Sliding rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision

Abstract

The invention discloses a sliding rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision. The sliding rail type foundation pit excavation depth monitoring device comprises a mounting base, a guide rail assembly, a laser ranging assembly, a binocular camera assembly, a mounting base position signal receiving and transmitting device, a power source assembly, a guide wheel and a monitoring signal receiving and transmitting device. The laser ranging assembly and the binocular camera assembly are embedded in the bottom of the mounting seat, the mounting seat position signal receiving and transmitting device and the power supply assembly are embedded in the side surface of the mounting seat, and the monitoring signal receiving and transmitting device is embedded in the top of the mounting seat; the guide rail assembly is installed on the bottom face of a concrete support of a foundation pit, the installation base is installed below the guide rail assembly in a sliding mode through the guide wheels, the laser ranging assembly and the binocular camera assembly are both arranged facing the interior of the foundation pit, and the monitoring range of the laser ranging assembly and the monitoring range of the binocular camera assembly cover the whole foundation pit. The invention relates to the technical field of building construction, and can solve the problems of poor real-time performance, low efficiency and high cost of foundation pit excavation depth monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision. Background Art

[0002] In recent years, with the rapid development of economic construction, the urban population has continued to increase, the development of ground space has become increasingly saturated, and more and more projects have been developed underground, such as subways, underground pipelines, underground commercial complexes, etc., resulting in the continuous increase in the scale and complexity of foundation pit projects, and the difficulty of project site management has increased, and automated monitoring devices are urgently needed.

[0003] The excavation depth of foundation pit has always been the focus of foundation pit engineering conditions and safety management. Excessive excavation depth of the foundation pit as a whole or in part will lead to over-excavation of the foundation pit, resulting in overall instability of the foundation pit and uneven settlement of surrounding buildings (structures). Therefore, a stable, accurate, real-time, efficient and full-coverage monitoring technology is needed to monitor the excavation depth in foundation pit engineering, timely grasp the excavation conditions of the foundation pit, control the construction progress and ensure the safety of the project.

[0004] At present, conventional foundation pit excavation depth monitoring mainly focuses on three aspects: laser scanning, oblique photography and manual monitoring. There are several technical problems: first, laser scanning takes a long time, and its scanning speed cannot meet the needs of real-time acquisition of depth information; second, due to the limitation of the photography angle, some areas of oblique photography may not be fully covered, resulting in the loss of some depth information; finally, manual monitoring is time-consuming, labor-intensive, and prone to subjective errors. In large-scale or real-time monitoring scenarios, it is not only inefficient but also costly. Therefore, it is necessary to provide a slide-type foundation pit excavation depth monitoring device that integrates binocular cameras and laser vision, which can solve the problems of poor real-time performance, low efficiency and high cost of foundation pit excavation depth monitoring. Summary of the invention

[0005] The purpose of the present invention is to provide a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision, which can solve the problems of poor real-time performance, low efficiency and high cost of foundation pit excavation depth monitoring.

[0006] The present invention is achieved in that:

[0007] A slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision comprises a mounting seat, a guide rail assembly, a laser ranging assembly, a binocular camera assembly, a mounting seat position signal receiver and transmitter, a power supply assembly, a guide wheel and a monitoring signal receiver and transmitter; the laser ranging assembly and the binocular camera assembly are respectively embedded in the bottom of the mounting seat, the mounting seat position signal receiver and transmitter and the power supply assembly are respectively embedded in the side of the mounting seat, and the monitoring signal receiver and transmitter are embedded in the top of the mounting seat; the guide rail assembly is installed on the bottom surface of the concrete support of the foundation pit, and the mounting seat is slidably installed under the guide rail assembly through the guide wheel, so that the laser ranging assembly and the binocular camera assembly are both arranged facing the inside of the foundation pit, and the monitoring range of the laser ranging assembly and the binocular camera assembly covers the entire foundation pit.

[0008] The bottom of the mounting seat is formed with a binocular camera mounting groove and a laser ranging device mounting groove, so that the binocular camera component is embedded in the binocular camera mounting groove, and the laser ranging device component is embedded in the laser ranging device mounting groove; the side walls of the mounting seat are respectively formed with a battery slot and a mounting seat position signal receiving and transmitting device mounting hole, the power supply component is embedded in the battery slot, and the mounting seat position signal receiving and transmitting device is embedded in the mounting seat position signal receiving and transmitting device mounting hole.

