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

Abstract

The application 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, the monitoring module is used for monitoring visual targets arranged on a building and comprises a visual camera; the robot mechanism is used for carrying the monitoring module to inspect each monitoring base point, and a positioning base for docking and positioning with the robot mechanism is arranged on the monitoring base point. The application carries out dynamic monitoring by arranging multiple monitoring base points and carrying the monitoring module by the robot mechanism, the data of the multiple monitoring base points are fault-tolerant, the monitoring data is more accurate, the fixed assembly is arranged to position and clamp the robot mechanism, the shooting position of the visual monitoring instrument is absolutely fixed, the shell and the moving assembly are slidably connected, when the shell and the moving assembly are clamped and positioned, the moving assembly is still on the track, so that the next monitoring base point can be reached.

Description

Technical Field

[0001] This invention belongs to the field of building structure monitoring, specifically relating to a robot for monitoring multi-point dynamic displacement of structures based on machine vision technology. Background Technology

[0002] The machine vision displacement monitoring instrument utilizes IoT technology and intelligent disaster recognition algorithms to convert video data into deformation data, enabling ultra-high precision non-contact real-time measurement of various civil engineering structures. This achieves the goal of all-weather monitoring of structural health. The system consists of a machine vision measuring instrument, visual targets, debugging programs, and a monitoring and management platform. It can be used to observe settlement, horizontal displacement, crack width, crack length, and other parameters at target points. Several visual targets are deployed on the structure to be measured, and the machine vision displacement monitoring instrument is installed at a relatively stable position relative to the structure. The machine vision displacement monitoring instrument identifies the target images on the structure. When the measured structure undergoes 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 on the monitoring base points. However, the monitoring distance of visual measuring instruments is limited, and the geology near the building to be measured may be unstable. Therefore, monitoring based on 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 this invention is to provide a structure multi-point dynamic displacement monitoring robot based on machine vision technology in order to solve the above-mentioned problems.

[0005] The present invention achieves the above objectives through the following technical solutions:

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

[0007] A monitoring module for monitoring visual targets set on buildings, including visual monitoring instruments;

[0008] The robot mechanism is used to carry a monitoring module to inspect various monitoring base points. The monitoring base points are equipped with positioning bases for docking and positioning with the robot mechanism. The robot mechanism includes a shell and a moving component located below the shell. The moving component moves along a track set on the ground. The shell is equipped with a fixing component for positioning and clamping with the positioning base. The shell and the moving component are slidably connected to keep the moving component on the track when the shell and the positioning base are fixed.

[0009] As a further optimization of the present invention, the housing is provided with a base for mounting the monitoring module. The monitoring module also includes a first rotating seat mounted on the base and a second rotating seat mounted on the first rotating seat. The visual monitor is mounted on the second rotating seat. During operation, the visual monitor is aligned with the visual target by the drive of the first rotating seat and the second rotating seat. After monitoring, it is rotated to align with the next visual target by the first rotating seat and the second rotating seat, and so on.

[0010] As a further optimization of the present invention, the fixing component includes a lifting plate disposed in the housing, the surface of the lifting plate is provided with a positioning element, the surface of the positioning base is provided with a positioning groove corresponding to the positioning element, and the positioning element is fixed by docking with the positioning groove. The positioning groove is a frustum / conical groove with a length, width and bottom narrowing, and the shape of the positioning element corresponds to the positioning groove.

[0011] As a further optimization of the present invention, the lifting plate is controlled to lift by a drive unit provided in the housing, and a guide unit is provided between the lifting plate and the housing. In this solution, the lifting is driven by a drive unit and guided by a guide unit. The drive unit can be a cylinder.

[0012] As a further optimization of the present invention, a side groove is provided on the surface of the housing. The side groove is used to align with the positioning base. A receiving plate is provided at the bottom of the side groove. By providing the side groove, the robot mechanism can align the side groove with the positioning base when it moves, and then be further positioned and fixed by the lifting plate.

[0013] As a further optimization of the present invention, a sliding part and a pre-positioning component are provided between the moving component and the housing. The sliding part is used to slide the housing and the moving component, and the pre-positioning component is used to enable the robot mechanism to perform preliminary positioning when it encounters the positioning base. Since the robot mechanism needs to run along the track to a position aligned with the positioning base before it can be precisely positioned and fixed, this solution uses a pre-positioning component to enable the robot mechanism to perform preliminary positioning on the track.

