Industrial chimney three-dimensional model building method and device and industrial chimney monitoring method

Abstract

The invention relates to the field of industrial chimney monitoring, in particular to an industrial chimney three-dimensional model establishing method and device and an industrial chimney monitoring method. A plurality of anchor points are arranged around the industrial chimney, and a plurality of target points are arranged on the peripheral wall; the three-dimensional model building method comprises the steps of obtaining industrial chimney photos shot at a plurality of preset machine positions in the process that a bottom shooting device rotates along a bottom rotating track and in the process that a top shooting device rotates along a top rotating track; the bottom shooting device shoots the upper half part of the industrial chimney; the top shooting device shoots the lower half part of the industrial chimney; based on the coordinates of the three non-collinear anchor points in each photo, restoring a three-dimensional fixed coordinate system, and determining the coordinates of each target point in each photo in the three-dimensional fixed coordinate system; and establishing a three-dimensional model of the industrial chimney according to the coordinates of the target spots. According to the method, the three-dimensional model of the industrial chimney can be accurately established, so that the safety state of the industrial chimney can be monitored in a mode of comparing the models.

Description

Technical Field

[0001] The present invention relates to the field of industrial chimney monitoring, and in particular to a method and device for establishing a three-dimensional model of an industrial chimney and an industrial chimney monitoring method. Background Art

[0002] Industrial chimneys need to be regularly inspected for tilt, settlement, crack development, etc. Industrial chimneys are relatively high and difficult to detect. At present, the surface cracks of the cylinder body are observed by a camera supplemented by a telescope, and accurate data on the development of the cracks cannot be obtained. The tilt of industrial chimneys is measured by theodolite ground measurement method, and the settlement of industrial chimneys is measured by a level. The above methods can only measure one indicator with one device, and a lot of manpower is consumed in long-term monitoring, which is costly.

[0003] Therefore, an automated and integrated monitoring method should be sought. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a method for establishing a three-dimensional model of an industrial chimney, which can accurately establish a three-dimensional model of an industrial chimney, so that the safety status of the industrial chimney can be monitored by comparing the models.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a method for establishing a three-dimensional model of an industrial chimney, wherein a plurality of anchor points are arranged around the industrial chimney; a plurality of target points are arranged on the outer peripheral wall of the industrial chimney; the method comprises:

[0006] Acquire photos of industrial chimneys taken at a plurality of preset camera positions by a bottom camera device during the process of the bottom camera device rotating along the bottom rotation track and by a top camera device during the process of the top camera device rotating along the top rotation track; wherein,

[0007] The bottom camera device photographs the upper part of the industrial chimney; the top camera device photographs the lower part of the industrial chimney; the target points in the photos taken by the bottom camera device and the top camera device at adjacent preset camera positions overlap in the circumferential direction of the industrial chimney, and the target points in the photos taken at the same preset camera position overlap in the vertical direction of the industrial chimney, and three anchor points of different lines are photographed at each preset camera position;

[0008] Based on the coordinates of the three non-collinear anchor points in each photo, the three-dimensional fixed coordinate system is restored to determine the coordinates of each target point in each photo in the three-dimensional fixed coordinate system. For the target points that appear in at least two photos, the average value of the coordinates in each photo is taken;

[0009] According to the coordinates of each target point, a three-dimensional model of the industrial chimney is established.

[0010] Furthermore, the method of setting the target points on the outer wall of the industrial chimney is as follows: a circle of target points is set at a certain height, with a total of N circles, each circle has multiple target points, and the four target points in the i-th circle from bottom to top are target points Ai, Bi, Ci, and Di;

[0011] There are four preset camera positions, which are camera positions 1, 2, 3 and 4 along the perimeter of the industrial chimney;

[0012] The bottom camera device and the top camera device respectively photographed the target points Ai and Di at camera position 1; photographed the target points Ai and Bi at camera position 2; photographed the target points Bi and Ci at camera position 3; and photographed the target points Ci and Di at camera position 4; in the photos taken by the bottom camera device, the value of i includes 1 to L, and in the photos taken by the top camera device, the value of i includes L to N.

[0013] Furthermore, at least six anchor points are provided.

[0014] Furthermore, the method further comprises:

[0015] Identify whether cracks appear in the photo;

[0016] If a crack occurs, determine the coordinates of the pixel where the crack is located in the photo;

[0017] Based on the coordinates of the pixels where the cracks are located, cracks are added to the three-dimensional model and / or the crack sizes are calculated.

