Structure multi-point dynamic displacement monitoring robot based on machine vision technology

Abstract

The invention relates to a structure multi-point dynamic displacement monitoring robot based on a machine vision technology, which comprises a monitoring module and a robot mechanism, and is characterized in that the monitoring module is used for monitoring a visual target arranged on a building and comprises a visual camera; the robot mechanism is used for carrying the monitoring module to inspect all the monitoring base points, and the monitoring base points are provided with positioning bases used for being in butt joint with the robot mechanism for positioning. According to the invention, a plurality of monitoring base points are arranged, the robot mechanism carries the monitoring module to carry out dynamic monitoring, the data of the plurality of monitoring base points are integrated to have fault tolerance, so that the monitoring data are more accurate, and the robot mechanism is positioned and clamped by arranging the fixing assembly to control the shooting position of the visual monitor to be absolutely fixed. The shell is in sliding connection with the moving assembly, so that when the shell and the moving assembly are clamped and positioned, the moving assembly is still left on the track, and a next monitoring base point can be conveniently removed.

Description

Technical Field

[0001] The invention belongs to the field of building structure monitoring, and in particular relates to a structure multi-point dynamic displacement monitoring robot based on machine vision technology. Background Art

[0002] The machine vision displacement monitor uses the Internet of Things technology and intelligent disaster recognition algorithm to convert video data into deformation data, realize ultra-high precision non-contact real-time measurement of various civil engineering structures, and achieve the purpose of all-weather monitoring of the health status of the structure. The system consists of a machine vision measuring instrument, a visual target, a debugging program, and a monitoring management platform. It can be used to observe the settlement, horizontal displacement, crack width, crack length and other items of the target point. Several visual targets are arranged on the structure to be measured, and a machine vision displacement monitor is installed in a stable position relative to the structure. The machine vision displacement monitor recognizes the target image on the structure. When the structure to be measured undergoes a planar displacement, the target coordinates change accordingly, thereby measuring the horizontal and vertical bidirectional displacement of the measured object.

[0003] Generally, monitoring base points are selected in geologically stable areas, and visual measuring instruments are set up at the monitoring base points. However, the monitoring distance of the visual measuring instrument is limited, and the geology near the building to be measured may be unstable. Therefore, monitoring through only one monitoring base point may result in errors due to the settlement of the monitoring base point itself. Summary of the invention

[0004] The purpose of the present invention is to provide a structural multi-point dynamic displacement monitoring robot based on machine vision technology in order to solve the above problems.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A structure multi-point dynamic displacement monitoring robot based on machine vision technology, comprising

[0007] A monitoring module, which is used to monitor visual targets set on the building, including a visual monitoring instrument;

[0008] A robot mechanism is used to carry a monitoring module to inspect various monitoring base points. A positioning base is provided on the monitoring base for docking and positioning with the robot mechanism. The robot mechanism includes a shell and a moving component arranged below the shell, wherein the moving component moves along a track arranged on the ground. A fixed component is provided on the shell for positioning and clamping with the positioning base. The shell is slidably connected to the moving component to enable the moving component to stay on the track when the shell and the positioning base are positioned and fixed.

[0009] As a further optimization scheme of the present invention, a base for carrying a monitoring module is provided on the shell, and the monitoring module also includes a first rotating seat arranged on the base, a second rotating seat arranged on the first rotating seat, and a visual monitor is arranged on the second rotating seat. During operation, the visual monitor is driven by the first rotating seat and the second rotating seat to align with the visual target, and after monitoring, it turns to align with the next visual target through the first rotating seat and the second rotating seat, and so on.

[0010] As a further optimization scheme of the present invention, the fixing assembly includes a lifting plate arranged in the shell, a positioning piece is arranged on the surface of the lifting plate, a positioning groove corresponding to the positioning piece is arranged on the surface of the positioning base, and after the positioning piece is docked with the positioning groove, limited positioning and fixing are performed, wherein the positioning groove is a truncated cone / conical groove which is long, wide and narrow at the bottom, and the shape of the positioning piece corresponds to the positioning groove.

