Visual monitoring system and method for component perpendicularity based on plumb line

Abstract

The invention relates to a component perpendicularity visual monitoring system based on a plumb line, and the system comprises a side plate which is disposed at one side of a component; the pointer strip serves as a plumb line mark and is hung on the side plate, and the pointer strip is provided with two pointers, namely an upper pointer and a lower pointer; the two scales are fixed on the side plate and are parallel to the horizontal plane, the scales are respectively an upper scale and a lower scale, the end part of the upper pointer points to the scale of the upper scale, and the end part of the lower pointer points to the scale of the lower scale; the camera is configured to collect a current image containing the two pointers and the corresponding scales; and the industrial personal computer is configured to recognize the readings of the two pointers on the corresponding scales at the current moment according to the current image and calculate the perpendicularity of the component. The pointer strip is hung on the side plate to serve as a plumb line mark, the pointer is used for representing the plumb line direction above the two scales, the scales provide reference for the transverse horizontal position of the tail end of the pointer, the structure is simple, installation is convenient and fast, and the device is suitable for different scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge monitoring, and particularly relates to a visual monitoring system and method for the perpendicularity of components based on a plumb line. Background Art

[0002] The perpendicularity of a component refers to the maximum allowable deviation between the surface, axis or edge of the component and a reference line (usually the plumb line or the normal line of the horizontal plane). The perpendicularity of a component is usually used to measure the closeness of the component to the ideal vertical line. In engineering, perpendicularity is an important geometric tolerance index to ensure that the component meets the design requirements during installation or manufacturing.

[0003] The perpendicularity of slender components such as bridge piers and bridge towers plays a crucial role during both the bridge construction period and the bridge operation period. For example, during the bridge construction period, due to the geometric characteristics of such components themselves, the perpendicularity during their installation and alignment controls the accuracy of the end positioning of both ends of the component. Taking a 30m-long component as an example, if there is a perpendicularity deviation of 0.01°, it may lead to an end offset of about 5mm. The end offset will further cause difficulties or large errors in the installation of subsequent connecting parts and other structures, affecting the construction quality of the bridge. For example, during the bridge operation period, the perpendicularity monitoring of slender components such as piers and bridge towers can generally grasp the overall shape of the bridge substructure, facilitating the timely warning of bridge collapse caused by natural disasters such as ship collisions or debris flows, and minimizing the adverse impact of the disaster on traffic accidents on the bridge.

[0004] In related technologies, the methods for measuring the perpendicularity of bridge components include, for example, the multi-sensor fusion method, the suspended plumb line method, etc. For example, the multi-sensor fusion method controls the perpendicularity of components in a more robust manner by fusing the coordinate, elevation and geodetic inclination information obtained by total stations, level instruments and inclinometers, but the installation of each device is complex, and it is only suitable for measuring and controlling a few key components; for example, the suspended plumb line method measures the perpendicularity by hoisting a plumb line on the component and placing a scale below, and reading the difference on the scale. This method can improve the measurement accuracy to a certain extent with a long plumb line, but the accompanying problem is poor environmental adaptability, and it is sensitive to environmental vibrations and wind fields. Summary of the Invention

[0005] The present application provides a visual monitoring system and method for the perpendicularity of components based on a plumb line. The first objective is to solve the technical problem of complex equipment installation in related technologies, and the second objective is to solve the technical problem of poor environmental adaptability in related technologies.

[0006] In a first aspect, an embodiment of the present application further provides a visual monitoring system for the perpendicularity of components based on a plumb line, which includes: Side plates, installed on one side of the component; A pointer bar, which is suspended on the side plate as a plumb line mark. The pointer bar has two pointers, namely an upper pointer and a lower pointer. Two scales, which are fixed on the side plate and are both parallel to the horizontal plane. The scales are respectively an upper scale and a lower scale. The end of the upper pointer points to the scale of the upper scale, and the end of the lower pointer points to the scale of the lower scale. A camera, which is configured to: collect a current image including the two pointers and the corresponding scales. An industrial personal computer, which is configured to: identify the readings of the two pointers on the corresponding scales at the current moment according to the current image, and calculate the perpendicularity of the component.

