Cantilever structure deformation monitoring device and monitoring system

Abstract

The utility model relates to a cantilever structure deformation monitoring device and monitoring system. The cantilever structure deformation monitoring device comprises a guide vehicle which can move around a cantilever structure along a preset motion path; the total station is arranged at the top of the guide vehicle, and the total station is used for identifying the actual coordinate of the cantilever position and the reference coordinate of the cantilever structure; the control host is arranged in the guide vehicle, the control host is in transmission connection with the total station, and the control host can receive the actual coordinates and the reference coordinates fed back by the total station and compare the actual coordinates with the reference coordinates so as to judge displacement deformation of the cantilever position. And the control host compares the difference value between the reference coordinate and the actual coordinate, namely the displacement deformation of the cantilever position, so that whether the displacement deformation of the cantilever position is within the preset range or not is judged, effective monitoring of the displacement deformation of the cantilever structure at the cantilever position is achieved, the structural performance of the cantilever structure is judged, and the safety of the cantilever structure is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of monitoring equipment, and in particular to a cantilever structure deformation monitoring device and monitoring system. Background Art

[0002] There are cantilever structures such as high-altitude corridors and large-span cantilevers in buildings. During the construction process, it is necessary to monitor the displacement and deformation (deflection) of certain key points of the cantilever structure. In particular, temporary support columns are generally installed at the cantilever position during the construction process. The cantilever position is supported by the support columns to ensure that the displacement and deformation of the cantilever structure at the cantilever position is within a predetermined range, thereby ensuring the construction effect of the cantilever structure.

[0003] After the construction of a cantilever structure is completed, the temporary support columns need to be removed. During this process, the cantilever structure will instantly deform at the overhanging location. If this deformation exceeds a predetermined range, it will affect the structural strength of the cantilever structure. Therefore, it is necessary to monitor the deformation at the overhanging location and determine whether it is within a predetermined range. However, currently, it is impossible to effectively monitor the deformation at the overhanging location, and thus, determine the structural performance of the cantilever structure. Summary of the Invention

[0004] Based on this, it is necessary to provide a cantilever structure deformation monitoring device and monitoring system to address the current problem of being unable to effectively detect the displacement deformation of the cantilever position, which can monitor the displacement deformation of the cantilever structure at the cantilever position, thereby judging whether the displacement deformation of the cantilever position is within a preset range, and realizing effective monitoring of the displacement deformation of the cantilever structure at the cantilever position to judge the structural performance of the cantilever structure.

[0005] A cantilever structure deformation monitoring device is used to monitor the displacement deformation of a cantilever structure at a cantilever position; the cantilever structure deformation monitoring device comprises:

[0006] A guide vehicle capable of moving around the cantilever structure along a preset movement path;

[0007] a total station, disposed on top of the guide vehicle, for identifying the actual coordinates of the cantilever position and the reference coordinates of the cantilever structure;

[0008] A control host is provided in the guide vehicle, and is connected to the total station for transmission. The control host can receive the actual coordinates and reference coordinates fed back by the total station, and compare the actual coordinates with the reference coordinates to determine the displacement deformation of the cantilever position.

[0009] In one embodiment of the present application, the cantilever structure deformation monitoring device also includes a telescopic component, which is arranged on the guide vehicle, and the total station is arranged on the top of the telescopic component. The telescopic component can drive the total station to rise and fall relative to the guide vehicle.

[0010] In one embodiment of the present application, the cantilever structure deformation monitoring device further includes a satellite positioning component, and the satellite positioning component includes a satellite host, a first positioning antenna, and a second positioning antenna;

[0011] The first positioning antenna and the second positioning antenna are respectively arranged at the front and rear ends of the guide vehicle, the satellite host is arranged in the guide vehicle, and the first positioning antenna and the second positioning antenna are transmission-connected to the satellite host.

[0012] In one embodiment of the present application, the cantilever structure deformation monitoring device further includes a camera component, which is provided on the top of the guide vehicle and is used to capture the monitoring process;

[0013] And / or, the cantilever structure deformation monitoring device further includes a visual positioning component, which is disposed on the top of the guide vehicle and is used to locate key points when the guide vehicle moves along a preset motion path.

[0014] In one embodiment of the present application, the cantilever structure deformation monitoring device further includes a navigation component, which is provided on the top of the front end of the guide vehicle and is used to navigate the guide vehicle;

[0015] And / or, the cantilever structure deformation monitoring device further includes an obstacle avoidance component, which is disposed at the front end of the guide vehicle and is used to guide the guide vehicle to move along a preset motion path.

