Multi-point displacement transmission-type laser monitoring system without stable observation point structure and data processing method of multi-point displacement transmission-type laser monitoring system

Abstract

The invention provides a multi-point displacement transmission-type laser monitoring system for a structure without stable observation points and a data processing method of the multi-point displacement transmission-type laser monitoring system. The system is mainly composed of a bidirectional laser transmission sensing unit, a laser transmitter and a synchronous control and data processing module. All the bidirectional laser transmission sensing units are arranged in a straight line, laser emitters are arranged at the two ends of each bidirectional laser transmission sensing unit, and emitted laser beams penetrate through all the bidirectional laser transmission sensing units. The bidirectional laser transmission sensing unit is internally provided with a semi-transparent / semi-reflective mirror window, a diffuse reflection target and a camera. The semi-transparent / semi-reflective mirror window reflects an incident laser beam to the diffuse reflection target to form a light spot, and the camera records and identifies the movement displacement of the light spot. In combination with the data processing method provided by the invention, accurate multi-point displacement monitoring of the to-be-measured structure can be realized under the condition of no stable observation point. The system is suitable for construction period deformation monitoring or engineering life cycle structure health monitoring of large civil engineering structures such as bridges, tunnels and high-rise buildings.

Description

Technical Field

[0001] The present invention relates to the field of structural health monitoring and intelligent sensing technology, and in particular to a multi-point displacement transmission laser monitoring system for a structure without a stable observation point and a data processing method thereof. Background Art

[0002] Large-scale civil engineering infrastructure, such as bridges, tunnels, and high-rise buildings, is crucial for ensuring the proper functioning of society, supporting economic growth, and improving residents' quality of life. However, after enduring adverse conditions such as overuse, extreme loads, and environmental erosion, these large structures gradually lose their bearing capacity and reliability. Lack of timely and effective structural health monitoring and maintenance can lead to major engineering accidents, posing a serious threat to public safety and the safety of people's lives and property. Therefore, developing efficient structural health monitoring systems to promptly identify potential structural safety hazards is of paramount importance.

[0003] In the field of structural health monitoring, displacement, compared to parameters such as acceleration, stress, and strain, is a more direct indicator of key performance indicators such as structural stiffness and overall load-bearing capacity. Consequently, researchers both domestically and internationally have conducted extensive research on structural displacement monitoring. Currently, mainstream methods include accelerometers, levels, GNSS (Global Navigation Satellite System), and machine vision. The accelerometer method infers displacement based on the quadratic integral of acceleration, but this method is prone to drift errors over long periods of monitoring, making it difficult to accurately capture the structural displacement response. Levels, as specialized height measurement instruments, typically have an accuracy of 0.5-2 mm, but can only measure displacement at a single point. This accuracy is often insufficient for structures with high stiffness and small deformations. GNSS methods utilize carrier phase differential technology to measure displacement, but their accuracy ranges from 5-20 mm, making them insufficient for high-precision displacement monitoring of small and medium-sized structures. In recent years, machine vision-based structural displacement monitoring technology has rapidly developed, offering advantages such as non-contact measurement, simultaneous multi-point monitoring, and high accuracy. However, in actual large-scale structural displacement monitoring applications, it is difficult to find a stable observation point to fix the camera, and camera shaking seriously affects the accuracy of structural displacement monitoring. Therefore, the problem of no stable observation point seriously limits the large-scale application of machine vision structural displacement monitoring in actual engineering.

[0004] In summary, the research and development of multi-point displacement monitoring technology for structures that can work under conditions without stable points has important engineering application value. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that the existing structural displacement monitoring technology is difficult to accurately measure the structural displacement without a stable observation point. A multi-point displacement transmission laser monitoring system for structures without a stable observation point and a data processing method thereof are proposed.

