A foundation pit deformation detection device

Abstract

The present invention relates to the technical field of foundation pit deformation monitoring, and in particular to a foundation pit deformation detection device. The foundation pit deformation detection method comprises the following steps: collecting camera device information and marking picture information set in the target foundation pit, and calculating first data based on the camera device information and the marking picture information; collecting camera device information and marking picture information set in the target foundation pit again, and calculating second data based on the camera device information and the marking picture information; and judging whether the target foundation pit has been deformed based on the first data and the second data. The above methods are all automatic collection, without the need for manual participation, and can monitor in real time whether the foundation pit has been deformed. When deformation occurs, the dangerous situation is discovered and an alarm is issued in the first time to avoid unnecessary accidents.

Description

[0001] This application is a divisional application. The application number of the original application is: 202110920443.2, the application date is: 2021.08.11, and the subject name of the original application is "A method, device and system for detecting foundation pit deformation". Technical Field

[0002] The present invention relates to the technical field of foundation pit deformation monitoring, and in particular to a foundation pit deformation detection device. Background Art

[0003] With the improvement of living standards and the development of urban civilization, high-rise and super-high-rise buildings are constantly emerging, and the depth of foundation pits is getting deeper and deeper. As a result, foundation pit construction accidents also occur from time to time, which poses a great threat to the life safety of workers. Therefore, how to quickly, efficiently and accurately monitor the deformation of foundation pits is extremely important for the construction of foundation pits of construction projects.

[0004] Most of the existing foundation pit monitoring adopts manual timed monitoring. When it is found that the displacement of the foundation pit support structure exceeds the set threshold, corresponding reinforcement measures are taken for prevention. However, due to the discontinuity in time and the inconvenient operation of this method, it is still possible to miss the detection, which may lead to accidents. Therefore, how to automatically, in real time and accurately monitor the deformation of the foundation pit, and remotely transmit the data to the cloud platform server for data analysis, timely discover the foundation pit problems and provide the necessary information for the safe construction diagnosis of the foundation pit, so as to timely discover the problems and take corresponding measures has become an urgent problem to be solved. Summary of the Invention

[0005] Therefore, it is necessary to provide a foundation pit deformation detection method to solve the technical problem that the existing deep foundation pit technology relies on manual monitoring, which cannot detect foundation pit problems in time and causes unnecessary safety accidents. The specific technical solution is as follows:

[0006] A method for detecting foundation pit deformation comprises the following steps:

[0007] Collecting information of a camera device and marked image information disposed in a target foundation pit, and calculating first data based on the information of the camera device and the marked image information;

[0008] again collecting information of a camera device and information of a marking image disposed in the target foundation pit, and calculating second data based on the information of the camera device and the information of the marking image;

[0009] It is determined whether the target foundation pit is deformed according to the first data and the second data.

[0010] Furthermore, before the step of “collecting the camera device information and the marking image information set in the target foundation pit”, the following steps are specifically included:

[0011] Acquiring marker points on a marker image set at different positions of the target foundation pit by using a laser camera set in the target foundation pit, wherein the laser camera includes but is not limited to: a camera, a laser sensor, and an angle sensor, and the number of marker points on each marker image is greater than or equal to three;

[0012] The “collecting camera device information and marking image information set in the target foundation pit” specifically includes the following steps:

[0013] The laser sensor in the laser camera set in the target foundation pit obtains the distance from the laser camera to different marking points on the marking image at different positions;

[0014] The horizontal rotation angle and vertical rotation angle of the laser camera are obtained through the angle sensor;

[0015] The camera device information includes: the horizontal rotation angle of the laser camera and the vertical rotation angle of the laser camera;

[0016] The marking image information includes: the distance from the laser camera to different marking points on the marking image at different positions.

[0017] Furthermore, the “calculating the first data based on the camera device information and the marked image information” or “calculating the second data based on the camera device information and the marked image information” specifically further includes the steps of:

[0018] The volume of a pyramid is calculated, where the position of the camera device is the pyramid vertex and the surface formed by connecting different marked points on each marked image is the base of the pyramid.

