Bridge settlement multi-point monitoring system and monitoring method

Abstract

The invention belongs to the technical field of bridge monitoring, and discloses a multi-point monitoring system and monitoring method for bridge settlement. The monitoring device comprises an optical unit which is used for converging and deflecting received laser beams and imaging on a receiving unit to form light spots; the receiving unit is arranged on one side of the optical unit, and the distance between the receiving unit and the optical unit is larger than two times of the focal length of the optical unit; and the detection unit is used for calculating the displacement of the light spot according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is located at the initial position, and obtaining the settlement of the corresponding monitoring point according to the displacement of the light spot. According to the invention, the problem of inaccurate measurement caused by laser beam divergence in long-distance laser transmission is well solved, the displacement of the light spot on the receiving unit can be multiplied by the displacement of the laser light source, and the measurement precision of the settlement of the bridge monitoring point is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of bridge monitoring, and in particular relates to a bridge settlement multi-point monitoring system and a monitoring method. Background Art

[0002] Bridge settlement monitoring plays an important role in ensuring the safety of bridges. Currently, bridge settlement monitoring usually adopts laser monitoring method, which measures the deformation of the bridge by monitoring the change of laser position. Since laser will diverge during long-distance transmission and the deformation of the bridge is often small, it is often difficult to accurately monitor the deformation of the bridge. Summary of the invention

[0003] The object of the present invention is to provide a multi-point monitoring system and method for bridge settlement, so as to solve the problems existing in long-distance monitoring of bridge settlement.

[0004] The present invention is achieved through the following technical solutions: Bridge settlement multi-point monitoring system, including: The laser light sources are arranged at each monitoring point of the bridge, and the laser light sources at each monitoring point are arranged in the direction where the monitoring device is located, so that the laser beams emitted by the laser light sources can be received by the monitoring device; Monitoring equipment, including: An optical unit, used for converging and deflecting the received laser beam and imaging it on the receiving unit to form a light spot; A receiving unit is arranged at one side of the optical unit, and a distance between the receiving unit and the optical unit is greater than twice the focal length of the optical unit; The detection unit calculates the displacement of the light spot according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and obtains the settlement amount of the corresponding monitoring point according to the displacement of the light spot.

[0005] In some embodiments, the optical unit is a Fresnel lens.

[0006] In some embodiments, a laser processing unit is also included. The laser processing unit is arranged on the optical path of the laser light source and is used to focus the laser beam and focus the laser beam to form an image at the position where the optical unit is located.

[0007] In some embodiments, a light source identification unit is also included, which is used to identify the laser beam of the laser light source at each monitoring point, so that the detection unit can identify the light spot and associate different light spots on the receiving unit with the corresponding monitoring points.

[0008] In some embodiments, the light source identification unit is a filter with different colors arranged on the light paths of different laser light sources; and / or The light source identification unit is a marking plate with different patterns arranged on the optical path of the laser light source. When the laser beam passes through the pattern on the marking plate, a light spot with a corresponding pattern can be obtained on the receiving unit; The detection unit associates the light spot on the receiving unit with the corresponding monitoring point by identifying the color of the light spot image or the pattern of the light spot image.

[0009] In some embodiments, the light source identification unit is a laser modulation module provided on different laser light sources, and the laser modulation module is used to modulate the laser beam to have different modulation frequencies; The detection unit identifies the light spots on the receiving unit according to the modulation frequency of the light spots, and associates each light spot with the corresponding monitoring point.

[0010] In some embodiments, the laser light source is disposed on a posture adjustment unit, and the posture adjustment unit is capable of adjusting the laser light source to always maintain a fixed angle with the horizontal plane and / or adjusting the laser beam of the laser light source to always maintain the same incident angle to the monitoring device; The detection unit calculates the settlement amount of the corresponding monitoring point according to the adjustment data of the laser light source obtained by the posture adjustment unit and the displacement of the light spot.