[0006] The present invention is achieved through the following technical solutions. The present invention proposes a multi-point displacement transmission laser monitoring system without a stable observation point structure. The monitoring system includes a bidirectional laser transmission sensing unit 1, a laser transmitter 2, and a synchronous control and data processing module 3; The number of the bidirectional laser transmission sensor units 1 is n , n Greater than or equal to 4, all arranged along a straight line, and placed at the location where the structural displacement is to be measured; There are two laser emitters 2, which are respectively arranged outside the bidirectional laser transmission sensor units 1 at both ends and fixedly connected to the bidirectional laser transmission sensor units 1 so that the two have the same displacement and angular response; the laser emitters 2 at both ends respectively emit lasers, which pass through all the bidirectional laser transmission sensor units 1 and project laser spots inside them; The synchronous control and data processing module 3 wirelessly controls the internal camera of the bidirectional laser transmission sensor unit 1 to capture and identify the laser spot displacement, and obtains the structural displacement response of the installation location of the bidirectional laser transmission sensor unit 1 and the structural rotation angle response of the bidirectional laser transmission sensor units 1 at both ends through calculation.

[0007] Furthermore, the bidirectional laser transmission sensing unit 1 is composed of a housing 1-1, a controller and processing unit 1-2, a signal transceiver 1-3, diffuse reflection targets #1 1-4, diffuse reflection targets #2 1-5, a semi-transparent / semi-reflective mirror window #1 1-6, a semi-transparent / semi-reflective mirror window #2 1-7 and a camera 1-8.

[0008] Furthermore, the semi-transparent / semi-reflective mirror window #11-6 and the semi-transparent / semi-reflective mirror window #21-7 form an angle of 45° with the direction of the incident laser.

[0009] Furthermore, when the laser emitted by the laser emitter 2 passes through the semi-transparent / semi-reflective mirror window #11-6 and the semi-transparent / semi-reflective mirror window #21-7, the semi-transparent / semi-reflective mirror window #11-6 and the semi-transparent / semi-reflective mirror window #21-7 will cause the laser to be transmitted and reflected at the same time, and the transmitted laser will continue to reach the subsequent bidirectional laser transmission sensing unit 1, and the reflected laser will form laser spots on the diffuse reflection target #11-4 and the diffuse reflection target #21-5 respectively. The controller and processing unit 1-2 control the camera 1-8 to take pictures of the laser spots on the diffuse reflection target #11-4 and the diffuse reflection target #21-5, and identify the center position of the spot through the recognition algorithm.

[0010] Furthermore, the synchronous control and data processing module 3 wirelessly controls the controllers and processing units 1-2 in all bidirectional laser transmission sensing units 1 to synchronously trigger the cameras 1-8, take photos of the laser spots on the diffuse reflection targets #1 1-4 and the diffuse reflection targets #2 1-5, and identify the center position of the laser spots through the spot vision algorithm, and transmit the identified laser spot position information back to the synchronous control and data processing module 3.

[0011] The present invention also proposes a data processing method based on the multi-point displacement transmission laser monitoring system for structures without stable observation points. The data processing method uses the laser spot displacements measured on the diffuse reflection targets #1 1-4 and the diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensing unit 1 to calculate the vertical displacement and the lateral displacement of the structure using the following steps: Step 1: Establish a three-dimensional coordinate system at the structure to be measured, where The axis is the horizontal direction of the structure to be measured. The axis is the vertical direction of the structure to be measured. The axis is the longitudinal direction of the structure to be measured, and a two-dimensional target coordinate system x'-o-y' is established on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensor unit 1. The target coordinate system is parallel to the three-dimensional coordinate system. According to the principle of optical reflection, when the structure to be measured moves horizontally or vertically, the laser spots on diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 will produce the same displacement along the x' axis or y' axis; Step 2: Keep the bidirectional laser transmission sensor unit 1 horizontal and adjust the direction of the laser emitter 2 so that the laser beam can penetrate all the semi-transparent / semi-reflective mirror windows #1 1-6 and semi-transparent / semi-reflective mirror windows #2 1-7 in the bidirectional laser transmission sensor unit 1 and form a clear light spot pattern on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5; Step 3: Suppose that the distances between two adjacent bidirectional laser transmission sensor units 1 are measured from left to right. L 1, L 2, …, L n-1 in n is the number of bidirectional laser transmission sensing units 1, n Greater than or equal to 4; Step 4: Select the deformation of each measuring point of the measured structure at a certain time point as the measurement reference value, and the displacement of the measured points at other times is expressed as the offset relative to the measurement reference value; i The vertical and lateral displacements of the structure at one bidirectional laser transmission sensor unit are and , the rotation angles of the structure around the X axis and Z axis are and , at this time i The internal cameras 1-8 of the bidirectional laser transmission sensor unit 1 capture and identify the displacement of the laser spot center on the planes of diffuse reflection target #1 1-4 and diffuse reflection target #2 1-5 respectively. and ; Step 5: Calculate the vertical displacement of the structure; Step 6: Calculate the lateral displacement of the structure.