[0016] In one embodiment of the present application, the cantilever structure deformation monitoring device further includes a remote control antenna, which is provided on the guide vehicle and is connected to the hand-operated remote control for transmission;

[0017] And / or, the cantilever structure deformation monitoring device further includes a data edge calculator, the data edge calculator is provided on the guide vehicle, the data edge calculator is in transmission connection with the control host, the data edge calculator is capable of acquiring the displacement deformation information and constructing a site map in combination with the data information of the cantilever structure;

[0018] And / or, the cantilever structure deformation monitoring device also includes a switch, which is arranged on the guide vehicle and is connected to the control host for transmission. The switch can exchange data with the control host to feed back data information to the host computer.

[0019] In one embodiment of the present application, the cantilever structure deformation monitoring device further includes a vehicle-mounted power supply, which is disposed in the guide vehicle and is electrically connected to the guide vehicle.

[0020] A cantilever structure deformation monitoring system, comprising a reflective component and a cantilever structure deformation monitoring device according to any of the above technical features, wherein the reflective component is provided at a cantilevered position of the cantilever structure, and the cantilever structure deformation monitoring device is movable around the cantilever structure so that the total station in the cantilever structure deformation monitoring device detects the actual coordinates of the reflective component;

[0021] The reflective component is a prism, a reflective sheet or a cantilever beam on the cantilever structure.

[0022] In one embodiment of the present application, the cantilever structure deformation monitoring system further includes a plurality of key points, and the plurality of key points are located on a preset motion path of the cantilever structure deformation monitoring device and are evenly distributed around the cantilever structure.

[0023] In one embodiment of the present application, the diameter of the key point is in the range of 3 cm to 5 cm;

[0024] And / or, the normal of the reflective component is facing the key point;

[0025] And / or, the diameter of the preset motion path is greater than twice the height of the cantilever structure.

[0026] After adopting the above technical solution, this application has at least the following technical effects:

[0027] The cantilever structure deformation monitoring device and monitoring system of the present application, in the cantilever structure deformation monitoring device, the guide vehicle can move around the cantilever structure along a preset motion path, and the total station is arranged on the top of the guide vehicle to identify the actual coordinates of the cantilever position and the reference coordinates of the cantilever structure. The total station is connected to the control host to feed back the actual coordinates and the reference coordinates to the control host. The control host compares the difference between the reference coordinates and the actual coordinates, which is the displacement deformation of the cantilever position.

[0028] The cantilever structure deformation monitoring device uses a total station to detect the actual coordinates of the cantilever structure at the cantilever position and the reference coordinates of the cantilever structure, and compares the reference coordinates with the actual coordinates through the control host to obtain the difference, which is the displacement deformation of the cantilever position, so as to judge whether the displacement deformation of the cantilever position is within a preset range, thereby realizing effective monitoring of the displacement deformation of the cantilever structure at the cantilever position, judging the structural performance of the cantilever structure, and ensuring the safety of the cantilever structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1Schematic diagram of a cantilever structure deformation monitoring device according to an embodiment of the present application.

[0030] Figure 2 for Figure 1 The cantilever structure deformation monitoring device shown is a schematic diagram of the principle of monitoring the displacement deformation of the cantilever structure at the cantilever position.

[0031] Figure 3 This is a flow chart of the cantilever structure deformation monitoring method of this application.

[0032] Among them: 100, cantilever structure deformation monitoring device; 110, guide vehicle; 120, total station; 130, control host; 140, on-board power supply; 150, telescopic component; 160, satellite positioning component; 161, satellite host; 162, first positioning antenna; 163, second positioning antenna; 170, camera component; 180, navigation component; 190, obstacle avoidance component; 210, remote control antenna; 220, data edge calculator; 230, switch; 240, visual positioning component; 300, reflection component; 400, preset motion path; 410, key point; 500, cantilever structure; 510, cantilever position; 520, reference point. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply 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 a limitation on this application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0036] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above," "above," and "above" the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. The first feature being "below," "below," and "below" the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0039] See also Figure 1 and Figure 2 , the present application provides a cantilever structure deformation monitoring device 100. Figure 1 Schematic diagram of a cantilever structure deformation monitoring device 100 according to an embodiment of the present application. Figure 2 for Figure 1The cantilever structure deformation monitoring device 100 shown is a schematic diagram of the principle of monitoring the displacement deformation of the cantilever structure 500 at the cantilever position 510. The cantilever structure 500 deformation monitoring structure is applied to the cantilever structure 500 deformation monitoring system to monitor the displacement deformation of the cantilever structure 500 at the cantilever position 510, so as to determine whether the displacement deformation of the cantilever position 510 is within a preset range. The cantilever structure 500 deformation detection device of the present application can realize the monitoring of the displacement deformation of the cantilever structure 500 of the building to be tested at the cantilever position 510, and the specific type of the cantilever structure 500 is not limited in principle. It is worth noting that the cantilever structure 500 refers to structures such as high-altitude corridors, large-span cantilevers, cantilevers, etc. in the building, and the position where the cantilever structure 500 undergoes displacement deformation is the cantilever position 510.

