A ground subsidence detection device, vehicle and method for realizing multi-point rapid detection

Abstract

The application discloses a kind of ground subsidence detection device, vehicle and method for realizing multi-point rapid detection, wherein detection device includes quick-mounting base, installation column, two installation supports are arranged at the height direction of installation column with interval, camera detection module is arranged corresponding to installation support, binocular stereophotogrammetric system is communicated with camera detection module;Two cameras constitute marking object digital image information acquisition module, real-time shooting is carried out to on-site marking object, and marking object digital image information is obtained;Binocular stereophotogrammetric system obtains the three-dimensional space coordinate information of marking object according to marking object digital image information, and the height relationship of measurement system and marking object, the relative height information of measurement surface relative to marking object, the subsidence data of foundation are calculated.This application improves test precision, supports vehicle-mounted installation, and can realize the rapid, real-time detection of each subsidence test point of road.

Description

Technical Field

[0001] This invention belongs to the field of rail transit technology, specifically relating to foundation settlement detection technology. Background Technology

[0002] Existing solutions include: 1. Leveling method: Using a level instrument to measure the elevation of benchmark points and settlement monitoring points, and analyzing the settlement deformation of the building based on the elevation changes of the settlement monitoring points over different periods. This method is traditional and reliable; 2. Fully automatic measurement method: Using a total station and trigonometric leveling to measure foundation settlement.

[0003] When measuring settlement using the leveling method, a steel tape needs to be suspended. This contact-based measurement has drawbacks such as low efficiency, difficulty in operation, and susceptibility to interference in certain construction environments. When using the fully automatic measurement method with a total station, in environments with poor lighting such as tunnels, it is necessary to install a measuring point device with fixed reflective markers. The eccentricity of the device installation will cause the final measurement error.

[0004] The main drawback of existing technologies is that a series of tests can only be completed by sequentially installing the instrument at pre-set fixed test points. Furthermore, the installation conditions are quite stringent; the tripod needs to be adjusted to a horizontal position each time, and there are errors in the positional parameters of the instrument on the tripod each time it is installed. This makes rapid on-site installation inconvenient. Additionally, for environments such as roads and tunnels, it is impossible to quickly and in real-time detect multiple consecutive test points on roads or tunnels. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a foundation settlement detection device, vehicle and method for realizing multi-point rapid detection, which can be quickly installed on the ground and realize rapid and real-time detection of multiple settlement test points when the detection device is installed on the vehicle.

[0006] To solve the above technical problems, the present invention adopts the following technical solution: a foundation settlement detection device, comprising a quick-release base, a mounting column, two mounting brackets spaced apart along the height direction of the mounting column, a camera detection module corresponding to the mounting brackets, and a binocular stereo photogrammetry system communicatively connected to the camera detection module;

[0007] The quick-installation base is equipped with a vehicle-mounted quick-fix structure;

[0008] A first quick-release structure is provided between the quick-install base and the mounting column;

[0009] A structure is provided between the mounting bracket and the mounting column to enable quick assembly, disassembly, and adjustment of the mounting bracket and the mounting column, as well as adjustment of the height of the mounting bracket.

[0010] A second quick-release structure is provided between the camera detection module and the mounting bracket; the camera detection module includes a camera.

[0011] Two cameras constitute a digital image information acquisition module for markers, which captures real-time images of the markers on site and obtains digital image information of the markers;

[0012] The binocular stereo photogrammetry system obtains the three-dimensional spatial coordinate information of the marker based on the digital image information of the marker, and calculates the height relationship between the measurement system and the marker, the relative height information of the measurement surface relative to the marker, and the settlement data of the foundation.

[0013] Preferably, the quick-release base includes a grooved base plate and a first quick-release slider, wherein the grooved base plate is provided with a first groove, and the first quick-release slider cooperates with the first groove.

[0014] Preferably, the first quick-release structure includes a slot provided in the first quick-release slider, and the slot is inserted into the bottom of the mounting column.

[0015] Preferably, the first quick-release structure further includes a first screw, and the first quick-release slider is fixed to the mounting column as a whole by the first screw.

