Patrol type monitor based on holder, monitoring system and monitoring method

Abstract

The invention belongs to the technical field of engineering monitoring, and provides an inspection type monitor based on a holder, a monitoring system and a monitoring method. The azimuth shaft system assembly is rotationally connected with the base; the pitch axis system assembly is rotationally connected with the azimuth axis system assembly; the controller is in communication connection with the azimuth shaft system assembly and the pitch shaft system assembly so as to control the azimuth shaft system assembly to rotate or be locked in a horizontal plane and control the pitch shaft system assembly to rotate or be locked in a vertical plane, and the vertical plane is perpendicular to the horizontal plane; and the camera device is arranged on the pitch axis system assembly. Automatic locking or unlocking can be achieved through rotation of the azimuth shaft system assembly on the horizontal plane, horizontal displacement changes shot by the camera device are obtained in the horizontal direction, and automatic locking or unlocking can be achieved through rotation of the pitching shaft system assembly in the vertical plane. The vertical displacement change shot by the camera device is obtained in the vertical direction, and the accuracy of the obtained displacement change is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering monitoring, and in particular relates to a patrol monitoring instrument based on a pan / tilt platform, a monitoring system and a monitoring method. Background Art

[0002] In industries such as water conservancy, civil engineering, and transportation, the mechanism of a building or slope from initial deformation to failure is relatively complex. It is usually due to changes in the mechanical properties of the foundation or slope soil or rock mass, such as rain erosion, earthquakes, or changes in upper loads, which leads to redistribution of internal stress. At first, it may appear as a small displacement. As time goes by and external forces continue to act, the deformation gradually expands, the stability of the foundation soil or rock mass continues to decrease, and eventually causes a failure.

[0003] For the deformation development process of buildings or slopes, automatic monitoring and sensing technologies, such as high-precision displacement sensors, inclinometers, visual monitors, etc., can be used to accurately perceive the tiny deformation of the monitored objects, thereby ensuring the stability of buildings or slopes during construction and commissioning, and protecting the safety of life and property and the sustainable operation of the project.

[0004] In related technologies, high-definition camera components are usually used to take pictures of targets for building or slope deformation monitoring, and then image processing is performed to compare the changes in current data and historical data of all targets to determine whether the building monitoring object within the fixed visual range has undergone partial or overall displacement. Therefore, the accuracy of the monitoring instrument will directly affect the actual position of the target images taken at different times, thereby affecting the accuracy of the calculated distance between adjacent targets. Summary of the invention

[0005] In view of this, the present invention provides a patrol monitoring instrument based on a pan / tilt platform to solve the problem in the prior art that the current monitoring instrument has low precision and cannot meet the requirement of accurately measuring the displacement of the target.

[0006] The present invention provides a patrol monitoring instrument based on a pan-tilt platform, comprising: a base; an azimuth axis system assembly, rotatably connected to the base; a pitch axis system assembly, rotatably connected to the azimuth axis system assembly; a controller, communicatively connected to the azimuth axis system assembly and the pitch axis system assembly respectively, to control the azimuth axis system assembly to rotate or lock in a horizontal plane, and / or control the pitch axis system assembly to rotate or lock in a vertical plane, wherein the vertical plane is perpendicular to the horizontal plane; and a camera device, arranged on the pitch axis system assembly.

[0007] In an optional embodiment, the azimuth axis system assembly includes: an azimuth axis, rotatably connected to the base; a first position sensor, connected to the azimuth axis to obtain the rotation angle of the azimuth axis; a first locking assembly, communicatively connected to the controller to lock or unlock the azimuth axis; a first drive assembly, transmission connected to the azimuth axis to drive the azimuth axis to rotate at a first step angle; a second drive assembly, transmission connected to the azimuth axis to drive the azimuth axis to rotate at a second step angle; wherein the first step angle is greater than the second step angle.

[0008] In an optional embodiment, the first drive component includes: a first stepper motor having a first output end; a first transmission component, which is transmission-connected to the first output end and the azimuth axis; wherein the transmission ratio between the first stepper motor and the first transmission component is 4:1; and / or the second drive component includes: a second stepper motor having a second output end; a first clutch, which is connected to the second output end; and a second transmission component, which is transmission-connected to the first clutch and the azimuth axis.

[0009] In an optional embodiment, the pitch axis system assembly includes: a bracket connected to the azimuth axis; a pitch axis, rotationally connected to the bracket; a second position sensor, connected to the pitch axis to obtain the rotation angle of the pitch axis; a second locking assembly, communicatively connected to the controller to lock or unlock the pitch axis; a third drive assembly, transmission connected to the pitch axis to drive the pitch axis to rotate at a third step angle; a fourth drive assembly, transmission connected to the pitch axis to drive the pitch axis to rotate at a fourth step angle; wherein the third step angle is greater than the fourth step angle.

[0010] In an optional embodiment, the third drive component includes a third stepper motor, the third stepper motor is provided with a third output end, and the third output end is connected to the pitch axis transmission; wherein the transmission ratio between the third stepper motor and the third transmission component is 2:1; and / or the fourth drive component includes a fourth stepper motor, the fourth stepper motor is provided with a fourth output end, and the fourth output end is connected to the pitch axis transmission.

[0011] The present invention also provides a pan-tilt-based patrol monitoring system, comprising: a target, arranged in a monitoring area; any one of the pan-tilt-based patrol monitoring instruments, wherein the pan-tilt-based patrol monitoring instrument comprises a camera device, and the camera device is suitable for acquiring a target image; an image processing device, which is communicatively connected to the camera device to acquire the horizontal displacement and vertical displacement of the target based on the target image.