[0040] Understandably, after the cantilever structure is completed, the temporary support columns need to be removed. During this time, the cantilever structure will experience instantaneous displacement and deformation at the overhang location. If this displacement and deformation exceeds a predetermined range, it will affect the structural strength of the cantilever structure. Therefore, it is necessary to monitor the displacement and deformation at the cantilever location and determine whether it is within a predetermined range. However, currently, it is impossible to effectively monitor the displacement and deformation at the cantilever location, and thus, it is impossible to determine the structural performance of the cantilever structure.

[0041] To this end, the present application provides a novel cantilever structure deformation monitoring device 100, which can monitor the displacement and deformation of a cantilever structure 500 at a cantilever position 510, thereby determining whether the displacement and deformation at the cantilever position 510 is within a preset range. This effectively monitors the displacement and deformation of the cantilever structure 500 at the cantilever position 510, thereby determining the structural performance of the cantilever structure 500. The following describes the specific structure of the cantilever structure deformation monitoring device 100 according to one embodiment.

[0042] See also Figure 1 and Figure 2 In one embodiment, the cantilever structure deformation monitoring device 100 includes a guide vehicle 110, a total station 120, and a control host 130. The guide vehicle 110 can move around the cantilever structure 500 along a preset motion path 400. The total station 120 is located on the top of the guide vehicle 110 and is used to identify the actual coordinates of the cantilever position 510 and the reference coordinates of the cantilever structure 500. The control host 130 is located in the guide vehicle 110 and is connected to the total station 120. The control host 130 can receive the actual coordinates and reference coordinates fed back by the total station 120, and compare the actual coordinates with the reference coordinates to determine the displacement deformation of the cantilever position 510.

[0043] The guide vehicle 110 is the mobile vehicle (traveling mechanism) of the cantilever structure deformation monitoring device 100 and is capable of carrying the various components of the cantilever structure deformation monitoring device 100. A predetermined motion path 400 is the trajectory of the guide vehicle 110. The predetermined motion path 400 surrounds the cantilever structure 500, and the guide vehicle 110 can move along the predetermined motion path 400 around the cantilever structure 500 to perform inspection operations.

[0044] It is worth noting that the type and structure of the guide vehicle 110 are, in principle, not limited, as long as the guide vehicle 110 can move along the preset motion path 400 and carry the corresponding components. Optionally, the guide vehicle 110 has a movable chassis, which enables movement along the preset motion path 400. Optionally, the movable chassis of the guide vehicle 110 is wheeled or tracked.

[0045] The total station 120 is an electronic total station (ETS) measuring instrument. It is a high-tech measuring instrument integrating optics, mechanics, and electronics. It is a surveying and mapping instrument system that integrates horizontal angle, vertical angle, distance (slant distance, horizontal distance), and height difference measurement functions. The control host 130 is the overall controller of the cantilever structure deformation monitoring device 100. The total station 120 is installed on top of the guide vehicle 110, and the control host 130 is installed inside the guide vehicle 110. The total station 120 and the control host 130 are connected in a transmission manner.

[0046] It is worth noting that the transmission connection in this application can be an electrical connection or a wireless connection, as long as it can realize the transmission of data and signals, which will not be described in detail later. Moreover, the front and rear directions of this application are based on the direction of travel of the guide vehicle 110, and the up and down directions of the guide vehicle 110 are based on the direction of travel of the guide vehicle 110. Figure 1 The direction shown is a reference, the front end of the guide vehicle 110 is the front direction of the guide vehicle 110 , and the rear end of the guide vehicle 110 is the rear direction of the guide vehicle 110 .

[0047] The cantilever structure 500 has a cantilever position 510 and a reference point 520. It is understood that the cantilever structure 500 has one reference point 520 and multiple cantilever positions 510. The multiple cantilever positions 510 use the reference point 520 as a reference to determine whether displacement deformation occurs. As the total station 120 moves along the preset motion path 400, it can sequentially record the actual coordinates of the cantilever structure 500 at the corresponding cantilever positions 510. The total station 120 can also record the reference coordinates of the reference points 520 of the cantilever structure 500. The actual coordinates here refer to the actual three-dimensional coordinate values ​​(X, Y, and Z coordinates) of the cantilever position 510 in three-dimensional space.

[0048] The total station 120 feeds the recorded actual coordinates and reference coordinates back to the control host 130. The control host 130 uses the reference coordinates as a reference to determine whether the displacement of the cantilevered position 510 is within a preset range. Specifically, the control host 130 compares the actual coordinates with the reference coordinates to determine the difference between the actual coordinates and the reference coordinates. This difference represents the displacement (XYZ deflection) of the cantilevered position 510.

