Visual monitoring device for different structural feature pile foundation and monitoring method thereof

Abstract

This invention discloses a visual monitoring device and method for pile foundations with different structural characteristics, belonging to the technical field of pile foundation monitoring. It includes an arc-shaped fixing frame with an internal hollow structure and an arc-shaped groove on its inner wall; a visual transmission mechanism mounted on the arc-shaped fixing frame; n imaging devices connected to the output end of the visual transmission mechanism; each imaging device, under the action of the visual transmission mechanism, rotates 0 to α° around the pile foundation as needed to complete local or 360° visual imaging; and at least two climbing mechanisms, with adjustable spacing between adjacent climbing mechanisms. The pile foundation visual monitoring device developed in this invention, due to its adjustable adjacent spacing, is not only suitable for climbing pipe piles but also for square piles. Without affecting installation and disassembly, it can achieve local or even 360° visual imaging of tubular or square pipes, satisfying the requirement of no blind spots and increasing the monitoring range.

Description

Technical Field

[0001] This invention belongs to the technical field of pile foundation monitoring, and in particular relates to a visual monitoring device and monitoring method for pile foundations with different structural characteristics. Background Technology

[0002] A deep foundation consisting of piles and a pile cap (or simply pile cap) connecting the tops of the piles, or a single pile foundation consisting of a column connected to the pile foundation, is simply called a pile foundation. Considering factors such as the required bearing capacity, shear resistance, and impact resistance, pile foundations are generally divided into pipe piles and square piles.

[0003] To better maintain and monitor pile foundations, vision-based drones have emerged. These drones utilize climbing-capable monitoring devices to monitor pile foundation quality in various environments, such as underwater and at high altitudes. However, traditional climbing-capable monitoring devices are used for monitoring pipe piles, but not so much for square piles. This is mainly because the outer wall of a square pile has multiple sharp angles, making it difficult for the climbing and vision components to rotate 360° around the pile on the same horizontal plane, resulting in limited monitoring range and making it difficult to achieve comprehensive, blind-spot-free imaging. Summary of the Invention

[0004] To address the aforementioned background issues, this invention discloses a visual monitoring device and method for pile foundations with different structural characteristics.

[0005] This invention adopts the following technical solution: a visual monitoring device for pile foundations with different structural characteristics, comprising:

[0006] An arc-shaped fixing frame has a hollow internal structure; the central angle corresponding to the arc notch of the arc-shaped fixing frame is defined as α; the inner wall of the arc-shaped fixing frame is provided with an arc-shaped groove;

[0007] A visual transmission mechanism is installed on the curved fixed frame; the output end of the visual transmission mechanism is connected to n shooting devices, where n = Int(360 / α), and Int() is a zero-to-float function; under the action of the visual transmission mechanism, each group of shooting devices rotates around the pile foundation from 0 to α° as required to complete local or 360° visual shooting.

[0008] A ring-shaped support frame is connected to the arc-shaped fixing frame; the ring-shaped support frame is a split support frame.

[0009] At least two sets of climbing mechanisms are installed on the inner wall of the annular support frame; the distance between two adjacent sets of climbing mechanisms is adjustable, and the forward direction of each set of climbing mechanisms is controllable.

[0010] In a further embodiment, the annular support frame includes:

[0011] The first semi-circular bracket is fixedly connected to the arc-shaped fixing bracket;

[0012] The second semicircular bracket has its fixed end hinged to the fixed end of the first semicircular bracket;

[0013] A locking element is connected to the movable ends of the first and second semicircular brackets; the locking element enables a fixed connection between the first and second semicircular brackets.

[0014] In a further embodiment, the locking element includes:

[0015] A snap-fit ​​part is fixed to the movable end of the first semicircular bracket / second semicircular bracket; an annular protrusion is provided on the side of the snap-fit ​​part away from the first semicircular bracket / second semicircular bracket;

[0016] The sleeve is fixed to the movable end of the second semicircular bracket / first semicircular bracket; the side of the sleeve away from the second semicircular bracket / first semicircular bracket is a hollow structure;

[0017] Two sets of through holes are symmetrically opened radially in the sleeve portion and connected to the hollow structure;

[0018] The fixing block is fixed inside one of the through holes;

[0019] The movable block is slidably installed within another set of through holes;

[0020] A lead screw, one end of which is rotatably mounted inside the movable block, and the other end of which moves through the movable block; grooves are provided on the opposite surfaces of both the fixed block and the movable block, and the grooves are adapted to the annular protrusion.