[0012] The present invention also provides a pan-tilt-based patrol monitoring method, which adopts the pan-tilt-based patrol monitoring system. The pan-tilt-based patrol monitoring method includes: acquiring a target image; calculating the distance between the target and a camera device based on the target image; and calculating the horizontal displacement and vertical displacement of the target based on the distance between the target and the camera device.

[0013] In an optional embodiment, the distance between the target and the camera device is calculated based on the target image, specifically including: adjusting the camera device so that the target is within the shooting field of view; adjusting the horizontal angle of the camera device so that the target image is at the extreme positions on both sides of the horizontal direction, and / or adjusting the vertical angle of the camera device so that the target image is at the extreme positions on both sides of the vertical direction; based on the extreme positions on both sides of the opposite sides, obtaining the angle between the two extreme positions; obtaining the target center position coordinates based on the target image; obtaining the distance between the two positions of the target based on the target center position coordinates; based on the distance between the two positions of the target and the angle between the two extreme positions, calculating the distance between the target and the camera device, the calculation formula is as follows: Where S is the distance between two positions of the target, L is the distance between the target and the camera device, and α is the angle between the two extreme positions.

[0014] In an optional implementation, the horizontal displacement and vertical displacement of the target are calculated according to the distance between the target and the camera device, specifically including: obtaining the initial azimuth of the target and the actual azimuth of the camera device; obtaining the horizontal distance of the position of the initial state of the target in the image; obtaining the horizontal displacement according to the initial azimuth, the actual azimuth and the horizontal distance, and the calculation formula is as follows: X=L×(θ-ε)+S0; wherein X is the horizontal displacement, θ is the initial azimuth, ε is the actual azimuth, and S0 is the horizontal distance; obtaining the initial pitch angle of the target and the actual pitch angle of the camera device; obtaining the vertical distance of the position of the initial state of the target in the image; obtaining the vertical displacement according to the initial pitch angle, the actual pitch angle and the vertical distance, and the calculation formula is as follows: In the formula, is the initial pitch angle, is the actual pitch angle, Y is the vertical displacement of the target in the vertical direction, and S1 is the vertical distance.

[0015] In an optional embodiment, the pan-tilt-based patrol monitoring method further includes: obtaining a measurement position of a reference target set outside the monitoring area; if the measurement position is within a preset measurement error range, it is determined that the pan-tilt-based patrol monitoring system is available.

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

[0017] 1. The present invention can obtain the horizontal displacement change captured by the camera device in the horizontal direction by rotating the azimuth axis system component in the horizontal plane and realizing automatic locking or unlocking, and can obtain the vertical displacement change captured by the camera device in the vertical direction by rotating the pitch axis system component in the vertical plane and realizing automatic locking or unlocking, thereby improving the accuracy of the displacement change.

[0018] 2. The present invention eliminates the backlash and shortens the transmission chain by setting up a structural form in which the stepping motor is driven by a toothed belt, making the mechanical structure simple and compact, and making the control system have the advantages of fast response speed, good linearity, high resonance frequency, etc., thereby improving the stability of the system and the static and dynamic control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the following briefly introduces the drawings required for use in the specific implementation or the prior art description. Obviously, the drawings described below are some implementations of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of a patrol monitoring instrument based on a pan-tilt platform according to an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the main structure of a patrol monitoring instrument based on a pan-tilt platform according to an embodiment of the present invention;

[0022] Figure 3 for Figure 2 BB section structure schematic diagram;

[0023] Figure 4 A schematic diagram of the positions of a camera device and a monitored object in a pan-tilt-based inspection monitoring system according to an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the arrangement of targets and their relative positional relationships on a monitoring object of a PTZ-based patrol monitoring system according to an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of target error offset of a pan-tilt-based patrol monitoring system according to an embodiment of the present invention;

[0026] Figure 7 A flowchart of a PTZ-based patrol monitoring method according to an embodiment of the present invention;

[0027] Figure 8It is a schematic diagram of the operation of the pan-tilt-based inspection monitoring method for displacement of a building or slope according to an embodiment of the present invention;

[0028] Fig. 9 A schematic diagram of the positional relationship between a reference target and a camera device in a pan-tilt-based inspection monitoring method according to an embodiment of the present invention;

[0029] Fig.10 A schematic diagram of a target standard scale of a pan-tilt-based inspection monitoring method according to an embodiment of the present invention;

[0030] Fig.11 The present invention is a schematic diagram of a camera device capturing a target image in a pan-tilt-based inspection monitoring method according to an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 110. Base; 111. Chassis; 112. Fixed plate; 120. Azimuth axis system assembly; 121. Azimuth axis; 122. First position sensor; 123. First locking assembly; 124. First drive assembly; 1241. First stepper motor; 1242. First transmission assembly; 125. Second drive assembly; 1251. Second stepper motor; 1252. First clutch; 1253. Second transmission assembly; 130. Pitch axis system assembly; 131. Bracket; 132. Pitch axis; 133. Second position sensor; 134. Second locking assembly; 135. Third drive assembly; 136. Fourth drive assembly; 137. Second clutch; 140. Controller; 150; Camera device. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] Combine the following Figures 1 to 11 , describing an embodiment of the present invention.