[0011] As a further optimization scheme of the present invention, the lifting plate is controlled to rise and fall by a driving unit arranged in the shell, and a guide unit is arranged between the lifting plate and the shell. This scheme drives the lifting and falling by setting a driving unit, and further sets a guide unit for guiding. The driving unit can adopt a cylinder.

[0012] As a further optimization scheme of the present invention, a side groove is provided on the surface of the shell, and the side groove is used to align with the positioning base. A receiving plate is provided at the bottom of the side groove. This scheme enables the side groove of the robot mechanism to align with the positioning base when it moves, and then further positions and fixes it through the lifting plate.

[0013] As a further optimization scheme of the present invention, a sliding portion and a pre-positioning component are arranged between the moving component and the shell, the sliding portion is used to make the shell and the moving component slidingly connected, and the pre-positioning component is used to make the robot mechanism perform preliminary positioning when encountering the positioning base. When the robot mechanism is running, it is necessary to first run along the track to a position aligned with the positioning base, so that the positioning piece and the positioning groove are preliminarily aligned before they can be accurately positioned and fixed. Therefore, this scheme arranges a pre-positioning component to make the robot mechanism perform preliminary positioning on the track.

[0014] As a further optimization scheme of the present invention, the pre-positioning component includes a shaft rod arranged in a shell, one end of the shaft rod passes through the shell and has an axial sliding space, a tension spring is arranged in the shell, and the tension spring is used to make the shaft rod have a retraction tendency, and a positioning rod is radially arranged on the end of the shaft rod extending out of the shell, which is used to contact the side of the positioning base to block the robot mechanism from moving forward, and a transmission structure is arranged between the shell and the moving component, and the transmission structure is used to drive the positioning rod to rotate and release the blockage when the shell and the moving component are separated, and a limiting portion is also arranged on the outside of the shell for limiting the rotation stroke of the shaft rod. The present scheme specifically proposes a structure of a pre-positioning component, which arranges a positioning rod, and when the robot mechanism moves to the side groove and initially aligns with the positioning base, the positioning rod contacts the side of the positioning base, and when the positioning rod is clamped and fixed by the shell and the positioning base, the shell rises so that the positioning rod also rotates out of contact with the positioning base.

[0015] As a further optimization scheme of the present invention, the transmission structure includes a rack passing through the shell and the moving component, a gear sleeve is arranged on the surface of the shaft rod, and the rack is slidably connected to the shell and the moving component, a slider is arranged at the bottom of the rack, which is slidably connected to the moving component and limits the stroke of the rack, and a spring is arranged in the moving component to make the rack have a tendency to move into the shell. This scheme specifically proposes a transmission structure, which drives the positioning rod to rotate through the shell during the positioning and clamping process.

[0016] The beneficial effects of the present invention are:

[0017] The present invention sets a plurality of monitoring base points, and performs dynamic monitoring by carrying a monitoring module on a robot mechanism. The data of the plurality of monitoring base points are integrated with fault tolerance, so that the monitoring data is more accurate. The robot mechanism is positioned and clamped by setting a fixed component to control the shooting position of the visual monitor to be absolutely fixed. The shell is slidably connected to the mobile component, so that when the shell and the mobile component are clamped and positioned, the mobile component remains on the track to facilitate going to the next monitoring base point. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the cross-sectional structure of the robot mechanism of the present invention.

[0020] Figure 3 It is a top view of the robot mechanism of the present invention.

[0021] Figure 4 The present invention Figure 2 A magnified view of the structure of part A.

[0022] Figure 5It is a schematic diagram of the robot mechanism of the present invention after positioning.

[0023] Figure 6 The present invention Figure 5 Top view of the .