[0009] The inner walls at both ends of the binocular camera mounting groove and the laser ranging device mounting groove are formed with mounting cavities, and the clamping components are arranged in the mounting cavities so that a pair of clamping components can be clamped on the two end surfaces of the binocular camera component / laser ranging component.

[0010] The clamping assembly includes a rotating screw, a locking nut, a threaded sleeve, a guide block, a clamping block and a spring; the locking nut is arranged on the inner wall of one end of the installation cavity, one end of the rotating screw penetrates into the installation cavity and is threadedly rotated to penetrate the locking nut; the threaded sleeve is arranged in the installation cavity, one end of the rotating screw is movably screwed into one end of the threaded sleeve, and the guide block is arranged at the other end of the threaded sleeve; one end of the clamping block is elastically arranged on the inner wall of the other end of the installation cavity through a spring, and wedge-shaped guide surfaces that are in sliding contact with each other are formed on the sides of the clamping block and the guide block, so that the other end of the clamping block can be tightened on the binocular camera assembly / laser ranging assembly.

[0011] The power supply assembly includes a battery cover and a detachable battery. The detachable battery is embedded in a battery slot and is electrically connected to a laser ranging assembly, a binocular camera assembly, a mounting seat position signal receiver and transmitter, a guide wheel, and a monitoring signal receiver and transmitter. The battery cover covers and seals the battery slot.

[0012] The guide rail assembly includes a straight guide rail, a 360° cross joint guide rail and a 90° turning joint guide rail installed on the bottom surface of the concrete support through the guide rail installation hole via the installation piece; a plurality of straight guide rails are arranged horizontally and vertically, the cross-intersecting straight guide rails are connected by the 360° cross joint guide rails, and the T-intersecting straight guide rails are connected by the 90° turning joint guide rails, forming an overall mesh guide rail structure covering the excavation range of the foundation pit.

[0013] An inner chamber is formed at the top of the 360° cross-joint guide rail, and a cross-joint mounting top plate is rotatably embedded in the top of the inner chamber, and the cross-joint mounting top plate is mounted on the bottom surface of the concrete support; a joint spring is provided in the inner chamber, one end of the joint spring is fixed to the bottom of the inner chamber, and the other end of the joint spring is fixed to the inner wall of the cross-joint mounting top plate, so that the joint spring is twisted when the 360° cross-joint guide rail rotates relative to the cross-joint mounting top plate and connects with the straight guide rail; matching locking blocks and locking groove mechanisms are formed on the inner wall of the cross-joint mounting top plate and the inner wall of the inner chamber.

[0014] The laser distance measuring assembly comprises a laser distance measuring base embedded in a laser distance measuring device installation groove of a mounting seat and a laser distance measuring transmitter installed at the bottom of the laser distance measuring base.

[0015] The binocular camera assembly comprises a binocular camera base embedded in a binocular camera mounting groove and a binocular camera lens and an illuminating lamp installed at the bottom of the binocular camera base.

[0016] A protective shell mounting groove is formed at the bottom of the mounting seat. The protective shell is a hollow shell structure with an opening at the top. The top of the protective shell is matched and inserted into the protective shell mounting groove and locked to the bottom of the mounting seat. A laser ranging hole matching the position of the laser ranging transmitter and a binocular camera hole and a lighting lamp hole matching the positions of the binocular camera lens and the lighting lamp are formed at the bottom of the protective shell.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention is provided with a guide rail assembly, which is assembled into an integral mesh guide rail structure through straight guide rails, 360° cross joints and 90° steering joints. It can be flexibly arranged according to the scale of the foundation pit and the setting of concrete supports, so that the binocular camera assembly and the laser ranging assembly can achieve full coverage monitoring of the foundation pit, ensuring that each position is fully monitored without leaving blind spots, thereby improving the applicability of the monitoring device. In addition, when the monitoring device is not in use, it can return to the original point to ensure sufficient construction space.

[0019] 2. Since the present invention is provided with a binocular camera assembly and a laser ranging assembly, as the mounting base slides, the binocular camera assembly and the laser ranging assembly can capture a wider field of view, monitor various areas inside the foundation pit in real time, ensure high-precision excavation depth measurement, provide detailed depth information for foundation pit excavation, and integrate the dual monitoring methods of camera acquisition and laser ranging, which not only ensures comprehensive monitoring of the overall condition of the foundation pit excavation surface, but also facilitates more accurate positioning and identification of potential risk factors during the monitoring process.