[0038] like Figure 1 As shown, according to an embodiment of the invention, a pan-tilt-based inspection monitoring instrument is provided, comprising: a base 110; an azimuth axis 121 system component 120, rotatably connected to the base 110; a pitch axis 132 system component 130, rotatably connected to the azimuth axis 121 system component 120; a controller 140, communicatively connected to the azimuth axis 121 system component 120 and the pitch axis 132 system component 130 respectively, to control the azimuth axis 121 system component 120 to rotate or lock in a horizontal plane, and / or control the pitch axis 132 system component 130 to rotate or lock in a vertical plane, the vertical plane being perpendicular to the horizontal plane; and a camera device 150, arranged on the pitch axis 132 system component 130.

[0039] In this embodiment, the base 110 includes a bottom plate 111 and a fixed plate 112 . The fixed plate 112 is fixed on the bottom plate 111 . The azimuth axis 121 is rotatably connected between the component 120 and the fixed plate 112 .

[0040] The base 110 is used to support the entire device to ensure its stability. The azimuth axis 121 system component 120 is rotatably connected to the base 110, so that under the action of the controller 140, it can be unlocked to rotate in the horizontal direction, and locked after rotating to a preset angle in the horizontal plane, so that the angle after rotation can be positioned to prevent rotation in the horizontal plane. The pitch axis 132 system component 130 and the azimuth axis 121 system component 120 are connected by a rotational connection, allowing the monitor to rotate in the vertical direction, achieving the adjustment of the upper and lower angles, and under the action of the controller 140, it can be unlocked to rotate in the vertical direction, and locked after rotating to a preset angle in the vertical plane, so that the angle after rotation can be positioned to prevent rotation in the vertical plane. The camera device 150 is a camera. The camera device 150 is arranged on the pitch axis 132 system component 130, and is used to capture and record image information of the monitoring area. The camera device 150 can be a camera or other image capture device.

[0041] The inspection-type monitoring instrument based on the pan-tilt head includes an azimuth axis 121 system component 120, a pitch axis 132 system component 130, an azimuth locking component and a pitch locking component, all of which are electrically connected to a controller 140, and the azimuth locking component and the pitch locking component are both electromagnetic locking components. Under the control of the controller 140, the azimuth locking component can rotate lock or unlock the azimuth axis 121 system component 120 when it stops rotating or starts rotating, and under the control of the controller 140, the pitch locking component can rotate lock or unlock the pitch axis 132 system component 130 when it stops rotating or starts rotating. The base 110 is used to be fixed on a platform or a bottom surface, and the pitch axis 132 system component 130 is used to fix the camera component.

[0042] The present invention uses the azimuth axis 121 system component 120 to rotate in the horizontal plane and realize automatic locking or unlocking, so that the horizontal displacement change captured by the camera device 150 can be obtained in the horizontal direction, and the pitch axis 132 system component 130 to rotate in the vertical plane and realize automatic locking or unlocking, so that the vertical displacement change captured by the camera device 150 can be obtained in the vertical direction, thereby improving the accuracy of the displacement change.

[0043] Furthermore, if Figure 1 and Figure 2As shown, the azimuth axis 121 system component 120 includes: an azimuth axis 121, which is rotatably connected to the base 110; a first position sensor 122, which is connected to the azimuth axis 121 to obtain the rotation angle of the azimuth axis 121; a first locking component 123, which is communicatively connected to the controller 140 to lock or unlock the azimuth axis 121; a first driving component 124, which is transmission-connected to the azimuth axis 121 to drive the azimuth axis 121 to rotate at a first step angle; a second driving component 125, which is transmission-connected to the azimuth axis 121 to drive the azimuth axis 121 to rotate at a second step angle; wherein the first step angle is greater than the second step angle.

[0044] In this embodiment, the azimuth axis 121 system component 120 mainly includes an azimuth axis 121, a first locking component 123, a first driving component 124 and a second driving component 125. The azimuth axis 121 is rotatably connected to the chassis 111 via a fixed disk 112. The first position sensor 122 is directly connected to the azimuth axis 121, and can monitor and obtain the rotation angle information of the azimuth axis 121 in real time.

[0045] The first locking assembly 123 can be connected to the controller 140 for communication, and can effectively lock or unlock the azimuth axis 121 according to the instruction of the controller 140, so as to ensure that the azimuth axis 121 can be kept in a specific position when needed. The first driving group is connected to the azimuth axis 121 for driving the azimuth axis 121 to rotate at a larger first step angle, while the second driving assembly 125 is also connected to the azimuth axis 121 for driving the azimuth axis 121 to rotate at a smaller second step angle. The step angles of the two driving assemblies are designed differently, wherein the first step angle is greater than the second step angle. Such a design enables the azimuth axis 121 assembly 120 to flexibly select a suitable rotation step according to different operation requirements, so as to achieve more precise and efficient control.

[0046] The first position sensor 122 is a high-precision photoelectric encoder installed at the end of the azimuth axis 121, and is used to obtain the rotation angle of the azimuth axis 121 in real time. The resolution of the photoelectric encoder can reach 0.01°, and the position information of the azimuth axis 121 can be accurately fed back.

[0047] The first locking assembly 123 uses an electromagnetic brake, which is powered on or off by an electrical signal from the controller 140 to lock or unlock the azimuth shaft 121. The locking assembly can effectively prevent the azimuth shaft 121 from accidentally rotating due to external force during operation.

[0048] When the system needs to adjust the orientation quickly, the controller 140 controls the first drive assembly 124 to start through control instructions, drives the azimuth axis 121 to rotate quickly at the first step angle, and quickly approaches the target position. When the azimuth axis 121 approaches the target position, the controller 140 switches to the second drive assembly 125 according to the angle information fed back by the first position sensor 122, and drives the azimuth axis 121 to make precise adjustments at the second step angle. When the azimuth axis 121 reaches the target position, the controller 140 controls the first locking assembly 123 to lock the azimuth axis 121 through control instructions to prevent it from accidentally rotating during operation. When the orientation needs to be readjusted, the controller 140 controls the first locking assembly 123 to unlock the azimuth axis 121 through control instructions, and instructs the first drive assembly 124 or the second drive assembly 125 to start according to the new target position. The use of electromagnetic brakes and high-precision sensors improves the reliability and anti-interference ability of the system.