[0012] Furthermore, the vertical displacement of the structure is calculated according to the following steps: (5.1), the first and n The relationship between the displacement of the light spots on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensor unit 1 along the y' axis and the structural displacement is as follows: (1) (2) (5.2), Chapter i A bidirectional laser transmission sensing unit 1, i =2, …, n-1, the light spots on the internal diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 are displaced along the y' axis, and their relationship with the structural displacement is as follows: (3) (4) (5.3) There are a total of (2n-2) equations involved in formulas (1) to (4), and the number of unknowns in the equations is (n+2), that is, When n is greater than or equal to 4, the number of equations is greater than or equal to the number of unknowns, and the vertical displacement of the structure where the bidirectional laser transmission sensor unit 1 is installed can be solved, that is, .

[0013] Furthermore, the lateral displacement of the structure is calculated according to the following steps: (6.1), the first and n The relationship between the displacement of the light spots on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensor unit 1 along the x' axis and the structural displacement is as follows: (5) (6) (6.2), Chapter i A bidirectional laser transmission sensing unit 1, i=2, …, n-1, the displacement of the light spots on the internal diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 along the x' axis is related to the structural displacement as follows: (7) (8) (6.3) There are a total of (2n-2) equations involved in formulas (5) to (8), and the number of unknowns in the equations is (n+2), that is, When n is greater than or equal to 4, the number of equations is greater than or equal to the number of unknowns, and the lateral displacement of the structure where the bidirectional laser transmission sensor unit 1 is installed can be solved, that is, .

[0014] The present invention also proposes an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the steps of the data processing method based on the multi-point displacement transmission laser monitoring system with an unstable observation point structure.

[0015] The present invention also proposes a computer-readable storage medium for storing computer instructions, which, when executed by a processor, implements the steps of a data processing method based on the multi-point displacement transmission laser monitoring system with an unstable observation point structure.

[0016] Beneficial effects of the present invention: 1. The bidirectional laser transmission sensing unit proposed in the present invention introduces two semi-transparent / semi-reflective mirror windows, which enables the laser beam to penetrate multiple bidirectional laser transmission sensing units and simultaneously form high-contrast light spots on the two diffuse reflection targets in the sensing unit, thereby ensuring the stability of multi-point displacement measurement of the structure to be measured.

[0017] 2. The present invention proposes a combined monitoring solution of multiple bidirectional laser transmission sensor units and two laser emitters. The camera in the bidirectional laser transmission sensor unit is used to record and identify the spot displacement information of the bidirectional laser beam when it is reflected on the diffuse reflection target plate. Combined with the innovative data processing method proposed in the present invention, the accurate calculation of the real displacement of the structure is achieved without a stable observation point. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0019] Figure 1Schematic diagram of a multi-point displacement transmission laser monitoring system without a stable observation point structure according to the present invention; Figure 2 It is a top cross-sectional view of the bidirectional laser transmission sensing unit structure of the present invention; Figure 3 This is a schematic diagram of the optical path of the bidirectional laser transmission sensor unit of the present invention when viewed from above; Figure 4 This is a schematic diagram of the measurement principle of a multi-point displacement transmission laser monitoring system without a stable observation point structure of the present invention.

