A gate chamber deformation observation device and method based on laser vision
By combining laser vision technology and computer vision, the problems of high cost and difficult installation in lock wall monitoring have been solved, achieving high-precision and automated lock chamber deformation monitoring, reducing costs and improving monitoring reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUASHE TESTING TECH CO LTD
- Filing Date
- 2023-04-07
- Publication Date
- 2026-05-29
AI Technical Summary
Existing methods for monitoring lock walls are costly, difficult to install and maintain, and have high observation costs, making it difficult to achieve accurate monitoring.
A laser vision-based gate chamber deformation observation device is adopted. By measuring the relative deformation of the gate wall joints, displacement data between gate sections are obtained using a high-precision camera and laser transmitter. Combined with computer vision technology, automated measurement is performed, and a simple and easy-to-install assembly method is designed.
The device enables automated monitoring of gate chamber deformation, improves measurement accuracy and reliability, reduces manpower and material costs, and is easy to install and reuse.
Smart Images
Figure CN116753857B_ABST
Abstract
Description
Technical Field
[0001] This invention patent relates to the field of lock deformation monitoring, and in particular to a lock chamber deformation observation method based on laser vision. Background Technology
[0002] A ship lock is a box-shaped navigation structure that controls the filling and emptying of water in a waterway through upstream and downstream gates, thereby raising and lowering the water level and enabling ships to overcome concentrated water level differences in the waterway. The basic components of a ship lock include the lock head, lock chamber, lock gates, approach channel, and water conveyance system. Among these, the lock chamber's cantilever structure is the weakest point in the lock structure, and its safety is crucial to the safe operation of the entire lock. Therefore, implementing a scientific and precise monitoring system for it is particularly important.
[0003] Previous methods for monitoring the safety of gate walls included inclinometers, line-of-sight methods, tension line methods, and GPS. These methods all have drawbacks such as high cost, difficult installation and maintenance, and high observation costs. Therefore, it is of great application value to propose new monitoring instruments and methods based on the structural characteristics of the gate chamber. Summary of the Invention
[0004] Purpose of the invention: To propose a method for monitoring the deformation of a ship lock by measuring the relative deformation of the lock wall joints, combining laser vision technology, and to provide an assembly method for the device based on the lock section joint structure.
[0005] Technical Solution: To achieve the above objectives, this invention discloses a lock chamber deformation observation device and method based on laser vision. It proposes a novel method for monitoring the displacement of the lock chamber wall top based on the cumulative deformation of joints. This method utilizes the joint treatment of the lock chamber sections and cumulatively monitors the horizontal displacement of the overall lock chamber wall top using relative displacement meters between adjacent sections. Using laser vision technology, high-precision images are captured and then extracted by computer vision to measure the lateral horizontal displacement, radial opening, and vertical uneven settlement of the joints between the sections. Simultaneously, an assembly method for the device is provided, ensuring a simple and easy installation process with a scientific and reasonable installation method, guaranteeing measurement accuracy.
[0006] Furthermore, the principle of the laser vision-based gate chamber deformation observation method is to conduct segmented measurements on the deformation monitoring of long-span gate walls, sum the relative deformation displacements between adjacent gate walls, and compare them with the preset initial position reference point of the gate wall to obtain the true deformation displacement of each gate segment.
[0007] Furthermore, the aforementioned laser vision-based gate chamber deformation observation method is implemented through a laser vision-based gate chamber deformation observation device, which acquires monitoring images from a gate wall relative deformation meter, transmits them to an analysis terminal via a wireless network, uses computer vision recognition technology to acquire deformation data, and obtains the actual deformation displacement of each gate section after analysis and calculation.
[0008] Furthermore, the gate wall relative deformation meter consists of a high-precision camera, a vertical laser emitter, an oblique laser emitter, an orthogonal scale, a laser emitting plate, and a laser receiving plate. The gate wall relative deformation meter is fixed on the top of two adjacent gate walls. A laser emitting plate is fixed on one side as the laser emitting area, on which a high-precision camera, a vertical laser emitter, and an oblique laser emitter are installed. A laser receiving plate is fixed on the other side as the laser collimation area, on which an orthogonal scale is installed.