[0049] The present application integrates the sensor, drive assembly and locking assembly into one, saving space resources and making the overall structure compact. Through the coordination of the first step angle and the second step angle, the azimuth axis 121 system assembly 120 can achieve high-precision adjustment while quickly positioning.

[0050] Furthermore, if Figure 2 and Figure 3 As shown, the first driving component 124 includes: a first stepper motor 1241, which is provided with a first output end; a first transmission component 1242, which is transmission-connected to the first output end and the azimuth axis 121; wherein the transmission ratio between the first stepper motor 1241 and the first transmission component 1242 is 4:1.

[0051] In this embodiment, the first driving assembly 124 mainly includes a first stepper motor 1241 and a first transmission assembly 1242 .

[0052] The first stepper motor 1241 is a coarse adjustment stepper motor, the first stepper motor 1241 is a 42 stepper motor, the first transmission assembly 1242 includes a toothed belt, and the transmission ratio of the toothed belt transmission is 4: 1. The first stepper motor 1241 runs in full steps, each circle is 200 steps, and the first stepper motor 1241 rotates 1.8°, then the azimuth axis 121 can rotate 0.45° in the opposite direction, and the corresponding arc length at the radius of 55mm is 0.43mm.

[0053] The first stepper motor 1241 is connected to the azimuth shaft 121 through a toothed belt drive, which eliminates the tooth gap backlash, that is, there is no backlash, shortens the transmission chain, makes the mechanical structure simple and compact, and makes the control system have the advantages of fast response speed, good linearity, high resonance frequency, etc., thereby improving the stability of the system and the static and dynamic control accuracy.

[0054] Furthermore, the second driving assembly 125 includes: a second stepping motor 1251 having a second output end; a first clutch 1252 connected to the second output end; and a second transmission assembly 1253 in transmission connection with the first clutch 1252 and the azimuth shaft 121 .

[0055] The second stepper motor 1251 is a fine-tuning stepper motor, which is driven by a screw rod. Each step has a step width of 0.0208 mm, a step angle of 7.5°, and a stroke of 20 mm.

[0056] The first stepper motor 1241 , the second stepper motor 1251 , the first clutch 1252 and the first position sensor 122 are all electrically connected to the controller 140 . The first position sensor 122 is used to measure the rotation angle of the azimuth axis 121 .

[0057] The second driving assembly 125 includes a second stepper motor 1251, a second transmission assembly 1253 and a first clutch 1252. The second stepper motor 1251 is a fine-tuning motor. The second stepper motor 1251 is connected to the azimuth axis 121 through the first clutch 1252. Specifically, the first fine-tuning clutch is connected to the azimuth axis 121 through a worm gear transmission.

[0058] The controller 140 performs subdivision control on the second stepper motor 1251 and the fourth stepper motor, and the number of subdivision microsteps is not less than 32, preferably 32 or 64 or 128. The second stepper motor 1251 is a fine-tuning stepper motor. If the amplitude of each step is 0.0208 mm, the corresponding horizontal rotation angle of the azimuth axis 121 is 0.02337°, which is expressed as 84″ in arc seconds; converted to the turntable camera measuring the accuracy of a target 50m away is 20.4mm, and the accuracy of a target 100m away is 40.8mm. Obviously, it cannot meet the requirements. Therefore, the number of subdivision microsteps of the second stepper motor 1251 is 128, then the measurement accuracy of 50m away is 0.16mm, and the measurement accuracy of 100m away can reach 0.32mm.

[0059] Furthermore, the pitch axis 132 system component 130 includes: a bracket 131, connected to the azimuth axis 121; a pitch axis 132, rotationally connected to the bracket 131; a second position sensor 133, connected to the pitch axis 132 to obtain the rotation angle of the pitch axis 132; a second locking component 134, communicatively connected to the controller 140 to lock or unlock the pitch axis 132; a third driving component 135, transmission connected to the pitch axis 132, to drive the pitch axis 132 to rotate at a third step angle; a fourth driving component 136, transmission connected to the pitch axis 132, to drive the pitch axis 132 to rotate at a fourth step angle; wherein the third step angle is greater than the fourth step angle.

[0060] In this embodiment, the pitch axis 132 system assembly 130 mainly includes a bracket 131 , a pitch axis 132 , a second position sensor 133 , a second locking assembly 134 , a third driving assembly 135 and a fourth driving assembly 136 .

[0061] The bracket 131 includes a pitch bracket 131 and a load mounting frame. The pitch bracket 131 is fixedly connected to the azimuth axis 121 in the azimuth axis 121 assembly 120 . The pitch axis 132 is rotationally connected to the pitch bracket 131 . The load mounting frame is fixedly connected to the pitch axis 132 .

[0062] The pitch axis 132 is rotatably connected to the bracket 131 via a high-precision bearing, and a double-bearing support structure is adopted to ensure the stability and accuracy of the rotation.

[0063] The second position sensor 133 uses a high-precision magnetic grating encoder, which is installed on the pitch axis 132 and is used to obtain the rotation angle of the pitch axis 132 in real time. The resolution of the encoder can reach 0.01°, and the position information of the pitch axis 132 can be accurately fed back.