[0024] In the figure: 1. Monitoring module; 11. Visual monitor; 12. First rotating seat; 13. Second rotating seat; 2. Robot mechanism; 21. Shell; 22. Base; 23. Side groove; 24. Receiving plate; 25. Moving assembly; 26. Driving part; 27. Guide part; 28. Lifting plate; 29. ​​Positioning member; 3. Positioning base; 31. Positioning groove; 4. Sliding part; 5. Pre-positioning assembly; 51. Shaft; 52. Tension spring; 53. Gear sleeve; 54. Positioning rod; 55. Limiting part; 56. Rack; 57. Slider; 58. Spring; 6. Track; 7. Visual target. DETAILED DESCRIPTION

[0025] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0026] Example 1

[0027] like Figure 1-6 As shown, a structure multi-point dynamic displacement monitoring robot based on machine vision technology includes

[0028] A monitoring module 1, which is used to monitor a visual target 7 set on a building, including a visual monitoring device 11;

[0029] The robot mechanism 2 is used to carry the monitoring module 1 to inspect various monitoring base points. A positioning base 3 for docking and positioning with the robot mechanism 2 is arranged on the monitoring base. The robot mechanism 2 includes a shell 21 and a moving component 25 arranged below the shell 21, wherein the moving component 25 moves along a track 6 arranged on the ground, and a fixed component for positioning and clamping with the positioning base 3 is arranged on the shell 21. The shell 21 is slidably connected to the moving component 25, and is used to make the moving component 25 stay on the track 6 when the shell 21 and the positioning base 3 are positioned and fixed.

[0030] This solution sets up multiple monitoring base points and uses a robot mechanism 2 equipped with a monitoring module 1 to perform dynamic monitoring. The data collected from multiple monitoring base points is fault-tolerant, making the monitoring data more accurate. The robot mechanism 2 is positioned and clamped by setting a fixed component to control the shooting position of the visual monitor 11 to be absolutely fixed. The shell 21 is slidably connected to the mobile component 25, so that when the shell 21 and the mobile component 25 are clamped and positioned, the mobile component 25 still remains on the track 6 to facilitate going to the next monitoring base point.

[0031] The monitoring method is as follows:

[0032] S1: Move the robot mechanism 2 to the first monitoring base point, clamp and position it with the positioning base 3 of the monitoring base point, rotate the visual monitor 11 through the two-stage rotating seat to align with the position of the first visual target 7, record the direction in which the current visual monitor 11 is aligned, and record the image of the visual target 7, then align with the second visual target 7, record the direction in which the current visual monitor 11 is aligned, and record the image of the visual target 7, so as to collect the images of all the visual targets 7; the robot mechanism 2 moves to the second monitoring base point and repeats the above steps;

[0033] S2: Perform dynamic monitoring through the robot mechanism 2, repeating steps S1 and S2, wherein, at the same monitoring base point and facing the same visual target 7, the visual monitor 11 is aligned in the same direction as in step S1 / S2, and the image of the visual target 7 is recorded;

[0034] S3: The terminal compares each monitoring base point and the difference between the images obtained successively facing the same visual target 7, and uses the existing technology to evaluate the small displacement of the structure, and finally integrates the image differences of multiple monitoring base points to eliminate the data difference caused by the offset of the detection base point itself.

[0035] A base 22 for carrying the monitoring module 1 is provided on the shell 21. The monitoring module 1 also includes a first rotating seat 12 arranged on the base 11, a second rotating seat 13 arranged on the first rotating seat 12, and a visual monitor 11 is arranged on the second rotating seat 13. During operation, the visual monitor 11 is driven by the first rotating seat 12 and the second rotating seat 13 to align with the visual target 7. After monitoring, it turns to align with the next visual target 7 through the first rotating seat 12 and the second rotating seat 13, and so on.

[0036] The fixing assembly includes a lifting plate 28 arranged in the shell 21, and a positioning member 29 is arranged on the surface of the lifting plate 28. A positioning groove 31 corresponding to the positioning member 29 is arranged on the surface of the positioning base 3. After the positioning member 29 is docked with the positioning groove 31, a limited position fixation is performed, wherein the positioning groove 31 is a truncated cone / conical groove which is long, wide and narrow at the bottom, and the shape of the positioning member 29 corresponds to the positioning groove 31.

