Multi-parameter fusion deformation monitoring method, system, equipment and medium

Abstract

The invention relates to the technical field of engineering monitoring, in particular to a multi-parameter fusion deformation monitoring method, system and equipment and a medium. The method is applied to a multi-parameter fusion deformation monitoring system, the system comprises a radar module, a machine vision module and an inclination angle measurement module, and the method comprises the following steps: executing a target spot positioning step once every preset duration, and calculating a positioning difference value between current target spot positioning information and initial target spot positioning information obtained by executing the target spot positioning step every time, judging whether the positioning difference value exceeds a preset difference value threshold value or not, wherein the initial target spot positioning information is target spot positioning information obtained by executing the target spot positioning step for the first time; if the positioning difference value exceeds a preset difference threshold value, it is judged that deformation exists in the monitoring site, and a deformation warning signal is generated and sent to terminal equipment of a manager. According to the invention, the deformation condition of on-site building facilities can be found and monitored in time.

Description

Technical Field

[0001] The present application relates to the field of engineering monitoring technology, and in particular to a multi-parameter fusion deformation monitoring method, system, equipment and medium. Background Art

[0002] In the field of modern engineering, engineering monitoring plays a vital role, especially the monitoring of key infrastructure such as bridges, roads, slopes, etc. These facilities not only carry heavy traffic flow, but also face many challenges from the natural environment. Their stability and safety are directly related to public safety and people's well-being. Deformation monitoring, as a key link in engineering monitoring, can keenly capture abnormal deformation signs in engineering structures, thereby effectively avoiding potential safety risks and ensuring the safety and stability of the structure.

[0003] Related technologies monitor deformation of building facilities by sending technicians to conduct regular inspections. However, this method is not only inefficient and difficult to adapt to the high standards of modern engineering monitoring, but also lacks the necessary timeliness and often fails to detect deformation in the first place, posing a potential threat to engineering safety. Summary of the invention

[0004] In order to solve the problem that it is difficult to monitor deformation in time in the prior art, the present application provides a multi-parameter fusion deformation monitoring method, system, equipment and medium.

[0005] In the first aspect, the present application provides a multi-parameter fusion deformation monitoring method, which adopts the following technical solution: A multi-parameter fusion deformation monitoring method, comprising: The target positioning step is performed once every preset time period, the positioning difference between the current target positioning information and the initial target positioning information obtained by performing the target positioning step each time is calculated, and it is determined whether the positioning difference exceeds a preset difference threshold, and the initial target positioning information is the target positioning information obtained by performing the target positioning step for the first time; Wherein, the target positioning step includes: controlling the radar module to obtain the distance information from the radar to each target; controlling the machine vision module to obtain the target image containing multiple targets; controlling the inclination measurement module to obtain the pitch angle information; based on the distance information from the radar to each target, the target image and the pitch angle information, determining the world coordinates of each target in the world coordinate system, and the world coordinates of each target constitute the target positioning information; If the positioning difference exceeds the preset difference threshold, it is determined that deformation exists at the monitoring site, and a deformation warning signal is generated and sent to the terminal device of the management personnel.

[0006] By adopting the above technical solution, the target positioning step is automatically executed at preset time intervals, and the positioning information of the on-site targets can be continuously collected, ensuring the continuity and real-time nature of deformation monitoring, so that the system can detect any potential deformation in a timely manner; after each execution of the target positioning step, the positioning difference between the current target positioning information and the initial target positioning information is calculated, allowing the system to quantitatively analyze the change in the target position, thereby more accurately determining whether deformation has occurred at the monitoring site, and by setting a preset difference threshold, it can automatically determine whether the target position change exceeds the standard, the radar module provides accurate distance measurement, which helps to determine the three-dimensional position of the target, the machine vision module provides visual information, and the inclination measurement module provides pitch angle information, which helps to identify and analyze the position and posture of the target, and based on the above information the system can calculate the precise position of the target in the world coordinate system, generate and send deformation warning signals to ensure that management personnel can quickly receive alarms and take appropriate measures to deal with possible deformation risks.

[0007] In a preferred example, the present application may be further configured as follows: the machine vision module includes a camera, and the world coordinates of each target point in the world coordinate system are determined based on the distance information from the radar to each target point, the target point image and the pitch angle information, including: Acquire focal length information of the camera, and construct an intrinsic parameter matrix of the camera based on the focal length information; Determining the pixel coordinates of each target point in the target point image; Based on the internal reference matrix and the distance information from the radar to the target point, the pixel coordinates of the target point are converted into a camera coordinate system to obtain the camera coordinates of the target point, wherein the target point is any one of the multiple target points; Based on the pitch angle information, the camera coordinates of the target point are converted into a world coordinate system to obtain the world coordinates of the target point.