[0064] The second locking assembly 134 is an electromagnetic brake, which is powered on or off by an electrical signal from the controller 140 to lock or unlock the pitch axis 132. The locking assembly can effectively prevent the pitch axis 132 from accidentally rotating due to external force during operation.

[0065] The third driving assembly 135 adopts a high-power stepping motor, which can drive the pitch axis 132 to rotate quickly at a larger third step angle for rapid positioning.

[0066] The fourth driving assembly 136 can drive the pitch axis 132 to rotate precisely at a smaller fourth step angle for high-precision adjustment.

[0067] When the system needs to quickly adjust the pitch angle, the controller 140 instructs the third drive assembly 135 to start, drive the pitch axis 132 to rotate quickly at the third step angle, and quickly approach the target position. When the pitch axis 132 approaches the target position, the controller 140 switches to the fourth drive assembly 136 according to the angle information fed back by the second position sensor 133, and drives the pitch axis 132 to make precise adjustments at the fourth step angle. When the pitch axis 132 reaches the target position, the controller 140 instructs the second locking assembly 134 to lock the pitch axis 132 to prevent it from accidentally rotating during operation. When the pitch angle needs to be readjusted, the controller 140 instructs the second locking assembly 134 to unlock the pitch axis 132, and controls the third drive assembly 135 or the fourth drive assembly 136 to start according to the new target position.

[0068] By coordinating the third step angle and the fourth step angle, the pitch axis 132 assembly 130 can achieve high-precision adjustment while achieving rapid positioning.

[0069] Furthermore, the third drive component 135 includes a third stepper motor, which is provided with a third output end, and the third output end is transmission-connected to the pitch axis 132; wherein, the transmission ratio between the third stepper motor and the third transmission component is 2:1; and / or the fourth drive component 136 includes a fourth stepper motor, which is provided with a fourth output end, and the fourth output end is transmission-connected to the pitch axis 132.

[0070] The third driving assembly 135 includes a third stepper motor, which is a coarse adjustment stepper motor, and is connected to the pitch axis 132 via a toothed belt transmission. The fourth driving assembly 136 includes a fourth stepper motor, which is a fine adjustment stepper motor, and is connected to the pitch axis 132 via a second clutch 137. The second clutch 137 is connected to the pitch axis 132 via a worm gear transmission; the third stepper motor, the fourth stepper motor, the second clutch 137 and the second position sensor 133 are all electrically connected to the controller 140, and the second position sensor 133 is used to measure the rotation angle of the pitch axis 132.

[0071] The third stepper motor has a transmission ratio of 2:1. The third stepper motor runs in full step, with 200 steps per circle and a rotation angle of 0.9° per step. The radius of the horizontal fine-tuning point from the rotation center is 51mm, so the arc length of 0.9° is 0.8mm. The fourth stepper motor is driven by a screw, with a step length of 0.0254mm per step, a step angle of 15°, and a stroke of 20mm.

[0072] The fourth stepper motor has a step width of 0.0254 mm per step, and the corresponding horizontal rotation angle of the azimuth axis 121 is 0.01323°, which is 47.5″ in arc seconds. The accuracy of the camera measuring a target at a distance of 50 m is 11.5 mm, and the accuracy of the target at a distance of 100 m is 23 mm, which obviously cannot meet the requirements. If the fourth stepper motor is subdivided and the number of subdivided microsteps is 128, the measurement accuracy at a distance of 50 m is 0.09 mm, and the measurement accuracy at a distance of 100 m can reach 0.18 mm.

[0073] The first position sensor 122 and the second position sensor 133 are 23-bit resolution incremental photoelectric encoders, respectively, and their repeatability can reach 0.3″ resolution, meeting the design technical index requirements. When the repeatability of the photoelectric encoder is 0.3″, the displacement deviation of the measuring point 50 meters away from the turntable is:

[0074] △L=L×△θ=50000×0.3 / (3600×180)×π≈0.07mm.

[0075] The repeatability resolution of the position sensor corresponds to a displacement deviation of 0.14 mm at a measuring point 100 meters away.

[0076] The above-mentioned pan-tilt intelligent patrol monitoring instrument adopts an azimuth locking component, which can, under the control of the controller 140, lock or unlock the rotation of the azimuth axis 121 component 120 when it stops rotating or starts rotating; the pitch locking component, under the control of the controller 140, can lock or unlock the rotation of the pitch axis 132 component 130 when it stops rotating or starts rotating, thereby preventing the azimuth axis 121 and the pitch axis 132 from rotating when not rotating and causing angular errors, thereby improving the angular accuracy of the pan-tilt intelligent patrol monitoring instrument and improving the visual monitoring range and accuracy of building or slope deformation.

[0077] The present invention also provides a pan-tilt-based patrol monitoring system, comprising: any pan-tilt-based patrol monitoring instrument; a target, which is arranged in a monitoring area; the pan-tilt-based patrol monitoring instrument comprises a camera device 150, which is suitable for acquiring a target image; an image processing device, which is communicatively connected to the camera device 150 to acquire the horizontal displacement and vertical displacement of the target according to the target image.

[0078] The monitoring system of the intelligent patrol monitoring instrument based on the pan-tilt platform comprises a target, an image processing device and the intelligent patrol monitoring instrument of the pan-tilt platform, wherein the image processing device is provided with a three-dimensional calculation system of target parameters.