[0021] In a further embodiment, the climbing mechanism includes:

[0022] A sliding component is correspondingly disposed inside the first and second semicircular brackets; the sliding component has a suspension bracket.

[0023] The roller assembly includes: a triangular roller frame, which is hinged at its center to the suspension frame;

[0024] The drive wheel is installed at one of the apex corners of the triangular roller frame;

[0025] At least two sets of driven wheels are installed at the remaining two apex corners of the triangular roller frame;

[0026] The track is connected to the drive wheel and at least two sets of driven wheels; the track is composed of several belt plates hinged together at a predetermined distance, and the rolling surface of the drive wheel is provided with corresponding teeth.

[0027] In a further embodiment, the vision transmission mechanism includes:

[0028] An annular external gear ring is movably installed within the arc-shaped fixing frame; the annular external gear ring includes: an arc-shaped gear, and a convex strip provided on the lower surface of the arc-shaped gear, the two sides of the convex strip being provided with wedge-shaped protrusions; the inner wall of the gear body is configured to install the required shooting device;

[0029] Several small gears are distributed within a partially hollowed-out structure and are connected to the superior arc-shaped gear for transmission.

[0030] Several pressure rollers are distributed throughout the hollow structure; the pressure surface of the pressure rollers is provided with a recessed part, which is adapted to the protrusion.

[0031] In a further embodiment, the sliding component includes:

[0032] A sliding cavity is formed circumferentially within the first and second semicircular supports; the inner walls of both the first and second semicircular supports are provided with sliding grooves, which are connected to the sliding cavity; the sliding groove is composed of several rectangular grooves joined together, and adjacent groups of rectangular grooves are perpendicular to each other.

[0033] A sliding component includes: a slide rod, one end of which is fixedly connected to a suspension bracket, and the other end of which is radially expanded outward by a predetermined thickness to form an expansion head, wherein the other end of the slide rod passes through a slide groove body so that the expansion head is located in the slide cavity;

[0034] An adjusting block is elastically sleeved on the slide rod; the adjusting block has one degree of freedom along the axial direction of the slide rod; the cross-section of the adjusting block is rectangular; the adjusting block is operably located within the slide groove and includes at least the following working states: a positioning state and an adjusting state that can be switched between each other.

[0035] In a further embodiment, the first of the n shooting devices is mounted on the inner wall of the head of the curved gear and located outside the curved fixing frame.

[0036] The second to the nth imaging devices are distributed at predetermined intervals on the inner wall of the curved gear and are all located in the curved groove.

[0037] In a further embodiment, the slide bar and the adjusting block are magnetically connected. Magnetic connection is more suitable for use in water.

[0038] The monitoring method using the visual monitoring device for pile foundations with different structural characteristics as described above includes the following steps:

[0039] Step 1: Obtain the structural characteristics of the pile foundation, and adjust the position of each climbing mechanism in the ring support frame based on the structural characteristics: if the current pile foundation is a pipe pile, adjust the climbing mechanisms to be evenly distributed; if the current pile foundation is a square pile, control that each side of the square pile is equipped with at least one climbing mechanism.

[0040] Step 2: Position the climbing mechanism at the designated location, surround the pile foundation with the ring support frame and the arc fixing frame, and tighten the ring support frame with the pile foundation by controlling the locking device. At this time, the tracks of the climbing mechanism are in close contact with the outer surface of the pile foundation.

[0041] Step 3: Drive the visual transmission mechanism and shooting device to move in a predetermined direction and / or a predetermined distance using the climbing mechanism. If 360° shooting without blind spots is required, proceed to Step 4; if shooting at a designated location is required, proceed to Step 5.

[0042] Step 4: The head of the annular external gear ring in the vision transmission mechanism moves from the arc notch to its tail position until the annular external gear ring covers the arc notch. During the movement, each shooting device is in working condition, and video frames of the pile foundation located within the corresponding movement path are collected. Where n represents the number of the shooting device, and z represents the Z-axis coordinate value captured at time point t; based on video frames Obtain all state information of the outer wall of the pile foundation at a height / depth of z and a time point of t;

[0043] Step 5: Determine whether the video frames acquired by the current shooting device meet the requirements. If not, activate the vision drive mechanism to update the location of the shooting device until at least one set of shooting devices meets the required shooting requirements.

[0044] In a further embodiment, the adjustment and positioning process of the climbing mechanism is as follows:

[0045] During adjustment, the length direction of the adjusting block is consistent with the length direction of the slide body. The adjusting block is located inside the slide body. External force acts on the adjusting block to move along the length direction of the slide body. The adjusting block drives the expansion head and the suspension frame to move accordingly.