[0020] 3. Since the present invention is provided with a mounting seat position signal receiver and transmitter and a monitoring signal receiver and transmitter, the mounting seat position signal receiver and transmitter can obtain the position information of the mounting seat in the foundation pit in real time, and upload it to the cloud data platform through the monitoring signal receiver and transmitter. At the same time, by receiving control information through the cloud data platform via the monitoring signal receiver and transmitter, remote sliding control of the mounting seat is realized, so that the controllability, real-timeness and efficiency of the monitoring device are higher.

[0021] 4. The present invention is equipped with a binocular camera component and a laser ranging component, which uploads the photographed foundation pit excavation surface image, excavation depth and mounting seat position coordinate information to the cloud data platform, utilizes the image intelligent recognition algorithm to fuse the image, depth and position information, and outputs the foundation pit excavation surface image with the excavation depth marked, so that the monitoring result is more intuitive and clear, which can not only improve the prediction accuracy of monitoring, but also enable the situation of the foundation pit excavation surface to be presented in a highly visual way, which is convenient for monitoring the foundation pit excavation construction.

[0022] 5. The present invention has a simple structure, reasonable arrangement, strong functionality and low cost, and is suitable for long strip foundation pits, especially for construction monitoring of subway station foundation pits. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the installation of a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision in a foundation pit according to the present invention;

[0024] Figure 2 It is a schematic diagram of the installation of a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision on a concrete support according to the present invention;

[0025] Figure 3 It is a structural schematic diagram of a 360° cross joint in a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision according to the present invention;

[0026] Figure 4 It is a schematic diagram of the installation of a mounting seat on a straight guide rail in a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision according to the present invention;

[0027] Figure 5It is a schematic diagram of the installation of the mounting seat on the straight guide rail in the slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision of the present invention (protective shell is not shown);

[0028] Figure 6 It is a top view of the mounting seat in the slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision of the present invention;

[0029] Figure 7 It is a cross-sectional view of a mounting seat in a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision according to the present invention;

[0030] Figure 8 yes Figure 7 The enlarged schematic diagram of point A in the middle;

[0031] Fig. 9 It is a structural schematic diagram of a mounting seat in a slide rail type foundation pit excavation depth monitoring device integrating a binocular camera and laser vision according to the present invention;

[0032] Fig.10 Monitoring flow chart of the slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision of the present invention.

[0033] In the figure, 1, mounting seat; 101, binocular camera mounting slot; 102, laser distance measuring device mounting slot; 103, mounting cavity; 104, mounting bolt hole; 105, screw through hole; 106, battery slot; 107, mounting hole for mounting seat position signal receiving and transmitter; 108, protective shell mounting slot; 2, protective shell; 3, guide rail assembly; 301, straight guide rail; 302, 360° cross joint; 303, 90° steering joint; 304, guide rail mounting hole; 305, joint spring; 306, cross joint mounting top plate; 307, lock block and lock slot mechanism; 4, laser distance measuring assembly; 40 1. Laser rangefinder transmitter; 402. Laser rangefinder base; 5. Binocular camera assembly; 501. Binocular camera lens; 502. Illumination lamp; 503. Binocular camera base; 6. Mounting seat position signal receiver and transmitter; 7. Protective shell fixing bolts; 8. Power supply assembly; 801. Battery cover; 802. Removable battery; 9. Guide wheel; 1001. Rotating screw; 1002. Locking nut; 1003. Threaded sleeve; 1004. Guide block; 1005. Clamping block; 1006. Spring; 11. Monitoring signal receiver and transmitter; 12. Foundation pit; 13. Concrete support. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0035] Please see attached Figure 1 , Attachment Figure 2 , Attachment Figure 4 To Attachment Figure 6 A slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision comprises a mounting seat 1, a guide rail assembly 3, a laser ranging assembly 4, a binocular camera assembly 5, a mounting seat position signal receiving and transmitting device 6, a power supply assembly 8, a guide wheel 9 and a monitoring signal receiving and transmitting device 11; the laser ranging assembly 4 and the binocular camera assembly 5 are respectively embedded in the bottom of the mounting seat 1, the mounting seat position signal receiving and transmitting device 6 and the power supply assembly 8 are respectively embedded in the side of the mounting seat 1, and the monitoring signal receiving and transmitting device 11 is embedded in the top of the mounting seat 1; the guide rail assembly 3 is installed on the bottom surface of the concrete support 13 of the foundation pit 12, and the mounting seat 1 is slidably installed under the guide rail assembly 3 through the guide wheel 9, so that the laser ranging assembly 4 and the binocular camera assembly 5 are both arranged facing the inside of the foundation pit 12, and the monitoring range of the laser ranging assembly 4 and the binocular camera assembly 5 covers the entire foundation pit 12.