[0008] By adopting the above technical solution, by accurately obtaining the focal length information of the camera and constructing the internal parameter matrix based on it, it can be ensured that the subsequent conversion process from image coordinates to camera coordinates has a high degree of accuracy and reliability. Through image processing technology, the pixel coordinates of each target point in the target image can be accurately identified and determined. By using the camera's internal parameter matrix and the distance information from the radar to the target target, the pixel coordinates of the target target can be converted into three-dimensional coordinates in the camera coordinate system (i.e., camera coordinates), realizing the conversion from two-dimensional image space to three-dimensional camera space, and providing necessary intermediate results for subsequent coordinate system conversion. The pitch angle information describes the pitch posture of the camera relative to the world coordinate system. The pitch angle information can be used to convert the camera coordinates of the target target into three-dimensional coordinates in the world coordinate system (i.e., world coordinates), realizing the conversion from the camera coordinate system to the world coordinate system, so that the position information of the target target can be described and compared on a global scale.

[0009] In a preferred example, the present application may be further configured as follows: based on the intrinsic parameter matrix and the distance information from the radar to the target point, the pixel coordinates of the target point are converted into a camera coordinate system to obtain the camera coordinates of the target point, including: Constructing an inverse matrix of the internal parameter matrix; The product of the inverse matrix, the distance information from the radar to the target point, and the pixel coordinates of the target point is used as the camera coordinates of the target point in the camera coordinate system.

[0010] By adopting the above technical solution, the inverse matrix of the internal parameter matrix is ​​constructed, and mathematical operations are performed on the inverse matrix, the distance information from the radar to the target point, and the pixel coordinates of the target point. The pixel coordinates of the target point can be accurately converted into three-dimensional camera coordinates in the camera coordinate system, providing accurate spatial position information for subsequent deformation monitoring and target positioning.

[0011] In a preferred example, the present application may be further configured as follows: based on the pitch angle information, converting the camera coordinates of the target point into a world coordinate system to obtain the world coordinates of the target point includes: Determine a rotation matrix of the camera based on the pitch angle information; The product of the camera coordinates of the target point and the rotation matrix is ​​used as the world coordinates of the target point in the world coordinate system.

[0012] By adopting the above technical solution, the rotation matrix of the camera is determined based on the pitch angle information, and the camera coordinates of the target point are converted into world coordinates through matrix multiplication. The target point position in the camera coordinate system can be accurately mapped to the global world coordinate system, providing an accurate spatial position reference for applications such as deformation monitoring and target positioning.

[0013] In a preferred example, the present application can be further configured as follows: the calculation of the positioning difference between the current target positioning information and the initial target positioning information obtained by executing the target positioning step each time, and determining whether the positioning difference exceeds a preset difference threshold, includes: Calculating the difference between the world coordinates of each target point in the current target point positioning information and the initial target point positioning information, and the obtained differences corresponding to each of the multiple target points constitute the positioning difference; The difference values ​​corresponding to each of the multiple target points are compared with the preset difference threshold value respectively. If the difference value corresponding to any target point exceeds the preset difference threshold value, it is determined that the positioning difference value exceeds the preset difference threshold value.

[0014] By adopting the above technical solution, the world coordinate differences of multiple targets in the current and initial target positioning information are calculated, and these differences are compared with the preset difference thresholds one by one. The changes in the target positions can be comprehensively and accurately evaluated. Once the position change of any target exceeds the threshold, it can be determined in time that there may be deformation risks on site, providing a reliable basis for subsequent monitoring and early warning.

[0015] In the second aspect, the present application provides a multi-parameter fusion deformation monitoring system, which adopts the following technical solution: A multi-parameter fusion deformation monitoring system, the system comprising: Radar module, used to obtain the distance information from the radar to each target point; A machine vision module, used to obtain a target image containing multiple targets; The tilt angle measurement module is used to obtain the pitch angle information.

[0016] In a preferred example, the present application may be further configured as follows: the system further includes a vibration measurement module, the vibration measurement module including a vibration sensor unit, an impact intensity detection unit and a hazard event alarm unit; The vibration sensor is used to capture the vibration signal and convert the vibration signal into an electrical signal; The shock intensity detection unit is used to extract the vibration characteristics from the electrical signal and determine the vibration type and vibration level based on the vibration characteristics; The hazardous event alarm unit is used to trigger an alarm mechanism when the vibration level represents a high risk, or when the vibration type represents a preset type of hazardous event.