[0046] During positioning, the adjusting block is acted on along the axis of the slide rod, causing the adjusting block to temporarily detach from the slide groove body; and the adjusting block is rotated 90° radially along the slide rod, with the expansion head and suspension bracket rotating accordingly; when the external force disappears, the adjusting block is placed back into the corresponding slide groove body under the action of magnetic force and locked; wherein, the expansion head is always located in the slide cavity.

[0047] The beneficial effects of the present invention: The pile foundation visual monitoring device developed by the present invention is equipped with an adjustable climbing mechanism between adjacent piles, which is not only suitable for climbing pipe piles, but also for climbing square piles, thus expanding the applicable objects and scope of application: if the current pile is a pipe pile, the climbing mechanism is adjusted to be evenly distributed; if the current pile is a square pile, the climbing mechanism is adjusted to be symmetrically distributed, and corresponds to at least two sets of opposing surfaces of the square pile.

[0048] In addition, without affecting installation and disassembly, it can achieve local or even 360° visual imaging of tubular or square tubes, satisfying the requirement of shooting without blind spots and increasing the monitoring range. Attached Figure Description

[0049] Figure 1 This is a structural diagram of the visual monitoring device in Example 1.

[0050] Figure 2 This is an exploded view of the locking component.

[0051] Figure 3 This is a schematic diagram of the roller assembly.

[0052] Figure 4 This is a schematic diagram of the sliding component.

[0053] Figure 5 This is a diagram showing the usage state of the sliding component.

[0054] Figure 6 This is a schematic diagram of the vision drive mechanism.

[0055] Figure 7 This is a diagram showing the operational status of the vision drive mechanism.

[0056] Figures 1 to 7 The following are the labels: 1. Arc-shaped fixing frame; 2. Arc notch; 3. Central angle; 4. Square stake; 5. Ring support frame; 6. Climbing mechanism; 7. Ring external gear ring; 8. Arc-shaped groove; 9. First shooting device; 10. Nth shooting device; 501. First semicircular bracket; 502. Second semicircular bracket; 503. Locking part; 5031. Snap-fit ​​part; 5032. Ring protrusion; 5033. Through hole; 5034. Fixing block; 5035. Moving block; 5036. Screw rod. 5037, groove, 5038, drive wheel, 601, driven wheel, 602, track, 603, slide cavity, 605, first slide body, 606, second slide body, 607, slide rod, 608, suspension frame, 609, expansion head, 610, adjusting block, 611, pinion, 701, pressure wheel, 7011, convex bar, 7012, wedge-shaped protrusion, 7013, head, 7014, tail. Detailed Implementation

[0057] The present invention will now be further described with reference to the accompanying drawings and embodiments.

[0058] Example 1

[0059] This embodiment discloses a visual monitoring device for pile foundations with different structural characteristics, such as... Figure 1 As shown, it includes: an arc-shaped fixing frame 1 with an internal hollow structure, and the central angle 3 corresponding to the arc notch 2 of the arc-shaped fixing frame 1 is defined as α. In this embodiment, the purpose of adopting an arc shape for the fixing frame is: first, to place the pile foundation inside the visual monitoring device through the arc notch 2, so as to achieve convenient installation and disassembly; second, to facilitate the subsequent shooting device to complete 360° shooting without blind spots under the action of other components. Therefore, in order to facilitate the installation and movement of the shooting device, an arc-shaped groove 8 is provided on the inner wall of the arc-shaped fixing frame 1.

[0060] The curved support frame 1 is equipped with a vision drive mechanism. The output of the vision drive mechanism is connected to n shooting devices, where n = Int(360 / α), and Int() is a rounding function. Each shooting device, under the action of the vision drive mechanism, rotates 0° to α° around the pile foundation as needed, completing local or 360° visual imaging. In other words, the spacing between adjacent shooting devices is equal. Initially, the shooting devices are positioned on the inner wall of the curved support frame 1, meaning there are no shooting devices at the position corresponding to the arc-shaped notch 2. According to the shooting requirements, the vision drive mechanism drives the shooting devices to rotate, gradually covering the arc-shaped notch 2, thus changing the position of the shooting devices. During this change, 360° visual imaging is completed, compensating for the arc-shaped notch 2 and the corresponding positions between adjacent shooting devices. In this embodiment, the shooting device is an underwater camera from the prior art, applicable to both atmospheric and aquatic environments.