[0009] Furthermore, the high-precision camera is fixed at the center of the laser emitting plate, and its shooting range covers the entire area of the orthogonal scale on the laser receiving plate.
[0010] Furthermore, the initial laser position of the vertical laser emitter is at the "0" mark of the horizontal and vertical scales on the orthogonal scale; the laser emission point of the oblique laser emitter is the same as that of the vertical laser emitter, and the tilt direction and angle are 45° clockwise in the horizontal direction, that is, the horizontal angle with the vertical laser emitter is 45° and the vertical angle is 0°.
[0011] Furthermore, the orthogonal scale is provided with horizontal and vertical scales, and the surface of the scale is coated with black infrared laser reflective pigment over a large area. The infrared laser emitted in this area can form a dark halo for easy identification.
[0012] Furthermore, the laser emitting plate and the laser receiving plate are respectively fixed to the top of two adjacent gate walls. Additionally, each of the four corners of the two steel plates has a bolt hole for easy fixing.
[0013] Furthermore, during the manufacturing of the laser emitting plate and the laser receiving plate, four bolt holes are drilled 10cm away from the corner point on the diagonal line; at the same time, holes are drilled at corresponding positions on both sides of the gate wall.
[0014] Furthermore, hooks are provided on the upper part of the laser emitting plate and the laser receiving plate. During installation, the lifting device is fixed to the hooks, and then the steel plate is lifted and moved to the corresponding position of the gate wall.
[0015] Furthermore, when fixing the laser emitting plate and the laser receiving plate, firstly, the four corners of the laser emitting plate are bolted in place. Then, the laser point of the vertical laser emitting instrument is aligned with the "0" mark on the horizontal and vertical scales of the laser receiving plate. The laser receiving plate is rotated with the "0" mark as the base point. When the laser point of the oblique laser emitting instrument is also located on the horizontal scale, that is, when the line segment connecting the laser points of the vertical laser emitting instrument and the oblique laser emitting instrument is perpendicular to the horizontal scale, the four corners of the laser receiving plate are bolted in place.
[0016] Beneficial effects:
[0017] 1. Compared with the prior art, the present invention has the following technical advantages: It makes full use of the deformation characteristics of the lock chamber. Due to the joint treatment of the lock chamber section, the deformation of each section is independent after the horizontal joint is set in the lock wall. Damage and collapse occur according to the lock section. Therefore, adjacent lock sections can be used as deformation benchmarks for safety monitoring, and it is easy to achieve redundant observation, further improving the reliability of monitoring.
[0018] 2. Using laser vision technology, the transverse horizontal displacement, radial opening, and vertical uneven settlement of the joint between the gate sections are measured by computer vision after the high-precision camera captures the image. This realizes the automation of displacement measurement at the joint and saves manpower and material resources.
[0019] 3. It uses modular installation, which is convenient to install, ensures measurement accuracy, and can be reused after disassembly. Attached Figure Description
[0020] Figure 1 This is a layout diagram of the horizontal displacement monitoring system of the relative displacement meter in this invention;
[0021] Figure 2 This is a schematic diagram illustrating the principle of displacement monitoring at the top of the gate chamber wall in this invention.
[0022] Figure 3 This is a schematic diagram of the relative displacement meter in this invention;
[0023] Figure 4 This is a schematic diagram of the orthogonal scale in this invention;
[0024] Figure 5 This is a schematic diagram of the lateral horizontal displacement measurement at the joint in this invention;
[0025] Figure 6 This is a schematic diagram of the measurement of the radial opening displacement of the joint in this invention. Attached image description:
[0027] 101-Long-span lock chamber; 102-Relative deformation gauge; 103-Initial position reference point of the lock wall; 301-Vertical laser emitter; 302-Oblique laser emitter; 303-High-precision camera; 304-Orthogonal scale; 305-Laser emitting plate; 306-Laser receiving plate; 401-Horizontal and vertical scales; 402-Laser reflection area; 403-Dark aperture. Detailed Implementation
[0028] The invention will be further explained below with reference to finite element analysis:
[0029] According to finite element analysis, when the water level inside the lock chamber changes or the groundwater level outside the lock chamber changes, the lock head and lock chamber walls will deform, especially the deformation of the lock chamber walls towards the interior of the lock chamber. Generally, the deformation is smaller near the lock head and relatively larger near the center of the lock chamber. For example, for a large ship lock, the maximum positive displacement of the top of the lock chamber wall is 12 mm, and the maximum relative displacement between adjacent lock sections is 2.37 mm. Therefore, deformation monitoring can be achieved by measuring the relative displacement of each lock section.
