A method, apparatus, device, and storage medium for calculating the penetration depth of a penetrating body.

Abstract

A method, apparatus, device, and storage medium for calculating the penetration depth of a driven pile are disclosed. The method includes: acquiring multiple analysis frames of the driven pile within a specified time interval during the driving process, within an image acquisition area; wherein multiple targets are spaced apart along the length of the driven pile within the image acquisition area; acquiring the position information of each target in each analysis frame; obtaining the incremental sinking distance of the driven pile corresponding to each analysis frame based on the position information of each target in each analysis frame; and obtaining the actual sinking distance of the driven pile during the driving process corresponding to each analysis frame based on the incremental sinking distance of the driven pile corresponding to each analysis frame. This method achieves a highly automated replacement of manual observation and measurement, quickly obtaining the penetration depth of the pile. It has advantages such as simple operation, high measurement accuracy, and fast measurement speed, meeting the requirements for real-time dynamic monitoring of penetration depth on-site, and achieving more accurate control over the pile driving penetration depth.

Description

Technical Field

[0001] This application relates to the field of pile driving technology, specifically to a method, apparatus, equipment, and storage medium for calculating the penetration depth of a penetrating body. Background Technology

[0002] The penetration depth of a pile is the difference in elevation between the pile top and the bottom before and after hammering. The penetrating body can be a pile or a steel rod of a certain specification. During the hammer-driven pile driving process, the penetration depth is often too large, making it difficult to determine the standard for stopping the hammer. Therefore, real-time monitoring of the entire pile driving process, including the number of hammer blows, the hammering rate, and the stopping time, is of great significance.

[0003] Currently, during pile driving construction, penetration monitoring typically involves marking lines or placing water gauges on the penetration body, marking according to the scale of a ruler, and observing with the naked eye. However, due to the randomness of human observation, this method cannot guarantee accuracy and cannot meet the requirements for high-precision pile driving construction control. While using leveling instruments, total stations, and displacement sensors can monitor penetration, these methods have strict requirements for equipment accuracy and installation, are inconvenient to operate, inefficient, and have low automation, making them unsuitable for real-time dynamic monitoring on-site. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for calculating the penetration depth of a penetrating body, which can solve the technical problems existing in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for calculating the penetration depth of a penetrating body, employing the following technical solution:

[0006] A method for calculating the penetration depth of a penetrating body, the method comprising:

[0007] Multiple analysis frames of a penetrator within a capture area are acquired at set time intervals during the firing process; wherein, the penetrator within the capture area has multiple targets spaced apart along its length.

[0008] Obtain the position information of each target in each of the analysis screens;

[0009] Based on the position information of each target in each of the analysis screens, the incremental sinking distance of the penetrator corresponding to each analysis screen is obtained;

[0010] Based on the incremental sinking distance of the penetrator corresponding to each of the analysis screens, the actual sinking distance of the penetrator during the firing process corresponding to the multiple analysis screens is obtained.

[0011] In conjunction with the first aspect, in one implementation, obtaining the incremental penetration distance for each analysis screen based on the position information of each target in each analysis screen includes:

[0012] Obtain the set of target position coordinates in two adjacent analysis screens;

[0013] Based on the two sets of position coordinates, the distance cost matrix of the target in two adjacent analysis screens is obtained;

[0014] Based on the distance cost matrix and the set displacement threshold, update the two sets of position coordinates to obtain a set of matching coordinates that correspond one-to-one with each target;

[0015] Based on the two sets of matching coordinates, the incremental sinking distance of the penetrator corresponding to each analysis screen is obtained.

[0016] In conjunction with the first aspect, in one implementation, obtaining the incremental penetration distance of each analysis screen based on the two sets of matching coordinates includes the following steps:

[0017] Based on the two sets of matching coordinates, the initial sinking distance of the target in two adjacent analysis screens is obtained;

[0018] Based on the preset optimization model and the initial sinking distance, the sinking distance increment of the penetrator corresponding to each analysis screen is obtained.

[0019] In conjunction with the first aspect, in one implementation, updating the two sets of position coordinates based on the distance cost matrix and a set of displacement thresholds to obtain a matching coordinate set corresponding to each target includes the following steps:

[0020] Based on the distance cost matrix, select the points in the two sets of position coordinates that can be matched one-to-one with the target as the first set of coordinates;

[0021] Based on the first coordinate set and the set displacement threshold, a target in the first coordinate set whose threshold does not exceed the displacement threshold is selected as the matching coordinate set.

[0022] In conjunction with the first aspect, in one embodiment, the plurality of analyzed frames are frames acquired from video footage of the penetrator's delivery process within the image acquisition area, representing frames at the set time interval.