[0011] On the other hand, the present invention also provides a monitoring method based on the bridge settlement multi-point monitoring system, comprising the following steps: Control the laser light sources at each monitoring point to emit laser beams to the monitoring device in sequence; The displacement of the light spot is calculated according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and the settlement amount of each corresponding monitoring point is obtained according to the displacement of the light spot.

[0012] On the other hand, the present invention also provides a monitoring method based on the bridge settlement multi-point monitoring system, comprising the following steps: Control the laser light sources at each monitoring point to simultaneously emit laser beams to the monitoring device; Identify different light spots on the receiving unit and associate each light spot with the corresponding monitoring point; The displacement of each light spot is calculated according to the position of each light spot on the current receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and the settlement amount of each monitoring point is obtained according to the displacement of each light spot.

[0013] On the other hand, the present invention also provides a monitoring method based on the bridge settlement multi-point monitoring system, comprising the following steps: Control the laser light sources at each monitoring point to emit laser beams to the monitoring device sequentially or simultaneously; Calculate the displacement of each light spot according to the position of each light spot on the current receiving unit and the position of the light spot on the receiving unit when the laser light source is located at the initial position; The settlement amount of each monitoring point is calculated according to the adjustment data of the laser light source by the posture adjustment unit and the displacement of the light spot; When the laser light sources at various monitoring points emit laser beams simultaneously, the method further includes the steps of identifying different light spots on the receiving unit and associating each light spot with the corresponding monitoring point.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: The monitoring system of the present invention adopts an optical unit to converge and deflect the laser light beam, and forms a light spot on the receiving unit for imaging, which effectively solves the problem of inaccurate measurement caused by the large size of the light spot on the receiving unit due to the divergence of the laser beam during long-distance laser transmission; and by setting the distance between the receiving unit and the optical unit, the displacement of the light spot on the receiving unit can be multiplied by the displacement of the laser light source, thereby improving the measurement accuracy of the settlement of the bridge monitoring point.

[0015] The system sets a laser processing unit at one end of the laser light source. The laser beam is processed by the laser processing unit at the front end, and the laser beam is focused and imaged at the optical unit, which effectively solves the problem of beam divergence during long-distance transmission of the laser beam. At the same time, by focusing the beam, the influence of thermal noise on the beam path is solved, and the problem of light spot jumping on the receiving unit is well solved, thereby improving the measurement accuracy of laser long-distance measurement.

[0016] A light source identification unit is set in the system. By identifying the laser beam of the laser light source at each monitoring point and identifying the source of the laser light source at the receiving end, the light spot data can be automatically associated with the monitoring point. Therefore, the settlement conditions of each corresponding monitoring point can be automatically obtained according to the light spot data, thereby realizing automatic monitoring of multiple points of the bridge and simultaneous monitoring of multiple monitoring points, thereby improving the monitoring efficiency.

[0017] In the system, a posture adjustment unit is arranged at one end of the laser light source. The posture adjustment unit detects the posture state of the laser light source and controls the posture of the laser light source, so that the posture of the laser light source always remains the same as the initial posture setting state, so that the incident angle of the laser light beam of the laser light source always remains unchanged and the laser light source can always be kept in a horizontal state. This can well solve the problem that when deformation or displacement in directions other than vertical settlement occurs at the monitoring point, the incident angle of the laser beam changes, affecting the accurate monitoring of settlement. It can well ensure the calculation accuracy of the spot displacement and realize accurate monitoring of bridge settlement under various working conditions.

[0018] By controlling the position of the laser light source and obtaining the motion data of the laser light source during the position adjustment process, when calculating the settlement of the monitoring point through the spot displacement, the position adjustment motion parameters of the laser light source are introduced to achieve accurate measurement of the actual settlement of the monitoring point under different settlement deformation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 Schematic diagram of a monitoring system in an embodiment of the present invention.

[0021] Figure 2 This is a measurement principle diagram of a monitoring system according to an embodiment of the present invention.

[0022] Figure 3 Schematic diagram of the structure principle of the laser processing unit in the monitoring system of an embodiment of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of a laser emitting device in a monitoring system according to an embodiment of the present invention.