[0018] The present invention also provides a device for establishing a three-dimensional model of an industrial chimney, comprising:

[0019] A top shooting assembly, comprising a top track, a top engaging driving mechanism and a top shooting device, wherein the top engaging driving mechanism is movably mounted on the top track and can move around the top track under the drive of its driving mechanism, and the top shooting device is mounted on the top engaging driving mechanism and rotates along a top rotation track during movement with the top engaging driving mechanism, and is used to shoot the upper half of an industrial chimney and a preset anchor point at a preset camera position during rotation along the top rotation track;

[0020] A bottom shooting assembly includes a bottom track, a bottom interlocking drive mechanism and a bottom shooting device, wherein the bottom track is located at the bottom of the industrial chimney and surrounds the outside of the industrial chimney, the bottom interlocking drive mechanism is movably mounted on the top track and can move around the bottom track under the drive of its drive mechanism, the bottom shooting device is mounted on the bottom interlocking drive mechanism, rotates along a bottom rotation track while moving with the bottom interlocking drive mechanism, and is used to shoot the lower half of the industrial chimney and a preset anchor point at a preset camera position while rotating along the bottom rotation track.

[0021] Furthermore, the top engaging drive mechanism includes a track engaging power mechanism and a cantilever rod, the track engaging power mechanism is slidably mounted on the top track, one end of the cantilever rod is fixedly connected to the track engaging power mechanism, and the top shooting device is mounted on the other end of the cantilever rod.

[0022] The present invention also provides an industrial chimney monitoring method, the method comprising:

[0023] In each monitoring cycle, a three-dimensional model of the industrial chimney is established according to the method for establishing a three-dimensional model of the industrial chimney in claim 1, 2 or 3;

[0024] Compare the three-dimensional models of each monitoring period to determine the changes in industrial chimneys.

[0025] Further, the changes include settlement and / or tilting and / or cracks.

[0026] After adopting the above technical scheme, the present invention can accurately obtain the coordinates of all target points in the monitoring process, so as to establish a three-dimensional model of the industrial chimney, so that the settlement, inclination, crack data and other safety status of the industrial chimney can be monitored by comparing the model, and no human resources are required in the long-term monitoring process. The monitoring data can be viewed in real time through the online platform. The present invention can avoid high-altitude operations in the monitoring process of industrial chimneys, improve work efficiency and save monitoring costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flow chart of a method for establishing a three-dimensional model of an industrial chimney according to the present invention;

[0028] Figure 2 is a flow chart of the industrial chimney monitoring method of the present invention;

[0029] Figure 3 A front view of the target arrangement of the present invention;

[0030] Figure 4 It is a top view of the target and camera position arrangement of the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the top shooting assembly of the present invention installed on an industrial chimney;

[0032] Figure 6 for Figure 5 AA section view;

[0033] Figure 7 It is a structural schematic diagram of the bottom shooting assembly of the present invention;

[0034] Figure 8 for Figure 7 BB cross-sectional view;

[0035] In the figure, 1. top track; 2. top interlocking drive mechanism; 21. track interlocking power mechanism; 22. cantilever rod; 3. top shooting device; 4. industrial chimney; 5. bottom track; 6. bottom interlocking drive mechanism; 7. bottom shooting device. DETAILED DESCRIPTION

[0036] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0037] like Figure 1 As shown, a method for establishing a three-dimensional model of an industrial chimney comprises:

[0038] Step S1, multiple anchor points are set around the industrial chimney 4, and the anchor points cannot have any settlement or displacement; multiple target points are set on the outer peripheral wall of the industrial chimney 4;

[0039] Step S2, obtaining photos of the industrial chimney 4 taken at a plurality of preset camera positions by the bottom camera device 7 during the rotation along the bottom rotation trajectory and by the top camera device 3 during the rotation along the top rotation trajectory; wherein,

[0040] The bottom camera 7 photographs the upper half of the industrial chimney 4; the top camera 3 photographs the lower half of the industrial chimney 4; the target points in the photos taken by the bottom camera 7 and the top camera 3 at adjacent preset camera positions overlap in the circumferential direction of the industrial chimney 4, and the target points in the photos taken at the same preset camera position overlap in the vertical direction of the industrial chimney 4, and three anchor points of different lines are photographed at each preset camera position;

[0041] Step S3, based on the coordinates of the three non-collinear anchor points in each photo, restore the three-dimensional fixed coordinate system, determine the coordinates of each target point in each photo in the three-dimensional fixed coordinate system, and for the target point that appears in at least two photos, take the average value of the coordinates in each photo;

[0042] Step S4, identifying whether there are cracks in the photo; if there are cracks, determining the coordinates of the pixels where the cracks are located in the photo; based on the coordinates of the pixels where the cracks are located, adding the cracks to the three-dimensional model and / or calculating the size of the cracks;

[0043] Step S5, building a three-dimensional model of the industrial chimney 4 according to the coordinates of each target point, and if there are cracks, adding the cracks to the three-dimensional model.