[0023] In conjunction with the first aspect, in one embodiment, the plurality of targets on the penetrating body within the image acquisition area are some of the targets set on the penetrating body.

[0024] In conjunction with the first aspect, in one embodiment, at least some of the multiple targets on the penetrating body within the image acquisition area are not collinear.

[0025] Secondly, embodiments of this application provide a device for calculating the penetration depth of a penetrating body, using the following technical solution:

[0026] A device for calculating the penetration depth of a penetrating body, the device comprising:

[0027] The acquisition module is configured to acquire multiple analysis frames of the penetrator within the image acquisition area during the firing process at a set time interval; wherein, the penetrator within the image acquisition area is provided with multiple targets at intervals along its length direction.

[0028] The penetration depth acquisition module is configured to acquire the position information of each target in each of the analysis screens; obtain the penetration depth increment corresponding to each analysis screen based on the position information of each target in each of the analysis screens; and obtain the actual penetration depth during the firing process corresponding to the multiple analysis screens based on the penetration depth increment corresponding to each analysis screen.

[0029] Thirdly, embodiments of this application provide a device for calculating the penetration depth of a penetrating body, employing the following technical solution:

[0030] A penetration depth calculation device for a penetrating body includes a processor, a memory, and a penetration depth calculation program for the penetrating body stored in the memory and executable by the processor, wherein when the penetration depth calculation program for the penetrating body is executed by the processor, it implements the steps of the penetration depth calculation method for the penetrating body as described above.

[0031] Fourthly, embodiments of this application provide a storage medium, employing the following technical solution:

[0032] A storage medium storing a penetration depth calculation program for a penetrating body, wherein when the penetration depth calculation program for the penetrating body is executed by a processor, the steps of the penetration depth calculation method for the penetrating body as described above are implemented.

[0033] The beneficial effects of the technical solutions provided in this application include:

[0034] By acquiring multiple analysis frames of the penetrator within the image acquisition area at set time intervals during the driving process, and utilizing the position information of each target provided by each analysis frame, the incremental sinking distance of the penetrator corresponding to two adjacent analysis frames is calculated. Finally, based on the incremental sinking distance of the penetrator corresponding to each analysis frame, the actual sinking distance of the penetrator during the driving process corresponding to the multiple analysis frames is obtained. This achieves a highly automated method to quickly obtain the penetration degree of the pile body. It has the advantages of simple operation, high measurement accuracy, and fast measurement speed, and can meet the requirements of real-time dynamic monitoring of the penetration degree on site, enabling more accurate control of the penetration degree during the pile driving process. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating an embodiment of the method for calculating the penetration depth of the penetrator in this application.

[0036] Figure 2 This is a schematic diagram of the functional modules of an embodiment of the penetration depth calculation device for the penetrating body of this application.

[0037] Figure 3 This is a schematic diagram of the hardware structure of the penetration depth calculation device for the penetrating body involved in the embodiments of this application. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0039] The penetration depth of a pile is the difference in elevation between the pile top and the bottom before and after hammering. The penetrating body can be a pile or a steel rod of a certain specification. During the hammer-driven pile driving process, the penetration depth is often too large, making it difficult to determine the standard for stopping the hammer. Therefore, real-time monitoring of the entire pile driving process, including the number of hammer blows, the hammering rate, and the stopping time, is of great significance.

[0040] Currently, during pile driving construction, penetration monitoring typically involves marking lines or placing water gauges on the penetration body, marking according to the scale of a ruler, and observing with the naked eye. However, due to the randomness of human observation, this method cannot guarantee accuracy and cannot meet the requirements for high-precision pile driving construction control. While using leveling instruments, total stations, and displacement sensors can monitor penetration, these methods have strict requirements for equipment accuracy and installation, are inconvenient to operate, inefficient, and have low automation, making them unsuitable for real-time dynamic monitoring on-site.

[0041] To address the aforementioned issues, this invention proposes a method, apparatus, device, and storage medium for calculating the penetration depth of a pile. The key feature of this invention lies in acquiring multiple analysis frames of the pile within a set time interval during the driving process, using the positional information of each target provided by each analysis frame, calculating the incremental sinking distance of the pile corresponding to two adjacent analysis frames, and finally obtaining the actual sinking distance of the pile during the driving process based on the incremental sinking distance of the pile corresponding to each analysis frame. This achieves a highly automated and rapid method for obtaining the penetration depth of the pile, offering advantages such as simple operation, high measurement accuracy, and fast measurement speed. It meets the requirements for real-time dynamic monitoring of penetration depth on-site, enabling precise control of the penetration depth during pile driving.