[0017] By adopting the above technical solution and integrating the vibration measurement module, the system can capture and analyze vibration signals in real time, accurately determine the type and level of vibration, and trigger alarms in time when high-risk vibrations or specific hazardous events are detected, effectively improving the system's safety monitoring capabilities and emergency response speed.

[0018] In a preferred example, the present application may be further configured as follows: the system further includes a temperature measurement module; The temperature measurement module is used to obtain temperature data of the monitoring site in real time and send out a warning signal when the temperature data exceeds the standard.

[0019] By adopting the above technical solution and adding a temperature measurement module, the system can monitor the on-site temperature data in real time. Once the temperature exceeds the preset standard, a warning signal will be immediately issued, thereby enhancing the environmental monitoring function of the system and ensuring the stability and safety of the on-site environment.

[0020] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: one or more processors; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the multi-parameter fusion deformation monitoring method as described in any one of the first aspects.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores a computer program, which, when executed in a computer, causes the computer to execute the multi-parameter fusion deformation monitoring method as described in any one of the first aspects.

[0022] In summary, this application includes the following beneficial technical effects: The present application automatically executes the target positioning step at preset time intervals, and can continuously collect the positioning information of the on-site targets, ensuring the continuity and real-time nature of deformation monitoring, so that the system can promptly detect any potential deformation; after each execution of the target positioning step, the positioning difference between the current target positioning information and the initial target positioning information is calculated, allowing the system to quantitatively analyze the change in the target position, thereby more accurately determining whether deformation has occurred at the monitoring site, and by setting a preset difference threshold, it can automatically determine whether the target position change exceeds the standard, the radar module provides accurate distance measurement, which helps to determine the three-dimensional position of the target, the machine vision module provides visual information, and the inclination measurement module provides pitch angle information, which helps to identify and analyze the position and posture of the target, and based on the above information the system can calculate the precise position of the target in the world coordinate system, generate and send deformation warning signals to ensure that management personnel can quickly receive alarms and take appropriate measures to deal with possible deformation risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a flow chart of a multi-parameter fusion deformation monitoring method provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of a multi-parameter fusion deformation monitoring system provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1 -Attached Figure 3 This application is described in further detail.

[0025] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0028] It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. In other words, if the embodiments of the present application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained. The embodiments also need to be implemented with the authorization and consent of the object.

[0029] The present application embodiment provides a multi-parameter fusion deformation monitoring method, such as Figure 1 As shown, the method provided in the embodiment of the present application is performed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes steps S101-S102, wherein: S101. Execute a target positioning step once every preset time period, calculate the positioning difference between the current target positioning information and the initial target positioning information obtained by executing the target positioning step each time, and determine whether the positioning difference exceeds a preset difference threshold, the initial target positioning information is the target positioning information obtained by executing the target positioning step for the first time.

[0030] The present embodiment provides a multi-parameter fusion deformation monitoring system, including a radar module, a machine vision module and an inclination measurement module. Among them, the radar module is loaded with a millimeter wave 3D radar, which is responsible for transmitting and receiving millimeter wave signals, and then calculating the distance from the target object to the radar through signal processing. The machine vision module uses a camera loaded with a high-definition camera to capture the target image, and uses the digital image correlation (DIC) algorithm to process the image to achieve two-dimensional high-precision tracking measurement of the target. The inclination measurement module uses an electronic inclination sensor to measure the inclination angle of the system itself in real time, providing basic data for error correction, and providing automatically calibrated pitch angle parameters for digital image two-dimensional displacement measurement.

[0031] The radar module, machine vision module and inclination measurement module can be integrated into a monitoring device. The monitoring device is set up at the monitoring site by technicians based on actual experience. During the deformation monitoring process of the monitoring site, the position of the monitoring device is fixed, and the position and angle of the radar module and the machine vision module are also fixed. The setting of the monitoring device needs to ensure that the machine vision module can capture images containing all targets at the same time.

[0032] Specifically, the monitoring site is the location of the building facilities that need to be monitored for deformation. Radar corner reflectors and infrared reflection image fusion technology are used. Technical personnel set targets at multiple locations of the monitoring site in advance based on actual experience. Each target represents a target point. The target can effectively reflect millimeter wave signals and produce obvious reflections in the infrared band, so that the radar module and the machine vision module can accurately identify the target point location. In addition, a unique feature or identifier can be set for each target. The feature or identifier corresponds to the unique label of the target point to distinguish each target point from the target point image obtained by the machine vision module.