[0024] Figure 5 This is a control principle diagram of the posture adjustment unit in the monitoring system according to an embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of an implementation scheme of a posture adjustment unit in a monitoring system according to an embodiment of the present invention.

[0026] in: 10. laser emitting device, 11. laser light source, 12. laser processing unit, 13. marking plate; 20. Monitoring device, 21. Optical unit, 22. Receiving unit; 31. pan / tilt head, 32. rotating motor, 33. pitch motor, 34. base, 35. turntable, 36. first inclination sensor, 37. second inclination sensor, 38. support, 39. control unit. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0028] When using laser for deformation and settlement monitoring, the laser beam will diverge during long-distance transmission, making the size of the light spot received at the receiving end larger, resulting in inaccurate measurement when measuring the displacement of the light spot.

[0029] Since the deformation and settlement of bridges and other objects are often small, usually in the millimeter or sub-millimeter level, it is often difficult to accurately measure the displacement of such a small light spot at the receiving end, further affecting the accurate measurement of bridge settlement.

[0030] When using a laser light source for measurement, the heat generated by the laser during operation will cause thermal noise, which will interfere with the detection accuracy and affect the focusing performance and stability of the laser beam. This will cause the light spot at the receiving end to jump during long-distance transmission measurement, affecting the accuracy and precision of the measurement.

[0031] In view of the above problems, a multi-point monitoring system for bridge settlement is provided in some embodiments of the present invention. Figure 1 and Figure 2 , the bridge settlement multi-point monitoring system includes: Laser light source 11; the laser light source 11 is respectively arranged at each monitoring point of the bridge, and the laser light source at each monitoring point is respectively arranged in the direction where the monitoring device is located, so that the laser beam emitted by the laser light source can be received by the monitoring device.

[0032] Laser light sources are installed at multiple key detection points of the bridge (such as piers and bearing points) to realize settlement monitoring at key monitoring points.

[0033] Monitoring device 20: The monitoring device 20 is arranged at a position relative to the monitoring points on the bridge, and measures the displacement of the laser light source by receiving the laser light beam emitted by the laser light source at each monitoring point, thereby obtaining the settlement amount of each monitoring point. In order to be able to receive each laser light source at each monitoring point and to be able to image on the monitoring device, the monitoring device and the bridge are usually set to have a large distance, such as 10-100m or more, depending on the number of monitoring points to be monitored on the bridge and the spacing between the monitoring points.

[0034] Specifically, the monitoring device 20 includes: The optical unit 21 is used to converge and deflect the received laser beam and form an image on the receiving unit to form a light spot; The receiving unit 22 is arranged at one side of the optical unit, and the distance between the receiving unit and the optical unit is greater than twice the focal length of the optical unit, so that the displacement of the light spot on the receiving unit can amplify the displacement of the laser beam; The detection unit calculates the displacement of the light spot according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and obtains the settlement amount of the corresponding monitoring point according to the displacement of the light spot.

[0035] In order to measure the settlement and deformation of multiple monitoring points in the longitudinal direction of the bridge, the monitoring device needs to be able to receive and cover the laser beams of multiple laser light sources set up on a larger span at one position, and be able to image the laser light sources on the receiving unit of the monitoring device. Therefore, the monitoring device is usually set at a farther position.

[0036] However, when the laser is transmitted over long distances, the divergence of the laser beam causes the image size on the receiving unit to be larger, which affects the measurement of the light spot displacement and thus the accurate measurement of the sedimentation. Here, an optical unit is used to converge the laser beam to reduce the size of the light spot imaged on the receiving unit, thus solving the problem of inaccurate measurement caused by the large size of the light spot on the receiving unit due to the divergence of the laser beam during long-distance laser transmission.

[0037] At the same time, by setting the distance between the receiving unit and the optical unit, the displacement of the light spot on the receiving unit can multiply the displacement of the laser light source, thereby improving the measurement accuracy of the settlement of the bridge monitoring point.

[0038] In some embodiments, the optical unit may use a convex lens or a Fresnel lens with similar functions that can focus light. A lens with focusing function is used to converge and focus the laser beam, reduce the size of the spot formed by the laser beam, and improve the measurement accuracy of the spot displacement.