[0079] like Figure 4 As shown, the target is used to be set on the surface of the area to be tested of a building or a slope. The camera device 150 includes a camera, and the camera device 150 is used to scan the target image and obtain the target image. The intelligent patrol monitoring instrument of the pan-tilt head is connected to the camera device 150 and the controller 140 of the intelligent patrol monitoring instrument of the pan-tilt head. The camera device 150 is a high-definition camera device. The intelligent patrol monitoring instrument of the high-precision pan-tilt head is used to fix the camera component and control the posture of the camera component. The image processing device is connected to the camera device 150, and the image processing device is used to receive the target image and calculate the horizontal displacement and vertical displacement of the target according to the target image and the rotation angle of the camera device 150.

[0080] like Figure 5 As shown in the figure, the layout of building or slope targets and their relative position relationship are schematically shown. When calculating the target displacement, the following prerequisites are based on: the target size is known, the target shape is not limited, and can be any shape such as circle, rectangle, cross scale, sphere, etc.; each time the target is measured, it is within the captured image; each time the image is captured, the pixel points and resolution are exactly the same.

[0081] The PTZ's intelligent patrol monitoring instrument and high-definition camera are key equipment for slope monitoring. In theory, as long as the image has sufficient resolution, one picture can be used to calculate the displacement of the entire building or slope, but in fact, the wide angle and resolution of high-definition cameras are a pair of contradictory indicators. The unlimited pursuit of high resolution will make the equipment too expensive and unfeasible. Through the cooperation of the PTZ's intelligent patrol monitoring instrument and high-definition camera, the local precise positioning and local photography of the building or slope can be achieved. The turntable can realize all-round patrol photography of the building or slope by rotating in the horizontal and pitch directions, and finally obtain the overall displacement data of the building or slope.

[0082] Assuming that the target is in the center of the camera window during deployment, the target displacement measured subsequently is the offset of the target relative to the center of the window plus the turntable error offset. Since the turntable error is random, the turntable accuracy can only be improved to a level where the error can be ignored. For example, when the building or slope displacement monitoring accuracy is required to be 1mm, the offset caused by the turntable error should be less than 0.1mm. Figure 6 Schematic diagram of error offset.

[0083] The present invention provides a patrol monitoring instrument and monitoring system based on a pan-tilt head, which adopts a first locking component 123 as an azimuth locking component. Under the control of a controller 140, the azimuth axis 121 system component 120 can be rotationally locked or unlocked when it stops rotating or starts rotating. The second locking component 134 serves as a pitch locking component. Under the control of the controller 140, the pitch axis 132 system component 130 can be rotationally locked or unlocked when it stops rotating or starts rotating. This can prevent the azimuth axis 121 and the pitch axis 132 from rotating when not rotating to generate an angle error, thereby improving the angle accuracy of the patrol monitoring instrument based on the pan-tilt head, and improving the visual monitoring range and monitoring accuracy of building or slope deformation.

[0084] The present invention also provides a pan-tilt based patrol monitoring method, using a pan-tilt based patrol monitoring system, such as Figure 7 As shown, the inspection monitoring method based on the pan-tilt system includes the following steps:

[0085] Step S101: Acquire a target image.

[0086] Step S102: Calculate the distance between the target and the camera device 150 according to the target image.

[0087] Step S103: Calculate the horizontal displacement and vertical displacement of the target according to the distance between the target and the camera device 150 .

[0088] In this embodiment, the camera device 150 can realize full-scale rotation in horizontal and vertical directions through the drive of the pan-tilt platform to cover various positions in the target area. The image data acquired by the camera device 150 is transmitted to the image device through the communication module.

[0089] After acquiring the target image, the image processing device analyzes the image to identify the position and features of the target. The coordinates of the target in the image are determined by image processing algorithms, such as edge detection, feature matching, etc. Subsequently, the distance between the target and the camera device 150 is calculated in combination with the geometric relationship.

[0090] The present invention can accurately measure the displacement of the target through image processing and geometric calculation, and is suitable for high-precision monitoring scenarios. Combined with the omnidirectional rotation capability of the PTZ, it can realize automatic inspection of the target area and reduce manual intervention. The system can analyze the position change of the target in real time and issue an alarm in time to improve monitoring efficiency and reliability. The scanning path and monitoring parameters of the PTZ can be adjusted according to different application scenarios to adapt to a variety of complex environments.

[0091] Furthermore, if Figure 8 As shown, based on step S102, the distance between the target and the camera device 150 is calculated according to the target image, which specifically includes the following steps:

[0092] Step S1021: Adjust the camera device 150 so that the target is within the shooting field of view.

[0093] Step S1022: adjust the horizontal angle of the camera device 150 so that the target image is at the extreme positions on both sides of the horizontal direction, and / or adjust the vertical angle of the camera device 150 so that the target image is at the extreme positions on both sides of the vertical direction.

[0094] Step S1023: Based on the extreme positions on two opposite sides, obtain the angle between the two extreme positions.

[0095] Step S1024: Obtain the target center position coordinates based on the target image.

[0096] Step S1025: Obtain the distance between two positions of the target based on the target center position coordinates.

[0097] Step S1026: Based on the distance between the two positions of the target and the angle between the two extreme positions, the distance between the target and the camera device 150 is calculated, and the calculation formula is as follows:

[0098]

[0099] Wherein, S is the distance between two positions of the target, L is the distance between the target and the camera device 150, and α is the angle between the two extreme positions.

[0100] When the target is within the camera's field of view, adjust the camera's horizontal angle to the left and right extreme positions in the horizontal direction of the image and take pictures respectively. Record the direction angle of the camera when taking pictures again and get the angle α. Since the two shots are taken very close in time, it can be assumed that the actual physical position of the target has not changed, only the relative position of the target in the image has changed.