[0020] Explanation of the reference numerals in the figure: 1. Bidirectional laser transmission sensing unit; 2. Laser emitter; 3. Synchronous control and data processing module; 1-1. Housing; 1-2. Controller and processing unit; 1-3. Signal transceiver; 1-4. Diffuse reflection target #1; 1-5. Diffuse reflection target #2; 1-6. Semi-transparent / semi-reflective mirror window #1; 1-7. Semi-transparent / semi-reflective mirror window #2; 1-8. Camera. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] Combine Figures 1-4 The present invention proposes a multi-point displacement transmission laser monitoring system without a stable observation point structure, the monitoring system includes a bidirectional laser transmission sensing unit 1, a laser transmitter 2 and a synchronous control and data processing module 3; The number of the bidirectional laser transmission sensor units 1 is n , n Greater than or equal to 4, all arranged along a straight line, and placed at the location where the structural displacement is to be measured; There are two laser emitters 2, which are respectively arranged outside the bidirectional laser transmission sensor units 1 at both ends and fixedly connected to the bidirectional laser transmission sensor units 1 so that the two have the same displacement and angular response; the laser emitters 2 at both ends respectively emit lasers, which pass through all the bidirectional laser transmission sensor units 1 and project laser spots inside them; The synchronous control and data processing module 3 wirelessly controls the internal camera of the bidirectional laser transmission sensor unit 1 to capture and identify the laser spot displacement, and obtains the structural displacement response of the installation location of the bidirectional laser transmission sensor unit 1 and the structural rotation angle response of the bidirectional laser transmission sensor units 1 at both ends through calculation.

[0023] The bidirectional laser transmission sensing unit 1 consists of a housing 1-1, a controller and processing unit 1-2, a signal transceiver 1-3, diffuse reflection targets #1 1-4, diffuse reflection targets #2 1-5, a semi-transparent / semi-reflective mirror window #1 1-6, a semi-transparent / semi-reflective mirror window #2 1-7 and a camera 1-8.

[0024] The semi-transparent / semi-reflective mirror window #11-6 and the semi-transparent / semi-reflective mirror window #21-7 form an angle of 45° with the direction of the incident laser.

[0025] During the actual measurement process, when the laser emitted by the laser emitter 2 passes through the semi-transparent / semi-reflective mirror window #11-6 and the semi-transparent / semi-reflective mirror window #21-7, the semi-transparent / semi-reflective mirror window #11-6 and the semi-transparent / semi-reflective mirror window #21-7 will cause the laser to be transmitted and reflected at the same time. The transmitted laser will continue to reach the subsequent bidirectional laser transmission sensing unit 1, and the reflected laser will form laser spots on the diffuse reflection target #11-4 and the diffuse reflection target #21-5 respectively. The controller and processing unit 1-2 control the camera 1-8 to take pictures of the laser spots on the diffuse reflection target #11-4 and the diffuse reflection target #21-5, and identify the center position of the spot through the recognition algorithm.

[0026] The synchronous control and data processing module 3 wirelessly controls the controllers and processing units 1-2 in all bidirectional laser transmission sensing units 1 to synchronously trigger the cameras 1-8, take photos of the laser spots on the diffuse reflection targets #1 1-4 and the diffuse reflection targets #2 1-5, and identify the center position of the laser spots through the spot vision algorithm, and transmit the identified laser spot position information back to the synchronous control and data processing module 3.