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0043] In a first aspect, embodiments of this application provide a method for calculating the penetration depth of a penetrating body.

[0044] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the method for calculating the penetration depth of the penetrating body according to this application. Figure 1 As shown, the method for calculating the penetration depth of a penetrating body includes:

[0045] S100: Acquire multiple analysis frames of the penetrator within the image acquisition area during the firing process at a set time interval; wherein, the penetrator within the image acquisition area is provided with multiple targets at intervals along its length direction;

[0046] S200: Obtain the position information of each target in each of the analysis screens;

[0047] S300. Based on the position information of each target in each of the analysis screens, obtain the incremental sinking distance of the penetrator corresponding to each analysis screen;

[0048] S400. Based on the incremental sinking distance of the penetrator corresponding to each analysis screen, the actual sinking distance of the penetrator during the firing process corresponding to the multiple analysis screens is obtained.

[0049] Specifically, before performing the aforementioned penetration depth calculation method for the driven body, multiple highly reflective targets need to be affixed to the driven body (such as a precast pile). The targets are distributed along the length of the pile, and the lines connecting the targets do not need to be parallel to the edge of the driven pile. That is, at least some of the targets on the driven body within the image acquisition area should not be collinear, and the targets should be evenly spaced, for example, at a spacing of 1.5m. Next, an industrial camera is positioned on one side of the precast pile, with the side of the precast pile with the targets facing the camera, ensuring the camera's field of view is directly facing the targets. The industrial camera is mounted on a tripod ball head and leveled using a horizontal ball. Then, the camera's lens focal length, aperture, exposure time, and gain are adjusted to obtain a clear image of the targets. At least two target points should be visible within the field of view.

[0050] For the video footage of the penetrator during the firing process within the image capture area recorded in real time by the camera, this application uses frames of the video footage at set time intervals as analysis frames for real-time monitoring of penetration. Specifically, consecutive frames of the recorded video footage are used as multiple analysis frames.

[0051] Cameras typically have a small field of view, and the precast piles used as penetrations are relatively long. Therefore, cameras can usually only see a small portion of the precast piles, and thus can only capture images of a portion of the targets set on the penetration. To achieve high-precision measurement, in this embodiment, step S300, which involves obtaining the penetration sinking distance increment corresponding to each analysis image based on the position information of each target in each analysis image, includes the following steps:

[0052] S310. Obtain the set of target position coordinates in two adjacent analysis screens;

[0053] For example, the set of target position coordinates recorded in the analysis frame of the previous frame is P = {(x i ,y i ), i∈N *}, the set of target position coordinates within the analysis frame of the next frame is Q={(x j ,y j ),j∈N *}

[0054] S320. Based on the two sets of position coordinates, obtain the distance cost matrix of the target in two adjacent analysis screens;

[0055] For example, calculate the distance cost matrix D of the distance traveled between points P and Q in reactions;

[0056] S330. Based on the distance cost matrix and the set displacement threshold, update the two sets of position coordinates to obtain a set of matching coordinates that correspond one-to-one with each target.

[0057] Specifically, step S330 includes:

[0058] S331. Based on the distance cost matrix, select the points in the two sets of position coordinates that can be corresponded one-to-one with the target as the first set of coordinates.

[0059] For example, the points in sets P and Q are matched one by one according to the distance cost matrix D, the unmatched points are discarded, and sets P and Q are updated. The updated sets P and Q are used as the two first coordinate sets.

[0060] S332. Based on the first coordinate set and the set displacement threshold, select the only target in the first coordinate set whose threshold does not exceed the displacement threshold as the matching coordinate set;

[0061] For example, based on the set displacement threshold F of the same target point in previous and subsequent frames, target points that are greater than the displacement threshold are discarded from the first coordinate set, the first coordinate set is updated, and two matching coordinate sets corresponding to the P and Q sets are obtained.

[0062] S340. Based on the two sets of matching coordinates, obtain the incremental sinking distance of the penetrator corresponding to each analysis screen.

[0063] This setup allows for the successful identification of the corresponding target set in two analysis screens, even when the target objects are not entirely identical. It also enables the determination of the incremental penetration distance between adjacent analysis screens, facilitating the subsequent calculation of the overall penetration depth of the penetrator.