[0016] Preferably, the quick disassembly and adjustment structure includes a locking bolt connecting the mounting column and the mounting bracket. The mounting column is provided with an elongated hole that mates with the locking bolt, and the elongated hole extends along the height direction of the mounting column.

[0017] Preferably, the camera detection module further includes an angle compensation mechanism and a second quick-release slider. The camera is mounted on the angle compensation mechanism, and the shooting angle of the camera is adjusted by the angle compensation mechanism. The angle compensation mechanism is connected to the second quick-release slider. The second quick-release structure includes a second groove provided on the mounting bracket, and the second quick-release slider cooperates with the second groove.

[0018] Preferably, the angle compensation mechanism includes a rotatable upper rotating platform and a lower rotating platform, and the rotation directions of the upper rotating platform and the lower rotating platform are perpendicular. The camera is mounted on the upper rotating platform, and the lower rotating platform is connected by a second quick-release slider.

[0019] Preferably, the lower rotating platform includes a first lower bogie, a first upper bogie, a first gear shaft, and a first motor. The first lower bogie and the first upper bogie are connected by the first gear shaft. The first motor is mounted on the first lower bogie. A first output gear is provided on the motor output shaft of the first motor. The first output gear and the gear on the first gear shaft mesh with each other to realize the rotation of the first upper bogie along the x-axis. The upper rotating platform includes a second lower bogie, a second upper bogie, a second gear shaft, and a second motor. The second lower bogie and the second upper bogie are connected by the second gear shaft. The second motor is mounted on the second lower bogie. A second output gear is provided on the motor output shaft of the second motor. The second output gear and the gear on the second gear shaft mesh with each other to realize the rotation of the second upper bogie along the y-axis.

[0020] On the other hand, a foundation settlement detection vehicle is provided, which is equipped with the aforementioned foundation settlement detection device, and the foundation settlement detection device is fixed to the detection vehicle through a vehicle-mounted quick-fixing structure.

[0021] A method for detecting foundation settlement is also provided, which uses the aforementioned foundation settlement detection vehicle to detect foundation settlement, and includes the following steps:

[0022] Adjust the height and angle of the two cameras according to the height of the on-site markers, and complete the calibration parameter settings for both cameras;

[0023] The foundation settlement detection vehicle travels at a preset speed, and the foundation settlement detection device takes real-time pictures of the on-site markers along the travel route to obtain digital image information.

[0024] The three-dimensional spatial coordinates of the markers are obtained by using a binocular stereo photogrammetry system. Then, the height relationship between the measurement system and the markers, the relative height between the rail surface and the markers, and the settlement data of the foundation are calculated in sequence.

[0025] The technical solution adopted in this invention has the following beneficial effects:

[0026] It adopts the principle of binocular imaging and uses stereo photogrammetry technology with dual-line array cameras, which has high measurement accuracy. The camera detection module is equipped with an angle compensation mechanism, which can quickly and dynamically compensate for the offset, thus improving the test accuracy.

[0027] The quick-release base, mounting column, mounting bracket, and camera detection module all feature quick-release structures, supporting rapid disassembly and assembly. After disassembly, they are small in size, lightweight, and easy to carry, allowing for quick on-site installation. Furthermore, the camera height is adjustable, making them adaptable to various detection environments.

[0028] Supports vehicle-mounted installation; the quick-install base can be quickly mounted on the testing vehicle, allowing for real-time testing while traveling along the road. This enables rapid, real-time detection of settlement at various road settlement test points, greatly improving testing efficiency.

[0029] The specific technical solution of the present invention and its beneficial effects will be described in detail in the following specific embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0031] Figure 1 This is a schematic diagram of the overall structure of the foundation settlement detection device;

[0032] Figure 2 yes Figure 1 Enlarged view of a portion of point A in the middle;

[0033] Figure 3 This is an overall schematic diagram of the camera detection module;

[0034] Figure 4 This is an exploded view of the camera detection module;

[0035] Figure 5 This is an overall schematic diagram of the quick-release base;

[0036] Figure 6 This is a schematic diagram of the grooved bottom plate.