[0027] The present invention also proposes a data processing method based on the multi-point displacement transmission laser monitoring system for structures without stable observation points. The data processing method uses the laser spot displacements measured on the diffuse reflection targets #1 1-4 and the diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensing unit 1 to calculate the vertical displacement and the lateral displacement of the structure using the following steps: Step 1: Establish a three-dimensional coordinate system at the structure to be measured, where The axis is the horizontal direction of the structure to be measured. The axis is the vertical direction of the structure to be measured. The axis is the longitudinal direction of the structure to be measured, and a two-dimensional target coordinate system x'-o-y' is established on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensor unit 1. The target coordinate system is parallel to the three-dimensional coordinate system. According to the principle of optical reflection, when the structure to be measured moves horizontally or vertically, the laser spots on diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 will produce the same displacement along the x' axis or y' axis; Step 2: Keep the bidirectional laser transmission sensor unit 1 horizontal and adjust the direction of the laser emitter 2 so that the laser beam can penetrate all the semi-transparent / semi-reflective mirror windows #1 1-6 and semi-transparent / semi-reflective mirror windows #2 1-7 in the bidirectional laser transmission sensor unit 1 and form a clear light spot pattern on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5; Step 3: Suppose that the distances between two adjacent bidirectional laser transmission sensor units 1 are measured from left to right. L 1, L 2, …, L n-1 in n is the number of bidirectional laser transmission sensing units 1, n Greater than or equal to 4; Step 4: Select the deformation of each measuring point of the measured structure at a certain time point as the measurement reference value, and the displacement of the measured points at other times is expressed as the offset relative to the measurement reference value; in order to facilitate the subsequent data processing process, set the first i The vertical and lateral displacements of the structure at one bidirectional laser transmission sensor unit are and , the rotation angles of the structure around the X axis and Z axis are and , at this time i The internal cameras 1-8 of the bidirectional laser transmission sensor unit 1 capture and identify the displacement of the laser spot center on the planes of diffuse reflection target #1 1-4 and diffuse reflection target #2 1-5 respectively. and ; Step 5: Calculate the vertical displacement of the structure; The vertical displacement of the structure is calculated according to the following steps: (5.1), the first and n The relationship between the displacement of the light spots on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensor unit 1 along the y' axis and the structural displacement is as follows: (1) (2) (5.2), Chapter i A bidirectional laser transmission sensing unit 1, i =2, …, n-1, the light spots on the internal diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 are displaced along the y' axis, and their relationship with the structural displacement is as follows: (3) (4) (5.3) There are a total of (2n-2) equations involved in formulas (1) to (4), and the number of unknowns in the equations is (n+2), that is, When n is greater than or equal to 4, the number of equations is greater than or equal to the number of unknowns, and the vertical displacement of the structure where the bidirectional laser transmission sensor unit 1 is installed can be solved, that is, .

[0028] Step 6: Calculate the lateral displacement of the structure.

[0029] The lateral displacement of the structure is calculated according to the following steps: (6.1), the first and n The relationship between the displacement of the light spots on the diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 in the bidirectional laser transmission sensor unit 1 along the x' axis and the structural displacement is as follows: (5) (6) (6.2), Chapter i A bidirectional laser transmission sensing unit 1, i =2, …, n-1, the displacement of the light spots on the internal diffuse reflection targets #1 1-4 and diffuse reflection targets #2 1-5 along the x' axis is related to the structural displacement as follows: (7) (8) (6.3) There are a total of (2n-2) equations involved in formulas (5) to (8), and the number of unknowns in the equations is (n+2), that is, When n is greater than or equal to 4, the number of equations is greater than or equal to the number of unknowns, and the lateral displacement of the structure where the bidirectional laser transmission sensor unit 1 is installed can be solved, that is, .

[0030] The present invention proposes a multi-point displacement transmission laser monitoring system for structures without stable observation points and a data processing method thereof. The system is mainly composed of three parts: a bidirectional laser transmission sensor unit, a laser emitter, and a synchronous control and data processing module. All bidirectional laser transmission sensor units are arranged in a straight line, with laser emitters at both ends, and the emitted laser beam penetrates all bidirectional laser transmission sensor units. A semi-transparent / semi-reflective mirror window, a diffuse reflection target and a camera are provided inside the bidirectional laser transmission sensor unit. The semi-transparent / semi-reflective mirror window reflects the incident laser beam to the diffuse reflection target to form a light spot, and the camera records and identifies the movement and displacement of the light spot. Combined with the data processing method proposed in the present invention, accurate monitoring of multi-point displacement of the structure to be measured can be achieved without a stable observation point. The system of the present invention is suitable for deformation monitoring during construction of large civil engineering structures such as bridges, tunnels, and high-rise buildings, or structural health monitoring throughout the life cycle of the project.