[0007] Combined with the first aspect, in an embodiment, the component perpendicularity visual monitoring system further includes a housing, the housing includes the side plate, and the housing houses the camera and the industrial personal computer.

[0008] Combined with the first aspect, in an embodiment, the component perpendicularity visual monitoring system further includes a supplementary light disposed in the housing, and the housing is a closed housing.

[0009] Combined with the first aspect, in an embodiment, there is one camera, and the field of view covers the two pointers and the scales; or there are two cameras, and the fields of view respectively cover the upper pointer and the upper scale, and the lower pointer and the lower scale.

[0010] Combined with the first aspect, in an embodiment, both ends of the scale are fixed on the side plate through pads, so that the scale is located in front of the pointer bar.

[0011] Combined with the first aspect, in an embodiment, the component perpendicularity visual monitoring system further includes a plurality of control point targets disposed on both sides of the scale; The industrial personal computer is further configured to: correct the jitter deviation of the reading based on plane constraints according to the control point targets.

[0012] In a second aspect, an embodiment of the present application provides a component perpendicularity visual monitoring method based on a plumb line, which is applied to the component perpendicularity visual monitoring system as described in any one of the above. The method includes the following steps: Collect a current image including the two pointers and the corresponding scales; Identify the readings of the two pointers on the corresponding scales at the current moment according to the current image; Calculate the perpendicularity of the component according to the readings.

[0013] Combined with the second aspect, in an embodiment, the calculating the perpendicularity of the component according to the readings includes: The calculation formula is: ; Wherein, the state before the side plate is fixed to the component is taken as the initial state; is the perpendicularity of the component, is the initial perpendicularity; is the current moment is the reading of the upper pointer on the upper scale, is the initial reading of the upper pointer on the upper scale; is the current moment is the reading of the lower pointer on the lower scale, is the initial reading of the lower pointer on the lower scale; is the distance between the upper scale and the lower scale.

[0014] Combined with the second aspect, in an embodiment, the recognizing the readings of the two pointers on the corresponding scales at the current moment according to the current image includes: Establish a reference coordinate system with the plane where the side plate is located as the reference plane, and use the image area including the end of the pointer, the reading on the corresponding scale and its adjacent long scale as the pointer template image. The pointer template image is matched with the current image to obtain the current pointer image and the integer pixel coordinates of the pointer; Perform line detection on the current pointer image to identify the two oblique lines at the end of the pointer, and calculate the intersection point coordinates of the two oblique lines ; Perform optical character detection on the current pointer image to identify the two long scales closest to the intersection point , and their readings are the nearest left scale and the nearest right scale , and the corresponding scale vertex coordinates are and ; Calculate the reading of the pointer on the corresponding scale at the current moment: The calculation formula is: ; Wherein, is the marked distance between adjacent long scales of the scale.

[0015] Combined with the second aspect, in an embodiment, the visual monitoring method for the perpendicularity of the component based on the plumb line further includes: correcting the jitter deviation of the reading based on plane constraint; The correcting the jitter deviation of the reading based on plane constraint includes: Arrange n control point targets ( n ≥4) on both sides of the scale. The coordinate system takes a certain control point target as the origin, and pre-calibrates the coordinates of the control point target; Identify the current moment based on the said current pointer image The central pixel coordinates of each control point target ; Construct an overdetermined equation , and solve h ; Among them, ; ; Correct , and the pixel coordinates of; The correction formula is: .

[0016] The beneficial effects brought by the technical solutions provided in the embodiments of this application include: This application provides a visual monitoring system for the perpendicularity of components based on a plumb line. The pointer bar is suspended on the side plate, and the suspension means that it can freely point in the direction of gravity around the suspension point, thus serving as a plumb line mark. The pointer on the pointer bar is used to represent the direction of the plumb line above the two scales. The scales provide a reference for the horizontal position at the end of the pointer, making it more convenient for machine vision to read the pointer direction to determine the reading benchmark. The image acquisition and image recognition processes are completed through a camera and an industrial control computer. This visual monitoring system has a simple structure and is easy to install, and is applicable to different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a layout schematic diagram of a visual monitoring system for the perpendicularity of components based on a plumb line in an embodiment of the present invention.

[0019] Figure 2 It is a front view schematic diagram of a pointer bar in an embodiment of the present invention.