[0019] Furthermore, the “calculating the volume of the pyramid” specifically includes the steps of:

[0020] A three-dimensional coordinate system is established with the camera as the origin. The horizontal rotation angle α, vertical rotation angle β, and distance d from the camera to the marker point are given by the horizontal rotation matrix A, vertical rotation matrix B, and distance transformation matrix C. The three-dimensional position coordinate D of the marker point is: D = (AB) -1 C, where

[0021] After the three-dimensional position coordinates of different marking points are calculated, the corresponding pyramid volumes are calculated according to the three-dimensional position coordinates of the different marking points and the origin coordinates of the camera device.

[0022] Furthermore, the “determining whether the target foundation pit is deformed based on the first data and the second data” specifically includes the following steps:

[0023] The first data includes: first pyramid volumes corresponding to different labeled images; the second data includes: second pyramid volumes corresponding to different labeled images;

[0024] All marked images are traversed, and a change value between the second pyramid volume and the first pyramid volume corresponding to the same marked image is compared to see whether it exceeds a preset threshold. If it exceeds the preset threshold, it is determined that the target foundation pit has been deformed.

[0025] Furthermore, the method further comprises the steps of:

[0026] If the target foundation pit is deformed, a corresponding alarm message is sent to the target mobile terminal.

[0027] In order to solve the above technical problems, a foundation pit deformation detection device is also provided. The specific technical solution is as follows:

[0028] A foundation pit deformation detection device, comprising: a camera, a laser sensor, an angle sensor, a pan / tilt head, and a network transmitter;

[0029] The camera is combined with the laser sensor to: obtain different marking points on the marking picture set at different positions of the target foundation pit;

[0030] The laser sensor is further used to: obtain the distance from the camera to different marking points on the marking pictures at different positions;

[0031] The angle sensor is used to obtain the horizontal rotation angle and vertical rotation angle of the camera;

[0032] The network transmitter is used to send the distances between the camera and different marked points on the marked images at different positions and the horizontal rotation angle and vertical rotation angle of the camera to the target server;

[0033] The pan-tilt platform is used to carry the camera, laser sensor, angle sensor and network transmitter.

[0034] In order to solve the above technical problems, a foundation pit deformation detection system is also provided. The specific technical solution is as follows:

[0035] A foundation pit deformation detection system, comprising: a laser camera device and a cloud platform, wherein the laser camera device is communicatively connected to the cloud platform;

[0036] The laser camera device is used to: collect laser camera device information and marked image information set in the target foundation pit, and send the laser camera device information and marked image information to the cloud platform;

[0037] The cloud platform is used to: calculate first data based on the laser camera device information and the marked image information;

[0038] The laser camera device is further used to: collect camera device information and marked image information set in the target foundation pit again, and send the laser camera device information and marked image information to the cloud platform;

[0039] The cloud platform is used to: calculate the second data based on the laser camera device information and the marked image information;

[0040] The cloud platform is further used to determine whether the target foundation pit is deformed based on the first data and the second data.

[0041] Furthermore, the laser camera device includes but is not limited to: a camera, a laser sensor, an angle sensor, a pan / tilt head and a network transmitter;

[0042] The camera is combined with the laser sensor to: obtain different marking points on the marking picture set at different positions of the target foundation pit;

[0043] The laser sensor is further used to: obtain the distance from the camera to different marking points on the marking pictures at different positions;

[0044] The angle sensor is used to obtain the horizontal rotation angle and vertical rotation angle of the camera;

[0045] The laser camera device information includes: the horizontal rotation angle of the camera and the vertical rotation angle of the camera, and the mark image information includes: the distance from the camera to different mark points on the mark image at different positions;

[0046] The network transmitter is used to send the distances between the camera and different marked points on the marked images at different positions and the horizontal rotation angle and vertical rotation angle of the camera to the cloud platform;

[0047] The pan-tilt platform is used to carry the camera, laser sensor, angle sensor and network transmitter.