[0039] In some embodiments, the receiving unit may use a photodetector. When the light spot is imaged on the target surface of the photodetector, the photodetector converts the output into an electrical signal. At this time, the detection unit can obtain the current position of the light spot on the target surface based on the electrical signal output by the photodetector. By comparing the current position of the light spot and the position of the light spot on the receiving unit when the laser light source is at the initial position, the displacement of the light spot can be calculated.

[0040] The laser light source is located at the initial position, which means the monitoring point is located at the position when no settlement deformation occurs. After setting up each laser light source on the bridge, the spot position of the laser light source on the receiving unit is measured, and the spot position data is stored as the initial data. In the subsequent settlement monitoring, the current spot position data is compared with the initial data to calculate the displacement of the spot.

[0041] In some embodiments, the receiving unit may use a receiving screen and a camera, the camera is used to obtain an image of the light spot on the receiving screen; the detection unit calculates the position of the light spot on the receiving screen based on the obtained image of the light spot on the receiving screen.

[0042] Reference Figure 2 In the imaging optical path shown in , when the monitoring point settles, the position of the laser light source changes by an amount H, which corresponds to moving downward from the solid line position to the dotted line position in the figure; accordingly, the position of the light spot formed by the laser light source focusing on the receiving unit through the optical unit changes by an amount H1. Since the spacing L between the receiving unit and the optical unit is greater than twice the focal length f of the optical unit, according to the imaging principle of the lens optical path, the displacement of the laser light source is amplified on the receiving unit, and the deformation H of the laser light source can be calculated based on L, f and H1, so that the settlement of the monitoring point corresponding to the laser light source can be obtained.

[0043] In order to address the problems of beam divergence and spot position jump caused by thermal noise during long-distance transmission of laser light sources, in some embodiments, the monitoring system also includes a laser processing unit, which is arranged at the transmitting end of the laser light source and is used to focus the laser beam and focus the laser beam to form an image at the position of the optical unit.

[0044] Reference Figure 3 The laser processing unit can use two groups of lenses arranged in sequence to focus the laser beam separately through the two groups of lenses, and focus the laser beam on the position of the optical unit to form an image, control the jump of the light spot within the focus point, and reduce the influence of thermal noise on the beam path.

[0045] Among them, both groups of lenses are convex lenses.

[0046] Using a laser processing unit to process the laser beam at the front end can well ensure the collimation and focusing of the laser beam at a long distance, reduce the divergence of the beam, and at the same time avoid the influence of thermal noise generated by the laser light source on the beam path, ensure the stability and uniformity of the beam, and improve the accuracy of detection and measurement.

[0047] When the above-mentioned monitoring system is used to monitor and measure multiple monitoring points on a bridge, the control center can control each laser light source to emit lasers to the monitoring device in turn. For example, the interval time between each laser light source emitting a laser beam is 5s. At the same time, the control center receives the spot position data of the detection unit, and can associate the spot position data with the corresponding laser light source, thereby realizing the monitoring of the settlement of multiple monitoring points.

[0048] When this method is used for monitoring and measurement, due to the intervals between the emission of the laser light sources, when there are many monitoring points, it takes a long time to complete one monitoring, and it is impossible to achieve synchronous monitoring of multiple monitoring points.

[0049] In order to meet the need for synchronous monitoring of all monitoring points in some scenarios, in some embodiments, the monitoring system also includes a light source identification unit, which is used to identify the laser beam of the laser light source at each monitoring point, so that the detection unit can identify the light spot and associate different light spots on the receiving unit with the corresponding monitoring points.

[0050] The light source identification unit uses filters with different colors set on the optical path of the emitting end of different laser light sources. The filter uses a laser filter with high color rendering to reduce the impact on the light intensity, so that the light spot formed by the light beam of the laser light source at each monitoring point on the receiving unit has a different color and the uniqueness of the color of each light spot is guaranteed.