[0036] Preferably, four guide wheels 9 can be symmetrically arranged on both sides of each mounting seat 1, and the guide wheels 9 cooperate with the guide rail assembly 3 to realize the sliding of the mounting seat 1 along the guide rail assembly 3. A speed control and brake deceleration mechanism can be set inside the guide wheel 9 to ensure the sliding safety, stability, controllability and accuracy of the mounting seat 1.

[0037] The laser ranging component 4 and the binocular camera component 5 are embedded in the mounting base 1 and slide synchronously with the mounting base 1, so that the laser ranging component 4 and the binocular camera component 5 are slid to the excavation position of the foundation pit 12 through the mounting base 1, and the depth of the foundation pit excavation surface is measured by the laser ranging component 4 receiving and sending laser beams, and the image of the foundation pit excavation surface is obtained through the binocular camera component 5 and the depth of the foundation pit excavation surface is marked. The laser ranging component 4 is a commonly used ranging method in this field, and the binocular camera component 5 is a commonly used image acquisition and ranging method in this field. The working process and working principle are not repeated here.

[0038] The mounting seat position signal receiving and transmitting device 6 can determine the relative position of the mounting seat 1 in the foundation pit 12 based on the existing laser ranging, infrared ranging and other technologies, for example, emitting a laser beam or an infrared beam to the side wall of the foundation pit 12 and receiving the reflected beam, thereby obtaining the relative coordinate information of the mounting seat 1 in the foundation pit 12. Preferably, the mounting seat 1 can adopt a rectangular structure, and the mounting seat position signal receiving and transmitting device 6 is installed on all four surfaces.

[0039] The monitoring signal receiving and transmitting device 11 can perform two-way communication between the entire device and the cloud data platform based on the existing 5G or WiFi technology, and is used to transmit the collected data to the cloud data platform, and at the same time receive the control signal sent by the cloud data platform and send the control signal to the guide wheel 9, which is used to control the start, stop, speed and steering of the guide wheel 9. The power supply component 8 is used to provide working power for the operation of the entire device.

[0040] Please see attached Figure 4 , Attachment Figure 5 and attached Fig. 9 The bottom of the mounting base 1 is formed with a binocular camera mounting groove 101 and a laser ranging device mounting groove 102, so that the binocular camera component 5 is embedded in the binocular camera mounting groove 101, and the laser ranging device component 4 is embedded in the laser ranging device mounting groove 102; the side walls of the mounting base 1 are respectively formed with a battery groove 106 and a mounting base position signal receiving and transmitting device mounting hole 107, the power supply component 8 is embedded in the battery groove 106, and the mounting base position signal receiving and transmitting device 6 is embedded in the mounting base position signal receiving and transmitting device mounting hole 107.

[0041] The binocular camera mounting slot 101, the laser ranging device mounting slot 102, the battery slot 106 and the mounting seat position signal receiving and transmitting device mounting hole 107 can be adaptively arranged according to the specifications and dimensions of the equipment actually used, so as to facilitate the installation and disassembly of the laser ranging component 4, the binocular camera component 5, the mounting seat position signal receiving and transmitting device 6 and the power supply component 8.

[0042] Please see attached Fig. 9 The inner walls at both ends of the binocular camera mounting groove 101 and the laser ranging device mounting groove 102 are both formed with mounting cavities 103, and the clamping components are arranged in the mounting cavities 103, so that a pair of clamping components can be clamped on the two end surfaces of the binocular camera component 5 / laser ranging component 4.