[0037] The lifting plate 28 is controlled by a driving part 26 disposed in the shell 21. A guide part 27 is disposed between the lifting plate 28 and the shell 21. In this solution, the driving part 26 is disposed to drive the lifting, and the guide part 27 is further disposed to guide. The driving part 26 can be a cylinder.

[0038] A side groove 23 is provided on the surface of the shell 21, and the side groove 23 is used to align with the positioning base 3. A receiving plate 24 is provided at the bottom of the side groove 23. In this solution, by providing the side groove 23, the side groove 23 is aligned with the positioning base 3 when the robot mechanism 2 moves, and then further positioned and fixed by the lifting plate 28.

[0039] A sliding portion 4 and a pre-positioning component 5 are provided between the moving component 25 and the shell 21. The sliding portion 4 is used to make the shell 21 and the moving component 25 slidably connected, and the pre-positioning component 5 is used to make the robot mechanism 2 perform preliminary positioning when encountering the positioning base 3. When the robot mechanism 2 is running, it is necessary to first run along the track 6 to a position aligned with the positioning base 3, so that the positioning member 29 and the positioning groove 31 are preliminarily aligned before they can be accurately positioned and fixed. Therefore, this scheme arranges a pre-positioning component 5 to make the robot mechanism 2 perform preliminary positioning on the track 6.

[0040] Specifically, the pre-positioning assembly 5 includes a shaft 51 arranged in the housing 21, one end of the shaft 51 passes through the housing 21 and has an axial sliding space, a tension spring 52 is arranged in the housing 21, and the tension spring 52 is used to make the shaft 51 have a retraction tendency, and a positioning rod 54 is radially arranged at one end of the shaft 51 extending outside the housing 21, which is used to contact the side of the positioning base 3 to block the robot mechanism 2 from moving forward, and a transmission structure is arranged between the housing 21 and the moving assembly 25, and the transmission structure is used to stop the positioning rod 54 from moving forward when the positioning rod 54 is in the housing. When the housing 21 is separated from the moving assembly 25, the housing 21 is driven to rotate to release the obstruction. A limiting portion 55 is also provided on the outside of the housing 21 to limit the rotational stroke of the shaft rod 51. The present scheme specifically proposes a structure of a pre-positioning assembly 5, which is provided with a positioning rod 54. When the robot mechanism 2 moves to the side groove 23 and is initially aligned with the positioning base 3, the positioning rod 54 contacts the side of the positioning base 3. When the positioning rod 54 is clamped and fixed by the housing 21 and the positioning base 3, the housing 21 rises so that the positioning rod 54 also rotates out of contact with the positioning base 3.

[0041] The transmission structure includes a rack 56 that passes through the shell 21 and the moving component 25, a gear sleeve 53 is provided on the surface of the shaft 51, and the rack 56 is slidably connected to the shell 21 and the moving component 25, a slider 57 is provided at the bottom of the rack 56, which is slidably connected to the moving component 25 and limits the stroke of the rack 56, and a spring 58 is provided in the moving component 25 to make the rack 56 have a tendency to move toward the shell 21. This scheme specifically proposes a transmission structure, which drives the positioning rod 54 to rotate during the positioning and clamping process through the shell 21.

[0042] The specific implementation method is as follows: the robot mechanism 2 moves along the track 6, and the side groove 23 moves to the positioning base 3, such as Figure 3 As shown, the side surface of the positioning base 3 contacts the positioning rod 54, so that the positioning rod 54 overcomes the tension spring 52 and extends outward, and then stops, that is, the effect of preliminary positioning is achieved. After the lifting plate 28 descends and cooperates with the positioning base 3 to press tightly, the reaction force of the driving part 26 causes the shell 21 to rise, and the shell 21 is completely positioned and fixed. Then the visual monitor 11 rotates to a predetermined direction to collect the image of the visual target 7, as shown in FIG. Figure 2 As shown, the housing 21 moves upward so that the rack 56 rotates relative to the gear sleeve 53, and the gear sleeve 53 drives the shaft 51 and the positioning rod 54 to rotate, so that the positioning rod 54 no longer blocks the positioning base 3. At this time, the tension spring 52 pulls the shaft 51 back. After completing the image acquisition, the housing 21 descends, and the positioning rod 54 rotates and resets, but cannot be reset to the horizontal. Figure 6 As shown, the positioning rod 54 is blocked by the upper surface of the positioning base 3 after rotating downward. At this time, the rack 56 moves downward with the shell 21 to compress the spring 58. When the robot mechanism 2 leaves the current positioning base 3, the rack 56 moves upward, the gear sleeve 53 and the shaft 51 rotate under the push of the spring 58, so that the positioning rod 54 rotates to a horizontal state for resetting. After resetting, it continues to be used for pre-positioning on the next positioning base 3.