[0051] The receiving unit adopts a high-resolution camera that supports multiple channels and utilizes a multi-channel color resolution module (such as three-primary color spectrometry or a multi-band sensor). The camera automatically captures the color graphics of the light spot on the receiving screen.

[0052] The detection unit identifies different light spots on the receiving unit by identifying the color of the light spot image. The light spot image can be processed by an image processing algorithm, which is based on the HSV (hue-saturation-brightness) or RGB space segmentation method, and automatically detects and marks the coordinates of light spots of different colors by color difference. For example, an open source image processing library (such as OpenCV) is used to generate a processing program, which can calculate the coordinates of the light spots of various colors identified in the image, and associate and match the colors with the corresponding monitoring points to achieve the association between the light spots and the corresponding monitoring points.

[0053] Based on the association between different light spots and various monitoring points, the laser light sources at various monitoring points can be controlled to emit laser beams simultaneously, and synchronous monitoring of all monitoring points can be achieved by detecting the position of each light spot.

[0054] To account for the difference in light between night and day, ambient light calibration can be performed or a light shield can be set up in front of the monitoring device.

[0055] In order to ensure the accuracy and stability of image processing, the imaging spot image can be sampled multiple times to reduce the interference caused by image color.

[0056] In some embodiments, the light source identification unit may be provided with a marking plate 13 with different patterns on the optical path of the emission end of each laser light source. When the laser beam passes through the pattern on the marking plate 13, a light spot with a corresponding pattern can be obtained on the receiving unit.

[0057] At this time, the detection unit identifies different light spots on the receiving unit by identifying the pattern of the light spot image, thereby establishing an association between each light spot on the receiving unit and the corresponding monitoring point.

[0058] by Figure 4 Taking the laser emitting device 10 shown in the figure as an example, the laser emitting device 10 includes a laser as a laser light source 11, a laser processing unit 12 and a marking plate 13, and the laser light source 11, the laser processing unit 12 and the marking plate 13 are arranged in sequence along the optical path. The laser processing unit is used to focus the laser beam emitted by the laser, and the marking plate adopts an opaque plastic plate, on which a pattern of a specific shape is processed, and the position of the pattern can allow light to pass; when the laser beam passes through the pattern on the marking plate, a light spot with a corresponding pattern can be obtained on the receiving unit.

[0059] In some embodiments, the light source identification unit may use laser modulation modules disposed on different laser light sources, and the laser modulation modules are used to modulate the laser beams to have different modulation frequencies.

[0060] For example, a laser modulation module is used to perform high-frequency modulation on the laser signal at different frequencies such as 1000Hz, 2000Hz, 3000Hz, etc., so that the laser beam has different modulation frequencies. The modulation frequencies of each laser light source should differ by at least 500Hz to facilitate identification by the back-end monitoring device.

[0061] Accordingly, the receiving unit adopts a photoelectric sensor with a high-speed sampling function or a camera with a demodulation function, detects the light signal through a photodiode, and converts the adjustment signal into an electrical signal.

[0062] The detection unit identifies the monitoring points corresponding to different light spots on the receiving unit according to the modulation frequency characteristics of the light spots, and establishes associations between different light spots on the receiving unit and the corresponding monitoring points.

[0063] The laser beam modulation frequency is demodulated. The demodulation algorithm can use fast Fourier transform (FFT) to extract the frequency characteristics of each light spot and automatically match each monitoring point according to the frequency characteristics of the light spot.

[0064] To improve the accuracy of monitoring and identification, hardware low-pass filtering can be used to reduce high-frequency noise interference, and digital filtering can be used to remove the influence of background light and other stray light.

[0065] In some embodiments, the light source identification unit may adopt a combination of a filter, a marking plate and a laser modulation module so that the laser beam has a combination of different colors, different patterns and different modulation frequencies; accordingly, the detection unit of the monitoring device recognizes different light spots through the recognition of colors, patterns and modulation frequencies, and associates the light spots with the corresponding monitoring points.