[0030] like Figures 1-6 A laser vision-based gate chamber deformation observation device includes several relative deformation gauges 102; such as Figure 1 The diagram shows the overall layout of a sluice gate chamber 101. A relative deformation gauge 102 is installed in each joint at the top of the gate wall.
[0031] Specifically, the relative deformation gauge 102 is installed at the joint between two adjacent lock sections, ensuring a tight bond with the concrete. When concrete deformation causes changes in the joint opening and closing degree, as well as lateral and longitudinal displacement, the position of the laser point on the laser receiving plate of the relative deformation gauge 102 will also change significantly. Considering the impact of the linkage between lock section deformations, the measurement results of the relative deformation gauge 102 between the lock section joints are compared with the preset initial position reference point 103 of the lock wall. The horizontal displacement, vertical settlement, and radial opening displacement values of each lock section of the lock wall can be calculated cumulatively.
[0032] like Figure 3 As shown, the laser vision-based joint relative deformation observation device uses a relative deformation meter, which includes a vertical laser emitter 301, an oblique laser emitter 302, a high-precision camera 303, an orthogonal scale 304, a laser emitting plate 305, and a laser receiving plate 306.
[0033] The lasers emitted by the vertical laser emitter 301 and the oblique laser emitter 302 have the same starting point and are fixed together with the high-precision camera 303 on the laser emitting plate 305.
[0034] A pair of mutually perpendicular scales 304 are provided on the laser receiving plate 306 to help measure the relative displacement of the two plates in the horizontal, radial and vertical directions.
[0035] After the construction of two adjacent gate sections is completed, the laser emitting plate 305 can be installed on the top of the gate wall of one gate section, and the laser receiving plate 306 can be installed on the top of the gate wall of the other gate section. During installation, it is necessary to ensure that the laser emitted by the vertical laser emitter 301 is at the intersection of the two orthogonal scales 304, and this position is used as the initial position of the device. After the load deformation during the construction and operation of the gate chamber, the collimation position of the laser point will also change. The high-precision camera 303 is used to obtain measurement images at various time periods, and the relative displacement measurement data is extracted and calculated using computer vision recognition technology to obtain the lateral, radial and vertical displacement at the joint.
[0036] The laser emitting plate 305 and the laser receiving plate 306 are respectively installed on both sides of the top of the corresponding adjacent gate walls; the laser emitting plate 305 is used as the laser emitting area, and the laser emitting plate 305 is equipped with a vertical laser emitter 301, an oblique laser emitter 302 and a high-precision camera 303; the laser receiving plate 306 is used as the laser collimation area, and the laser receiving plate 306 is equipped with an orthogonal scale 304.
[0037] A high-precision camera 303 is fixed at the center of the laser emitting plate 305. The high-precision camera 303 captures the entire area of the orthogonal scale 304 on the laser receiving plate 306.
[0038] The initial position of the laser point of the vertical laser emitter 301 is at the "0" mark of the horizontal and vertical scales on the orthogonal scale 304;
[0039] The horizontal angle between the laser emission point of the oblique laser emitter 302 and the laser emission point of the vertical laser emitter 301 is 45°, and the vertical angle is 0°.
[0040] like Figure 4 As shown, the orthogonal scale 304 has horizontal and vertical graduations 401 and a laser reflection area 402. For the infrared laser used in this invention, the laser reflection area is extensively coated with black infrared reflective pigment, and the infrared laser emitted in this area forms a dark halo 403 for easy identification. Both the light emitting plate 305 and the laser receiving plate 306 are made of steel plate.