[0037] Figure 7 This is a schematic diagram of the structure of the first quick-release slider;

[0038] Figure 8 This is a schematic diagram of the overall structure of the angle compensation mechanism;

[0039] Figure 9 yes Figure 8 Diagram of direction A in the middle;

[0040] Figure 10 yes Figure 8 Diagram of direction B in the middle;

[0041] Figure 11 This is a diagram of the quick installation process. Figure 1 ;

[0042] Figure 12 This is a diagram of the quick installation process. Figure 2 ;

[0043] Figure 13 This is a schematic diagram of the optical axis converging structure.

[0044] Figure 14 This is a diagram illustrating usage scenarios;

[0045] Figure 15 This is a diagram illustrating usage scenarios;

[0046] In the diagram: 1. Mounting column; 101. Long slotted hole; 2. Mounting bracket; 21. Locking bolt; 3. Camera detection module; 4. Quick-release base; 5. Second quick-release slider; 6. Angle compensation mechanism; 7. Camera; 8. Groove base plate; 81. First groove; 82. Fixing bolt; 9. First quick-release slider; 91. Slot; 10. First lower bogie; 11. First upper bogie; 12. Second gear shaft; 13. Second motor; 14. First gear shaft; 15. First motor; 16. Second lower bogie; 17. Second upper bogie; 18. Second slider locking screw; 19. First slider locking screw; 20. Loading vehicle; 21. Marker; 22. Dual-axis dynamic tilt sensor; 23. Rail. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0048] Binocular stereo vision is an important form of machine vision. It is based on the principle of parallax and uses imaging equipment to acquire two images of a test object from different positions. By calculating the positional deviation between corresponding points in the images, it obtains the object's three-dimensional geometric information. If the foundation settles, the position of a marker will change; conversely, the settlement value of the foundation can also be obtained based on the change in the marker's position. Therefore, this invention uses binocular stereo vision technology to detect foundation settlement.

[0049] like Figures 1 to 13 As shown, a foundation settlement detection device includes a quick-release base 4, a mounting column 1 installed on the quick-release base, two mounting brackets 2 spaced apart along the height direction of the mounting column, and a camera detection module 3 installed on the mounting brackets.

[0050] The quick-installation base is equipped with a vehicle-mounted quick-fix structure, such as bolts, enabling not only rapid vehicle-mounted installation but also installation on other devices. A first quick-release structure connects the quick-installation base to the mounting column. A quick-release and adjustment structure connects the mounting bracket to the mounting column, allowing for quick fixation and height adjustment of the mounting bracket. A second quick-release structure connects the camera detection module to the mounting bracket.

[0051] In one embodiment, the quick disassembly and adjustment structure includes a locking bolt 21 connecting the mounting column and the mounting bracket. The mounting column is provided with an elongated hole 101 that mates with the locking bolt, and the elongated hole extends along the height direction of the mounting column. The locking bolt 21 passes through the elongated hole 101. Therefore, when the locking bolt is loose, the height of the mounting bracket can be adjusted. After the height is adjusted to the correct position, the mounting column 1 and the mounting bracket 2 are locked and fixed together by the locking bolt 21.

[0052] The camera detection module 3 is fixed to the mounting column 3 via the mounting bracket 2, and its height can be adjusted along with the mounting bracket 2 on the mounting column 3. The quick-release base 4 is connected to the bottom of the mounting column 1, providing overall support.

[0053] As one implementation method, such as Figure 3 and Figure 4 As shown, the camera detection module includes an angle compensation mechanism 6 and a camera 7. The camera is mounted on the angle compensation mechanism, which adjusts the camera's shooting angle. Two cameras are arranged vertically, employing a binocular imaging principle and utilizing dual-line array stereo photogrammetry technology, resulting in high measurement accuracy. The angle compensation mechanism can quickly and dynamically compensate for offsets, improving testing accuracy.