[0061] It also includes: a split-type support frame, which is connected to the curved fixed frame 1. The inner wall of the split-type support frame is equipped with at least two sets of climbing mechanisms 6, and the distance between two adjacent sets of climbing mechanisms 6 is adjustable, and the forward direction of each set of climbing mechanisms 6 is controllable.

[0062] For example: if the current structure is a pipe pile, the climbing mechanism 6 will be adjusted to be evenly distributed; if the current structure is a square pile 4, the climbing mechanism 6 will be adjusted to be symmetrically distributed, corresponding to at least two sets of opposite sides of the square pile 4.

[0063] Combined again Figure 1The annular support frame 5 includes a first semicircular bracket 501 and a second semicircular bracket 502. In this embodiment, both the first semicircular bracket 501 and the second semicircular bracket 502 have a fixed end and a movable end. The first semicircular bracket 501 is fixedly connected to the arc-shaped fixing frame 1, meaning that when the annular support frame 5 surrounds the pile foundation, the corresponding arc-shaped fixing frame 1, the visual transmission mechanism, and the shooting device all surround the pile foundation. The shooting device is installed on the pile foundation via the detachable annular support frame 5: the fixed end of the first semicircular bracket 501 is hinged to the fixed end of the second semicircular bracket 502, and the movable end of the first semicircular bracket 501 and the movable end of the second semicircular bracket 502 are securely connected by a locking member 503.

[0064] like Figure 2 As shown, the locking member 503 includes a snap-fit ​​portion 5031 fixed at the movable end of the first semicircular bracket 501, wherein the snap-fit ​​portion 5031 has a radially outwardly expanding annular protrusion 5032 on the end face away from the first semicircular bracket 501. Correspondingly, a sleeve portion 5038 is fixed at the movable end of the second semicircular bracket 502, wherein the sleeve portion 5038 has a hollow structure on the end face away from the second semicircular bracket 502.

[0065] Alternatively, a snap-fit ​​portion 5031 is fixed at the movable end of the second semicircular bracket 502, wherein the snap-fit ​​portion 5031 has a radially outwardly expanding annular protrusion 5032 on the end face away from the second semicircular bracket 502. Correspondingly, a sleeve portion 5038 is fixed at the movable end of the first semicircular bracket 501, wherein the sleeve portion 5038 has a hollow structure on the end face away from the first semicircular bracket 501.

[0066] The sleeve portion 5038 has two sets of symmetrical through holes 5033 arranged radially, each set of through holes 5033 being identical to the hollow structure. A fixing block 5034 is fixed within one set of through holes 5033, while a moving block 5035 is slidably installed within the remaining set of through holes 5033. In this embodiment, the moving block 5035 and the inner wall of the corresponding through hole 5033 are interference-fitted. Grooves 5037 are formed on the opposite surfaces of both the fixing block 5034 and the moving block 5035, and these grooves 5037 are adapted to the annular protrusion 5032.

[0067] It also includes a lead screw 5036, one end of which is rotatably mounted within the movable block 5035, and the other end of which moves through the movable block 5035. One end of the lead screw 5036 is connected to a micro motor, which controls the state of the lead screw 5036 to achieve the required working state of the locking component 503. This prevents the lead screw 5036 from turning incorrectly due to external forces. For example, when this device is used underwater, if there is no locking effect on the lead screw 5036, the water flow will force it to rotate. If the water flow is prolonged or strong, it may cause the lead screw 5036 to rotate continuously, forcing the sleeve 5038 and the locking part 5031 to separate.

[0068] Based on the above description, the working process of the locking component 503 is as follows: Assuming the initial state of the locking component 503 is that the engaging part 5031 and the sleeve part 5038 are separated, the fixed block 5034 and the moving block 5035 in the adjusting part are in a distanced state under the action of the lead screw 5036. When the first semicircular bracket 501 and the second semicircular bracket 502 are positioned around the pile foundation, and locking is required, the engaging part 5031 is inserted into the hollow structure of the sleeve part 5038, and a portion of the annular protrusion 5032 engages with the groove 5037 of the fixed block 5034. The micro motor rotates forward, driving the lead screw 5036 to rotate and the moving block 5035 to move towards the position of the fixed block 5034 until the groove 5037 on the moving block 5035 abuts against the corresponding position of the annular protrusion 5032, thus locking. One end of the lead screw 5036 is mounted in the fixed block 5034 via a rotating bearing, therefore the fixed block 5034 remains relatively stationary. Turn off the micro motor and lock it.