[0031] The present invention also proposes an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the steps of the data processing method based on the multi-point displacement transmission laser monitoring system with an unstable observation point structure.

[0032] The present invention also proposes a computer-readable storage medium for storing computer instructions, which, when executed by a processor, implements the steps of a data processing method based on the multi-point displacement transmission laser monitoring system with an unstable observation point structure.

[0033] The memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory used in the methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0034] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0035] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0036] It should be noted that the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-described method embodiments can be completed by hardware integrated logic circuits in the processor or by software instructions. The above-described processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above-described method.

[0037] The above is a detailed introduction to a multi-point displacement transmission laser monitoring system with an unstable observation point structure and a data processing method thereof proposed in the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A multi-point displacement transmission laser monitoring system without a stable observation point structure, characterized in that: The monitoring system comprises a bidirectional laser transmission sensing unit (1), a laser transmitter (2), and a synchronous control and data processing module (3); The number of the bidirectional laser transmission sensing units (1) is n , n Greater than or equal to 4, all arranged along a straight line, and placed at the location where the structural displacement is to be measured; The laser emitters (2) are two in number and are respectively arranged outside the bidirectional laser transmission sensing units (1) at both ends and fixedly connected to the bidirectional laser transmission sensing units (1) so that the two have the same displacement and rotation angle response; the laser emitters (2) at both ends respectively emit laser light, which passes through all the bidirectional laser transmission sensing units (1) and projects a laser spot inside them; The synchronous control and data processing module (3) wirelessly controls the internal camera of the bidirectional laser transmission sensing unit (1) to capture and identify the laser spot displacement, and calculates the structural displacement response of the bidirectional laser transmission sensing unit (1) installation location and the structural rotation angle response of the bidirectional laser transmission sensing units (1) at both ends.

2. The monitoring system according to claim 1, characterized in that The bidirectional laser transmission sensing unit (1) is composed of a housing (1-1), a controller and processing unit (1-2), a signal transceiver (1-3), a diffuse reflection target #1 (1-4), a diffuse reflection target #2 (1-5), a semi-transparent / semi-reflective mirror window #1 (1-6), a semi-transparent / semi-reflective mirror window #2 (1-7), and a camera (1-8).

3. The monitoring system according to claim 2, characterized in that The semi-transparent / semi-reflective mirror window #1 (1-6) and the semi-transparent / semi-reflective mirror window #2 (1-7) form an angle of 45° with the incident laser direction.

4. The monitoring system according to claim 3, characterized in that When the laser emitted by the laser emitter (2) passes through the semi-transparent / semi-reflective mirror window #1 (1-6) and the semi-transparent / semi-reflective mirror window #2 (1-7), the semi-transparent / semi-reflective mirror window #1 (1-6) and the semi-transparent / semi-reflective mirror window #2 (1-7) will cause the laser to be transmitted and reflected at the same time, and the transmitted laser will continue to reach the subsequent bidirectional laser transmission sensing unit (1), and the reflected laser will form laser spots on the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5) respectively. The controller and processing unit (1-2) control the camera (1-8) to take pictures of the laser spots on the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5), and identify the center position of the spot through the recognition algorithm.

5. The monitoring system according to claim 4, characterized in that: The synchronous control and data processing module (3) wirelessly controls the controllers and processing units (1-2) in all the bidirectional laser transmission sensing units (1) to synchronously trigger the cameras (1-8), taking photos of the laser spots on the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5), and identifying the center position of the laser spot through a spot vision algorithm, and transmitting the identified laser spot position information back to the synchronous control and data processing module (3).