[0054] To enable rapid assembly and disassembly between the camera detection module and the mounting bracket, the camera detection module further includes a second quick-release slider 5. The angle compensation mechanism is connected to the second quick-release slider. The second quick-release mechanism includes a second groove on the mounting bracket, and the second quick-release slider mates with the second groove. The second groove can be a T-shaped groove, and the second quick-release slider 5 has a T-shaped portion that mates with the T-shaped groove. Two cameras are respectively mounted on one second quick-release slider via an angle compensation mechanism. The shooting angle of the corresponding camera is adjusted by the angle compensation mechanism, and the two second quick-release sliders are fixed to the two mounting brackets. The upper part of the angle compensation mechanism 6 is connected to the camera 7, and the lower part of the second quick-release slider 5 is connected to the angle compensation mechanism 6. The mounting bracket is connected with a second slider locking screw 18 to lock the second quick-release slider to the mounting bracket. The ends of the second quick-release slider 5 are all provided with large chamfers, which can achieve quick insertion with the second groove, enabling the entire camera detection module to be quickly assembled and disassembled onto the mounting column 1.

[0055] like Figures 5 to 7As shown, the quick-install base 4 includes a grooved base plate 8 and a first quick-install slider 9. The grooved base plate 8 has a first groove 81, and the first quick-install slider 9 mates with the first groove 81. The grooved base plate 8 is connected to a first slider locking screw 19, which locks the first quick-install slider to the grooved base plate. The first groove 81 can be a T-shaped groove, and the first quick-install slider 9 has a T-shaped portion that mates with the T-shaped groove. The grooved base plate 8 is connected to a fixing bolt 82 for fixing the quick-install base to the mounting base of the testing equipment. It also supports vehicle-mounted installation. The quick-install base can be quickly installed on a testing vehicle, allowing for real-time testing while traveling along the road. Therefore, it enables rapid and real-time testing of various settlement test points on the road, greatly improving testing efficiency.

[0056] In one embodiment, the first quick-release structure includes a slot 91 located on the upper part of the first quick-release slider. The slot is inserted into the bottom of the mounting post, and the first quick-release slider is fixed to the mounting post as a whole by screws.

[0057] like Figure 9 and Figure 10 As shown, the angle compensation mechanism includes a rotatable upper rotating platform and a lower rotating platform, with the rotation directions of the upper and lower rotating platforms perpendicular. The camera is mounted on the upper rotating platform. The lower rotating platform includes a first lower bogie 10, a first upper bogie 11, a first gear shaft 14, and a first motor 15. The first lower bogie and the first upper bogie are connected via the first gear shaft. The first motor is mounted on the first lower bogie, and a first output gear is provided on the motor output shaft of the first motor. The first output gear meshes with the gear on the first gear shaft to achieve rotation of the first upper bogie along the x-axis. The upper rotating platform includes a second lower bogie 16, a second upper bogie 17, a second gear shaft 12, and a second motor 13. The second lower bogie and the second upper bogie are connected via the second gear shaft. The second motor is mounted on the second lower bogie, and a second output gear is provided on the motor output shaft of the second motor. The second output gear meshes with the gear on the second gear shaft to achieve rotation of the second upper bogie along the y-axis.

[0058] like Figure 11 and Figure 12As shown, the overall quick-assembly process of the foundation settlement detection device is described as follows: The grooved base plate 8 and the mounting bracket 2 are pre-fixed on the detection equipment mounting base and the mounting column 1, respectively; the second quick-assembly slider 5, the angle compensation mechanism 6, and the camera 7 are also pre-assembled together; the first quick-assembly slider 9 and the mounting column 1 are pre-installed as a whole. The first step is to assemble the first quick-assembly slider 9 into the first groove on the grooved base plate 8. Since both the slider and the groove port are equipped with guide chamfers, the insertion is simple and convenient. Tightening the first slider locking screw 19 prevents the first quick-assembly slider 9 from detaching from the grooved base plate 8. The second step is to assemble the second quick-assembly slider 5 in the camera detection module 3 into the second groove on the mounting bracket 2, and simultaneously tighten the second slider locking screw 18 to prevent the second quick-assembly slider 5 from detaching from the groove of the mounting bracket 2. Because the quick-release base, mounting column, mounting bracket, and camera detection module are all equipped with quick-release structures, they support rapid disassembly and assembly. After disassembly, they are small in size, lightweight, and easy to carry, allowing for quick on-site installation. Furthermore, the camera height is adjustable, thus adapting to various detection environments.