[0069] When the visual monitoring device needs to be removed, the micro motor reverses, and the moving block 5035 moves away from the fixed block 5034 under the action of the lead screw 5036. After the limitation of the annular protrusion 5032 is eliminated, it is slightly misaligned through the snap-fit ​​part 5031 and pulled out from the sleeve part 5038.

[0070] In a further embodiment, the climbing mechanism 6 includes a sliding assembly correspondingly disposed inside the first semicircular support 501 and the second semicircular support 502, the sliding assembly being equipped with a suspension frame 609. A roller assembly is mounted on the suspension frame 609.

[0071] The roller assembly includes a triangular roller frame, which is hinged at its center to the suspension frame 609. It should be noted that the triangular roller frame and the suspension frame 609 are connected by a hinge, primarily considering the actual shape of the pile foundation. Because the pile foundation is exposed to water or air for extended periods, its surface may have pits or unevenness due to the effects of water flow, wind, and sun. Therefore, the hinged connection provides the necessary elastic space. Furthermore, when the first semicircular support 501 and the second semicircular support 502 are relatively tightened, the roller assembly abuts against the pile foundation. That is, the annular support frame 5 and the pile foundation provide a certain compressive force to the roller assembly, achieving relative stability of the roller assembly.

[0072] The roller assembly also includes: a drive wheel 601 mounted at one of the apex corners of the triangular roller frame; at least two sets of driven wheels 602 correspondingly mounted at the remaining two apex corners of the triangular roller frame; and a track 603 that is simultaneously driven and connected to the drive wheel 601 and the at least two sets of driven wheels 602. The drive wheel 601 is driven and connected to a drive motor.

[0073] When the monitoring device in this embodiment is applied to water, there is a certain amount of resistance and buoyancy. This causes the climbing mechanism 6 to require more energy. Therefore, in order to reduce energy consumption, the following improvements were made to the track 603 in this embodiment: the track 603 is composed of several belt plates hinged together at predetermined intervals, and the rolling surface of the drive wheel 601 is provided with corresponding teeth. That is, the track 603 has a hollow structure, allowing water or air to pass through the hollow structure, thus reducing resistance and buoyancy.

[0074] In a further embodiment, the sliding component is configured to adjust the position of the climbing mechanism 6 and the distance between adjacent climbing mechanisms 6. Figure 4 As shown, the sliding component includes:

[0075] A sliding cavity 604 is circumferentially formed within the first semicircular support 501 and the second semicircular support 502. The inner walls of both the first and second semicircular supports 501 and 502 are provided with sliding grooves 605, which communicate with the sliding cavity 604. Each sliding groove 605 is composed of several rectangular grooves joined together, with adjacent groups of rectangular grooves perpendicular to each other. Further, the sliding groove 605 is defined as a first sliding groove 606 and a second sliding groove 607, both with rectangular cross-sections. The length direction of the first sliding groove 606 is consistent with the circumferential direction of the first and second semicircular supports 501 and 502; the length direction of the corresponding second sliding groove 607 is perpendicular to the circumferential direction of the first and second semicircular supports 501 and 502.

[0076] It also includes a sliding component movably disposed within the sliding cavity 604. The sliding component includes a sliding rod 608, one end of which is fixedly connected to the suspension bracket 609, and the other end which expands radially outward by a predetermined thickness to form an expansion head 610. The other end of the sliding rod 608 passes through the sliding groove body 605, so that the expansion head 610 is located within the sliding cavity 604. The outer diameter of the expansion head 610 is larger than the width of the rectangular groove body, achieving an interference fit between the expansion head 610 and the sliding cavity 604. An adjusting block 611 is sleeved on the sliding rod 608. The adjusting block 611 has one degree of freedom along the axial direction of the sliding rod 608; in other words, the adjusting block 611 can reciprocate along the length direction of the sliding rod 608, and the adjusting block 611 cannot rotate relative to the sliding rod 608. This can be achieved by having at least one flat surface on the side of the sliding rod 608, and a corresponding platform inside the adjusting block 611. The flat surface abuts against the platform, allowing the adjusting block 611 and the sliding rod 608 to rotate simultaneously.

[0077] In order to be compatible with the sliding cavity 604 and the sliding groove body 605, the cross-section of the adjusting block 611 is rectangular; the adjusting block 611 is operably located within the sliding groove body 605 and includes at least the following working states: a positioning state and an adjustment state that can be switched between each other.