[0033] The preset duration can be set by the technician according to the actual monitoring needs, and this embodiment does not limit it. After the monitoring starts, the target positioning step is executed once every preset duration, and the current target positioning information is obtained after each execution of the target positioning step. The current target positioning information includes the world coordinates of each target at the monitoring site in the world coordinate system. The world coordinate system is used to define the position of objects in the actual scene. In this embodiment, the monitoring device can be used as the origin of the world coordinate system, and a three-dimensional rectangular coordinate system is established based on the origin. Taking the deformation monitoring of highway slopes as an example, it is known that the slope is approximately an inclined plane. The three-dimensional direction in the world coordinate system is x perpendicular to the side of the highway, y parallel to the highway and z pointing to the center of the earth. The monitoring device is set opposite the slope highway and the angle with the highway is 90 degrees. For different monitoring scenarios, the direction of the coordinate axis of the world coordinate system can be flexibly set.

[0034] Among them, the target positioning step includes: controlling the radar module to obtain the distance information from the radar to each target point; controlling the machine vision module to obtain the target image containing multiple targets; controlling the inclination measurement module to obtain the pitch angle information; based on the distance information from the radar to each target point, the target image and the pitch angle information, determining the world coordinates of each target point in the world coordinate system, and the world coordinates of each target point constitute the target positioning information.

[0035] Specifically, by performing feature or identifier recognition on the target image, the pixel coordinates of each target in the pixel coordinate system can be determined. The camera's intrinsic parameter matrix can be obtained by obtaining the camera's configuration parameters. Based on the intrinsic parameter matrix and the distance information from the radar to each target, the pixel coordinates of each target are converted from the pixel coordinate system to the camera coordinate system, thereby obtaining the camera coordinates of each target in the camera coordinate system. Based on the pitch angle information, the camera coordinates of each target are converted from the camera coordinate system to the world coordinate system, thereby obtaining the world coordinates of each target, and the world coordinates of each target are associated with the target number.

[0036] Any target positioning step after the first target positioning step is performed is used as the current target positioning step. The current target positioning information contains the world coordinates of each target, and the initial target positioning information also contains the world coordinates of each target. The difference between the world coordinates corresponding to the same target number in the current target positioning information and the initial target positioning information, i.e., the relative three-dimensional displacement value of the target, is calculated to obtain the difference corresponding to each of the multiple targets. The difference corresponding to each of the multiple targets is compared with the preset difference threshold value. If the difference corresponding to any target exceeds the preset difference threshold value, it is determined that the positioning difference exceeds the preset difference threshold value; if the difference corresponding to each of the multiple targets does not exceed the preset difference threshold value, it is determined that the positioning difference does not exceed the preset difference threshold value, and the subsequent target positioning steps are continued.

[0037] S102: If the positioning difference exceeds a preset difference threshold, it is determined that deformation exists at the monitoring site, and a deformation warning signal is generated and sent to a terminal device of the management personnel.

[0038] Specifically, the target point labels whose difference exceeds a preset difference threshold value may be recorded, and a deformation warning signal including the target point labels may be generated.

[0039] This embodiment automatically executes the target positioning step at preset time intervals, and can continuously collect the positioning information of the on-site targets, ensuring the continuity and real-time nature of deformation monitoring, so that the system can promptly detect any potential deformation; after each execution of the target positioning step, the positioning difference between the current target positioning information and the initial target positioning information is calculated, allowing the system to quantitatively analyze the change in the target position, thereby more accurately determining whether deformation has occurred at the monitoring site, and by setting a preset difference threshold, it can automatically determine whether the target position change exceeds the standard, the radar module provides accurate distance measurement, which helps to determine the three-dimensional position of the target, the machine vision module provides visual information, and the inclination measurement module provides pitch angle information, which helps to identify and analyze the position and posture of the target, and based on the above information the system can calculate the precise position of the target in the world coordinate system, generate and send deformation warning signals to ensure that management personnel can quickly receive alarms and take appropriate measures to deal with possible deformation risks.

[0040] In a possible implementation of the embodiment of the present application, the machine vision module includes a camera, and based on the distance information from the radar to each target point, the target point image and the pitch angle information, the world coordinates of each target point in the world coordinate system are determined, including: obtaining the focal length information of the camera, and constructing the internal parameter matrix of the camera based on the focal length information; Determine the pixel coordinates of each target point in the target point image; Based on the internal reference matrix and the distance information from the radar to the target point, the pixel coordinates of the target point are converted into the camera coordinate system to obtain the camera coordinates of the target point, and the target point is any one of the multiple targets; Based on the pitch angle information, the camera coordinates of the target point are converted into the world coordinate system to obtain the world coordinates of the target point.