[0048] Furthermore, the cloud platform is also used to:

[0049] A three-dimensional coordinate system is established with the camera as the origin. The horizontal rotation angle α, vertical rotation angle β, and distance d from the camera to the marker point are the horizontal rotation matrix A, the vertical rotation matrix B, and the distance transformation matrix C. The three-dimensional position coordinate D of the marker point is: D = (AB) -1 C, where

[0050] After calculating the three-dimensional position coordinates of different marking points, the corresponding pyramid volume is calculated according to the three-dimensional position coordinates of the different marking points and the origin coordinates of the camera;

[0051] The pyramid has the position of the camera as the pyramid vertex and the surface formed by connecting different marking points on each marked image as the base of the pyramid.

[0052] The beneficial effects of the present invention are: a foundation pit deformation detection method, comprising the steps of: collecting information from a camera device and a marked image installed in a target foundation pit, and calculating first data based on the camera device information and the marked image information; again collecting information from a camera device and a marked image installed in the target foundation pit, and calculating second data based on the camera device information and the marked image information; and determining whether the target foundation pit has deformed based on the first data and the second data. The above methods are all automatically collected without the need for human intervention, and can monitor whether the foundation pit has deformed in real time. When deformation occurs, the dangerous situation is immediately discovered and an alarm is issued to avoid unnecessary accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a flow chart of a foundation pit deformation detection method described in a specific embodiment;

[0054] Figure 2 Schematic diagram of a module of a foundation pit deformation detection system according to a specific embodiment Figure 1 ;

[0055] Figure 3 Schematic diagram of a module of a foundation pit deformation detection system according to a specific embodiment Figure 2 ;

[0056] Figure 4 This is a module schematic diagram of a foundation pit deformation detection device described in a specific implementation method.

[0057] Description of reference numerals:

[0058] 200. A foundation pit deformation detection system,

[0059] 201. Cloud Platform

[0060] 202. Laser camera device,

[0061] 2021, camera,

[0062] 2022, laser sensors,

[0063] 2023, Angle Sensor,

[0064] 2024, Network Transmitter,

[0065] 2025, Yuntai,

[0066] 400. A foundation pit deformation detection device,

[0067] 401, camera,

[0068] 402, laser sensor,

[0069] 403, angle sensor,

[0070] 404, Network Transmitter,

[0071] 405. PTZ. DETAILED DESCRIPTION

[0072] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0073] See also Figure 1 In this embodiment, a foundation pit deformation detection method can be applied to a foundation pit deformation detection system. The foundation pit deformation detection system includes a laser camera device and a cloud platform, wherein the laser camera device is communicatively connected to the cloud platform. The laser camera device is set at any fixed position within the target foundation pit and includes a camera, a laser sensor, an angle sensor, a pan / tilt head, and a network transmitter.

[0074] A plurality of marking images are also pre-set at different positions in the target foundation pit, and different symbols are set on the marking images, such as a triangle with a digital mark, where the number is used to distinguish different marking images. In the case of a triangle, the three vertices of the triangle can be preferably taken as three marking points, and these marking points are connected to form the bottom surface of the pyramid whose volume is to be calculated below. Therefore, if a total of 10 marking images are set in the target foundation pit, it is necessary to calculate the pyramid volume corresponding to each of the 10 marking images separately. The specific calculation method will be explained below. By setting marking images at multiple points in the target foundation pit, deformation at any position of the target foundation pit can be discovered at the first time to avoid missed detection.

[0075] Therefore, the core technical idea of ​​this application is: by obtaining the camera device information and the marked image information in the target foundation pit twice, calculating the first data and the second data based on the camera device information and the marked image information, and then comparing the two first data and the second data. If the difference between the two is greater than the preset threshold, it means that the target foundation pit has been deformed.

[0076] The following will explain them one by one:

[0077] Step S101: Collecting information about the camera device and the marked image information installed in the target foundation pit. In this embodiment, the camera device takes a laser camera as an example. The laser camera includes, but is not limited to, a camera, a laser sensor, and an angle sensor. Before collecting information about the camera device and the marked image information installed in the target foundation pit, the camera must first assist the laser sensor to accurately capture the marked points on the marked image. The number of marked points on each marked image is greater than or equal to three. The camera device information includes the horizontal rotation angle and the vertical rotation angle of the laser camera. The marked image information includes the distance from the laser camera to different marked points on the marked image at different locations.