[0078] Combination Figure 5 In the positioning state, the adjusting block 611 is located within the second slide rail 607, meaning that the adjusting block 611 and the corresponding slide rod 608 cannot move circumferentially, and the roller assembly cannot move temporarily. When it is necessary to move the roller assembly, first move the sliding block away from the expansion head 610 until the sliding block disengages from the second slide rail 607, and then rotate the sliding block 90° so that the length direction of the sliding block is aligned with the axial direction. The sliding block then returns to the slide rail 605 and is located at the intersection of the first slide rail 606 and the second slide rail 607. Drive the sliding block to move axially, at which point it switches to the adjusting state. When it is necessary to switch back to the positioning state, move the sliding block away from the expansion head 610 until the sliding block disengages from the first slide rail 606, and then rotate the sliding block 90° so that the length direction of the sliding block is perpendicular to the axial direction. The sliding block then returns to the second slide rail 607 for positioning.

[0079] It should be noted that in this embodiment, the slider 608 and the adjusting block 611 are magnetically connected. Considering that when used underwater, if a spring-reset connection is used, the water pressure could easily exert an outward force on the spring or slider, causing the slider to disengage prematurely from the groove body 605. Therefore, using a strong magnetic connection effectively avoids this technical problem.

[0080] In another embodiment, the vision transmission mechanism includes an annular external gear ring 7 movably mounted within the curved mounting bracket 1. During use, the imaging device exerts its own weight, resulting in a downward pulling force on the annular external gear ring 7. Furthermore, if used in water, buoyancy and other complex pressures also exist. Therefore, to ensure the required stability, the annular external gear ring 7 includes a curved gear 7011 and a protrusion 7012 on the lower surface of the curved gear 7011, with wedge-shaped protrusions 7013 on both sides of the protrusion 7012; the inner wall of the gear body is configured to mount the required imaging device.

[0081] It also includes: several small gears 701, distributed within the local hollow structure and connected to the arc-shaped gear 7011;

[0082] Several pressure rollers 702 are distributed throughout the hollow structure; the pressure surface of each pressure roller 702 is provided with a recessed portion, which is adapted to the protrusion.

[0083] The interference fit between the pressure rollers 702 and the protrusions increases the stability of the annular external gear ring 7 during use. Furthermore, the installation of multiple pressure rollers 702 and gears ensures accurate alignment and repositioning of the annular external gear ring 7 before and after rotation.

[0084] Combination Figure 7 The first shooting device 9 among the n shooting devices is installed on the inner wall of the head 7014 of the arc-shaped gear 7011 and is located outside the arc-shaped fixing frame 1. That is, the first shooting device 9 is controlled to move towards the tail 7015 of the arc-shaped gear 7011 by the rotating arc-shaped gear 7011 to complete the shooting at the position corresponding to the arc notch 2. Therefore, the first shooting device 9 is installed outside the arc-shaped fixing frame 1.

[0085] Similarly, in order to complete the shooting at corresponding positions between adjacent shooting devices, the second to the nth shooting devices are distributed at predetermined intervals on the inner wall of the arc-shaped gear 7011 and are all located within the arc-shaped groove 8. Among them, the nth shooting device is close to the tail 7015 of the arc-shaped gear 7011.

[0086] Based on the above description, the working principle of the vision transmission mechanism is as follows: The head 7014 of the annular external gear ring 7 in the vision transmission mechanism moves from the arc notch 2 to the position of its tail 7015 until the annular external gear ring 7 covers the arc notch 2. During the movement, each group of shooting devices is in working condition, and respectively collects video frames of the pile foundation located within the corresponding movement path. Where n represents the number of the shooting device, and z represents the Z-axis coordinate value captured at time point t; based on video frames Obtain all state information of the outer wall of the pile foundation at a height / depth of z and a time point of t.

[0087] In summary, the device disclosed in this embodiment is applicable not only to pipe piles but also to square piles; disassembly and assembly are convenient. Furthermore, it is suitable for underwater photography, overcoming the complexities of underwater conditions. When photographing square piles, the device can also achieve 360° rotation for comprehensive, blind-spot-free imaging.

[0088] Example 2

[0089] Based on the visual monitoring device for pile foundations with different structural characteristics described in Example 1, this example discloses a monitoring method, including the following steps:

[0090] Step 1: Obtain the structural characteristics of the pile foundation, and adjust the position of each climbing mechanism in the ring support frame based on the structural characteristics: if the current pile foundation is a pipe pile, adjust the climbing mechanisms to be evenly distributed; if the current pile foundation is a square pile, control that each side of the square pile is equipped with at least one climbing mechanism.