[0041] In this embodiment, the machine vision module includes a camera with an infrared monitoring function, which is used to identify the target in various situations. The focal length information of the camera can be obtained from the camera configuration information, and the focal length information includes the focal length f of the camera lens in the x-axis direction. x , and the focal length f of the camera lens in the y-axis direction y The camera's intrinsic parameter matrix is: Based on the camera configuration information, the pixels of the image taken by the camera can also be obtained. The pixel size is expressed as w×h, which means that the image width is w pixels and the height is h pixels. The pixel coordinates of each target point in the target image represent the row and column where the pixel of the target point is located in the target image. The pixel coordinates of the target point are expressed as a position vector: This embodiment can ensure that the subsequent conversion process from image coordinates to camera coordinates has high accuracy and reliability by accurately obtaining the focal length information of the camera and constructing an internal parameter matrix based on the information. By using image processing technology, the pixel coordinates of each target point in the target image can be accurately identified and determined. By using the internal parameter matrix of the camera and the distance information from the radar to the target target point, the pixel coordinates of the target target point can be converted into three-dimensional coordinates in the camera coordinate system (i.e., camera coordinates), realizing the conversion from two-dimensional image space to three-dimensional camera space, and providing necessary intermediate results for subsequent coordinate system conversion. The pitch angle information describes the pitch posture of the camera relative to the world coordinate system. The pitch angle information can be used to convert the camera coordinates of the target target point into three-dimensional coordinates in the world coordinate system (i.e., world coordinates), realizing the conversion from the camera coordinate system to the world coordinate system, so that the position information of the target target point can be described and compared in a global range.

[0042] A possible implementation of the embodiment of the present application is to convert the pixel coordinates of the target point into the camera coordinate system to obtain the camera coordinates of the target point based on the intrinsic reference matrix and the distance information from the radar to the target point, including: Construct the inverse matrix of the internal parameter matrix; The product of the inverse matrix, the distance information from the radar to the target point, and the pixel coordinates of the target point is used as the camera coordinates of the target point in the camera coordinate system.

[0043] In this embodiment, the inverse matrix K of the internal parameter matrix -1 It is expressed as: The camera coordinates P of the target point in the camera coordinate system are: This embodiment constructs the inverse matrix of the internal parameter matrix and performs mathematical operations on the inverse matrix, the distance information from the radar to the target point, and the pixel coordinates of the target point, so as to accurately convert the pixel coordinates of the target point into three-dimensional camera coordinates in the camera coordinate system, thereby providing accurate spatial position information for subsequent deformation monitoring and target positioning.

[0044] A possible implementation of the embodiment of the present application is to convert the camera coordinates of the target point into a world coordinate system based on the pitch angle information to obtain the world coordinates of the target point, including: Determine the rotation matrix of the camera based on the pitch angle information; The product of the camera coordinates of the target point and the rotation matrix is ​​used as the world coordinates of the target point in the world coordinate system.

[0045] In this embodiment, the pitch angle information indicates the pitch angle, which is represented by a. The rotation matrix R of the camera is: The translation matrix T represents the position of the camera's optical center (the camera's optical center coincides with the origin of the world coordinate system, so T is a zero vector): The rotation matrix and translation matrix constitute the external parameters of the camera.

[0046] The world coordinates P′ of the target point in the world coordinate system are: Among them, R is the rotation matrix and P is the camera coordinates of the target point.

[0047] This embodiment determines the rotation matrix of the camera based on the pitch angle information, and converts the camera coordinates of the target point into world coordinates through matrix multiplication. It can accurately map the target point position in the camera coordinate system to the global world coordinate system, providing an accurate spatial position reference for applications such as deformation monitoring and target positioning.

[0048] A possible implementation of the embodiment of the present application is to calculate the positioning difference between the target positioning information obtained by each execution of the target positioning step and the initial target positioning information, and determine whether the positioning difference exceeds a preset difference threshold, including: calculating the difference between the world coordinates of each target point in the current target positioning information and the initial target positioning information of each target point among multiple targets, and the obtained differences corresponding to each of the multiple targets constitute the positioning difference, and the current target positioning information is the target positioning information obtained by any execution of the target positioning step after the first time; The difference values ​​corresponding to the multiple target points are compared with the preset difference thresholds respectively. If the difference value corresponding to any target point exceeds the preset difference threshold, it is determined that the positioning difference exceeds the preset difference threshold.