[0020] Figure 3 It is a structural schematic diagram of a control point target in an embodiment of the present invention.

[0021] Figure 4 It is a flowchart of a visual monitoring method for the perpendicularity of components based on a plumb line in an embodiment of the present invention.

[0022] Figure 5 It is a reading schematic diagram of a pointer in an embodiment of the present invention.

[0023] In the figure: 1. Outer shell; 11. Side plate; 2. Pointer bar; 3. Pointer; 31. Upper pointer; 32. Lower pointer; 4. Scale; 41. Upper scale; 42. Lower scale; 43. Spacer; 5. Camera; 6. Industrial control computer; 7. Supplementary light; 8. Control point target. Specific implementation manner

[0024] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0025] The embodiment of this application provides a visual monitoring system for the perpendicularity of components based on a plumb line. The first purpose is to solve the technical problem of complex equipment installation in the related art.

[0026] As Figure 1 and Figure 2 shown, among which, Figure 1 is the layout schematic diagram of the visual monitoring system for the perpendicularity of components based on a plumb line in an embodiment of the present invention. Figure 2 is the front view schematic diagram of the pointer bar in an embodiment of the present invention.

[0027] This embodiment provides a visual monitoring system for the perpendicularity of components based on a plumb line, which includes: Side plate 11, installed on one side of the component; Pointer bar 2, the pointer bar 2 is suspended on the side plate 11 as a plumb line mark, and the pointer bar 2 has two pointers 3, namely the upper pointer 31 and the lower pointer 32; Two scales 4, fixed to the side plate 11 and both parallel to the horizontal plane. The scales 4 are respectively the upper scale 41 and the lower scale 42. The end of the upper pointer 31 points to the scale of the upper scale 41, and the end of the lower pointer 32 points to the scale of the lower scale 42; Camera 5, configured to: collect the current image containing the two pointers 3 and the corresponding scale 4; Industrial control computer 6, configured to: identify the readings of the two pointers 3 on the corresponding scale 4 at the current moment according to the current image, and calculate the perpendicularity of the component.

[0028] This embodiment provides a visual monitoring system for the perpendicularity of components based on a plumb line. The pointer bar is suspended on the side plate, and the suspension means that it can freely point in the direction of gravity around the suspension point, thus serving as a plumb line mark. The pointer on the pointer bar is used to represent the direction of the plumb line above the two scales. The scales provide a reference for the horizontal position of the pointer end, making it more convenient for machine vision to read the pointer direction to determine the reading reference. The image acquisition and image recognition processes are completed by a camera and an industrial control computer. This visual monitoring system has a simple structure and is easy to install, and is suitable for different scenarios.

[0029] In one embodiment, the visual monitoring system for the perpendicularity of components further includes a housing 1, and the housing 1 includes a side plate 11. The housing 1 houses the camera 5 and the industrial control computer 6.

[0030] Through the above solution, all structures are integrated into one housing, reducing the overall size, making it more convenient to carry and use, and also reducing the impact of the environment.

[0031] If the housing 1 is a cube structure, it provides installation positions for each structure. The surface of the side plate for installing the pointer bar 2 serves as a reference plane. When installing this system, the side plate 11 of the housing 1 and one side of the component are fixedly connected by bolts, and the bottom plate of the housing 1 is as parallel to the ground as possible.

[0032] In one embodiment, the housing 1 is a closed housing.

[0033] Through the above solution, the interference of ambient light outside the housing to the machine vision reading is isolated, improving the measurement accuracy.

[0034] The pointer bar 2 is a reflective pointer bar, and the pointer 3 is a pasted reflective pointer mark. The reflection enhances the local contrast and facilitates the identification of the pointer end. Of course, in other embodiments, the pointer bar 2 and the pointer 3 may not be reflective.

[0035] The pointer bar 2 is specifically a long thin plate member with an opening at the top, and is suspended on the side plate 11 through a cylindrical rotating shaft, and can freely point in the direction of gravity around the cylindrical rotating shaft, thus serving as a mark of the plumb line.