[0014] As a further optimization of the present invention, the pre-positioning component includes a shaft disposed within a housing, one end of which extends through the housing and has axial sliding space. A tension spring is disposed within the housing to give the shaft a retraction tendency. A positioning rod is radially disposed at the end of the shaft extending outside the housing to contact the side of the positioning base and block the robot mechanism from moving forward. A transmission structure is disposed between the housing and the moving component to drive the positioning rod to rotate and release the obstruction when the housing and the moving component separate. A limiting part is also disposed outside the housing to limit the rotational stroke of the shaft. This solution specifically proposes a structure for a pre-positioning component, which, by setting a positioning rod, contacts the side of the positioning base when the robot mechanism moves to the side groove and initially aligns with the positioning base. When the housing and the positioning base are clamped and fixed, the housing rises, causing the positioning rod to rotate and disengage from the positioning base.

[0015] As a further optimization of the present invention, the transmission structure includes a rack passing through the housing and the moving component, a gear sleeve is provided on the surface of the shaft, and the rack is slidably connected to both the housing and the moving component. A slider is provided at the bottom of the rack and is slidably connected to the moving component to limit the rack's travel. A spring is provided inside the moving component to give the rack a tendency to move into the housing. This solution specifically proposes a transmission structure that drives the positioning rod to rotate during the positioning and clamping process of the housing.

[0016] The beneficial effects of this invention are as follows:

[0017] This invention sets up multiple monitoring base points and uses a robot mechanism equipped with a monitoring module for dynamic monitoring. The data from multiple monitoring base points is fault-tolerant, making the monitoring data more accurate. Furthermore, by setting up a fixed component to position and clamp the robot mechanism, the shooting position of the vision monitoring device is kept absolutely fixed. The shell and the moving component are slidably connected, so that when the shell and the moving component are clamped and positioned, the moving component remains on the track to facilitate moving to the next monitoring base point. Attached Figure Description

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

[0019] Figure 2 This is a schematic cross-sectional view of the robot mechanism of the present invention.

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

[0021] Figure 4 This is the invention Figure 2 Enlarged view of the structure of part A in the middle.

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

[0023] Figure 6 This is the invention Figure 5 Top view.

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

[0025] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art 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] Monitoring module 1, which is used to monitor visual targets 7 set on buildings, includes a visual monitoring device 11;

[0029] The robot mechanism 2 is used to carry the monitoring module 1 to inspect various monitoring base points. The monitoring base points are provided with positioning bases 3 for docking and positioning with the robot mechanism 2. The robot mechanism 2 includes a housing 21 and a moving component 25 located below the housing 21. The moving component 25 moves along a track 6 set on the ground. The housing 21 is provided with a fixing component for positioning and clamping with the positioning base 3. The housing 21 and the moving component 25 are slidably connected to each other, so that the moving component 25 stays on the track 6 when the housing 21 is fixed in position with the positioning base 3.

[0030] This solution sets up multiple monitoring base points and uses a robot mechanism 2 equipped with a monitoring module 1 for dynamic monitoring. The data from multiple monitoring base points is fault-tolerant, making the monitoring data more accurate. Furthermore, by setting up a fixed component to position and clamp the robot mechanism 2, the shooting position of the vision monitoring instrument 11 is kept absolutely fixed. The housing 21 and the moving component 25 are slidably connected, so that when the housing 21 and the moving component 25 are clamped and positioned, the moving component 25 remains on the track 6 to facilitate moving to the next monitoring base point.

[0031] The monitoring method follows these steps:

[0032] S1: Move the robot mechanism 2 to the first monitoring base point and clamp it with the positioning base 3 at that monitoring base point. The vision monitor 11 rotates through the two-stage rotating seat to align with the position of the first vision target 7, records the current alignment direction of the vision monitor 11, and records the image of the vision target 7. Then align with the second vision target 7, record the current alignment direction of the vision monitor 11, and record the image of the vision target 7. In this way, images of all vision targets 7 are collected. The robot mechanism 2 moves to the second monitoring base point and repeats the above steps.

[0033] S2: Dynamic monitoring is performed by the robot mechanism 2. Steps S1 and S2 are repeated. When the same monitoring base point is in sight and the same visual target 7 is facing, the direction of the visual monitor 11 is the same as in steps S1 / S2, and the image of the visual target 7 is recorded.