6. A data processing method based on the multi-point displacement transmission laser monitoring system with no stable observation point structure according to any one of claims 1 to 5, characterized in that: The data processing method uses the laser spot displacement measured on the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5) in the bidirectional laser transmission sensing unit (1) to calculate the vertical displacement and the lateral displacement of the structure by the following steps: Step 1: Establish a three-dimensional coordinate system at the structure to be measured, where The axis is the horizontal direction of the structure to be measured. The axis is the vertical direction of the structure to be measured. The axis is the longitudinal direction of the structure to be measured, and a two-dimensional target coordinate system x'-o-y' is established on the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5) in the bidirectional laser transmission sensing unit (1). The target coordinate system is parallel to the three-dimensional coordinate system. According to the principle of optical reflection, when the structure to be measured moves horizontally or vertically, the laser spots on diffuse reflection target #1 (1-4) and diffuse reflection target #2 (1-5) will produce the same displacement along the x' axis or y' axis; Step 2: Keep the bidirectional laser transmission sensing unit (1) horizontal, and adjust the direction of the laser emitter (2) so that the laser beam can penetrate all the semi-transparent / semi-reflective mirror windows #1 (1-6) and semi-transparent / semi-reflective mirror windows #2 (1-7) in the bidirectional laser transmission sensing unit (1), and form a clear light spot pattern on the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5); Step 3: Suppose that the distances between two adjacent bidirectional laser transmission sensor units (1) are measured from left to right. L 1, L 2,…, L n-1 in n is the number of bidirectional laser transmission sensing units (1), n Greater than or equal to 4; Step 4: Select the deformation of each measuring point of the measured structure at a certain time point as the measurement reference value, and the displacement of the measured points at other times is expressed as the offset relative to the measurement reference value; i The vertical and lateral displacements of the structure at the bidirectional laser transmission sensing unit (1) are and , the rotation angles of the structure around the X axis and Z axis are and , at this time i The internal cameras (1-8) of the two-way laser transmission sensor unit (1) capture and identify the displacement of the center of the laser spot on the plane of the diffuse reflection target #1 (1-4) and the diffuse reflection target #2 (1-5), respectively. and ; Step 5: Calculate the vertical displacement of the structure; Step 6: Calculate the lateral displacement of the structure.

7. The method according to claim 6, characterized in that The vertical displacement of the structure is calculated according to the following steps: (5.1), the first and n The displacement of the light spot on diffuse reflection target #1 (1-4) and diffuse reflection target #2 (1-5) in the bidirectional laser transmission sensor unit (1) along the y' axis is related to the structural displacement as follows: (1) (2) (5.2), Chapter i a bidirectional laser transmission sensing unit (1), i =2, …, n-1, the light spot displacement along the y' axis on the internal diffuse reflection target #1 (1-4) and diffuse reflection target #2 (1-5) is related to the structural displacement as follows: (3) (4) (5.3) There are a total of (2n-2) equations involved in formulas (1) to (4), and the number of unknowns in the equations is (n+2), that is, When n is greater than or equal to 4, the number of equations is greater than or equal to the number of unknowns, and the vertical displacement of the structure where the bidirectional laser transmission sensor unit (1) is installed can be solved, that is, .

8. The method according to claim 6, characterized in that The lateral displacement of the structure is calculated according to the following steps: (6.1), the first and n The displacement of the light spot on the diffuse reflection target #1 (1-4) and diffuse reflection target #2 (1-5) in the bidirectional laser transmission sensor unit (1) along the x' axis is related to the structural displacement as follows: (5) (6) (6.2), Chapter i a bidirectional laser transmission sensing unit (1), i =2, …, n-1, the displacement of the light spot on the internal diffuse reflection target #1 (1-4) and diffuse reflection target #2 (1-5) along the x' axis is related to the structural displacement as follows: (7) (8) (6.3) There are a total of (2n-2) equations involved in formulas (5) to (8), and the number of unknowns in the equations is (n+2), that is, When n is greater than or equal to 4, the number of equations is greater than or equal to the number of unknowns, and the lateral displacement of the structure where the bidirectional laser transmission sensor unit (1) is installed can be solved, that is, .

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 6 to 8 are implemented.

10. A computer-readable storage medium for storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the method according to any one of claims 6 to 8 are implemented.

Images