[0049] In this embodiment, the moment when the target point positioning step is performed for the first time is taken as the initial monitoring moment, and the pixel coordinates of the target point in the initial target point positioning information (i.e., the pixel position of the target point at the initial monitoring moment) are expressed as: Then the camera coordinates P of the target point at the initial monitoring time are 1 for: P 1 =K -1 ·d1 ·p 1 Among them, d 1 is the distance between the radar and the target at the initial monitoring moment, The world coordinates of the target point at the initial monitoring time are: P 1 ′ =R·P 1 Any target positioning step after the first target positioning step is taken as the target target positioning step, and the execution time of the target target positioning step is taken as the target monitoring time. The pixel coordinates of the target target in the current target positioning information (i.e., the pixel position of the target target at the target monitoring time) are expressed as: Then the camera coordinates P of the target point at the initial monitoring time are 2 for: P 2 =K -1 ·d 2 ·p 2 Among them, d 2 is the distance between the radar and the target at the initial monitoring moment, The world coordinates of the target point at the initial monitoring time are: P 2 ′ =R·P 2 Calculate the difference between the world coordinates of the target point in the current target point positioning information and the initial target point positioning information to obtain the three-dimensional displacement △P of the target point: △P==P 2 ′ -P 1 ′ Among them, the calculated △P can be expressed in matrix form.

[0050] This embodiment calculates the world coordinate differences of multiple targets in the current and initial target positioning information, and compares these differences with the preset difference thresholds one by one, so as to comprehensively and accurately evaluate the changes in the target positions. Once the position change of any target exceeds the threshold, it can be determined in time that there may be a deformation risk on site, providing a reliable basis for subsequent monitoring and early warning.

[0051] The above method realizes automatic machine vision calibration and target space coordinate conversion by executing the target positioning step. This process does not require the traditional manual calibration plate, which improves the flexibility and efficiency of calibration. After completing the automatic machine vision calibration, the system can accurately convert the pixel coordinates of the target in the target image into three-dimensional camera coordinates in the camera coordinate system. Then, using the distance information and pitch angle information provided by the radar, combined with the conversion relationship between the camera coordinate system and the world coordinate system, the camera coordinates of the target are further converted to a unified world coordinate system. Through the above steps, the spatial coordinates of all targets are converted to a unified world coordinate system, achieving consistency and comparability of data between different measuring devices (millimeter wave radar, machine vision). On this basis, the system can further integrate multi-dimensional data such as inclination measurement, vibration measurement, and temperature measurement to build a comprehensive structural deformation monitoring model.

[0052] See also Figure 2 , the embodiment of the present application provides a multi-parameter fusion deformation monitoring system, including: Radar module 201, used to obtain distance information from the radar to each target point; A machine vision module 202, used to obtain a target image containing multiple targets; The tilt angle measurement module 203 is used to obtain pitch angle information.

[0053] In a possible implementation of the embodiment of the present application, the system further includes a vibration measurement module, which includes a vibration sensor unit, an impact intensity detection unit, and a hazard event alarm unit; A vibration sensor is used to capture vibration signals and convert them into electrical signals; An impact intensity detection unit, used for extracting vibration characteristics from the electrical signal, and determining the vibration type and vibration level based on the vibration characteristics; The hazardous event alarm unit is used to trigger an alarm mechanism when the vibration level represents a high risk, or when the vibration type is a preset type of hazardous event.

[0054] In this embodiment, the vibration sensor is a device that can sense external disturbances and convert them into measurable electrical signals. In this system, the vibration sensor monitors the vibration of the structure in real time through a built-in accelerometer or piezoelectric element, collects the vibration signal of the structure, and can analyze the performance and status of the mechanical system. When the structure is subjected to external impact or vibration, the vibration sensor will capture these vibration signals and convert them into electrical signals for transmission and processing.

[0055] The impact intensity detection unit processes the signal transmitted by the vibration sensor and extracts the vibration characteristics, including key parameters such as vibration acceleration, for evaluating the intensity of the impact. The machine learning algorithm can be used to train the historical vibration characteristic data in advance. By marking the vibration type and vibration level of the data during the training model, the trained model can recognize the extracted vibration characteristics in real time in actual applications to obtain the vibration level and vibration type. The extracted vibration acceleration can also be compared with the pre-set vibration acceleration threshold. Different vibration levels correspond to different degrees of danger, and the vibration levels representing low risk and high risk can be divided in advance.