[0034] S3: By comparing the differences between images obtained from each monitoring base point and the same visual target 7 at different times through the terminal, the small displacement of the structure is evaluated using existing technology. Finally, the image differences of multiple monitoring base points are fused to eliminate the data differences caused by the offset of the detection base points themselves.

[0035] The housing 21 is provided with a base 22 for mounting the monitoring module 1. The monitoring module 1 also includes a first rotating seat 12 and a second rotating seat 13 on the base 11. The visual monitor 11 is mounted on the second rotating seat 13. During operation, the visual monitor 11 is aligned with the visual target 7 by the drive of the first rotating seat 12 and the second rotating seat 13. After monitoring, it is rotated to align with the next visual target 7 by the first rotating seat 12 and the second rotating seat 13, and so on.

[0036] The fixing component includes a lifting plate 28 disposed inside the housing 21. The surface of the lifting plate 28 is provided with a positioning element 29. The surface of the positioning base 3 is provided with a positioning groove 31 corresponding to the positioning element 29. After the positioning element 29 is connected to the positioning groove 31, it is limited and fixed. The positioning groove 31 is a frustum / conical groove with a long width and a narrow bottom, and the shape of the positioning element 29 corresponds to the positioning groove 31.

[0037] The lifting plate 28 is controlled to lift by a drive unit 26 located inside the housing 21. A guide unit 27 is provided between the lifting plate 28 and the housing 21. In this solution, the lifting plate is driven by the drive unit 26 and guided by the guide unit 27. The drive unit 26 can be a cylinder.

[0038] The surface of the housing 21 is provided with a side groove 23, which 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 opening the side groove 23, the robot mechanism 2 is aligned with the positioning base 3 when it moves, and then further positioning and fixing is performed by the lifting plate 28.

[0039] A sliding part 4 and a pre-positioning component 5 are provided between the moving component 25 and the housing 21. The sliding part 4 is used to slide the housing 21 and the moving component 25. The pre-positioning component 5 is used to enable the robot mechanism 2 to perform preliminary positioning when it encounters the positioning base 3. Since the robot mechanism 2 needs to run along the track 6 to the position aligned with the positioning base 3 during operation, so that the positioning component 29 and the positioning groove 31 are initially aligned before precise positioning and fixing, this solution uses the pre-positioning component 5 to enable the robot mechanism 2 to perform preliminary positioning on the track 6.

[0040] Specifically, the pre-positioning component 5 includes a shaft 51 disposed within the housing 21, one end of which extends through the housing 21 and has axial sliding space. A tension spring 52 is disposed within the housing 21 to give the shaft 51 a tendency to retract. A positioning rod 54 is radially disposed at the end of the shaft 51 extending outside the housing 21 to contact the side of the positioning base 3 to block the robot mechanism 2 from advancing. A transmission structure is disposed between the housing 21 and the moving component 25. The transmission structure is used to control the positioning rod 54 within the housing. When the housing 21 separates from the moving component 25, the drive rotation releases the obstruction. The housing 21 is also provided with a limiting part 55 to limit the rotation stroke of the shaft 51. This solution specifically proposes a structure for a pre-positioning component 5, which is provided with a positioning rod 54. When the robot mechanism 2 moves to the side groove 23 and initially aligns with the positioning base 3, the positioning rod 54 contacts the side of the positioning base 3. When the housing 21 and the positioning base 3 are clamped and fixed, the housing 21 rises, causing the positioning rod 54 to rotate and disengage from the positioning base 3.

[0041] The transmission structure includes a rack 56 that passes through the housing 21 and the moving component 25. A gear sleeve 53 is provided on the surface of the shaft 51. The rack 56 is slidably connected to both the housing 21 and the moving component 25. A slider 57 is provided at the bottom of the rack 56 and is slidably connected to the moving component 25 to limit the stroke of the rack 56. A spring 58 is provided inside the moving component 25 to give the rack 56 a tendency to move into the housing 21. This solution specifically proposes a transmission structure that drives the positioning rod 54 to rotate through the housing 21 during the positioning and clamping process.