[0059] Based on the principle of binocular imaging, two cameras acquire two digital images of the object being measured from different angles at the same time, allowing the depth information in the two-dimensional image to be calculated. First, a structural model is established, typically using a parallel optical axis structural model. This model is a standard vision model, employing two cameras with identical intrinsic parameters placed parallel to each other. The structural principle diagram is shown below. Figure 13 As shown.

[0060] A 3D coordinate system for the camera was first established. The U-axis points in the direction of the line connecting the two cameras, the V-axis points in the direction parallel to the image plane, and the W-axis points in the direction perpendicular to the image plane. To make the model clearer, the imaging planes of the two cameras are placed together, meaning the left and right images in the figure are on the same plane. The baseline distance B represents the distance between the lines connecting the projection centers of the two cameras. c V c W c Let P be the target point to be captured by the two cameras. Its position coordinates in the images captured by the two cameras are P1 and P2 respectively. left =(U left V left ) and P right =(U right V right) Since the two imaging planes coincide, and the plane formed by the camera and the target point is perpendicular to the image plane, their corresponding V values ​​are equal. This can be obtained through trigonometric relationships.

[0061]

[0062] The parallax can then be expressed as: D = Xleft -x right Therefore, the three-dimensional coordinates of feature point P in the camera coordinate system can be calculated as follows:

[0063]

[0064] Therefore, as long as the position coordinates of the target point on the imaging plane of the two cameras are found, the three-dimensional coordinates of the point in space can be calculated.

[0065] This invention supports rapid vehicle-mounted installation and can adapt to various testing environments depending on the type of vehicle being used. For example... Figure 14 and Figure 15 As shown, a loading vehicle 20 is used as the testing vehicle. The foundation settlement detection device is assembled on both sides of the loading vehicle 20 through a quick installation method. The height and angle of the two detection camera modules 3 are adjusted according to the height of the on-site marker 23. The camera 7 completes the calibration parameter setting, which can be understood as completing the selection of the reference object. The loading vehicle 20 travels on the rail 23 at a preset speed. The detection devices on both sides of the loading vehicle 20 take real-time pictures of the markers 21 on both sides of the rail 23 to obtain digital image information. The three-dimensional spatial coordinate information of the markers 21 is obtained through a binocular stereo photogrammetry system. Then, the height relationship between the measurement system and the markers 21 is obtained. Finally, the relative height information of the rail surface relative to the markers 21 is obtained, thereby determining the settlement data of the rail surface.

[0066] With the assistance of a loader traveling along the road, the foundation settlement detection device can capture settlement data of the road surface in real time, greatly improving detection efficiency. It supports online calibration, therefore requiring minimal vehicle-mounted installation, and is easy to operate, enabling rapid, real-time detection of settlement at various road settlement test points.

[0067] Furthermore, a dual-axis dynamic tilt sensor 22 is installed on the loader 20. When the mounting surface of the loader 20 tilts due to the tilt of the ground, the dual-axis dynamic tilt sensor 22 transmits the detected tilt data to the controller. The controller outputs pulses to drive the motor of the angle compensation mechanism 6 to run in the opposite direction. The angle compensation mechanism 6 quickly and dynamically compensates for the offset, so that the camera 7 always maintains the posture at the calibration parameters, thereby ensuring the accuracy of the test data.