[0049] The control host 130 pre-stores a preset range of displacement and deformation. The control host 130 compares the displacement and deformation of the cantilever position 510 with the preset range. This allows the control host 130 to determine whether the displacement and deformation are within the preset range. If the displacement and deformation are within the preset range, the overall structural rigidity of the cantilever structure 500 is strong, and the safety of the cantilever structure 500 is high. Conversely, if the displacement and deformation are outside the preset range, i.e., the displacement and deformation are large, the overall structural weakness of the cantilever structure 500 is low, and the safety of the cantilever structure 500 is low.

[0050] The cantilever structure deformation monitoring device 100 of the above embodiment uses a total station 120 to detect the actual coordinates of the cantilever structure 500 at the cantilever position 510 and the reference coordinates of the cantilever structure 500, and compares the reference coordinates with the actual coordinates through the control host 130 to obtain a difference, which is the displacement deformation of the cantilever position 510, thereby judging whether the displacement deformation of the cantilever position 510 is within a preset range, and realizing effective monitoring of the displacement deformation of the cantilever structure 500 at the cantilever position 510, so as to judge the structural performance of the cantilever structure 500 and ensure the safety of the cantilever structure 500.

[0051] Optionally, the diameter of the preset motion path 400 is greater than twice the height of the cantilever structure 500. In this way, each cantilever position 510 of the cantilever structure 500 can be within the visual range of the reference point 520, making it easier for the total station 120 to record the actual coordinates of each cantilever position 510 while ensuring measurement accuracy.

[0052] In one embodiment, the cantilever structure deformation monitoring device 100 further includes a vehicle-mounted host computer, which is located in the guide vehicle 110 and is in transmission communication with the guide vehicle 110 to control the movement of the guide vehicle 110 along a preset motion path 400. The vehicle-mounted host computer serves as a controller for the movement of the guide vehicle 110 along the preset motion path 400. The vehicle-mounted host computer can control the movement of the guide vehicle 110 along the preset motion path 400 so that the total station 120 on the guide vehicle 110 can sequentially record the actual coordinates of the cantilever position 510.

[0053] It is worth noting that the onboard host and the control host 130 are separate components. The onboard host primarily controls the guide vehicle 110 along the predetermined motion path 400, such as controlling the guide vehicle 110's forward movement, steering, and other operations. The control host 130, on the other hand, performs overall control of the guide vehicle 110, including communication, positioning, and data processing. This application utilizes the onboard host and the control host 130 to implement different functions. The two operate in parallel during data processing to improve computational efficiency and operational speed.

[0054] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes an onboard power supply 140, which is disposed in the guide vehicle 110 and electrically connected to the guide vehicle 110. The onboard power supply 140 supplies power to the guide vehicle 110, enabling the guide vehicle 110 to move along the preset motion path 400.

[0055] Furthermore, the onboard power supply 140 is also electrically connected to the other electrical components in the cantilever structure deformation monitoring device 100 to ensure the normal operation of each electrical component. It is worth noting that the inspection cycle of the guide vehicle 110 can be set according to the capacity of the onboard power supply 140, that is, the guide vehicle 110 can be controlled to conduct regular inspections to meet monitoring requirements and ensure safety.

[0056] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes a telescopic component 150, which is disposed on the guide vehicle 110, and the total station 120 is disposed on the top of the telescopic component 150. The telescopic component 150 can drive the total station 120 to rise and fall relative to the guide vehicle 110.

[0057] The telescopic component 150 is arranged on the guide vehicle 110 in the vertical direction, the bottom of the telescopic component 150 is fixed to the guide vehicle 110, and the total station 120 is installed on the top of the telescopic component 150. The telescopic component 150 can drive the total station 120 to rise and fall in the height direction to adjust the height of the total station 120, so that the total station 120 can record the actual coordinates of the cantilever positions 510 at different heights.

[0058] Optionally, the telescopic component 150 is an electric telescopic rod. The telescopic component 150 is electrically connected to the control host 130. The control host 130 controls the telescopic component 150 to drive the total station 120 to move up and down, so as to adjust the height of the total station 120 to meet monitoring requirements.

[0059] See also Figure 1In one embodiment, the cantilever structure deformation monitoring device 100 further includes a satellite positioning assembly 160. The satellite positioning assembly 160 is mounted on the guide vehicle 110 and is in transmission communication with the control host 130. The satellite positioning assembly 160 is used to accurately position the guide vehicle 110. The satellite positioning assembly 160 can use satellite positioning to locate the guide vehicle 110, improving the positioning accuracy of the vehicle and accurately obtaining the actual coordinates of the cantilever position 510, thereby avoiding deviations in the actual coordinates due to poor positioning accuracy of the guide vehicle 110.