[0066] In the above-mentioned embodiment, the method of amplifying the displacement of the laser beam is used to realize the accurate measurement of the settlement amount of each monitoring point. In this measurement method, it is assumed that the bridge only settles in the vertical direction. However, in actual application conditions, the deformation of the bridge at the monitoring point may be in multiple directions, and the settlement of the bridge in the vertical direction is only one aspect of it.

[0067] When the bridge is displaced in multiple directions, the laser light source at the monitoring point will also move in multiple directions. At this time, it may be difficult to truly reflect the settlement of the bridge by monitoring the displacement of the light spot.

[0068] Based on this problem, in some embodiments, each laser light source is respectively arranged on a posture adjustment unit, and the posture adjustment unit can adjust the laser light source to always maintain a fixed angle with the horizontal plane and / or adjust the laser beam of the laser light source to always maintain the same incident angle to the monitoring device.

[0069] Taking the installation posture of the laser light source in the initial position as a reference, when the monitoring point is deformed, the laser light source will cause the movement in the corresponding direction along with the monitoring point. At this time, the angle of the laser light source relative to the horizontal plane and the incident angle of the light beam of the laser light source will change; the posture of the laser light source is adjusted by the posture adjustment unit to make its posture the same as that in the initial state. The displacement of the light spot formed by the light beam of the adjusted laser light source in the receiving unit can accurately reflect the displacement of the laser light source in the vertical direction.

[0070] The detection unit obtains the adjustment data of the laser light source by the posture adjustment unit, introduces the adjustment data of the laser light source by the posture adjustment unit into the calculation of the actual settlement of the laser light source in the vertical direction, and combines the posture adjustment data with the displacement of the light spot to obtain the actual settlement of the laser light source in the vertical direction, thereby realizing the detection of the actual settlement of the monitoring point under various working conditions and ensuring the measurement accuracy.

[0071] Reference Figure 5 It is an implementable structure of the posture adjustment unit. The posture adjustment unit can use a pan-tilt 31 and a driving mechanism for adjusting the posture of the pan-tilt, set the laser light source on the pan-tilt, and adjust the pitch and horizontal angle of the pan-tilt through the driving mechanism to adjust the posture of the laser light source. For example, the driving mechanism may include a rotating motor 32 for driving the pan-tilt to rotate along its vertical axis and a pitch motor 33 for driving the pan-tilt to move.

[0072] The posture adjustment unit also includes a posture sensor for detecting the current posture of the gimbal and a control unit for controlling the movement of the gimbal. The posture sensor detects the current posture data of the gimbal or the posture change data of the gimbal relative to the initial state, and sends the detected posture data or posture change data to the control unit. The control unit controls the driving mechanism to drive the gimbal to move, so that the gimbal always maintains the same posture as the initial state.

[0073] At the same time, the control unit can obtain the position adjustment data of the gimbal in various directions during the attitude adjustment of the laser light source, such as the horizontal rotation angle and pitch rotation angle of the laser light source, by acquiring the control parameters of the rotation motor and pitch motor of the driving mechanism.

[0074] Reference Figure 6 , which is another embodiment of the posture adjustment unit. The posture adjustment unit includes a base 34, a turntable 35, a support 38 and a pan-tilt head 31. The turntable 35 is rotatably connected to the base 34 so that the turntable can rotate along its Z axis; a rotating motor 32 is provided on the base 34, and the rotating motor 32 is used to drive the turntable to rotate. The support 38 is provided on the turntable 35. The pan-tilt head 31 and the support 38 are hinged by a hinge axis, so that the pan-tilt head can pitch and rotate relative to the XY plane; a pitch motor 33 is provided on the support 38, and the pitch motor 33 is used to drive the pan-tilt head to pitch and rotate along the hinge axis. The laser emitting device 10 is provided on the pan-tilt head 31.

[0075] A first inclination sensor 36 for detecting the inclination angle of the base is arranged on the base 34, a second inclination sensor 37 for detecting the horizontality of the base is arranged on the platform 31, and angle sensors for detecting the rotation angle are arranged on the rotation motor 32 and the pitch motor 33.