[0041] like Figure 2 As shown, the principle of displacement monitoring at the top of the lock chamber wall is as follows: Taking horizontal displacement as an example, it is assumed that the lock wall section undergoes uniform deformation (i.e., the horizontal displacement at both the upstream and downstream ends of wall I remains consistent). A relative displacement meter is installed at the joint at the top of the lock section to monitor the horizontal relative displacement between adjacent sections; its reading is recorded as [value missing]. Based on continuous monitoring between the sections, the actual horizontal displacement value of the lock wall can be obtained, recorded as [value missing]. The conversion relationship between the relative displacement between sections and the horizontal displacement of the entire lock chamber wall top is as follows:
[0042] A monitoring benchmark point is set at the gate head section. The horizontal displacement of gate wall I is obtained based on the readings of the relative displacement gauge:
[0043]
[0044] Considering the impact of the deformation and linkage of the lock section, the horizontal displacement of the No. 2 lock wall is:
[0045]
[0046] Similarly, the horizontal displacement of gate wall III is:
[0047]
[0048] It is worth noting that all of the above formulas are vector additions.
[0049] Similarly, the above method of measuring and calculating the cumulative deformation of joints can also be used to measure the radial opening and vertical settlement displacement values.
[0050] To obtain the above lock chamber deformation data and improve the observation accuracy and facilitate verification, this invention specifically designs a laser vision-based joint relative deformation observation device for lock deformation monitoring.
[0051] Meanwhile, each of the four corners of the laser emitting plate 305 and the laser receiving plate 306 has a bolt hole for easy fixing of the steel plate.
[0052] Figure 5 The process shown is a schematic diagram of the lateral horizontal displacement measurement at the joint. In the figure, the vertical laser emitter 501 is initially located at the initial position, and the imaging point on the horizontal scale 502 is point Q. After a period of time, a lateral displacement occurs between the two gate sections, that is, the movement in the direction of the arrow in the figure. The imaging point of the vertical laser emitter 501 on the horizontal scale 502 also moves to point Q'. The relative displacement between the gate sections is the difference between the coordinates of points Q and Q'.
[0053] Similarly, the measurement of vertical displacement at the joint is similar to that of horizontal displacement, except that the reading is compared with the change in coordinates of the vertical laser point on the vertical scale.
[0054] Figure 6 The process shown is a schematic diagram of joint radial opening displacement measurement. When measuring the joint radial opening displacement, this invention does not directly install a scale plate and laser collimation device in the radial direction. This is because, firstly, the radial measuring device would restrict the movement of the relative displacement gauge, and secondly, adding a radial measuring device would significantly increase the instrument's manufacturing cost, making it uneconomical. Therefore, this invention optimizes the measurement method by replacing the measurement of the actual displacement with an equivalent measurement calculation of the radial displacement.
[0055] Initially, the imaging points of the vertical laser emitter 601 and the oblique laser emitter 602 on the horizontal scale plate 603 are points P and Q, respectively. When the seam contracts radially, as indicated by the arrows in the diagram, the imaging points of the vertical laser emitter 601 and the oblique laser emitter 602 on the horizontal scale plate 603 move to points P' and Q', respectively. Assuming the initial distance between the laser emitting plate and the laser receiving plate is Δ1, and after radial contraction, the distance between the two plates becomes Δ2, with a radial displacement of Δ. Since the angle between the oblique laser emitter 602 and the radial direction is 45°, the lateral and radial distances of Q and Q' are equal, Δ. Therefore, the radial displacement Δ can be indirectly obtained by changing the lengths of line segments PQ and P'Q'.
[0056] All the above measurement data were acquired by high-precision camera. The acquired image data was transmitted to the terminal via wireless network. Using computer vision recognition technology, image processing methods such as image grayscale processing, image thresholding processing, and image enhancement were used to obtain the coordinate data corresponding to the laser point in each image. After cumulative calculation, the three-dimensional true displacement of each gate section was obtained.
[0057] A method for observing the deformation of a gate chamber based on laser vision includes the following steps:
[0058] (1) The deformation monitoring of the lock wall of the long-span lock chamber 101 is carried out by segmented measurement, and the monitoring image is obtained by the corresponding relative deformation meter 102;
[0059] (2) The deformation data is transmitted to the analysis terminal via wireless network, and computer vision recognition technology is used to obtain the deformation data. After analysis and calculation, the actual deformation displacement of each gate segment is obtained.
[0060] (3) After summing up the relative deformation displacements between adjacent gate walls, compare them with the preset gate wall initial position reference point 103 to obtain the actual deformation displacement of each gate section.