[0043] Preferably, the mounting cavity 103 is symmetrically arranged on the inner walls at both ends of the binocular camera mounting groove 101 and the laser ranging device mounting groove 102, so that the binocular camera assembly 5 / laser ranging assembly 4 can be clamped from both ends to prevent the binocular camera assembly 5 from escaping from the binocular camera mounting groove 101 and to prevent the laser ranging assembly 4 from escaping from the laser ranging device mounting groove 102.

[0044] Please see attached Figure 7 and attached Figure 8The clamping assembly includes a rotating screw 1001, a locking nut 1002, a threaded sleeve 1003, a guide block 1004, a clamping block 1005 and a spring 1006; the locking nut 1002 is arranged on the inner wall of one end of the installation cavity 103, one end of the rotating screw 1001 passes through the screw through hole 105 to penetrate into the installation cavity 103 and is threadedly rotated to penetrate the locking nut 1002; the threaded sleeve 1003 is arranged in the installation cavity 103, and the rotating screw 1 One end of 001 is movably screwed into one end of the threaded sleeve 1003, and the guide block 1004 is arranged at the other end of the threaded sleeve 1003; one end of the clamping block 1005 can be elastically arranged on the inner wall of the other end of the installation cavity 103 through a spring 1006, and wedge-shaped guide surfaces that are in sliding contact with each other are formed on the side surfaces of the clamping block 1005 and the guide block 1004, so that the other end of the clamping block 1005 can be tightened on the binocular camera component 5 / laser ranging component 4.

[0045] Preferably, the threaded sleeve 1003 can be slidably connected to the inner wall of the installation cavity 103 by means of a slider and a slide groove. When the screw 1001 is manually rotated, the threaded sleeve 1003 is pushed downward along the slide groove through the slider by means of threaded transmission, thereby pushing the guide block 1004 downward synchronously. Under the sliding action of the wedge-shaped guide surface, the clamping block 1005 is pushed toward the outside of the installation cavity 103, so that the other end of the clamping block 1005 is tightened on the binocular camera assembly 5 / laser ranging assembly 4, and the spring 1006 is compressed at the same time.

[0046] When the screw 1001 is rotated in the opposite direction, the guide block 1004 can be moved upward to release the clamping block 1005. Under the elastic force of the spring 1006, the clamping block 1005 is pushed into the installation cavity 103, thereby releasing the binocular camera assembly 5 / laser ranging assembly 4, and the binocular camera assembly 5 / laser ranging assembly 4 can be taken out and replaced.

[0047] Please see attached Figure 5 The power supply assembly 8 includes a battery cover 801 and a removable battery 802. The removable battery 802 is embedded in the battery slot 106 and is electrically connected to the laser ranging assembly 4, the binocular camera assembly 5, the mounting seat position signal receiver and transmitter 6, the guide wheel 9 and the monitoring signal receiver and transmitter 11. The battery cover 801 covers and closes the battery slot 106.

[0048] Preferably, a sealing ring may be provided at the inner wall edge of the battery cover 801 to seal and close the battery slot 106, thereby preventing the removable battery 802 from getting wet and ensuring the safety of the removable battery 802. The provision of the battery slot 106 facilitates the disassembly, assembly and charging of the removable battery 802.

[0049] Please see attached Figure 2The guide rail assembly 3 includes a straight guide rail 301, a 360° cross joint guide rail 302 and a 90° turn joint guide rail 303 installed on the bottom surface of the concrete support 13 through a guide rail mounting hole 304 via bolts and other mounting parts; a plurality of straight guide rails 301 are arranged horizontally and vertically, the cross-intersecting straight guide rails 301 are connected by the 360° cross joint guide rails 302, and the T-intersecting straight guide rails 301 are connected by the 90° turn joint guide rails 303, forming an overall mesh guide rail structure covering the excavation range of the foundation pit 12.

[0050] Preferably, the straight guide rail 301 can be made of I-shaped steel, and the two rows of guide wheels 9 slide along the web of the I-shaped steel, which has high sliding stability and safety. The 360° cross joint guide rail 302 can be used for the cross connection of the straight guide rail 301, and is used for the cross intersection. The 90° steering joint guide rail 303 can be used for the steering connection of the straight guide rail 301, and is used for the corner. All straight guide rails 301 are connected to form an integral mesh guide structure, ensuring that the guide wheels 9 can drive the mounting seat 1 to move flexibly on the mesh guide structure, especially without obstruction at the steering node.