[0036] The scale 4 provides a reference for the horizontal position of the end of the pointer 3. One scale 4 is installed in parallel at each of the upper and lower positions of the side plate 11. The scale 4 is as parallel to the bottom plate of the housing 1 as possible. When the system is completely vertical, the direction of the scale 4 should be parallel to the ground plane. Each scale 4 contains long and short scale lines. There are specific numerical identifications below the long scales, and the short scales may or may not have numerical identifications. In the installation height direction of the scale 4, above the upper scale 41 is the upper pointer 31, and above the lower scale 42 is the lower pointer 32. The end of the pointer 3 points to the scale on the scale 4.

[0037] In one embodiment, both ends of the scale 4 are fixed to the side plate 11 through the cushion blocks 43, so that the scale 4 is located in front of the pointer bar 2.

[0038] Through the above solution, the two ends of the scale are elevated by the cushion blocks, so that the scale is kept in front of the pointer bar, avoiding the pointer bar from blocking the scale.

[0039] The camera 5 is used to observe structures such as the scale 4 and the pointer 3 arranged in the reference plane, providing the original data for image recognition and coordinate calculation.

[0040] In one embodiment, there is one camera 5, and its field of view covers the two pointers 3 and the scale 4; or there are two cameras 5, and their fields of view cover the upper pointer 31 and the upper scale 41, and the lower pointer 32 and the lower scale 42 respectively.

[0041] Through the above solution, a single-camera observation solution or a dual-camera observation solution can be provided according to actual needs, which is more flexible.

[0042] The industrial control computer 6 includes structures such as a camera acquisition hardware interface, a computing board, and a communication board, realizing functions such as image data acquisition, image processing, sag calculation, and data transmission.

[0043] In one embodiment, the component verticality visual monitoring system further includes a supplementary light 7 arranged inside the housing 1.

[0044] Through the above solution, the illumination of the observation area of the reference plane is enhanced by the supplementary light, making the illumination of this observation area uniform, improving the imaging contrast of the pointer, and the light source is stable, without causing additional random deviation effects on the imaging.

[0045] In one embodiment, the component verticality visual monitoring system further includes a plurality of control point targets 8 arranged on both sides of the scale 4; the industrial control computer 6 is further configured to: correct the jitter deviation of the reading based on the plane constraint according to the control point targets 8.

[0046] The control point targets 8 are located within the field of view of the camera 5, used to provide the reference plane coordinate system and provide a basic reference for suppressing the camera jitter effect.

[0047] As Figure 3 shown, Figure 3 This is a schematic structural diagram of the control point target in an embodiment of the present invention.

[0048] The control point target 8 can be a white circular pattern on a black background. Of course, the control point target 8 can also be other patterns.

[0049] As Figure 4 shown, Figure 4 This is a flowchart of the component verticality visual monitoring method based on the plumb line in an embodiment of the present invention.

[0050] This embodiment also provides a visual monitoring method for the perpendicularity of components based on a plumb line. Applying the above-mentioned visual monitoring system for the perpendicularity of components, it includes the following steps: Step S1, collect the current image containing two pointers 3 and the corresponding scale 4; Step S2, identify the readings of the two pointers 3 on the corresponding scale 4 at the current moment according to the current image; Step S3, calculate the perpendicularity of the component according to the readings.

[0051] As Figure 5 shown, Figure 5 is a schematic diagram of the readings of the pointer in an embodiment of the present invention.

[0052] In one embodiment, step S2, identifying the readings of the two pointers 3 on the corresponding scale 4 at the current moment according to the current image includes: Step S21, establish a reference coordinate system with the plane where the side plate 11 is located as the reference plane. Use the image area including the end of the pointer 3, the reading on the corresponding scale 4 and its adjacent long scale as the pointer template image. Perform template matching between the pointer template image and the current image to obtain the current pointer image and the integer pixel coordinates of the pointer.

[0053] Specifically, template matching is a computer vision method that can detect the part of the image that matches a predetermined template for object positioning. In its most basic form, the algorithm compares the template with each source image area, one pixel at a time, which is called cross-correlation. The result of this process is another image, whose pixel values correspond to the similarity degree between the template image inserted at that pixel position and the source image. The specific process is as follows: load a source image and convert the RGB source image to grayscale; load the template image, store the width and height of the template, and then initialize a discovery variable to track the area and scale of the image with the best match. Use the template matching function to detect the template in the input source image, set the threshold of the required output, draw a rectangle in the template matching object, and display the source image with the marked template area.