[0061] When installing the relative displacement meter 102, the positional arrangement requirements of the laser emitting plate 305 and the laser receiving plate 306 must be considered to ensure that their horizontal projections completely coincide; otherwise, the measurement results will be deviated. Therefore, based on the laser emitter, the following relative displacement meter installation scheme is designed, an assembly method for a gate chamber deformation observation device based on laser vision, including the following steps:
[0062] (1) First, drill bolt holes at the four corners of the laser emitting plate 305 and the laser receiving plate 306 respectively. At the same time, drill holes at the corresponding positions on both sides of the gate wall. Hooks are provided on the upper part of the laser emitting plate 305 and the laser receiving plate 306. During installation, fix the lifting device to the hooks, and then lift the laser emitting plate 305 and the laser receiving plate 306 to the corresponding position of the gate wall.
[0063] (2) Secure the four corners of the laser emitting plate 305 with bolts;
[0064] (3) Align the laser point of the vertical laser emitter 301 with the “0” mark on the horizontal and vertical scales of the laser receiver plate 306. Rotate the laser receiver plate 306 with the “0” mark as the base point. When the laser point of the oblique laser emitter 302 is also located on the horizontal scale, that is, when the line segment connecting the laser points of the vertical laser emitter 301 and the oblique laser emitter 302 coincides with the horizontal scale, fix the four corners of the laser receiver plate 306 with bolts to complete the assembly of the laser emitter plate 305 and the laser receiver plate 306.
Claims
1. An assembly method for a gate chamber deformation observation device based on laser vision, the gate chamber deformation observation device being characterized in that: It includes several relative deformation meters; each relative deformation meter is installed at the top joint of two adjacent gate sections of the gate wall; the relative deformation meter includes a vertical laser emitter, an oblique laser emitter, a high-precision camera, an orthogonal scale, a laser emitting plate and a laser receiving plate; The laser emitting plate and the laser receiving plate are respectively installed on both sides of the top of two adjacent gate walls; the laser emitting plate serves as a laser emitting area, and is equipped with a vertical laser emitter, an oblique laser emitter, and a high-precision camera; the laser receiving plate serves as a laser collimation area, and is equipped with an orthogonal scale. The system is characterized by the following steps: (1) First, drill bolt holes at the four corners of the laser emitting plate and the laser receiving plate, and drill holes at the corresponding positions on both sides of the gate wall. Hooks are set on the upper part of the laser emitting plate and the laser receiving plate. When installing, fix the lifting device to the hooks, and then lift the laser emitting plate and the laser receiving plate to the corresponding position of the gate wall. (2) Fix the four corners of the laser emitting plate to the corresponding gate wall with bolts; Align the laser point of the vertical laser emitter with the "0" mark on both the horizontal and vertical scales of the laser receiver plate. Rotate the laser receiver plate with the "0" mark as the base point. When the laser point of the oblique laser emitter is also located on the horizontal scale, that is, when the line segment connecting the laser points of the vertical laser emitter and the oblique laser emitter is perpendicular to the horizontal scale, fix the four corners of the laser receiver plate to the corresponding gate wall with bolts to complete the assembly of the laser emitter plate and the laser receiver plate.
2. The assembly method of the gate chamber deformation observation device based on laser vision according to claim 1, characterized in that: The high-precision camera is fixed at the center of the laser emitting plate, and its shooting range covers the entire area of the orthogonal scale of the laser receiving plate.
3. The assembly method of the gate chamber deformation observation device based on laser vision according to claim 1, characterized in that: The orthogonal scale is provided with horizontal and vertical scales; the surface of the orthogonal scale is coated with black infrared laser reflective pigment for forming a dark halo when infrared lasers are emitted onto the orthogonal scale.
4. The assembly method of the gate chamber deformation observation device based on laser vision according to claim 3, characterized in that: The initial position of the laser point of the vertical laser emitter is at the "0" mark of the horizontal and vertical scales on the orthogonal scale. The horizontal angle between the laser emission point of the oblique laser emitter and the laser emission point of the vertical laser emitter is 45°, and the vertical angle is 0°.
5. The assembly method of the gate chamber deformation observation device based on laser vision according to claim 1, characterized in that: Both the laser emitting plate and the laser receiving plate are made of steel plate.