[0078] Taking marked images a and b as an example, three marked points (i.e., the three vertices of a triangle) a1, a2, and a3 are captured on marked image a, and three marked points b1, b2, and b3 are captured on marked image b. The distances from the laser camera to a1, a2, and a3 are d1, d2, and d3, respectively, and the distances from the laser camera to b1, b2, and b3 are d4, d5, and d6, respectively.

[0079] After the above parameters are acquired, step S102 is executed: first data is calculated according to the camera device information and the marked image information.

[0080] Step S103: Re-collect the camera information and the marked image information set in the target foundation pit. The re-collection can be performed immediately after the last data collection, that is, real-time collection, or it can be performed at a scheduled time, such as 30 seconds after the last data collection. The results of the two collections are then compared.

[0081] Step S104: Calculate second data according to the camera device information and the marked image information.

[0082] Step S105: determining whether the target foundation pit is deformed based on the first data and the second data.

[0083] In this embodiment, the first data and the second data calculated in the above steps S102 and S104 refer to the volume of the pyramid. In other embodiments, they may also be other values, such as whether the distance from the laser camera to the midpoint of the connecting line between any two marking points changes, etc.

[0084] In this embodiment, the pyramid is defined as having the camera position as its vertex and the base formed by connecting the different marking points on the different marking images. For example, if the base of the pyramid is formed by the surface formed by points a1, a2, and a3, and a pyramid is constructed with camera position C as its vertex, then this pyramid corresponds to the marking image a. Similarly, the pyramid corresponding to the marking icon b is constructed.

[0085] The specific calculation method of the pyramid volume is as follows:

[0086] A three-dimensional coordinate system is established with the camera device as the origin. The horizontal rotation angle α, vertical rotation angle β, and distance d from the camera device to a certain marked point are given by the horizontal rotation matrix A, vertical rotation matrix B, and distance transformation matrix C. The three-dimensional position coordinate D of a certain marked point is: D = (AB) -1 C, where

[0087] Calculate the three-dimensional position coordinates of different markers (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), add the origin coordinates (0, 0, 0), then the volume V of the triangular pyramid is: V=|V|.

[0088] The pyramid volumes corresponding to all the marked images are calculated in the above manner. The pyramid volumes calculated at different time periods are respectively the first data and the second data. For example, the pyramid volumes corresponding to all the marked images calculated at 7:30 on the same day are used as the first data, and the pyramid volumes corresponding to all the marked images calculated at 7:35 immediately thereafter are used as the second data. All the marked images are traversed, and the change between the second pyramid volume and the first pyramid volume corresponding to the same marked image is compared to see if it exceeds the preset threshold. If it exceeds the preset threshold, it is determined that the target foundation pit has deformed. The preset threshold needs to be determined based on the specific conditions of the actual construction site and there is no fixed value.

[0089] Furthermore, if the target pit deforms, a corresponding alarm message is sent to the target mobile terminal. The captured camera information, marked image information, and judgment results are uploaded to a specific server. When the target pit deforms, an alarm is triggered and the corresponding alarm message is sent to the target mobile terminal, such as a mobile phone or pad.

[0090] A method for detecting foundation pit deformation includes the following steps: collecting information from a camera and a marked image installed in a target foundation pit, and calculating first data based on the camera and marked image information; again collecting information from a camera and a marked image installed in the target foundation pit, and calculating second data based on the camera and marked image information; and determining whether the target foundation pit has deformed based on the first and second data. The above method utilizes automatic data collection, requiring no human intervention, and can monitor whether the foundation pit has deformed in real time. When deformation occurs, the danger is immediately detected and an alarm is issued, preventing unnecessary accidents.