[0051] Please see attached Figure 3 An inner chamber is formed at the top of the 360° cross-joint guide rail 302, and a cross-joint mounting top plate 306 is rotatably embedded in the top of the inner chamber. The cross-joint mounting top plate 306 is mounted on the bottom surface of the concrete support 13 through the guide rail mounting hole 304 via bolts and other mounting parts; a joint spring 305 is provided in the inner chamber, one end of the joint spring 305 is fixed to the bottom of the inner chamber, and the other end of the joint spring 305 is fixed to the inner wall of the cross-joint mounting top plate 306, so that the joint spring 305 is twisted when the 360° cross-joint guide rail 302 rotates relative to the cross-joint mounting top plate 306 and connects with the straight guide rail 301; matching locking blocks and locking groove mechanisms 307 are formed on the inner wall of the cross-joint mounting top plate 306 and the inner wall of the inner chamber.

[0052] When installing the 360° cross joint guide rail 302, the four guide rail mounting holes 304 on the cross joint mounting top plate 306 are fixed to the bottom surface of the concrete support 13 by bolts, and a rotating motor is installed on the bottom surface of the cross joint mounting top plate 306. The output shaft of the rotating motor is coaxially connected to the inner chamber, and the rotating motor is used to drive the installed 360° cross joint guide rail 302 to rotate.

[0053] According to the moving direction of the mounting base 1, the rotating motor is started and the 360° cross joint guide rail 302 is rotated; when the mounting base 1 moves straight, the 360° cross joint guide rail 302 is rotated to connect with the front and rear two straight guide rails 301 to form a long straight guide rail, which is convenient for the mounting base 1 to pass through the guide wheel 9; when the mounting base 1 turns, the 360° cross joint guide rail 302 is rotated to connect between the two adjacent straight guide rails 301 to form an L-shaped guide rail, which is convenient for the mounting base 1 to turn through the guide wheel 9.

[0054] The locking block of the locking block and locking slot mechanism 307 rotates synchronously with the 360° cross joint guide rail 302 into the locking slot of the inner chamber, thereby locking the 360° cross joint guide rail 302 to improve the connection reliability of the 360° cross joint guide rail 302 between the two straight guide rails 301.

[0055] The 360° cross joint guide rail 302 may adopt the steering guide rail of the prior art, or may select a corresponding form of guide rail according to actual use requirements to meet the sliding requirements of the mounting seat 1.

[0056] Please see attached Figure 5 The laser ranging assembly 4 includes a laser ranging base 402 embedded in the laser ranging device mounting groove 102 of the mounting base 1 and a laser ranging transmitter 401 installed at the bottom of the laser ranging base 402.

[0057] The laser distance measuring transmitter 401 is a commonly used distance measuring device in the art, which will not be described in detail here. The laser distance measuring base 402 is installed in the laser distance measuring device installation slot 102, which is convenient and quick to disassemble and assemble.

[0058] Please see attached Figure 5 The binocular camera assembly 5 includes a binocular camera base 503 embedded in the binocular camera installation groove 101 and a binocular camera lens 501 and an illuminating lamp 502 installed at the bottom of the binocular camera base 503 .

[0059] The binocular camera lens 501 is a commonly used image acquisition and distance measurement device in the art, which will not be described in detail here. The binocular camera base 503 is installed in the binocular camera installation slot 101, which is convenient and quick to disassemble and assemble. The lighting lamp 502 is used to provide lighting for image acquisition to ensure the clarity of image acquisition.

[0060] Please see attached Figure 4 and attached Fig. 9A protective shell mounting groove 108 is formed at the bottom of the mounting base 1, and the protective shell 2 is a hollow shell structure with an opening at the top. The top of the protective shell 2 is matched and inserted into the protective shell mounting groove 108, and is locked to the bottom of the mounting base 1 through the protective shell fixing bolt 7 through the mounting bolt hole 104; a laser ranging hole matching the position of the laser ranging transmitter 401 and a binocular camera hole and a lighting lamp hole matching the positions of the binocular camera lens 501 and the lighting lamp 502 are formed at the bottom of the protective shell 2.