[0068] Understandably, this method is not limited to settlement testing of railway rail subgrade. With appropriate modifications to the loading vehicle 20, it can also be applied to testing environments such as ordinary roads and buildings.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the content described in the above specific embodiments. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A foundation settlement detection device, used in conjunction with on-site markers to detect foundation settlement, characterized in that: It includes a quick-release base, a mounting column, two mounting brackets spaced apart along the height of the mounting column, a camera detection module corresponding to the mounting brackets, and a binocular stereo photogrammetry system that is communicatively connected to the camera detection module; The quick-installation base is equipped with a vehicle-mounted quick-fix structure; A first quick-release structure is provided between the quick-install base and the mounting column; A structure is provided between the mounting bracket and the mounting column to enable quick assembly, disassembly, and adjustment of the mounting bracket and the mounting column, as well as adjustment of the height of the mounting bracket. A second quick-release structure is provided between the camera detection module and the mounting bracket. The camera detection module includes a camera, an angle compensation mechanism, and a second quick-release slider. The camera is mounted on the angle compensation mechanism, which adjusts the camera's shooting angle. The angle compensation mechanism is connected to the second quick-release slider. The second quick-release structure includes a second groove on the mounting bracket, and the second quick-release slider engages with the second groove. The angle compensation mechanism includes a rotatable upper rotating platform and a lower rotating platform, with their rotation directions perpendicular. The camera is mounted on the upper rotating platform, and the lower rotating platform is connected to the second quick-release slider. The lower rotating platform includes a first lower bogie, a first upper bogie, a first gear shaft, and a first motor. The first lower bogie and the first upper bogie are connected via the first gear shaft. The first motor is mounted on the first lower bogie, and a first output gear is provided on the motor output shaft of the first motor. The first output gear and the gear on the first gear shaft mesh with each other to realize the rotation of the first upper bogie along the x-axis; the upper rotating platform includes a second lower bogie, a second upper bogie, a second gear shaft, and a second motor. The second lower bogie and the second upper bogie are connected by the second gear shaft. The second motor is mounted on the second lower bogie. The motor output shaft of the second motor is provided with a second output gear. The second output gear and the gear on the second gear shaft mesh with each other to realize the rotation of the second upper bogie along the y-axis; the loading vehicle serves as a testing vehicle. The foundation settlement detection device is assembled on both sides of the loading vehicle through a quick installation method. The loading vehicle is equipped with a dual-axis dynamic tilt sensor. When the mounting surface of the loading vehicle tilts due to ground tilt, the dual-axis dynamic tilt sensor transmits the detected tilt data to the controller. The controller outputs pulses to drive the motor of the angle compensation mechanism to run in the opposite direction. The angle compensation mechanism quickly and dynamically compensates for the offset, so that the camera always maintains the attitude at the calibration parameters; Two cameras constitute a digital image information acquisition module for markers, which captures real-time images of the markers on site and obtains digital image information of the markers; The binocular stereo photogrammetry system obtains the three-dimensional spatial coordinate information of the marker based on the digital image information of the marker, and calculates the height relationship between the measurement system and the marker, the relative height information of the measurement surface relative to the marker, and the settlement data of the foundation.

2. The foundation settlement detection device according to claim 1, characterized in that, The quick-release base includes a grooved base plate and a first quick-release slider. The grooved base plate is provided with a first groove, and the first quick-release slider cooperates with the first groove.

3. The foundation settlement detection device according to claim 2, characterized in that, The first quick-release structure includes a slot located on the first quick-release slider, and the slot is inserted into the bottom of the mounting column.

4. The foundation settlement detection device according to claim 3, characterized in that, The first quick-release structure also includes a first screw, and the first quick-release slider is fixed to the mounting column as a whole by the first screw.

5. A foundation settlement detection device according to claim 1, characterized in that, The quick assembly and adjustment structure includes a locking bolt connecting the mounting column and the mounting bracket. The mounting column is provided with an elongated hole that mates with the locking bolt, and the elongated hole extends along the height direction of the mounting column.

6. A foundation settlement detection vehicle, characterized in that, The device is equipped with a foundation settlement detection device as described in any one of claims 1 to 5, wherein the foundation settlement detection device is fixed to the detection vehicle via a vehicle-mounted quick-fixing structure.

7. A method for detecting foundation settlement, characterized in that, Using the foundation settlement detection vehicle as described in claim 6 to perform foundation settlement detection includes the following steps: Adjust the height and angle of the two cameras according to the height of the on-site markers, and complete the calibration parameter settings for both cameras; The foundation settlement detection vehicle travels at a preset speed, and the foundation settlement detection device takes real-time pictures of the on-site markers along the travel route to obtain digital image information. The three-dimensional spatial coordinates of the markers are obtained by using a binocular stereo photogrammetry system. Then, the height relationship between the measurement system and the markers, the relative height between the rail surface and the markers, and the settlement data of the foundation are calculated in sequence.

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