[0042] The specific implementation method is as follows: the robot mechanism 2 moves forward along the track 6, and the side groove 23 moves onto the positioning base 3, such as... Figure 3 As shown, the side surface of the positioning base 3 contacts the positioning rod 54, causing the positioning rod 54 to extend outward against the tension spring 52 and then stop, thus achieving the initial positioning effect. After the lifting plate 28 descends and cooperates with the positioning base 3 to press tightly, the reaction force of the drive unit 26 causes the housing 21 to rise, completely positioning and fixing the housing 21. Then, the vision monitoring instrument 11 rotates to the predetermined direction to acquire an image of the visual target 7, such as... Figure 2 As shown, the upward movement of the housing 21 causes the rack 56 to rotate relative to the gear sleeve 53. The gear sleeve 53 drives the shaft 51 and the positioning rod 54 to rotate, so that the positioning rod 54 no longer obstructs the positioning base 3. At this time, the tension spring 52 pulls the shaft 51 back. After the image acquisition is completed, the housing 21 descends, and the positioning rod 54 rotates back to its original position, but it cannot return to a horizontal position. Figure 6 As shown, after the positioning rod 54 rotates down, it is blocked by the upper surface of the positioning base 3. At this time, the rack 56 moves down with the housing 21 to compress the spring 58. When the blocking robot mechanism 2 leaves the current positioning base 3, the rack 56 moves up under the push of the spring 58, and the gear sleeve 53 and shaft 51 rotate, so that the positioning rod 54 rotates to a horizontal state for reset. After reset, it continues to be used for pre-positioning on the next positioning base 3.

[0043] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A structural multi-point dynamic displacement monitoring robot based on machine vision technology, characterized in that: include The monitoring module (1) is used to monitor visual targets (7) set on the building, including a visual monitoring instrument (11). The robot mechanism (2) is used to carry the monitoring module (1) to inspect each monitoring base point. The monitoring base point is provided with a positioning base (3) for docking and positioning with the robot mechanism (2). The robot mechanism (2) includes a shell (21) and a moving component (25) provided below the shell (21). The moving component (25) moves along the track (6) provided on the ground. The shell (21) is provided with a fixing component for positioning and clamping with the positioning base (3). The shell (21) and the moving component (25) are slidably connected so that when the shell (21) and the moving component (25) are clamped and positioned, the moving component (25) remains on the track (6). The fixing component includes a lifting plate (28) disposed in the housing (21), the surface of the lifting plate (28) is provided with a positioning element (29), and the surface of the positioning base (3) is provided with a positioning groove (31) corresponding to the positioning element (29). The surface of the housing (21) is provided with a side groove (23), which is used to align with the positioning base (3), and a support plate (24) is provided at the bottom of the side groove (23). A sliding part (4) and a pre-positioning component (5) are provided between the moving component (25) and the housing (21). The sliding part (4) is used to make the housing (21) and the moving component (25) slide together, and the pre-positioning component (5) is used to make the robot mechanism (2) perform preliminary positioning when it encounters the positioning base (3). The prepositioning component (5) includes a shaft (51) disposed in the housing (21), one end of which extends through the housing (21) and has axial sliding space. A tension spring (52) is disposed inside the housing (21) to make the shaft (51) have a retraction tendency. A positioning rod (54) is disposed radially at the end of the shaft (51) extending outside the housing (21) to contact the side of the positioning base (3) to block the robot mechanism (2) from moving forward. A transmission structure is disposed between the housing (21) and the moving component (25) to drive the positioning rod (54) to rotate and release the obstruction when the housing (21) and the moving component (25) are separated. A limiting part (55) is also disposed outside the housing (21) to limit the rotation stroke of the shaft (51). The transmission structure includes a rack (56) that passes through the housing (21) and the moving component (25). A gear sleeve (53) is provided on the surface of the shaft (51). The rack (56) is slidably connected to the housing (21) and the moving component (25). A slider (57) is provided at the bottom of the rack (56) and is slidably connected to the moving component (25) to limit the travel of the rack (56). A spring (58) is provided inside the moving component (25) to make the rack (56) have a tendency to move into the housing (21).

2. The structural multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 1, characterized in that: The housing (21) is provided with a base (22) for mounting the monitoring module (1). The monitoring module (1) also includes a first rotating seat (12) on the base (22) and a second rotating seat (13) on the first rotating seat (12). The visual monitoring instrument (11) is mounted on the second rotating seat (13).

3. The structural multi-point dynamic displacement monitoring robot based on machine vision technology according to claim 1, characterized in that: The lifting plate (28) is controlled to lift by a drive unit (26) provided in the housing (21), and a guide unit (27) is provided between the lifting plate (28) and the housing (21).

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