[0056] When the vibration acceleration is detected to exceed the preset vibration acceleration threshold, or the vibration level indicates high risk, or a preset type of hazardous event (such as earthquake, explosion, impact, etc.) is identified, the alarm mechanism will be triggered immediately. The alarm mechanism can include various forms such as sound alarm, light alarm, SMS or email notification to ensure that relevant personnel can be informed in time and take countermeasures. In addition, the system can also correlate the alarm information with other monitoring data (such as deformation data, temperature data, etc.) to provide more comprehensive information support for the assessment and disposal of hazardous events.

[0057] By integrating the vibration measurement module, this embodiment enables the system to capture and analyze vibration signals in real time, accurately determine the type and level of vibration, and promptly trigger an alarm when high-risk vibrations or specific hazardous events are detected, effectively improving the system's safety monitoring capabilities and emergency response speed.

[0058] In a possible implementation of the embodiment of the present application, the system further includes a temperature measurement module; The temperature measurement module is used to obtain the temperature data of the monitoring site in real time and issue a warning signal when the temperature data exceeds the standard.

[0059] The temperature measurement module uses a high-precision temperature sensor to monitor the temperature changes of the structure and its surrounding environment, and provide temperature compensation for deformation analysis. The standard temperature can be set in advance by the technicians. When the temperature data at the monitoring site exceeds the standard temperature, it is determined that the temperature data exceeds the standard.

[0060] By adding a temperature measurement module, the system in this embodiment can monitor the on-site temperature data in real time. Once the temperature exceeds the preset standard, a warning signal is immediately issued, thereby enhancing the environmental monitoring function of the system and ensuring the stability and safety of the on-site environment.

[0061] This system integrates millimeter-wave radar, machine vision, and other monitoring technologies (such as inclination measurement, vibration measurement, temperature measurement, etc.) to achieve three-dimensional high-precision tracking and measurement of targets, as well as all-round, multi-dimensional monitoring of structural deformation. Automatic target calibration and real-time monitoring reduce manual intervention and improve work efficiency. The system collects and processes data in real time, quickly responds to structural deformation changes, integrates inclination, vibration, temperature and other parameter monitoring, and provides comprehensive deformation analysis data. Through comprehensive analysis and processing of various monitoring data, the system can more accurately assess the safety status of the structure, predict potential hazardous events, and provide a scientific basis for maintenance and management. In addition, the system also has self-learning and self-optimization capabilities, and can continuously optimize algorithms and models based on historical data and real-time monitoring results to improve the accuracy and reliability of monitoring.

[0062] The advantages of the system provided in this embodiment include: Full-scene automatic calibration: By combining millimeter-wave radar distance measurement with machine vision image processing, automatic calibration of machine vision is realized, without the need for traditional manual calibration plates, which improves the flexibility and efficiency of calibration. High-precision three-dimensional monitoring: By integrating multiple measurement technologies for automatic error correction, high-precision three-dimensional deformation monitoring of the entire scene is realized, solving the problem of insufficient accuracy of a single technology. Automatic error correction: The system can comprehensively detect changes in the equipment's own environment (such as temperature, tilt, etc.), and perform automatic error correction based on this, thereby improving the accuracy and stability of the monitoring data. Intelligent alarm function: By setting reasonable thresholds and adopting intelligent algorithms, the system can automatically identify hazardous events and trigger an alarm mechanism to ensure that relevant personnel can be informed in a timely manner and take countermeasures. Intelligence: The system has self-learning and self-optimization capabilities, and can automatically complete tasks such as calibration, error correction, monitoring, and alarm, reducing the cost of manual intervention. Wide application: This system is suitable for deformation monitoring of various engineering structures such as bridges, buildings, tunnels, as well as industrial automation, robot navigation and other fields.

[0063] An electronic device is provided in an embodiment of the present application, such as Figure 3 As shown, Figure 3 The electronic device 300 shown includes: a processor 301 and a memory 303. The processor 301 and the memory 303 are connected, such as through a bus 302. Optionally, the electronic device 300 may also include a transceiver 304. It should be noted that in actual applications, the transceiver 304 is not limited to one, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0064] Processor 301 may be a CPU (Central Processing Unit), a general purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 301 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0065] The bus 302 may include a path to transmit information between the above components. The bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 302 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but it does not mean that there is only one bus or only one type of bus.

[0066] The memory 303 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0067] The memory 303 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the application code stored in the memory 303 to implement the contents shown in the embodiment of the multi-parameter fusion deformation monitoring method.

[0068] Figure 3 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0069] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the contents shown in the aforementioned multi-parameter fusion deformation monitoring method embodiment.

