the prefabricated pier (1), and installing the measurement targets (6) at the center positions of the selected vertical side surfaces.

4. A method for real-time measurement of the posture of a prefabricated underwater pier as claimed in claim 1, characterized in that: The method for installing a reference target (5) corresponding to a measurement target (6) on a steel casing (2) around a prefabricated pier (1) installation position comprises: selecting a steel casing (2) close to the measurement target (6) as an installation point for the reference target (5), and installing the reference target (5) at a position close to the top of the steel casing (2) and close to one side of the prefabricated pier.

5. The method for real-time measurement of the posture of a prefabricated underwater pier according to claim 1, characterized in that: The method for installing at least two industrial cameras (3) capable of acquiring image information of the above-mentioned scale (4), reference target (5) and measurement target (6) on steel casings (2) around the installation position of the prefabricated pier (1) comprises: selecting a steel casing (2) close to the measurement target (6) and the scale (4) as an installation point of the industrial camera (3), installing an industrial camera (3) on each of at least two steel casings (2), and installing the industrial camera (3) on the top of the steel casing (2) via a support adjustment structure capable of adjusting the height and angle.

6. A method for real-time measurement of the posture of a prefabricated underwater pier according to claim 1, characterized in that: The method for obtaining the verticality of the current prefabricated pier based on the scale scale and the three-dimensional coordinates of the industrial camera (3) comprises: adjusting the height and angle of the industrial camera (3) so that the viewing angles of all the industrial cameras (3) are highly consistent and in a horizontal state, hoisting the prefabricated pier (1) by a hoisting system and lowering it and adjusting the verticality of the prefabricated pier (1); when the scale of the scale (4) on the prefabricated pier (1) is consistent within the viewing angle of the corresponding industrial camera (3), it is determined that the verticality of the current prefabricated pier meets the requirements.

7. The method for real-time measurement of the posture of a prefabricated underwater pier according to claim 1, characterized in that: The method for using an industrial camera (3) to obtain image information along a plane of a corresponding group of reference targets (5) and measurement targets (6), and determining the horizontal coordinates of a prefabricated pier (1) based on the plane image information and the coordinates of the reference targets (5) comprises: adjusting the viewing angle of the industrial camera (3) downward so that the reference targets (5) and measurement targets (6) corresponding to the industrial camera (3) are within the viewing angle of the industrial camera (3), the industrial camera (3) obtaining overhead image information of the corresponding reference targets (5) and measurement targets (6), obtaining the three-dimensional coordinates of the reference targets (5) based on a total station, calculating the number of pixels at the center of the reference target (5) and the center of the measurement target (6) in the X direction and the Y direction in the obtained overhead image information, converting the actual distance represented by a single pixel point to obtain the distance between the center of the reference target (5) and the center of the measurement target (6) in the X direction and the Y direction, and converting the three-dimensional coordinates of the reference target (5) to obtain the horizontal coordinates of the center of the measurement target (6).

8. A real-time measurement system for the posture of a prefabricated pier in water, characterized by: The measurement system is operated by using a real-time measurement method for the posture of a prefabricated pier in water as described in any one of claims 1 to 7, including: A set of rulers (4), wherein the rulers (4) are rulers with scales arranged vertically on the prefabricated pier (1), and the set of rulers (4) comprises at least three rulers (4) that are not in the same vertical plane and have the same height; A plurality of measurement targets (6), wherein the measurement targets (6) are measurement points installed on the prefabricated pier; A plurality of reference targets (5), wherein the reference targets (5) are reference points installed on the steel casing (2) and corresponding one to one with the measurement targets (6); A plurality of industrial cameras (3), wherein the industrial cameras (3) are mounted on the steel casing (2) with adjustable height and angle, and are used to obtain image information of the scale and planar image information of the corresponding reference target (5) and the measurement target (6); A verticality acquisition module, wherein the verticality acquisition module acquires the verticality of the current prefabricated pier based on the scale scale and the three-dimensional coordinates of the industrial camera (3); An elevation acquisition module, wherein the elevation acquisition module acquires the elevation of the top surface of the current prefabricated pier based on the scale and the three-dimensional coordinates of the industrial camera (3); A horizontal coordinate acquisition module is provided, wherein the horizontal coordinate acquisition module determines the horizontal coordinate of the prefabricated pier (1) based on the image information along the plane of the same group of reference targets (5) and measurement targets (6) and the coordinates of the reference targets (5).

Images