[0054] Step S22, perform line detection on the current pointer image to identify the two diagonal lines at the end of the pointer and , calculate the intersection point coordinates of the two diagonal lines .

[0055] Specifically, after template matching, the diagonal pixel area is roughly clear, which can be identified by using general line detection technology, and then the intersection point is calculated according to the plane line intersection formula.

[0056] Step S23, perform optical character detection on the current pointer image to identify the one away from the intersection point The two most recent long graduations, with readings being the most recent left graduation and the most recent right graduation , and the corresponding graduation vertex coordinates are and .

[0057] Step S25: Calculate the reading of the pointer on the corresponding scale at the current moment: The calculation formula is: ; where is the marked distance between adjacent long graduations of the scale.

[0058] Through the above solution, when using machine vision for image reading and applying digital interpolation technology, sub-pixel-level readings can be output. Compared with manual reading, which is limited by the image resolution and can only obtain pixel-level readings, the method provided in this embodiment has higher measurement accuracy for the perpendicularity of components.

[0059] In one embodiment, step S2: According to the current image, identifying the readings of the two pointers 3 on the corresponding scale 4 at the current moment further includes: step S24: Correcting the jitter deviation of the reading based on plane constraints; Step S24: Correcting the jitter deviation of the reading based on plane constraints includes: Step S241: Arrange n control point targets 8 ( n ≥4) on both sides of the scale 4. The coordinate system takes a certain control point target 8 as the origin, and the coordinates of the control point target 8 are pre-calibrated .

[0060] Specifically, set the origin of the reference plane coordinate system as the center of the control point target 8 in the upper left corner of the field of view, the horizontal right direction as the positive direction of the x axis, the vertical upward direction as the positive direction of the y axis, and the direction perpendicular to the target and outward as the positive direction of the z axis.

[0061] Step S242: Identify the center pixel coordinates of each control point target 8 at the current moment according to the current pointer image .

[0062] Based on the currently acquired pointer image, use the ellipse recognition algorithm to recognize the control point target 8. The ellipse recognition algorithm has high accuracy and can adapt to the central deviation caused by observing a circle from different perspectives.

[0063] Step S243: Construct an overdetermined equation , and solve for h ; where ; ; Step S244, correction , and pixel coordinates of: The correction formula is: .

[0064] Through the above solution, based on the planar constraint to correct the coordinates, the camera jitter, drift and distortion effects can be corrected, thereby improving the environmental adaptability, avoiding the interference of environmental factors on visual measurement, reducing the perspective deviation caused by the minute jitter of the camera and then the scale recognition and reading deviation, and greatly suppressing the deviation.

[0065] In an embodiment, step S3, calculating the perpendicularity of the component according to the readings of the two pointers on the corresponding scales at the current moment includes: The calculation formula is: ; wherein, the state before the side plate is fixed to the component is taken as the initial state; is the perpendicularity of the component, is the initial perpendicularity, which is measured by the inclinometer when standing still in the initial state of the system; is the current moment the reading of the upper pointer on the upper scale, is the initial reading of the upper pointer on the upper scale; is the current moment the reading of the lower pointer on the lower scale, is the initial reading of the lower pointer on the lower scale; is the distance between the upper scale and the lower scale.

[0066] Through the above solution, based on the readings of the upper and lower pointers on the two scales, the perpendicularity of the system is calculated by the difference between the current reading and the initial reading, and the perpendicularity of the system itself is transmitted to the component installation position to obtain the perpendicularity of the component.

[0067] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 should not be construed as a limitation of the present application. Unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" 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, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0068] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0069] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0070] The above are only specific implementation manners of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A visual monitoring system for the perpendicularity of components based on a plumb line, characterized in that, It includes: Side plates (11), which are installed on one side of the component; Pointer bars (2), the pointer bars (2) are suspended on the side plates (11) as plumb line marks, and the pointer bars (2) have two pointers (3), namely an upper pointer (31) and a lower pointer (32); Two scales (4), which are fixed to the side plates (11) and are both parallel to the horizontal plane. The scales (4) are respectively an upper scale (41) and a lower scale (42). The end of the upper pointer (31) points to the scale of the upper scale (41), and the end of the lower pointer (32) points to the scale of the lower scale (42); A camera (5), configured to: collect a current image including the two pointers (3) and the corresponding scale (4); An industrial control computer (6), configured to: identify the readings of the two pointers (3) on the corresponding scale (4) at the current moment according to the current image, and calculate the perpendicularity of the component.