[0101] Figure 8 The following is a working diagram of the automatic inspection system for building or slope displacement. Identify the target in the two images and obtain the coordinates of the target center position, where the image pixel is used as the unit, and then the distance between the two positions of the target can be obtained, where the pixel is used as the unit. Identify the horizontal width of the target, where the pixel is used as the unit. Since the horizontal size of the target is known, the actual physical size of each pixel can be obtained. Convert the pixel distance between the targets calculated above into the physical distance S.

[0102] When S and α are known, the distance L between the target and the camera can be calculated using the cosine theorem.

[0103] The above method calculates the distance from the target to the center positioning point of the camera, assuming that the camera and the target are in the same horizontal plane. When the target and the camera assembly are not in the same horizontal plane, the pitch angle of the camera can be adjusted, and the distance from the center positioning point of the camera to the target can be calculated in the vertical plane using the same method.

[0104] Further, based on step S103, the horizontal displacement and vertical displacement of the target are calculated according to the distance between the target and the camera device 150, which specifically includes the following steps:

[0105] Step S1031 : Acquire the initial azimuth angle of the target and the actual azimuth angle of the camera device 150 .

[0106] Step S1032: Obtain the horizontal distance of the initial state of the target in the image.

[0107] Step S1033: According to the initial azimuth, the actual azimuth and the horizontal distance, the horizontal displacement is obtained, and the calculation formula is as follows:

[0108] X=L×(θ-ε)+S0.

[0109] Where X is the horizontal displacement, θ is the initial azimuth, ε is the actual azimuth, and S0 is the horizontal distance.

[0110] Step S1034: Acquire the initial pitch angle of the target and the actual pitch angle of the camera device 150 .

[0111] Step S1035: Obtain the vertical distance of the initial state position of the target in the image.

[0112] Step S1036: Obtain the vertical displacement according to the initial pitch angle, the actual pitch angle and the vertical distance. The calculation formula is as follows:

[0113]

[0114] In the formula, is the initial pitch angle, is the actual pitch angle, Y is the vertical displacement of the target in the vertical direction, and S1 is the vertical distance.

[0115] In this embodiment, when the camera is in the monitoring state, the control system adjusts the camera to the initial azimuth angle θ of the target recorded by the system. Since there will be deviations in the execution of instructions by the control system, the actual azimuth angle of the camera is actually measured by the high-precision encoder. The target in the image captured during this inspection is identified, and the target position coordinates are obtained. The target position coordinates are subtracted from the initial coordinate position of the target in the image obtained during deployment, and the distance between the two target positions is converted into a distance in physical significance using the aforementioned method to obtain the horizontal distance S0 between the target and the initial state in the image.

[0116] The displacement component measured by the camera in azimuth is combined with the displacement component measured by the image to obtain the actual displacement X of the target in the horizontal direction relative to the initial position.

[0117] If X is within the measurement error range of the camera, it means that the target has not moved during this measurement; if the X value is greater than the measurement error of the camera, it is considered that the measured object has moved.

[0118] The measurement and calculation of the target's vertical displacement is similar to that of the horizontal displacement. The only difference is that the camera's horizontal angle is replaced by the pitch angle, and the target's horizontal coordinates are replaced by vertical coordinates.

[0119] Furthermore, any of the PTZ-based patrol monitoring methods further includes the following steps:

[0120] Step S201: Acquire the measurement position of a reference target set outside the monitoring area.

[0121] Step S202: If the measured position is within a preset measurement error range, it is determined that the pan-tilt-based patrol monitoring system is available.

[0122] Since the image monitoring displacement is the relative position calculated by the image, the position error of the device will bring about the system error of the measurement. Whether the measuring device brings in the system error can be verified by setting the reference target. When deploying the target, the reference target can be set outside the monitoring area. The reference target and the turntable should be fixed on a stable foundation, so the positions of the two are relatively stable and will not be displaced, which can be used to verify whether the monitoring system is stable.

[0123] You can set one reference target, and if conditions permit, you can set two reference targets (when setting two reference targets, try to make the measurement area between the two reference targets). Before each inspection, measure the position of the reference target first. If the measured position is within the measurement error range allowed by the equipment, it means that the equipment is usable. Setting two reference targets can further improve the credibility of the equipment measurement data. Fig. 9 Schematic diagram of the positional relationship between the reference target and the camera assembly.

[0124] In some embodiments, since the distances between targets at different positions and the intelligent inspection monitoring device of the fixed position camera gimbal are different, in order to collect high-precision and high-definition images that can perform accurate displacement calculations, the lens needs to be focused, so the distances corresponding to the same pixels in the image are different. For this reason, a standard ruler is designed on the target. When calculating the length through image processing, the corresponding relationship between the ruler length and the number of pixels is used as the length ratio to calculate the distance between two different positions in the image, such as Fig.10 In the figure, L is a standard ruler line with high precision. When the design length is 100 mm, if the corresponding number of pixels is N, the length represented by one pixel is 100 / N mm. Fig.11 As shown, the number of pixels in the horizontal direction between point D and point C is Mx, and the number of pixels in the vertical direction is My, so the distances in the horizontal and vertical directions can be calculated.

[0125] (Δx i ,Δy i )=(100×M x / N,100×M y / N)(mm).

[0126] Obviously, the above embodiments are merely examples for clear description and are not limitations of the implementation methods.

[0127] For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, the obvious changes or modifications derived from this are still within the protection scope of the invention.