[0060] See also Figure 1 In one embodiment, the satellite positioning assembly 160 includes a satellite host 161, a first positioning antenna 162, and a second positioning antenna 163. The first positioning antenna 162 and the second positioning antenna 163 are respectively disposed at the front and rear ends of the guide vehicle 110. The satellite host 161 is disposed in the guide vehicle 110, and the first positioning antenna 162 and the second positioning antenna 163 are connected to the satellite host 161 for transmission.

[0061] The first positioning antenna 162 is located at the front end of the guide vehicle 110, and the second positioning antenna 163 is located at the rear end of the guide vehicle 110. The satellite host 161 can form a satellite positioning system, obtain the position data of the guide vehicle 110 through the first positioning antenna 162 and the second positioning antenna 163, and calculate the actual position of the guide vehicle 110 using a differential algorithm to improve the positioning accuracy of the guide vehicle 110.

[0062] Optionally, the satellite host 161 is a Beidou host, and the first positioning antenna 162 and the second positioning antenna 163 are Beidou antennas. The Beidou host can establish a GNSS (Global Navigation Satellite System) or utilize the local CORS system (Continuously Operating Satellite Positioning and Navigation Service System) to obtain the position data of the guide vehicle 110 through two Beidou antennas, and calculate the actual position of the guide vehicle 110 through a differential algorithm to improve the positioning accuracy of the guide vehicle 110.

[0063] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes a camera 170 , which is mounted on top of the guide vehicle 110 and is used to record the monitoring process. The camera 170 is electrically connected to the control host 130 . As the guide vehicle 110 moves along the preset motion path 400 , the camera 170 can capture the preset motion path 400 and the cantilever structure 500 , thereby recording the monitoring process and providing on-site video information to monitoring personnel. Alternatively, the camera 170 can be a pan-tilt camera, for example.

[0064] See also Figure 1In one embodiment, the cantilever structure deformation monitoring device 100 further includes a visual positioning component 240, which is disposed on the top of the guide vehicle 110. The visual positioning component 240 is used to locate the key point 410 when the guide vehicle 110 moves along a preset motion path 400.

[0065] It is understandable that the positioning accuracy of the satellite positioning assembly 160 is not enough, about plus or minus 0.5 meters, which is only a rough positioning. Therefore, it is necessary to use the visual positioning component 240 to perform more precise positioning within the 1m×1m area positioned by the satellite positioning assembly 160, which can be accurate to the mm level.

[0066] Specifically, the visual positioning component 240 extracts key features from the captured image, such as landmarks, markers, or unique feature points in the environment. Based on the extracted features, a positioning algorithm, such as a SLAM algorithm, is used to estimate the position of the guide vehicle 110, thereby achieving precise positioning of the guide vehicle 110. It is worth noting that the specific positioning principle of the visual positioning component 240 is prior art and will not be further described here.

[0067] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes a navigation component 180, which is located at the top of the front end of the guide vehicle 110 and is used to navigate the guide vehicle 110. The navigation component 180 is located at the top of the front end of the guide vehicle 110. As the guide vehicle 110 inspects along the preset motion path 400, the navigation component 180 can rotate 360° for monitoring, rapidly scanning, and constructing a site map.

[0068] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes an obstacle avoidance component 190, which is disposed at the front end of the guide vehicle 110 and is used to guide the guide vehicle 110 along a preset motion path 400. The obstacle avoidance component 190 is disposed below the front end of the guide vehicle 110. As will be appreciated, the guide vehicle 110 advances in a curved path along the preset motion path 400. The obstacle avoidance component 190 controls the movement of the guide vehicle 110, ensuring an accurate trajectory of the guide vehicle 110, that is, controlling the guide vehicle 110 to move along a tangent to the arc, while also avoiding obstacles.

[0069] Optionally, navigation component 180 is a laser navigator. Of course, in other embodiments of the present application, navigation component 180 may also be other types of navigators. Optionally, obstacle avoidance component 190 is a laser obstacle avoider. Of course, in other embodiments of the present application, obstacle avoidance component 190 may also be other types of obstacle avoiders. The coordination of navigation component 180 and obstacle avoidance component 190 enables detection of obstacles of varying heights, allowing for the construction of an electronic map of the area surrounding the guide vehicle 110 in real time.

[0070] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes a remote control antenna 210, which is mounted on the guide vehicle 110 and is connected to a handheld remote controller. The remote control antenna 210, located at the front end of the guide vehicle 110, communicates with the operator's handheld remote controller, enabling manual remote control operations in complex terrain.

[0071] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 also includes a data edge calculator 220. The data edge calculator 220 is arranged on the guide vehicle 110. The data edge calculator 220 is connected to the control host 130 for transmission. The data edge calculator 220 can obtain information on displacement deformation and construct a site map in combination with the data information of the cantilever structure 500.