[0076] The first inclination sensor 36 , the second inclination sensor 37 and the angle sensor are electrically connected to the control unit 39 , respectively. The control unit 39 is electrically connected to the rotation motor 32 and the pitch motor 33 .

[0077] like Figure 6 When the bridge sinks in the Z direction and tilts in the positive X direction, since the base is fixedly installed on the bridge, the base tilts relative to the Y axis at this time, and the base and the XY plane have a certain tilt angle. The first inclination sensor detects the current tilt angle of the base and sends the inclination angle data to the control unit. The control unit controls the pitch motor to work according to the inclination angle data, drives the pan-tilt rotation through the pitch motor, and adjusts the pan-tilt to a horizontal state.

[0078] The second inclination sensor arranged on the pan-tilt head detects the horizontality of the current pan-tilt head after adjustment and sends the current angle data to the control unit. The control unit adjusts the pan-tilt head according to the angle data of the pan-tilt head to ensure the adjustment accuracy of the horizontality of the pan-tilt head.

[0079] By adjusting the horizontality of the pan / tilt, the laser emitting device at the laser emitting end is adjusted to be horizontal.

[0080] At the same time, the angle sensor of the pitch motor detects the rotation angle of the pitch motor.

[0081] When calculating the vertical settlement of the bridge based on the displacement of the light spot, the rotation angle data of the pitch motor is introduced into the calculation of the actual vertical settlement of the laser emitting device. The posture adjustment data is combined with the displacement of the light spot to obtain the actual vertical settlement of the monitoring point.

[0082] Similarly, using the above method, when the bridge deforms and settles in other directions, the horizontality of the laser emitting device on the pan-tilt head can be adjusted by controlling the rotation motor and the pitch motor, so that it can detect the actual settlement amount of the monitoring point under different settlement conditions and can well ensure the measurement accuracy.

[0083] In this embodiment, a laser emitting device including a laser light source, a laser processing unit and a light source identification unit is arranged on a pan / tilt of a posture adjustment unit, and the posture of the laser emitting device is adjusted by the posture adjustment unit.

[0084] On the other hand, the present invention further provides a method for monitoring bridge settlement at multiple points. In some embodiments, the method for monitoring bridge settlement at multiple points comprises the following steps: Control the laser light sources at each monitoring point to emit laser beams to the monitoring device in sequence; The displacement of the light spot is calculated according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and the settlement amount of each corresponding monitoring point is obtained according to the displacement of the light spot.

[0085] On the other hand, the present invention also provides a bridge settlement multi-point monitoring method capable of realizing multi-point synchronous monitoring. In some embodiments, the bridge settlement multi-point monitoring method comprises the following steps: Control the laser light sources at each monitoring point to simultaneously emit laser beams to the monitoring device; Identify different light spots on the receiving unit and associate each light spot with the corresponding monitoring point; The displacement of each light spot is calculated according to the position of each light spot on the current receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and the settlement amount of each monitoring point is obtained according to the displacement of each light spot.

[0086] On the other hand, the present invention further provides a method for monitoring bridge settlement at multiple points. In some embodiments, the method for monitoring bridge settlement at multiple points comprises the following steps: Control the laser light sources at each monitoring point to emit laser beams to the monitoring device sequentially or simultaneously; Calculate the displacement of each light spot according to the position of each light spot on the current receiving unit and the position of the light spot on the receiving unit when the laser light source is located at the initial position; The settlement amount of each monitoring point is calculated according to the adjustment data of the laser light source by the posture adjustment unit and the displacement of the light spot; When the laser light sources at various monitoring points emit laser beams simultaneously, the method further includes the steps of identifying different light spots on the receiving unit and associating each light spot with the corresponding monitoring point.