[0091] See also Figure 2 and Figure 3 In this embodiment, a specific implementation of a foundation pit deformation detection system 200 is as follows:

[0092] A foundation pit deformation detection system 200 includes: a laser camera device 202 and a cloud platform 201, wherein the laser camera device 202 is communicatively connected to the cloud platform 201;

[0093] The laser camera device 202 is used to: collect information of the laser camera device 202 and marked image information set in the target foundation pit, and send the information of the laser camera device 202 and marked image information to the cloud platform 201;

[0094] The cloud platform 201 is used to calculate first data based on the information of the laser camera device 202 and the marked image information;

[0095] The laser camera device 202 is further used to: collect information of the laser camera device 202 and marked image information set in the target foundation pit again, and send the information of the laser camera device 202 and marked image information to the cloud platform 201;

[0096] The cloud platform 201 is used to calculate the second data based on the information of the laser camera device 202 and the marked image information;

[0097] The cloud platform 201 is further configured to determine whether a target foundation pit has been deformed based on the first data and the second data.

[0098] The laser camera device 202 includes a camera 2021, a laser sensor 2022, an angle sensor 2023, a network transmitter 2024 and a pan / tilt head 2025.

[0099] The camera 221 is combined with the laser sensor 222 to obtain different marking points on the marking pictures set at different positions of the target foundation pit, and the number of marking points on each marking picture is greater than or equal to three;

[0100] The laser sensor 2022 is further used to: obtain the distance from the camera 2021 to different marking points on the marking pictures at different positions;

[0101] The angle sensor 2023 is used to obtain the horizontal rotation angle and vertical rotation angle of the camera 2021;

[0102] The laser camera device information includes: the horizontal rotation angle of the camera 2021 and the vertical rotation angle of the camera 2021, and the marked image information includes: the distance from the camera 2021 to different marked points on the marked pictures at different positions; taking the marked pictures a and b as examples, three marked points (i.e., the three vertices of the triangle) a1, a2, and a3 are captured on the marked picture a, and three marked points b1, b2, and b3 are captured on the marked picture b, where the distances from the camera 2021 to a1, a2, and a3 are d1, d2, and d3 respectively, and the distances from the camera 2021 to b1, b2, and b3 are d4, d5, and d6 respectively.

[0103] The network transmitter 2024 is used to send the distances from the camera 2021 to different marked points on the marked images at different positions and the horizontal rotation angle and vertical rotation angle of the camera 2021 to the cloud platform 201;

[0104] The gimbal 2025 is used to carry the camera 2021 , the laser sensor 2022 , the angle sensor 2023 and the network transmitter 2024 .

[0105] Furthermore, the cloud platform 201 is also used for:

[0106] A three-dimensional coordinate system is established with the camera as the origin. The horizontal rotation angle α, vertical rotation angle β, and distance d from the camera to the marker point are the horizontal rotation matrix A, the vertical rotation matrix B, and the distance transformation matrix C. The three-dimensional position coordinate D of the marker point is: D = (AB) -1 C, where

[0107] After calculating the three-dimensional position coordinates of different marking points, the corresponding pyramid volume is calculated according to the three-dimensional position coordinates of the different marking points and the origin coordinates of the camera;

[0108] The pyramid has the position of the camera 2021 as its vertex, and the surface formed by connecting the different marking points on each marked image as its base. As mentioned above, the surface formed by the three points a1, a2, and a3 is the base of the pyramid, and a pyramid is constructed with the camera position C as its vertex. This pyramid corresponds to the marked image a. Similarly, the pyramid corresponding to the marked icon b is constructed.

[0109] The pyramid volumes corresponding to all the marked images are calculated in the above manner. The pyramid volumes calculated at different time periods are respectively the first data and the second data. For example, the pyramid volumes corresponding to all the marked images calculated at 7:30 on the same day are used as the first data, and the pyramid volumes corresponding to all the marked images calculated at 7:35 immediately thereafter are used as the second data. All the marked images are traversed, and the change between the second pyramid volume and the first pyramid volume corresponding to the same marked image is compared to see if it exceeds a preset threshold. If it exceeds the preset threshold, it is determined that the target foundation pit has deformed. The preset threshold needs to be determined based on the specific conditions of the actual construction site and there is no fixed value.