[0064] Further, step S340, obtaining the actual sinking distance of the penetrator during the firing process corresponding to the multiple analysis screens based on the incremental sinking distance of the penetrator corresponding to each analysis screen, includes the following steps:

[0065] S341. Based on the two sets of matching coordinates, obtain the initial sinking distance of the target in two adjacent analysis screens;

[0066] Specifically, the vertical component of the target is calculated from the matching coordinate set corresponding to each of the P and Q sets. For targets greater than 1, the average value is taken as the pixel displacement d. The pixel displacement d is multiplied by the pre-measured conversion coefficient s to obtain the initial sinking distance p of the target in the analysis image.

[0067] S342. Based on the preset optimization model and the initial sinking distance, obtain the sinking distance increment of the penetrator corresponding to each analysis screen. Specifically, perform Kalman filtering on the initial sinking distance p to obtain a more accurate sinking distance increment of the penetrator.

[0068] Finally, after obtaining the incremental sinking distance of the penetrator corresponding to each analysis screen through step S342, it can be accumulated in step S400 to obtain the actual sinking distance of the penetrator during the current multiple analysis screens. Finally, the actual sinking distance is output so that the operator can keep track of the current penetration degree of the penetrator in real time.

[0069] Secondly, embodiments of this application also provide a device for calculating the penetration depth of a penetrating body.

[0070] In one embodiment, reference is made to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the penetration depth calculation device for the penetration body of this application. Figure 2 As shown, the penetration depth calculation device for the penetrator includes:

[0071] The acquisition module is configured to acquire multiple analysis frames of the penetrator within the image acquisition area during the firing process at a set time interval; wherein, the penetrator within the image acquisition area is provided with multiple targets at intervals along its length direction.

[0072] The penetration depth acquisition module is configured to acquire the position information of each target in each of the analysis screens; obtain the penetration depth increment corresponding to each analysis screen based on the position information of each target in each of the analysis screens; and obtain the actual penetration depth during the firing process corresponding to the multiple analysis screens based on the penetration depth increment corresponding to each analysis screen.

[0073] Further, in one embodiment, when the penetration depth calculation device obtains the penetration depth acquisition module for each analysis screen based on the position information of each target in each analysis screen, it includes:

[0074] Obtain the set of target position coordinates in two adjacent analysis screens;

[0075] Based on the two sets of position coordinates, the distance cost matrix of the target in two adjacent analysis screens is obtained;

[0076] Based on the distance cost matrix and the set displacement threshold, update the two sets of position coordinates to obtain a set of matching coordinates that correspond one-to-one with each target;

[0077] Based on the two sets of matching coordinates, the incremental sinking distance of the penetrator corresponding to each analysis screen is obtained.

[0078] Furthermore, in one embodiment, the penetration depth acquisition module in the penetration depth calculation device, when obtaining the penetration depth increment of the penetrating body corresponding to each analysis screen based on the two matching coordinate sets, includes the following steps:

[0079] Based on the two sets of matching coordinates, the initial sinking distance of the target in two adjacent analysis screens is obtained;

[0080] Based on the preset optimization model and the initial sinking distance, the sinking distance increment of the penetrator corresponding to each analysis screen is obtained.

[0081] Furthermore, in one embodiment, the penetration degree acquisition module in the penetration degree calculation device of the penetrator, when updating the two sets of position coordinates according to the distance cost matrix and the set displacement threshold to obtain the matching coordinate set corresponding to each target, includes the following steps:

[0082] Based on the distance cost matrix, select the points in the two sets of position coordinates that can be matched one-to-one with the target as the first set of coordinates;

[0083] Based on the first coordinate set and the set displacement threshold, a target in the first coordinate set whose threshold does not exceed the displacement threshold is selected as the matching coordinate set.

[0084] The functions of each module in the aforementioned penetration depth calculation device correspond to the steps in the aforementioned penetration depth calculation method embodiment, and their functions and implementation processes will not be described in detail here.

[0085] Thirdly, embodiments of this application provide a penetration depth calculation device for a penetration body. The penetration depth calculation device for a penetration body can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0086] Reference Figure 3 , Figure 3 This is a schematic diagram of the hardware structure of the penetration depth calculation device for a penetrating body involved in the embodiments of this application. In the embodiments of this application, the penetration depth calculation device for a penetrating body may include a processor, a memory, a communication interface, and a communication bus.

[0087] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0088] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting devices within the penetration depth calculation device, as well as interfaces used for interconnecting the penetration depth calculation device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0089] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0090] The processor can be a general-purpose processor, which can call the penetration depth calculation program of the penetration body stored in the memory and execute the penetration depth calculation method of the penetration body provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the penetration depth calculation program of the penetration body is called can refer to the various embodiments of the penetration depth calculation method of the penetration body in this application, and will not be repeated here.