[0072] Data edge calculator 220 is used to construct a site map. It is understood that traditional measurement uses a polar coordinate system, using a measuring device to measure the distance l and angle θ of a point. However, when constructing a map, the (x, y, z) coordinates of the point are required. Traditional methods require further processing of the result (l, θ) in a computer to further convert it into (x, y, z) coordinates, which cannot effectively achieve real-time measurement and has slow calculation speed.

[0073] In this application, after the data edge calculator 220 is in the guide vehicle 110, the data edge calculator 220 is connected to the control host 130. The actual coordinates and reference coordinates in the control host 130 can be fed back to the data edge calculator 220. The data edge calculator 220 can directly build a map based on the (x, y, z) coordinates, and the calculation speed is faster.

[0074] See also Figure 1 In one embodiment, the cantilever structure deformation monitoring device 100 further includes a switch 230 . The switch 230 is mounted on the guided vehicle 110 and is connected to the control host 130 . The switch 230 can exchange data with the control host 130 and transmit data information to a host computer. The switch 230 can facilitate the exchange of heterogeneous data from multiple sources. The switch 230 exchanges data with the control host 130 and transmits data from the control host 130 to the host computer at the monitoring end, facilitating monitoring by monitoring personnel.

[0075] The cantilever structure deformation monitoring device 100 of the present application uses a total station 120 to detect the actual coordinates of the cantilever structure 500 at the cantilever position 510 and the reference coordinates of the cantilever structure 500, and compares the reference coordinates with the actual coordinates through the control host 130 to obtain a difference, which is the displacement deformation of the cantilever position 510, thereby judging whether the displacement deformation of the cantilever position 510 is within a preset range, and realizing effective monitoring of the displacement deformation of the cantilever structure 500 at the cantilever position 510, so as to judge the structural performance of the cantilever structure 500 and ensure the safety of the cantilever structure 500.

[0076] At the same time, the cantilever structure deformation monitoring device 100 realizes the preliminary positioning of the guide vehicle 110 through the satellite positioning component 160, and realizes the high precision of the guide vehicle 110 in conjunction with the visual positioning component 240 and the positioning algorithm; records the monitoring process through the camera component 170 to provide on-site video information for the monitoring personnel; realizes the detection of obstacles of different heights through the navigation component 180 and the obstacle avoidance component 190, and can construct an electronic terrain map around the guide vehicle 110 in real time; communicates with the hand-operated remote control through the remote control antenna 210 to realize manual remote control operation of the guide vehicle 110 under complex terrain; constructs a map through the data edge calculator 220, and transmits data to the host computer through the switch 230, so that the cantilever structure deformation monitoring device 100 can monitor the displacement deformation of the cantilever structure 500 at the cantilever position 510.

[0077] See also Figure 1 and Figure 2 The present application also provides a cantilever structure 500 deformation monitoring system, including a reflective component 300 and a cantilever structure deformation monitoring device 100 as in any of the above embodiments, wherein the reflective component 300 is arranged at a cantilever position 510 of the cantilever structure 500, and the cantilever structure deformation monitoring device 100 can move around the cantilever structure 500 so that the total station 120 in the cantilever structure deformation monitoring device 100 detects the actual coordinates of the reflective component 300.

[0078] The cantilever structure 500 has multiple monitoring locations, each of which is equipped with a reflective component 300. A reflective component 300 is also provided at the reference point 520 of the cantilever structure 500. As the guide vehicle 110 of the cantilever structure deformation monitoring device 100 moves along a preset motion path 400, the cantilever structure deformation monitoring device 100 uses the total station 120 to sequentially record the actual coordinates of the reflective component 300 at the monitoring locations and the reference coordinates of the reference point 520, and feeds these coordinates back to the control host 130.

[0079] The cantilever structure 500 deformation monitoring system of the present application cooperates with the cantilever structure deformation monitoring device 100 through the reflective component 300 to realize the monitoring of the displacement deformation of each cantilever position 510 of the cantilever structure 500, thereby judging whether the displacement deformation of the cantilever position 510 is within a preset range, and realizing effective monitoring of the displacement deformation of the cantilever structure 500 at the cantilever position 510, so as to judge the structural performance of the cantilever structure 500 and ensure the safety of the cantilever structure 500.

[0080] In one embodiment, the reflective component 300 is a prism, a reflective sheet, or a cantilever beam on the cantilever structure 500. For example, the reflective component 300 is a prism, which has higher precision and can be easily identified by the total station 120, ensuring the accuracy of monitoring the displacement and deformation of the cantilever position 510. Of course, in other embodiments of the present application, a reflective sheet can also be used to reflect light, or a cantilever beam on the cantilever structure 500 itself can be used to provide diffuse reflection.

[0081] In one embodiment, the cantilever structure 500 deformation monitoring system further includes a plurality of key points 410. The key points 410 are located along a preset motion path 400 of the cantilever structure deformation monitoring device 100 and are evenly distributed around the cantilever structure 500. When the guide vehicle 110 moves along the preset motion path 400, it can move to the key points 410. The total station 120 can record the actual coordinates of the corresponding reflective components 300 at the key points 410.