[0061] The protective shell mounting groove 108 is an inwardly concave groove, and the protective shell 2 is inserted into the protective shell mounting groove 108, ensuring good anti-collision, waterproof and moisture-proof effects, so that the protective shell 2 can provide effective safety protection for the laser ranging component 4 and the binocular camera component 5.

[0062] Please see attached Figure 1 To Attachment Fig.10 , the working process and working principle of the present invention are:

[0063] The coordinates of the foundation pit 12 are first positioned, and a corner point of the foundation pit 12 is selected as the origin of the coordinate system, so that the relative coordinate position of the mounting seat 1 during the sliding process can be determined.

[0064] The mounting seat 1 slides along the guide rail assembly 3 through the guide wheels 9 on both sides. While the mounting seat 1 slides, the foundation pit excavation depth data is measured and obtained through the laser ranging transmitter 401, and the foundation pit excavation surface image is photographed through the binocular camera lens 501 to obtain the foundation pit excavation depth data; the mounting seat position coordinates and the slide rail position coordinates where the mounting seat 1 is located are obtained through the mounting seat position signal receiver and transmitter 6.

[0065] The monitoring signal receiving and transmitting device 11 transmits the acquired data to the cloud data platform, which processes the data. Specifically, the excavation depth of the foundation pit 12 is calculated using the foundation pit excavation depth data of the laser ranging transmitter 401 and the binocular camera lens 501. If the error between the two foundation pit excavation depth data exceeds the preset limit, the excavation depth data of the foundation pit is obtained by re-measuring; the position coordinate information is determined using the mounting seat position coordinates and the slide rail position coordinates and the coordinates are mapped to the foundation pit excavation surface image of the binocular camera lens 501.

[0066] Based on the image recognition and coordinate positioning intelligent algorithm, the mapped foundation pit excavation surface image is recognized and calculated to obtain the excavation depth of the foundation pit 12. The image recognition and coordinate positioning intelligent algorithm is a conventional calculation method in the art, and its calculation process is not repeated here.

[0067] Parameters such as monitoring frequency, sliding spacing, and sliding direction can be set to remotely control or manually control the guide wheel 9 to operate according to the corresponding parameters. As the excavation position of the foundation pit 12 changes, the guide wheel 9 drives the mounting base 1 to move with it, and calculates and obtains the excavation depth of the foundation pit 12 in real time, realizing intelligent monitoring of the excavation depth of the foundation pit 12. At the same time, the image, depth, and position information can be integrated to output the excavation depth distribution map of the foundation pit excavation surface with depth annotations, which can greatly improve the visualization of the monitoring results.

[0068] The above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision, characterized by: The invention comprises a mounting seat (1), a guide rail assembly (3), a laser distance measuring assembly (4), a binocular camera assembly (5), a mounting seat position signal receiving and transmitting device (6), a power supply assembly (8), a guide wheel (9) and a monitoring signal receiving and transmitting device (11); the laser distance measuring assembly (4) and the binocular camera assembly (5) are respectively embedded in the bottom of the mounting seat (1), the mounting seat position signal receiving and transmitting device (6) and the power supply assembly (8) are respectively embedded in the side of the mounting seat (1), and the monitoring signal receiving and transmitting device (11) is embedded in the top of the mounting seat (1); the guide rail assembly (3) is installed on the bottom surface of a concrete support (13) of a foundation pit (12), and the mounting seat (1) is slidably installed below the guide rail assembly (3) through the guide wheel (9), so that the laser distance measuring assembly (4) and the binocular camera assembly (5) are both arranged facing the inside of the foundation pit (12), and the monitoring range of the laser distance measuring assembly (4) and the binocular camera assembly (5) covers the entire foundation pit (12).

2. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 1 is characterized in that: The bottom of the mounting seat (1) is formed with a binocular camera mounting groove (101) and a laser distance measuring device mounting groove (102), so that the binocular camera assembly (5) is embedded in the binocular camera mounting groove (101), and the laser distance measuring assembly (4) is embedded in the laser distance measuring device mounting groove (102); the side walls of the mounting seat (1) are respectively formed with a battery slot (106) and a mounting seat position signal receiving and transmitting device mounting hole (107), the power supply assembly (8) is embedded in the battery slot (106), and the mounting seat position signal receiving and transmitting device (6) is embedded in the mounting seat position signal receiving and transmitting device mounting hole (107).

3. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 2 is characterized in that: The inner walls at both ends of the binocular camera mounting groove (101) and the laser distance measuring device mounting groove (102) are both formed with mounting cavities (103), and the clamping components are arranged in the mounting cavities (103), so that a pair of clamping components can be clamped on the two end surfaces of the binocular camera component (5) / laser distance measuring component (4).

4. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 3 is characterized in that: The clamping assembly comprises a rotating screw (1001), a locking nut (1002), a threaded sleeve (1003), a guide block (1004), a clamping block (1005) and a spring (1006); the locking nut (1002) is arranged on the inner wall of one end of the installation cavity (103); one end of the rotating screw (1001) penetrates into the installation cavity (103) and is threadedly rotated to penetrate the locking nut (1002); the threaded sleeve (1003) is arranged in the installation cavity (103); the rotating screw (1001 ) is movably screwed into one end of the threaded sleeve (1003), and the guide block (1004) is arranged at the other end of the threaded sleeve (1003); one end of the clamping block (1005) is elastically arranged on the inner wall of the other end of the installation cavity (103) through a spring (1006), and wedge-shaped guide surfaces that are in sliding contact with each other are formed on the sides of the clamping block (1005) and the guide block (1004), so that the other end of the clamping block (1005) can be tightly pressed against the binocular camera component (5) / laser ranging component (4).

5. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 2 is characterized in that: The power supply assembly (8) comprises a battery cover (801) and a detachable battery (802); the detachable battery (802) is embedded in a battery slot (106) and is electrically connected to a laser distance measuring assembly (4), a binocular camera assembly (5), a mounting seat position signal receiving and transmitting device (6), a guide wheel (9) and a monitoring signal receiving and transmitting device (11); and the battery cover (801) covers and seals the battery slot (106).

6. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 1 is characterized in that: The guide rail assembly (3) comprises a straight guide rail (301), a 360° cross joint guide rail (302) and a 90° turn joint guide rail (303) which are installed on the bottom surface of the concrete support (13) through a guide rail installation hole (304) via a mounting member; a plurality of straight guide rails (301) are arranged in a transverse and longitudinal direction, the cross-intersecting straight guide rails (301) are connected through the 360° cross joint guide rails (302), and the T-intersecting straight guide rails (301) are connected through the 90° turn joint guide rails (303), forming an integral mesh guide rail structure covering the excavation range of the foundation pit (12).

7. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 6 is characterized in that: The top of the 360° cross joint guide rail (302) is formed with an inner chamber, and the cross joint mounting top plate (306) is rotatably embedded in the top of the inner chamber, and the cross joint mounting top plate (306) is mounted on the bottom surface of the concrete support (13); a joint spring (305) is provided in the inner chamber, one end of the joint spring (305) is fixed to the bottom of the inner chamber, and the other end of the joint spring (305) is fixed to the inner wall of the cross joint mounting top plate (306), so that the joint spring (305) is twisted when the 360° cross joint guide rail (302) rotates relative to the cross joint mounting top plate (306) and connects with the straight guide rail (301); matching locking blocks and locking groove mechanisms (307) are formed on the inner wall of the cross joint mounting top plate (306) and the inner wall of the inner chamber.

8. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 2 or 3 is characterized in that: The laser distance measuring assembly (4) comprises a laser distance measuring base (402) embedded in a laser distance measuring device installation groove (102) of a mounting seat (1) and a laser distance measuring transmitter (401) installed at the bottom of the laser distance measuring base (402).

9. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 8 is characterized in that: The binocular camera assembly (5) comprises a binocular camera base (503) embedded in a binocular camera installation slot (101), and a binocular camera lens (501) and an illuminating lamp (502) installed at the bottom of the binocular camera base (503).

10. The slide rail type foundation pit excavation depth monitoring device integrating binocular camera and laser vision according to claim 9 is characterized in that: The bottom of the mounting seat (1) is formed with a protective shell mounting groove (108); the protective shell (2) is a hollow shell structure with an opening at the top; the top of the protective shell (2) is matched and inserted into the protective shell mounting groove (108) and locked to the bottom of the mounting seat (1); the bottom of the protective shell (2) is formed with a laser ranging hole that matches the position of the laser ranging transmitter (401) and a binocular camera hole and a lighting lamp hole that match the positions of the binocular camera lens (501) and the lighting lamp (502).

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