2. The visual monitoring system for the perpendicularity of components based on a plumb line according to claim 1, characterized in that, The visual monitoring system for the perpendicularity of the component further includes a housing (1), the housing (1) includes the side plates (11), and the housing (1) houses the camera (5) and the industrial control computer (6).

3. The visual monitoring system for the perpendicularity of components based on the plumb line according to claim 2, characterized in that, The visual monitoring system for the perpendicularity of the component further includes a supplementary light (7) provided in the housing (1), and the housing (1) is a closed housing.

4. The visual monitoring system for the perpendicularity of components based on a plumb line according to claim 1, characterized in that, There is one camera (5), and its field of view covers the two pointers (3) and the scale (4); or there are two cameras (5), and their fields of view respectively cover the upper pointer (31) and the upper scale (41), the lower pointer (32) and the lower scale (42).

5. The visual monitoring system for the perpendicularity of components based on a plumb line according to claim 1, characterized in that Both ends of the scale (4) are fixed to the side plates (11) through pads (43), so that the scale (4) is located in front of the pointer bar (2).

6. The visual monitoring system for the perpendicularity of components based on a plumb line according to claim 1, characterized in that The visual monitoring system for the perpendicularity of the component further includes a plurality of control point targets (8) provided on both sides of the scale (4); the industrial control computer (6) is further configured to: correct the jitter deviation of the reading based on the plane constraint according to the control point targets (8).

7. A visual monitoring method for the perpendicularity of components based on a plumb line, characterized in that, Applying the visual monitoring system for the perpendicularity of the component according to any one of claims 1 to 6, the method includes the following steps: Collect a current image including the two pointers and the corresponding scale; Identify the readings of the two pointers on the corresponding scale at the current moment according to the current image; Calculate the perpendicularity of the component according to the readings.

8. The visual monitoring method for the perpendicularity of components based on a plumb line according to claim 7, characterized in that, The calculating the perpendicularity of the component according to the readings includes: The calculation formula is as follows: ; Among them, the state before the side plate is fixed to the component is taken as the initial state; is the perpendicularity of the component, is the initial perpendicularity; is the current moment is the reading of the upper pointer on the upper scale, is the initial reading of the upper pointer on the upper scale; is the current moment is the reading of the lower pointer on the lower scale, is the initial reading of the lower pointer on the lower scale; is the distance between the upper scale and the lower scale.

9. The visual monitoring method for the perpendicularity of components based on a plumb line according to claim 7, characterized in that, The identifying the readings of the two pointers on the corresponding scale at the current moment according to the current image includes: Establish a reference coordinate system with the plane where the side plate is located as the reference plane, use the image area including the pointer end, the reading on the corresponding scale and its adjacent long scale as the pointer template image, and perform template matching between the pointer template image and the current image to obtain the current pointer image and the integer pixel coordinates of the pointer; Perform a straight-line detection on the current pointer image to identify two diagonal lines at the end of the pointer, and calculate the intersection point coordinates of the two diagonal lines ; Optically character detect the current pointer image to identify the two long scales closest to the intersection point with readings of the nearest left scale and the nearest right scale respectively, and the corresponding scale vertex coordinates are and ; Calculate the reading of the pointer on the corresponding scale at the current moment: The calculation formula is as follows: ; Among them, is the distance marked for adjacent long graduations of the scale.

10. The visual monitoring method for the perpendicularity of components based on a plumb line according to claim 9, characterized in that The identifying the readings of the two pointers on the corresponding scale at the current moment according to the current image further includes: correcting the jitter deviation of the reading based on the plane constraint; The correcting the jitter deviation of the reading based on the plane constraint includes: Arrange on both sides of the scale n control point targets ( n ≥4), with a certain control point target as the origin of the coordinate system, and pre-calibrate the coordinates of the control point targets ; Identify the current moment based on the current pointer image The central pixel coordinates of each control point target ; Construct an overdetermined equation , and solve h ; Among them, ; ； Correction 、 and pixel coordinates; The corrected formula is as follows: .

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