[0082] Optionally, the number of key points 410 is greater than three, and the three key points 410 are evenly distributed on the preset motion path 400. It is worth noting that the reflective components 300 of the reference points 520 are set around the cantilever structure 500, and all key points 410 are within the visual range of the reference points 520. If the requirements cannot be met, additional reflective components 300 of the reference points 520 need to be added.

[0083] Optionally, the key point 410 is a black disk to facilitate identification and positioning by the visual positioning component 240. Optionally, the diameter of the key point 410 ranges from 3 cm to 5 cm to facilitate identification and positioning by the visual positioning component 240. For example, the diameter of the key point 410 is 5 cm.

[0084] Optionally, the normal of the reflective component 300 is aligned with the key point 410. This allows the total station 120 to accurately monitor the reflective component 300, facilitating recording of the position of the detection component. Optionally, the diameter of the preset motion path 400 is greater than twice the height of the cantilever structure 500. This ensures that each cantilever position 510 of the cantilever structure 500 is within the visible range of the reference point 520, facilitating recording of the actual coordinates of each cantilever position 510 by the total station 120 while ensuring accurate measurement.

[0085] Optionally, there are multiple cantilever structure deformation monitoring devices 100, and the multiple cantilever structure deformation monitoring devices 100 are evenly distributed on the preset motion path 400. Through the coordinated operation of the multiple cantilever structure deformation monitoring devices 100, high-precision monitoring of the displacement deformation of the cantilever position 510 can be achieved.

[0086] When the cantilever structure 500 deformation monitoring system of the present application is used to monitor the displacement deformation of the cantilever position 510, the construction site needs to install the reflective component 300 at each cantilever position 510 of the cantilever structure 500, such as Figure 2 As shown. A preset motion path 400 for the guide vehicle 110 is planned on an electronic map, and multiple key points 410 are set on the preset motion path 400. Reflective components 300 for reference points 520 are set around the cantilever structure 500, and all key points 410 are within the visual range of the reference points 520. If this requirement is not met, additional reflective components 300 for reference points 520 are required. The normals of all reflective components 300 must be aligned with the key points 410.

[0087] For the first time, the guide vehicle 110 needs to be moved to the key point 410 under the remote control of the operator. The visual positioning component 240 at the bottom of the guide vehicle 110 can drive the guide vehicle 110 to automatically move to the center of the key point 410. Then operate the total station 120, which records the actual coordinates of the reflective component 300 and the reference coordinates of the reference point 520 within the visible range in sequence according to the numbering order, and feeds the actual coordinates and the coordinates of the reference point 520 back to the control host 130. The control host 130 calculates the difference between the actual coordinates and the reference coordinates of the cantilever position 510, which is the displacement deformation (XYZ direction deflection) of the cantilever position 510, and transmits the monitoring data to the host computer in real time through the switch 230. Moreover, the inspection cycle can be set according to the capacity of the on-board power supply 140 to meet the monitoring requirements.

[0088] The present application also provides a method for monitoring deformation of a cantilever structure 500, which is applied to a cantilever structure 500 deformation monitoring system as in any of the above embodiments. The method for monitoring deformation of a cantilever structure 500 comprises the following steps:

[0089] Determine a reference point 520 of the cantilever structure 500 , arrange the reflective component 300 at the cantilever position 510 of the cantilever structure 500 , and place the reflective component 300 within a visible range of the reference point 520 ;

[0090] The cantilever structure deformation monitoring device 100 moves to the key point 410 of the preset motion path 400 and identifies and locates the center of the key point 410;

[0091] Controlling the cantilever structure deformation monitoring device 100 to move along a preset motion path 400 and controlling the total station 120 in the cantilever structure deformation monitoring device 100 to record the reference coordinates of the reference point 520 and the actual coordinates of the reflective component 300;

[0092] The total station 120 feeds back the actual coordinates and the reference coordinates to the control host 130 of the cantilever structure deformation monitoring device 100;

[0093] The control host 130 determines the displacement deformation of the cantilevered position 510 according to the difference between the reference coordinates and the actual coordinates.

[0094] The construction site needs to install the reflective component 300 at each cantilever position 510 of the cantilever structure 500, such as Figure 2 As shown. A preset motion path 400 for the guide vehicle 110 is planned on an electronic map, and multiple key points 410 are set on the preset motion path 400. Reflective components 300 for reference points 520 are set around the cantilever structure 500, and all key points 410 are within the visual range of the reference points 520. If this requirement is not met, additional reflective components 300 for reference points 520 are required. The normals of all reflective components 300 must be aligned with the key points 410.