[0044] In one embodiment, Figure 3 and Figure 4As shown, the method of setting the target points on the outer peripheral wall of the industrial chimney 4 is: a circle of target points is set at a certain height, with a total of N circles, each circle has multiple target points, and the four target points in the i-th circle from bottom to top are target points Ai, Bi, Ci, Di;

[0045] There are four preset camera positions, which are camera position 1, camera position 2, camera position 3 and camera position 4 along the periphery of the industrial chimney 4;

[0046] The bottom shooting device 7 and the top shooting device 3 respectively photograph the target points Ai and Di at the No. 1 camera position; photograph the target points Ai and Bi at the No. 2 camera position; photograph the target points Bi and Ci at the No. 3 camera position; and photograph the target points Ci and Di at the No. 4 camera position. In the photos taken by the bottom shooting device 7, the value of i includes 1~L, and in the photos taken by the top shooting device 3, the value of i includes L~N.

[0047] Among them, Figure 3 In the example shown, L=5 and N=9.

[0048] In step S3, when calculating the target coordinates, taking target A2 as an example, the No. 1 and No. 2 cameras of the bottom camera device 7 can simultaneously capture target A2 and calculate its coordinate values. Then the coordinate value of A2 is the average value of the two. Taking target A5 as an example, the No. 1 and No. 2 cameras of the bottom camera device 7 can simultaneously capture target A5 and calculate its coordinate values, and the No. 1 and No. 2 cameras of the top camera device 3 can also simultaneously capture target A5 and calculate its coordinate values, then the coordinate value of A5 is the average value of the four.

[0049] Among them, at least six anchor points are set, which can be 6, 7, 8, etc. Under the premise of ensuring that there are three anchor points of different lines in each photo, the fewer the number of anchor points, the better. Preferably, the photos taken by the bottom camera device 7 and the top camera device 3 at the same camera position have a common anchor point, and the photos taken at adjacent camera positions also have a common anchor point.

[0050] In one embodiment, Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, a device for building a three-dimensional model of an industrial chimney comprises:

[0051] A top shooting assembly comprises a top rail 1, a top interlocking driving mechanism 2 and a top shooting device 3. The top interlocking driving mechanism 2 is movably mounted on the top rail 1 and can move around the top rail 1 under the drive of its driving mechanism. The top shooting device 3 is mounted on the top interlocking driving mechanism 2 and rotates along a top rotation track during the movement with the top interlocking driving mechanism 2. The top shooting device 3 is used to shoot the upper half of an industrial chimney 4 and a preset anchor point at a preset camera position during the rotation along the top rotation track.

[0052] A bottom shooting assembly includes a bottom track 5, a bottom interlocking driving mechanism 6 and a bottom shooting device 7. The bottom track 5 is located at the bottom of the industrial chimney 4 and surrounds the outside of the industrial chimney 4. The bottom interlocking driving mechanism 6 is movably installed on the top track 1 and can move around the bottom track 5 under the drive of its driving mechanism. The bottom shooting device 7 is installed on the bottom interlocking driving mechanism 6 and rotates along the bottom rotation track during the movement of the bottom interlocking driving mechanism 6. The bottom shooting device 7 is used to shoot the lower half of the industrial chimney 4 and the preset anchor point at a preset camera position during the rotation along the bottom rotation track.

[0053] The cloud data processing platform is connected to the top shooting device 3 and the bottom shooting device 7 respectively, and is used to infer the target point coordinates through the anchor point coordinates in each photo, and capture the crack related data, and establish a three-dimensional model of the industrial chimney according to the target point coordinates.

[0054] Among them, if a crack appears in the picture, the gimbal can identify the pixel points at both ends of the crack from the pixels, and then measure the length of the crack; if the crack is wider, the gimbal can identify the pixel points on both sides of the crack and then measure the width of the crack.

[0055] Among them, the bottom shooting device 7 and the top shooting device 3 can both be video cameras, cameras, etc.

[0056] In one embodiment, Figure 5 and Figure 6 As shown, the top engaging drive mechanism 2 includes a track engaging power mechanism 21 and a cantilever rod 22. The track engaging power mechanism 21 is slidably installed on the top track 1. One end of the cantilever rod 22 is fixedly connected to the track engaging power mechanism 21. The top shooting device 3 is installed on the other end of the cantilever rod 22.

[0057] In one embodiment, Figure 2 As shown, a method for monitoring an industrial chimney comprises:

[0058] Step S10, in each monitoring cycle, establishing a three-dimensional model of the industrial chimney 4 according to the above-mentioned method for establishing a three-dimensional model of the industrial chimney;

[0059] Step S20, comparing the three-dimensional models of each monitoring period to determine changes in the industrial chimney 4, including settlement, tilt, crack development, etc.