[0091] Step 2: Position the climbing mechanism at the designated location, surround the pile foundation with the ring support frame and the arc fixing frame, and tighten the ring support frame with the pile foundation by controlling the locking device. At this time, the tracks of the climbing mechanism are in close contact with the outer surface of the pile foundation.

[0092] Step 3: Drive the visual transmission mechanism and shooting device to move in a predetermined direction and / or a predetermined distance using the climbing mechanism. If 360° shooting without blind spots is required, proceed to Step 4; if shooting at a designated location is required, proceed to Step 5.

[0093] Step 4: The head of the annular external gear ring in the vision transmission mechanism moves from the arc notch to its tail position until the annular external gear ring covers the arc notch. During the movement, each shooting device is in working condition, and video frames of the pile foundation located within the corresponding movement path are collected. Where n represents the number of the shooting device, and z represents the Z-axis coordinate value captured at time point t; based on video frames Obtain all state information of the outer wall of the pile foundation at a height / depth of z and a time point of t;

[0094] Step 5: Determine whether the video frames acquired by the current shooting device meet the requirements. If not, activate the vision drive mechanism to update the location of the shooting device until at least one set of shooting devices meets the required shooting requirements.

[0095] The adjustment and positioning process of the climbing mechanism is as follows:

[0096] During adjustment, the length direction of the adjusting block is consistent with the length direction of the slide body. The adjusting block is located inside the slide body. External force acts on the adjusting block to move along the length direction of the slide body. The adjusting block drives the expansion head and the suspension frame to move accordingly.

[0097] During positioning, the adjusting block is acted on along the axis of the slide rod, causing the adjusting block to temporarily detach from the slide groove body; and the adjusting block is rotated 90° radially along the slide rod, with the expansion head and suspension bracket rotating accordingly; when the external force disappears, the adjusting block is placed back into the corresponding slide groove body under the action of magnetic force and locked; wherein, the expansion head is always located in the slide cavity.

Claims

1. A visual monitoring device for pile foundations with different structural characteristics, characterized in that, include: An arc-shaped fixing frame has a hollow internal structure; the central angle corresponding to the arc notch of the arc-shaped fixing frame is defined as α; the inner wall of the arc-shaped fixing frame is provided with an arc-shaped groove; A visual transmission mechanism is installed on the curved fixed frame; the output end of the visual transmission mechanism is connected to n shooting devices, where n = Int(360 / α), and Int(*) is a zero-to-float function; under the action of the visual transmission mechanism, each group of shooting devices rotates around the pile foundation from 0 to α° as required to complete local or 360° visual shooting. The vision transmission mechanism includes: An annular external gear ring is movably installed within the arc-shaped fixing frame; the annular external gear ring includes: an arc-shaped gear, and a convex strip provided on the lower surface of the arc-shaped gear, the two sides of the convex strip being provided with wedge-shaped protrusions; the inner wall of the arc-shaped gear is configured to install the required shooting device; Several small gears are distributed within a partially hollowed-out structure and are connected to the superior arc-shaped gear for transmission. Several pressure rollers are distributed throughout the hollow structure; the pressure surface of each pressure roller has a recessed portion that matches the protrusion. The first of the n shooting devices is installed on the inner wall of the head of the curved gear and is located outside the curved fixing frame; The second to the nth shooting devices are distributed at predetermined intervals on the inner wall of the curved gear and are all located in the curved groove. A ring-shaped support frame is connected to the arc-shaped fixing frame; the ring-shaped support frame is a split support frame. At least two climbing mechanisms are installed on the inner wall of the annular support frame; the distance between two adjacent climbing mechanisms is adjustable.

2. The visual monitoring device for pile foundations with different structural characteristics according to claim 1, characterized in that, The annular support frame includes: The first semi-circular bracket is fixedly connected to the arc-shaped fixing bracket; The second semicircular bracket has its fixed end hinged to the fixed end of the first semicircular bracket; A locking element is connected to the movable ends of the first and second semicircular brackets; the locking element enables a fixed connection between the first and second semicircular brackets.

3. The visual monitoring device for pile foundations with different structural characteristics according to claim 2, characterized in that, The locking element includes: A snap-fit ​​part is fixed to the movable end of the first semicircular bracket or the second semicircular bracket; an annular protrusion is provided on the side of the snap-fit ​​part away from the first semicircular bracket or the second semicircular bracket; The sleeve is fixed to the movable end of the second semicircular bracket or the first semicircular bracket; the side of the sleeve away from the second semicircular bracket or the first semicircular bracket is a hollow structure. Two sets of through holes are symmetrically opened radially in the sleeve portion and connected to the hollow structure; The fixing block is fixed inside one of the through holes; The movable block is slidably installed within another set of through holes; A lead screw, one end of which is rotatably mounted inside the movable block, and the other end of which moves through the movable block; grooves are provided on the opposite surfaces of both the fixed block and the movable block, and the grooves are adapted to the annular protrusion.