[0095] For the first time, the guide vehicle 110 needs to be moved to the key point 410 under the remote control of the operator. The visual positioning component 240 at the bottom of the guide vehicle 110 can drive the guide vehicle 110 to automatically move to the center of the key point 410. Then operate the total station 120, which records the actual coordinates of the reflective component 300 and the reference coordinates of the reference point 520 within the visible range in sequence according to the numbering order, and feeds the actual coordinates and the coordinates of the reference point 520 back to the control host 130. The control host 130 calculates the difference between the actual coordinates and the reference coordinates of the cantilever position 510, which is the displacement deformation (XYZ direction deflection) of the cantilever position 510, and transmits the monitoring data to the host computer in real time through the switch 230. Moreover, the inspection cycle can be set according to the capacity of the on-board power supply 140 to meet the monitoring requirements.

[0096] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0097] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A cantilever structure deformation monitoring device, characterized in that: Used to monitor the displacement and deformation of cantilever structures at cantilever positions; The cantilever structure deformation monitoring device comprises: A guide vehicle capable of moving around the cantilever structure along a preset movement path; a total station, disposed on top of the guide vehicle, for identifying the actual coordinates of the cantilever position and the reference coordinates of the cantilever structure; A control host is provided in the guide vehicle, and is connected to the total station for transmission. The control host can receive the actual coordinates and reference coordinates fed back by the total station, and compare the actual coordinates with the reference coordinates to determine the displacement deformation of the cantilever position.

2. The cantilever structure deformation monitoring device according to claim 1, characterized in that: The cantilever structure deformation monitoring device also includes a telescopic component, which is arranged on the guide vehicle. The total station is arranged on the top of the telescopic component. The telescopic component can drive the total station to rise and fall relative to the guide vehicle.

3. The cantilever structure deformation monitoring device according to claim 1, characterized in that: The cantilever structure deformation monitoring device further includes a satellite positioning component, which includes a satellite host, a first positioning antenna and a second positioning antenna; The first positioning antenna and the second positioning antenna are respectively arranged at the front and rear ends of the guide vehicle, the satellite host is arranged in the guide vehicle, and the first positioning antenna and the second positioning antenna are transmission-connected to the satellite host.

4. The cantilever structure deformation monitoring device according to claim 1, characterized in that: The cantilever structure deformation monitoring device further includes a camera component, which is arranged on the top of the guide vehicle and is used to capture the monitoring process; And / or, the cantilever structure deformation monitoring device further includes a visual positioning component, which is disposed on the top of the guide vehicle and is used to locate key points when the guide vehicle moves along a preset motion path.

5. The cantilever structure deformation monitoring device according to claim 1, characterized in that: The cantilever structure deformation monitoring device further includes a navigation component, which is provided on the top of the front end of the guide vehicle and is used to navigate the guide vehicle; And / or, the cantilever structure deformation monitoring device further includes an obstacle avoidance component, which is disposed at the front end of the guide vehicle and is used to guide the guide vehicle to move along a preset motion path.

6. The cantilever structure deformation monitoring device according to claim 1, characterized in that: The cantilever structure deformation monitoring device further includes a remote control antenna, which is provided on the guide vehicle and is connected to the hand-operated remote control; And / or, the cantilever structure deformation monitoring device further includes a data edge calculator, the data edge calculator is provided on the guide vehicle, the data edge calculator is connected to the control host for transmission, and is used to construct a site map; And / or, the cantilever structure deformation monitoring device also includes a switch, which is arranged on the guide vehicle and is connected to the control host for transmission. The switch can exchange data with the control host to feed back data information to the host computer.

7. The cantilever structure deformation monitoring device according to claim 1, characterized in that: The cantilever structure deformation monitoring device further includes a vehicle-mounted power supply, which is disposed in the guide vehicle and is electrically connected to the guide vehicle.

8. A cantilever structure deformation monitoring system, characterized in that: comprising a reflective component and the cantilever structure deformation monitoring device according to any one of claims 1 to 7, wherein the reflective component is provided at a cantilevered position of the cantilever structure, and the cantilever structure deformation monitoring device can move around the cantilever structure so that the total station in the cantilever structure deformation monitoring device detects the actual coordinates of the reflective component; The reflective component is a prism, a reflective sheet or a cantilever beam on the cantilever structure.

9. The cantilever structure deformation monitoring system according to claim 8, characterized in that: The cantilever structure deformation monitoring system further includes a plurality of key points, which are located on a preset motion path of the cantilever structure deformation monitoring device and are evenly distributed around the cantilever structure.

10. The cantilever structure deformation monitoring system according to claim 9, characterized in that: The diameter of the key points ranges from 3cm to 5cm; And / or, the normal of the reflective component is facing the key point; And / or, the diameter of the preset motion path is greater than twice the height of the cantilever structure.

Images