[0043] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A structural multi-point dynamic displacement monitoring robot based on machine vision technology, characterized in that: include A monitoring module (1) for monitoring a visual target (7) arranged on a building, comprising a visual monitoring device (11); A robot mechanism (2) is used to carry a monitoring module (1) to inspect various monitoring base points. A positioning base (3) for docking and positioning with the robot mechanism (2) is arranged on the monitoring base point. The robot mechanism (2) comprises a shell (21) and a moving component (25) arranged below the shell (21). The moving component (25) moves along a track (6) arranged on the ground. A fixing component for positioning and clamping with the positioning base (3) is arranged on the shell (21). The shell (21) is slidably connected to the moving component (25) so as to make the moving component (25) stay on the track (6) when the shell (21) and the positioning base (3) are positioned and fixed.

2. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 1 is characterized by: The housing (21) is provided with a base (22) for carrying the monitoring module (1); the monitoring module (1) further comprises a first rotating seat (12) arranged on the base (11), a second rotating seat (13) arranged on the first rotating seat (12); and the visual monitoring instrument (11) is arranged on the second rotating seat (13).

3. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 1 is characterized by: The fixing assembly comprises a lifting plate (28) arranged in a housing (21), a positioning piece (29) is arranged on the surface of the lifting plate (28), and a positioning groove (31) corresponding to the positioning piece (29) is arranged on the surface of the positioning base (3).

4. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 3 is characterized by: The lifting and lowering of the lifting plate (28) is controlled by a driving unit (26) disposed in the housing (21), and a guide unit (27) is disposed between the lifting plate (28) and the housing (21).

5. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 4 is characterized by: A side groove (23) is provided on the surface of the shell (21), and the side groove (23) is used to align with the positioning base (3). A receiving plate (24) is provided at the bottom of the side groove (23).

6. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 1, characterized in that: A sliding portion (4) and a pre-positioning component (5) are provided between the moving component (25) and the housing (21); the sliding portion (4) is used to enable the housing (21) and the moving component (25) to be slidably connected; and the pre-positioning component (5) is used to enable the robot mechanism (2) to perform preliminary positioning when encountering a positioning base (3).

7. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 6 is characterized by: The pre-positioning component (5) comprises a shaft (51) arranged in a shell (21), one end of the shaft (51) passes through the shell (21) and extends out, and the shaft (51) has an axial sliding space, a tension spring (52) is arranged in the shell (21), and the tension spring (52) is used to make the shaft (51) have a tendency to retract, and a positioning rod (54) is radially arranged at one end of the shaft (51) extending outside the shell (21) for contacting the side of the positioning base (3) to block the robot mechanism (2) from moving forward, a transmission structure is arranged between the shell (21) and the moving component (25), and the transmission structure is used to drive the positioning rod (54) to rotate and release the blockage when the shell (21) and the moving component (25) are separated, and a limiting portion (55) is also arranged outside the shell (21) for limiting the rotation stroke of the shaft (51).

8. The structure multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 7, characterized in that: The transmission structure comprises a rack (56) passing through the housing (21) and the moving assembly (25); a gear sleeve (53) is arranged on the surface of the shaft (51); the rack (56) is slidably connected to the housing (21) and the moving assembly (25); a slider (57) is arranged at the bottom of the rack (56) and is slidably connected to the moving assembly (25) and limits the travel of the rack (56); and a spring (58) is arranged in the moving assembly (25) for making the rack (56) have a tendency to move into the housing (21).

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