4. The visual monitoring device for pile foundations with different structural characteristics according to claim 2, characterized in that, The climbing mechanism includes: A sliding component is correspondingly disposed inside the first and second semicircular brackets; the sliding component has a suspension bracket. The roller assembly includes: a triangular roller frame, which is hinged at its center to the suspension frame; The drive wheel is installed at one of the apex corners of the triangular roller frame; At least two sets of driven wheels are installed at the remaining two apex corners of the triangular roller frame; The track is connected to the drive wheel and at least two sets of driven wheels; the track is composed of several belt plates hinged together at a predetermined distance, and the rolling surface of the drive wheel is provided with corresponding teeth.

5. The visual monitoring device for pile foundations with different structural characteristics according to claim 4, characterized in that, The sliding component includes: A sliding cavity is formed circumferentially within the first and second semicircular supports; the inner walls of both the first and second semicircular supports are provided with sliding grooves, which are connected to the sliding cavity; the sliding groove is composed of several rectangular grooves joined together, and adjacent groups of rectangular grooves are perpendicular to each other. A sliding component includes: a slide rod, one end of which is fixedly connected to a suspension bracket, and the other end of which is radially expanded outward by a predetermined thickness to form an expansion head, wherein the other end of the slide rod passes through a slide groove body so that the expansion head is located in the slide cavity; An adjusting block is fitted onto the slide rod; the adjusting block has one degree of freedom along the axial direction of the slide rod; the cross-section of the adjusting block is rectangular; the adjusting block is operably located within the slide groove and includes at least the following working states: a positioning state and an adjusting state that can be switched between each other.

6. The visual monitoring device for pile foundations with different structural characteristics according to claim 5, characterized in that, The slide bar and the adjusting block are magnetically connected.

7. A monitoring method using a visual monitoring device for pile foundations with different structural characteristics as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: Obtain the structural characteristics of the pile foundation, and adjust the position of each climbing mechanism in the ring support frame based on the structural characteristics: if the current pile foundation is a pipe pile, adjust the climbing mechanisms to be evenly distributed; if the current pile foundation is a square pile, control that each side of the square pile is equipped with at least one climbing mechanism. Step 2: Position the climbing mechanism at the designated location, surround the pile foundation with the ring support frame and the arc fixing frame, and tighten the ring support frame with the pile foundation by controlling the locking device. At this time, the tracks of the climbing mechanism are in close contact with the outer surface of the pile foundation. Step 3: Drive the visual transmission mechanism and shooting device to move in a predetermined direction and / or a predetermined distance using the climbing mechanism. If 360° shooting without blind spots is required, proceed to Step 4; if shooting at a designated location is required, proceed to Step 5. Step 4: The head of the annular external gear ring in the vision transmission mechanism moves from the arc notch to its tail position until the annular external gear ring covers the arc notch. During the movement, each shooting device is in working condition, and video frames of the pile foundation located within the corresponding movement path are collected. Where n represents the number of the shooting device, and z represents the Z-axis coordinate value captured at time point t; based on video frames Obtain all state information of the outer wall of the pile foundation at a height or depth of z and a time point of t; Step 5: Determine whether the video frames acquired by the current shooting device meet the requirements. If not, activate the vision drive mechanism to update the location of the shooting device until at least one set of shooting devices meets the required shooting requirements.

8. The monitoring method for a visual monitoring device for pile foundations with different structural characteristics according to claim 7, characterized in that, The adjustment and positioning process of the climbing mechanism is as follows: During adjustment, the length direction of the adjusting block is consistent with the length direction of the slide body. The adjusting block is located inside the slide body. External force acts on the adjusting block to move along the length direction of the slide body. The adjusting block drives the expansion head and the suspension frame to move accordingly. During positioning, the adjusting block is acted on along the axis of the slide rod, causing the adjusting block to temporarily detach from the slide groove body; and the adjusting block is rotated 90° radially along the slide rod, with the expansion head and suspension bracket rotating accordingly; when the external force disappears, the adjusting block is placed back into the corresponding slide groove body under the action of magnetic force and locked; wherein, the expansion head is always located in the slide cavity.

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