[0087] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship commonly placed when the product of the invention is used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0088] In addition, if the terms "horizontal" or "vertical" appear in the description of the present invention, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0089] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. Bridge settlement multi-point monitoring system, characterized by: include: The laser light sources are arranged at each monitoring point of the bridge, and the laser light sources at each monitoring point are arranged in the direction where the monitoring device is located, so that the laser beams emitted by the laser light sources can be received by the monitoring device; Monitoring equipment, including: An optical unit, used for converging and deflecting the received laser beam and imaging it on the receiving unit to form a light spot; A receiving unit is arranged at one side of the optical unit, and a distance between the receiving unit and the optical unit is greater than twice the focal length of the optical unit; The detection unit calculates the displacement of the light spot according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and obtains the settlement amount of the corresponding monitoring point according to the displacement of the light spot.

2. The bridge settlement multi-point monitoring system according to claim 1 is characterized in that: The optical unit is a Fresnel lens.

3. The bridge settlement multi-point monitoring system according to claim 1 is characterized in that: It also includes a laser processing unit, which is arranged on the optical path of the laser light source and is used to focus the laser beam and focus the laser beam to form an image at the position where the optical unit is located.

4. The bridge settlement multi-point monitoring system according to claim 1 is characterized in that: It also includes a light source identification unit, which is used to identify the laser light beam of the laser light source at each monitoring point, so that the detection unit can identify the light spot and associate different light spots on the receiving unit with the corresponding monitoring point.

5. The bridge settlement multi-point monitoring system according to claim 4 is characterized in that: The light source identification unit is a filter with different colors arranged on the light paths of different laser light sources; and / or The light source identification unit is a marking plate with different patterns arranged on the optical path of the laser light source. When the laser beam passes through the pattern on the marking plate, a light spot with a corresponding pattern can be obtained on the receiving unit; The detection unit associates the light spot on the receiving unit with the corresponding monitoring point by identifying the color of the light spot image or the pattern of the light spot image.

6. The bridge settlement multi-point monitoring system according to claim 4 is characterized in that: The light source identification unit is a laser modulation module arranged on different laser light sources, and the laser modulation module is used to modulate the laser beam to have different modulation frequencies; The detection unit identifies the light spots on the receiving unit according to the modulation frequency of the light spots, and associates each light spot with the corresponding monitoring point.

7. The bridge settlement multi-point monitoring system according to claim 1 or 4, characterized in that: The laser light source is arranged on a posture adjustment unit, and the posture adjustment unit can adjust the laser light source to always maintain a fixed angle with the horizontal plane and / or adjust the laser beam of the laser light source to always maintain the same incident angle to the monitoring device; The detection unit calculates the settlement amount of the corresponding monitoring point according to the adjustment data of the laser light source obtained by the posture adjustment unit and the displacement of the light spot.

8. The monitoring method based on the bridge settlement multi-point monitoring system according to any one of claims 1 to 3 is characterized in that: The following steps are involved: Control the laser light sources at each monitoring point to emit laser beams to the monitoring device in sequence; The displacement of the light spot is calculated according to the current position of the light spot on the receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and the settlement amount of each corresponding monitoring point is obtained according to the displacement of the light spot.

9. A monitoring method based on the bridge settlement multi-point monitoring system according to any one of claims 4 to 6, characterized in that: The following steps are involved: Control the laser light sources at each monitoring point to simultaneously emit laser beams to the monitoring device; Identify different light spots on the receiving unit and associate each light spot with the corresponding monitoring point; The displacement of each light spot is calculated according to the position of each light spot on the current receiving unit and the position of the light spot on the receiving unit when the laser light source is at the initial position, and the settlement amount of each monitoring point is obtained according to the displacement of each light spot.

10. The monitoring method based on the bridge settlement multi-point monitoring system according to claim 7 is characterized in that: The following steps are involved: Control the laser light sources at each monitoring point to emit laser beams to the monitoring device sequentially or simultaneously; Calculate the displacement of each light spot according to the position of each light spot on the current receiving unit and the position of the light spot on the receiving unit when the laser light source is located at the initial position; The settlement amount of each monitoring point is calculated according to the adjustment data of the laser light source by the posture adjustment unit and the displacement of the light spot; When the laser light sources at various monitoring points emit laser beams simultaneously, the method further includes the steps of identifying different light spots on the receiving unit and associating each light spot with the corresponding monitoring point.

Images