[0060] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A method for establishing a three-dimensional model of an industrial chimney, characterized in that: A plurality of anchor points are arranged around the industrial chimney (4); a plurality of target points are arranged on the outer peripheral wall of the industrial chimney (4); and the method comprises: Acquire photos of the industrial chimney (4) taken at a plurality of preset camera positions by the bottom camera device (7) during the rotation along the bottom rotation trajectory and by the top camera device (3) during the rotation along the top rotation trajectory; wherein: The bottom shooting device (7) shoots the upper half of the industrial chimney (4); the top shooting device (3) shoots the lower half of the industrial chimney (4); the target points in the photos taken by the bottom shooting device (7) and the top shooting device (3) at adjacent preset camera positions overlap in the circumferential direction of the industrial chimney (4), and the target points in the photos taken at the same preset camera position overlap in the vertical direction of the industrial chimney (4), and three anchor points of different lines are photographed at each preset camera position; Based on the coordinates of the three non-collinear anchor points in each photo, the three-dimensional fixed coordinate system is restored to determine the coordinates of each target point in each photo in the three-dimensional fixed coordinate system. For the target points that appear in at least two photos, the average value of the coordinates in each photo is taken; According to the coordinates of each target point, a three-dimensional model of the industrial chimney (4) is established.

2. The method for establishing a three-dimensional model of an industrial chimney according to claim 1, characterized in that: The target points are arranged on the outer wall of the industrial chimney (4) in the following manner: a circle of target points is arranged at a certain height, with a total of N circles, each circle having multiple target points, and the four target points in the i-th circle from bottom to top are target points Ai, Bi, Ci, and Di; There are four preset camera positions, which are camera position 1, camera position 2, camera position 3 and camera position 4 in order along the periphery of the industrial chimney (4); The bottom shooting device (7) and the top shooting device (3) respectively photograph the target points Ai and Di at the camera position 1; photograph the target points Ai and Bi at the camera position 2; photograph the target points Bi and Ci at the camera position 3; and photograph the target points Ci and Di at the camera position 4; in the photos taken by the bottom shooting device (7), the value of i includes 1 to L, and in the photos taken by the top shooting device (3), the value of i includes L to N.

3. The method for establishing a three-dimensional model of an industrial chimney according to claim 1, characterized in that: There are at least six anchor points.

4. The method for establishing a three-dimensional model of an industrial chimney according to claim 1, characterized in that: The method also includes: Identify whether cracks appear in the photo; If a crack occurs, determine the coordinates of the pixel where the crack is located in the photo; Based on the coordinates of the pixels where the cracks are located, cracks are added to the three-dimensional model and / or the crack sizes are calculated.

5. A device for building a three-dimensional model of an industrial chimney, characterized in that: include: A top shooting assembly comprises a top rail (1), a top engaging drive mechanism (2) and a top shooting device (3); the top engaging drive mechanism (2) is movably mounted on the top rail (1) and can move around the top rail (1) under the drive of its drive mechanism; the top shooting device (3) is mounted on the top engaging drive mechanism (2) and rotates along a top rotation track while moving with the top engaging drive mechanism (2), and is used to shoot the upper half of an industrial chimney (4) and a preset anchor point at a preset camera position while rotating along the top rotation track; A bottom shooting assembly comprises a bottom track (5), a bottom interlocking driving mechanism (6) and a bottom shooting device (7), wherein the bottom track (5) is located at the bottom of the industrial chimney (4) and surrounds the outside of the industrial chimney (4), the bottom interlocking driving mechanism (6) is movably mounted on the top track (1) and can move around the bottom track (5) under the drive of its driving mechanism, the bottom shooting device (7) is mounted on the bottom interlocking driving mechanism (6), rotates along a bottom rotation track while moving with the bottom interlocking driving mechanism (6), and is used to shoot the lower half of the industrial chimney (4) and a preset anchor point at a preset camera position while rotating along the bottom rotation track.

6. The device for building a three-dimensional model of an industrial chimney according to claim 5, characterized in that: The top engaging drive mechanism (2) comprises a track engaging power mechanism (21) and a cantilever rod (22); the track engaging power mechanism (21) is slidably mounted on the top track (1); one end of the cantilever rod (22) is fixedly connected to the track engaging power mechanism (21); and the top shooting device (3) is mounted on the other end of the cantilever rod (22).

7. An industrial chimney monitoring method, characterized in that: Methods include: In each monitoring cycle, a three-dimensional model of an industrial chimney (4) is established according to the method for establishing a three-dimensional model of an industrial chimney in any one of claims 1 to 4; The three-dimensional models of each monitoring period are compared to determine the changes in the industrial chimney (4).

8. The industrial chimney monitoring method according to claim 7, characterized in that: Changes include settlement and / or tilting and / or cracks.

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