[0070] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0071] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A multi-parameter fusion deformation monitoring method, characterized in that: The method is applied to a multi-parameter fusion deformation monitoring system, the system includes a radar module, a machine vision module and a tilt angle measurement module, and the method is executed by an electronic device, and the method includes: The target positioning step is performed once every preset time period, the positioning difference between the current target positioning information and the initial target positioning information obtained by performing the target positioning step each time is calculated, and it is determined whether the positioning difference exceeds a preset difference threshold, and the initial target positioning information is the target positioning information obtained by performing the target positioning step for the first time; Wherein, the target positioning step includes: controlling the radar module to obtain the distance information from the radar to each target; controlling the machine vision module to obtain the target image containing multiple targets; controlling the inclination measurement module to obtain the pitch angle information; based on the distance information from the radar to each target, the target image and the pitch angle information, determining the world coordinates of each target in the world coordinate system, and the world coordinates of each target constitute the target positioning information; If the positioning difference exceeds the preset difference threshold, it is determined that deformation exists at the monitoring site, and a deformation warning signal is generated and sent to the terminal device of the management personnel.

2. The multi-parameter fusion deformation monitoring method according to claim 1 is characterized in that: The machine vision module includes a camera, and determining the world coordinates of each target point in a world coordinate system based on the distance information from the radar to each target point, the target point image, and the pitch angle information includes: Acquire focal length information of the camera, and construct an intrinsic parameter matrix of the camera based on the focal length information; Determining the pixel coordinates of each target point in the target point image; Based on the internal reference matrix and the distance information from the radar to the target point, the pixel coordinates of the target point are converted into a camera coordinate system to obtain the camera coordinates of the target point, wherein the target point is any one of the multiple target points; Based on the pitch angle information, the camera coordinates of the target point are converted into a world coordinate system to obtain the world coordinates of the target point.

3. The multi-parameter fusion deformation monitoring method according to claim 2 is characterized in that: The step of converting the pixel coordinates of the target point into a camera coordinate system based on the intrinsic parameter matrix and the distance information between the radar and the target point to obtain the camera coordinates of the target point includes: Constructing an inverse matrix of the internal parameter matrix; The product of the inverse matrix, the distance information from the radar to the target point, and the pixel coordinates of the target point is used as the camera coordinates of the target point in the camera coordinate system.

4. The multi-parameter fusion deformation monitoring method according to claim 2 is characterized in that: The step of converting the camera coordinates of the target point into a world coordinate system based on the pitch angle information to obtain the world coordinates of the target point includes: Determine a rotation matrix of the camera based on the pitch angle information; The product of the camera coordinates of the target point and the rotation matrix is ​​used as the world coordinates of the target point in the world coordinate system.

5. The multi-parameter fusion deformation monitoring method according to claim 1, characterized in that: The calculating the positioning difference between the current target positioning information and the initial target positioning information obtained by executing the target positioning step each time, and judging whether the positioning difference exceeds a preset difference threshold, comprises: Calculating the difference between the world coordinates of each target point in the current target point positioning information and the initial target point positioning information, and the obtained differences corresponding to each of the multiple target points constitute the positioning difference; The difference values ​​corresponding to each of the multiple target points are compared with the preset difference threshold value respectively. If the difference value corresponding to any target point exceeds the preset difference threshold value, it is determined that the positioning difference value exceeds the preset difference threshold value.

6. A multi-parameter fusion deformation monitoring system, characterized in that: The system comprises: Radar module, used to obtain the distance information from the radar to each target point; A machine vision module, used to obtain a target image containing multiple targets; The tilt angle measurement module is used to obtain the pitch angle information.

7. The multi-parameter fusion deformation monitoring system according to claim 6, characterized in that: The system further comprises a vibration measurement module, wherein the vibration measurement module comprises a vibration sensor unit, an impact intensity detection unit and a hazard event alarm unit; The vibration sensor is used to capture the vibration signal and convert the vibration signal into an electrical signal; The shock intensity detection unit is used to extract the vibration characteristics from the electrical signal and determine the vibration type and vibration level based on the vibration characteristics; The hazardous event alarm unit is used to trigger an alarm mechanism when the vibration level represents a high risk, or when the vibration type represents a preset type of hazardous event.

8. The multi-parameter fusion deformation monitoring system according to claim 6, characterized in that: The system also includes a temperature measurement module; The temperature measurement module is used to obtain temperature data of the monitoring site in real time and send out a warning signal when the temperature data exceeds the standard.

9. An electronic device, characterized in that: include: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the multi-parameter fusion deformation monitoring method according to any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the multi-parameter fusion deformation monitoring method according to any one of claims 1 to 5.

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