[0091] Those skilled in the art will understand that Figure 3 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0092] Fourthly, embodiments of this application also provide a storage medium.

[0093] The storage medium of this application stores a penetration depth calculation program for a penetrating body, wherein when the penetration depth calculation program for a penetrating body is executed by a processor, the steps of the penetration depth calculation method for a penetrating body as described above are implemented.

[0094] The method implemented when the penetration depth calculation program of the penetrating body is executed can refer to the various embodiments of the penetration depth calculation method of the penetrating body in this application, and will not be repeated here.

[0095] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0096] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0097] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0098] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0099] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0100] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0101] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method of calculating the penetration of a penetration body, characterized by, The method for calculating the penetration degree of the penetrating body comprises: obtaining a plurality of analysis pictures of the penetrating body in the picture acquisition region with respect to a set time interval during the driving process; wherein the penetrating body in the picture acquisition region is provided with a plurality of targets at intervals in the length direction thereof; obtaining position information of each target in each analysis picture; obtaining a sinking distance increment of the penetrating body corresponding to each analysis picture according to the position information of each target in each analysis picture; obtaining an actual sinking distance of the penetrating body in the driving process corresponding to the plurality of analysis pictures according to the sinking distance increment of the penetrating body corresponding to each analysis picture; the method for obtaining the sinking distance increment of the penetrating body corresponding to each analysis picture according to the position information of each target in each analysis picture comprises: obtaining a position coordinate set of the targets in two adjacent analysis pictures; obtaining a distance cost matrix of the targets in two adjacent analysis pictures according to two position coordinate sets; updating two position coordinate sets according to the distance cost matrix and a set displacement threshold value to obtain a matching coordinate set corresponding to one-to-one matching of each target; obtaining a sinking distance increment of the penetrating body corresponding to each analysis picture according to two matching coordinate sets; at least part of the targets on the penetrating body in the picture acquisition region are not collinear.

2. The method of calculating the penetration of a penetrator according to claim 1, wherein the method for obtaining the sinking distance increment of the penetrating body corresponding to each analysis picture according to two matching coordinate sets comprises the following steps: obtaining an initial sinking distance of the targets in two adjacent analysis pictures according to two matching coordinate sets; obtaining a sinking distance increment of the penetrating body corresponding to each analysis picture according to a preset optimization model and the initial sinking distance.

3. The method of claim 1, wherein the method is characterized by: the method for updating two position coordinate sets according to the distance cost matrix and a set displacement threshold value to obtain a matching coordinate set corresponding to one-to-one matching of each target comprises the following steps: selecting targets in two position coordinate sets that can be one-to-one corresponding points as a first coordinate set according to the distance cost matrix; selecting targets in the first coordinate set as a matching coordinate set according to the first coordinate set and a set displacement threshold value, wherein the only threshold value of the targets in the first coordinate set does not exceed the displacement threshold value.

4. The method of claim 1, wherein the method is characterized by: The plurality of analysis pictures are frame pictures obtained from video pictures of the driving process of the penetrating body in the picture acquisition region with respect to the set time interval.

5. The method of claim 1, wherein the method is characterized by: The plurality of targets on the penetrating body in the picture acquisition region are part of the targets arranged on the penetrating body.

6. An apparatus for calculating the penetration of a penetration body using the method of calculating the penetration of a penetration body according to any one of claims 1 to 5, characterized by The device for calculating the penetration degree of the penetrating body comprises: an obtaining module configured to obtain a plurality of analysis pictures of the penetrating body in the picture acquisition region with respect to a set time interval during the driving process; wherein the penetrating body in the picture acquisition region is provided with a plurality of targets at intervals in the length direction thereof; The penetration acquisition module is configured to acquire position information of each target in each of the analysis pictures; obtain a penetration body sinking distance increment corresponding to each analysis picture according to the position information of each target in each of the analysis pictures; and obtain an actual sinking distance of the penetration body in the driving process corresponding to the multiple analysis pictures according to the penetration body sinking distance increments corresponding to the multiple analysis pictures.

7. An apparatus for calculating a penetration depth of a penetrator, comprising: The penetration calculation device of the penetration body comprises a processor, a memory, and a penetration calculation program of the penetration body stored on the memory and executable by the processor, wherein when the penetration calculation program of the penetration body is executed by the processor, the steps of the penetration calculation method of the penetration body according to any one of claims 1 to 5 are implemented.

8. A storage medium, characterized by The storage medium stores a penetration calculation program of the penetration body, wherein when the penetration calculation program of the penetration body is executed by the processor, the steps of the penetration calculation method of the penetration body according to any one of claims 1 to 5 are implemented.

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