[0110] Furthermore, if the target foundation pit deforms, the cloud platform 201 sends a corresponding alarm message to the target mobile terminal. The laser camera device 202 collects information, marked image information, and judgment results, and uploads them to the corresponding cloud platform 201. When the target foundation pit deforms, an alarm is triggered and the corresponding alarm message is sent to the target mobile terminal, such as a mobile phone or pad.

[0111] The above system can automatically collect the data required for judging foundation pit deformation without human intervention. It can monitor in real time whether the foundation pit has deformed. When deformation occurs, it will be discovered and an alarm will be issued in the first time to avoid unnecessary accidents.

[0112] See also Figure 4 In this embodiment, a specific implementation of a foundation pit deformation detection device 400 is as follows:

[0113] A foundation pit deformation detection device 400 includes: a camera 401, a laser sensor 402, an angle sensor 403, a pan / tilt 405, and a network transmitter 404;

[0114] The camera 401 is combined with the laser sensor 402 to obtain different marking points on the marking image set at different positions of the target foundation pit;

[0115] The laser sensor 402 is also used to: obtain the distance from the camera 401 to different marking points on the marking pictures at different positions;

[0116] The angle sensor 403 is used to obtain the horizontal rotation angle and vertical rotation angle of the camera 401;

[0117] The network transmitter 404 is used to send the distances between the camera 401 and different marked points on the marked images at different positions and the horizontal rotation angle and vertical rotation angle of the camera 401 to the target server;

[0118] The pan-tilt platform 405 is used to carry the camera 401 , the laser sensor 402 , the angle sensor 403 and the network transmitter 404 .

[0119] The above-mentioned foundation pit deformation detection device 400 can collect the data required to determine whether the target foundation pit is deformed and send it to the target server. The target server can determine whether the target foundation pit is deformed by analyzing these data. The above-mentioned foundation pit deformation detection device 400 replaces manual collection and achieves real-time collection, so that when the target foundation pit is deformed, it can be discovered in the first time and corresponding measures can be taken to avoid unnecessary safety accidents.

[0120] It should be noted that although the above embodiments have been described herein, this does not limit the scope of patent protection of the present invention. Therefore, based on the innovative concept of the present invention, changes and modifications to the embodiments described herein, or equivalent structural or equivalent process transformations made using the contents of the present invention's specification and drawings, and direct or indirect application of the above technical solutions to other related technical fields, are all included in the scope of patent protection of the present invention.

Claims

1. A foundation pit deformation detection device, characterized in that: include: Camera, laser sensor, angle sensor, pan / tilt and network transmitter; The pan-tilt platform is used to carry the camera, laser sensor, angle sensor and network transmitter; The camera is combined with the laser sensor to obtain different marking points on a marking image set at different positions of the target foundation pit, wherein a triangle with a digital mark is set on the marking image, and the three vertices of the triangle serve as three marking points; The laser sensor is further used to: obtain the distance from the camera to different marking points on the marking pictures at different positions; The angle sensor is used to obtain the horizontal rotation angle and vertical rotation angle of the camera; The network transmitter is used to send the distances between the camera and different marked points on the marked images at different positions and the horizontal rotation angle and vertical rotation angle of the camera to the target server. The target server determines whether the target foundation pit is deformed based on these data, including: A three-dimensional space coordinate system is established with the camera as the origin, and the horizontal rotation angle of the camera is , vertical rotation angle The distance from the camera to the marker , the horizontal rotation matrix , vertical rotation matrix , the distance transformation matrix , then the three-dimensional position coordinates of the marker point for: , in ; After calculating the three-dimensional position coordinates of different marking points, the corresponding pyramid volumes are calculated according to the three-dimensional position coordinates of the different marking points and the origin coordinates of the camera, and the pyramid volumes calculated in different time periods are respectively the first data and the second data; The first data includes: first pyramid volumes corresponding to different labeled images; the second data includes: second pyramid volumes corresponding to different labeled images; All marked images are traversed, and a change value between the second pyramid volume and the first pyramid volume corresponding to the same marked image is compared to see whether it exceeds a preset threshold. If it exceeds the preset threshold, it is determined that the target foundation pit has been deformed.

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