Claims

1. A patrol monitoring instrument based on a pan-tilt platform, characterized in that: include: Base; An azimuth shaft system assembly, rotatably connected to the base; A pitch axis assembly, rotatably connected to the azimuth axis assembly; a controller, in communication with the azimuth axis assembly and the pitch axis assembly, respectively, to control the azimuth axis assembly to rotate or lock in a horizontal plane, and / or to control the pitch axis assembly to rotate or lock in a vertical plane, wherein the vertical plane is perpendicular to the horizontal plane; The camera device is arranged on the pitch axis system assembly.

2. The inspection monitoring instrument based on a pan-tilt platform according to claim 1 is characterized in that: The shafting components include: An azimuth axis, rotatably connected to the base; A first position sensor connected to the azimuth axis to obtain a rotation angle of the azimuth axis; A first locking assembly, in communication with the controller, to lock or unlock the azimuth axis; A first driving assembly is drivingly connected to the azimuth shaft to drive the azimuth shaft to rotate at a first step angle; A second driving assembly is drivingly connected to the azimuth axis to drive the azimuth axis to rotate at a second step angle; Wherein, the first step angle is greater than the second step angle.

3. The inspection monitoring instrument based on a pan-tilt platform according to claim 2 is characterized in that: The first driving assembly comprises: A first stepper motor is provided with a first output terminal; A first transmission assembly, drivingly connected to the first output end and the azimuth shaft; Wherein, the transmission ratio between the first stepper motor and the first transmission assembly is 4:1; and / or the second drive assembly includes: A second stepping motor is provided with a second output terminal; a first clutch connected to the second output end; The second transmission assembly is transmission-connected with the first clutch and the azimuth shaft.

4. The inspection monitoring instrument based on a PTZ according to claim 2 is characterized in that: The pitch axis system assembly comprises: a bracket connected to the azimuth axis; A pitch axis, rotatably connected to the bracket; A second position sensor is connected to the pitch axis to obtain a rotation angle of the pitch axis; A second locking assembly is communicatively connected to the controller to lock or unlock the pitch axis; a third driving assembly, drivingly connected to the pitch axis to drive the pitch axis to rotate at a third step angle; a fourth driving assembly, drivingly connected to the pitch axis to drive the pitch axis to rotate at a fourth step angle; Wherein, the third step angle is greater than the fourth step angle.

5. The inspection-type monitoring instrument based on a pan-tilt platform according to claim 4 is characterized in that: The third driving component includes a third stepper motor, the third stepper motor is provided with a third output end, and the third output end is connected to the pitch axis in a transmission manner; wherein the transmission ratio between the third stepper motor and the third transmission component is 2:1; and / or the fourth driving component includes a fourth stepper motor, the fourth stepper motor is provided with a fourth output end, and the fourth output end is connected to the pitch axis in a transmission manner.

6. A patrol monitoring system based on a pan-tilt system, characterized in that: include: Targets, located in the monitoring area; The pan-tilt-based inspection monitoring instrument according to any one of claims 1 to 7, wherein the pan-tilt-based inspection monitoring instrument comprises a camera device, wherein the camera device is suitable for acquiring a target image; The image processing device is communicatively connected with the camera device to obtain the horizontal displacement and vertical displacement of the target according to the target image.

7. A PTZ-based patrol monitoring method, characterized in that: The PTZ-based patrol monitoring system as claimed in claim 8 is adopted, and the PTZ-based patrol monitoring method comprises: Acquire a target image; Calculating the distance between the target and the camera device according to the target image; The horizontal displacement and vertical displacement of the target are calculated according to the distance between the target and the camera device.

8. The inspection-type monitoring method based on a PTZ according to claim 7 is characterized in that: Calculating the distance between the target and the camera device according to the target image specifically includes: Adjust the camera device so that the target is within the shooting field of view; Adjusting the horizontal angle of the camera device so that the target image is at the extreme positions on two opposite sides in the horizontal direction, and / or adjusting the vertical angle of the camera device so that the target image is at the extreme positions on two opposite sides in the vertical direction; Based on the extreme positions on the two opposite sides, obtaining an angle between the two extreme positions; Obtaining target center position coordinates based on the target image; Obtaining the distance between two positions of the target based on the target center position coordinates; Based on the distance between the two positions of the target and the angle between the two extreme positions, the distance between the target and the camera device is calculated, and the calculation formula is as follows: Where S is the distance between two positions of the target, L is the distance between the target and the camera device, and α is the angle between the two extreme positions.

9. The inspection-type monitoring method based on a PTZ according to claim 7, characterized in that: Calculating the horizontal displacement and vertical displacement of the target according to the distance between the target and the camera device specifically includes: Obtaining the initial azimuth of the target and the actual azimuth of the camera device; Obtain the horizontal distance of the initial state of the target in the image; The horizontal displacement is obtained according to the initial azimuth, the actual azimuth and the horizontal distance, and the calculation formula is as follows: X = L × (θ - ε) + S0; Where X is the horizontal displacement, θ is the initial azimuth, ε is the actual azimuth, and S0 is the horizontal distance; Obtaining the initial pitch angle of the target and the actual pitch angle of the camera device; Obtain the vertical distance of the initial state of the target in the image; The vertical displacement is obtained according to the initial pitch angle, the actual pitch angle and the vertical distance, and the calculation formula is as follows: In the formula, is the initial pitch angle, is the actual pitch angle, Y is the vertical displacement of the target in the vertical direction, and S1 is the vertical distance.

10. The inspection-type monitoring method based on a pan-tilt platform according to any one of claims 7 to 8, characterized in that: Also includes: Obtaining the measurement position of the reference target set outside the monitoring area; If the measurement position is within a preset measurement error range, it is determined that the pan-tilt-based patrol monitoring system is available.

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