Pushing bridge space state real-time monitoring device based on machine vision

Abstract

The utility model relates to the technical field of structural displacement detection and monitoring, in particular to a real-time monitoring device for the spatial state of a pushing bridge based on machine vision, which comprises pushing equipment, the pushing equipment is mounted on a bridge pier, a mounting frame is fixedly mounted on the outer side of the bridge pier, a base is fixedly mounted at the top of the mounting frame, and the base is fixedly mounted on the base. A supporting frame is fixedly installed on the top of the base, a lifting frame is slidably connected to the inner side of the supporting frame, a height adjusting mechanism is installed in the supporting frame, a first visual camera and a first laser transmitter are fixedly installed on the top of the lifting frame, and a measuring point is installed on the outer side of a bridge girder. Compared with an existing incremental launching bridge space state real-time monitoring device based on machine vision, the incremental launching bridge space state real-time monitoring device is convenient to arrange through the design, greatly reduces the measurement cost, can synchronously monitor a plurality of measurement points in real time, greatly improves the measurement efficiency, and greatly reduces the measurement cost due to the fact that the measurement process can be automatically completed. And the measurement precision is also ensured.

Description

Technical Field

[0001] This utility model relates to the field of structural displacement detection and monitoring technology, specifically to a machine vision-based real-time monitoring device for the spatial state of a jacking bridge. Background Technology

[0002] Since its successful application on the Ager Bridge in Austria in 1959, the incremental launching method has developed rapidly in the history of bridge construction worldwide. China first used the incremental launching method to build the Dijiahe Bridge in 1977. Due to its advantages such as not requiring large machinery and equipment, not affecting navigation or traffic under the bridge during construction, easy control of project quality, small site occupation, and no seasonal impact, the incremental launching method is now increasingly widely used in the construction of multi-span bridges spanning busy rivers and existing highways and railways. Unlike general construction methods, during the bridge incremental launching construction process, the beam body is cyclically lifted, translated, and lowered. The position of the beam body is constantly changing. While the beam body is continuously being pushed forward, it is also constantly displaced in the vertical direction and the transverse direction of the bridge.

[0003] During the jacking construction, it is necessary to monitor the spatial state of the bridge beam. This is generally done using a total station. When using a total station, the measuring station is usually set up in a location with good visibility on the table. Multiple reflecting prisms are installed on the beam. Precision prisms are expensive, and the operation of the total station requires professional personnel. Only one measuring point can be tested at a time, making it difficult to test multiple measuring points simultaneously. All total station test data relies on manual operation, resulting in relatively low measurement efficiency. Furthermore, real-time measurement is not possible, and the measurement accuracy is affected by weather, distance, and human operation.

[0004] Therefore, it is of great importance to design a machine vision-based real-time monitoring device for the spatial state of jacking bridges to solve the above problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model designs a machine vision-based real-time monitoring device for the spatial state of a bridge under jacking. This device aims to solve the technical problems of high measurement cost, low measurement efficiency, inability to perform real-time measurement, and measurement accuracy being affected by weather, distance, and human operation when monitoring the spatial state of bridge beams under existing technologies.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A machine vision-based real-time monitoring device for the spatial state of a bridge under jacking includes a jacking device installed on a bridge pier. A mounting frame is fixedly installed on the outer side of the pier, a base is fixedly installed on the top of the mounting frame, a support frame is fixedly installed on the top of the base, a lifting frame is slidably connected to the inner side of the support frame, a height adjustment mechanism is installed inside the support frame, a first vision camera and a first laser emitter are fixedly installed on the top of the lifting frame, measuring points are installed on the outer side of the main beam of the bridge, a horizontal adjustment mechanism is fixedly installed at the bottom of the support frame, and a second vision camera and a second laser emitter are fixedly installed on the top of the horizontal adjustment mechanism.

[0008] As a preferred embodiment of this utility model, a fixing plate is fixedly connected to the bottom of the base, and mounting holes are provided at the four corners of the bottom of the fixing plate. Multiple sets of reinforcing ribs are fixedly connected between the outer side of the base and the fixing plate.

[0009] As a preferred embodiment of this utility model, the height adjustment mechanism includes a first motor fixedly installed on the outer side of the bottom end of the support frame, a first bevel gear fixedly installed on the drive end of the first motor and inside the support frame, a first threaded rod rotatably connected inside the support frame, the bottom end of the lifting frame being threadedly connected to the first threaded rod through a first connecting sleeve, and the first connecting sleeve being rotatably connected to the lifting frame, and the bottom end of the first threaded rod meshing with the first bevel gear through a second bevel gear.

[0010] As a preferred embodiment of this utility model, two sets of sliders are symmetrically connected to the outer side of the bottom end of the lifting frame, and both sets of sliders are slidably connected to the inner arm of the support frame through a sliding groove.

[0011] As a preferred embodiment of this utility model, a first mounting plate is fixedly installed on the top of the lifting frame, the first vision camera is fixedly installed on the top of the first mounting plate, and the first laser emitter is fixedly installed on the left side of the first mounting plate.

[0012] As a preferred embodiment of this utility model, the measuring point is composed of a square frame with an embedded QR code, and the interior of the square frame is magnetically connected to the outside of the main beam of the bridge through a magnetic block.

[0013] As a preferred embodiment of this utility model, the horizontal adjustment mechanism includes a horizontal plate fixedly installed at the bottom of the support frame. A second motor is fixedly installed at the front end of the top of the horizontal plate. A second threaded rod is rotatably connected to the top of the horizontal plate, and the drive end of the second motor is fixedly connected to the front end of the second threaded rod. Guide rails are fixedly installed at both ends of the top of the horizontal plate. A sliding plate is slidably connected between the two sets of guide rails. The bottom of the sliding plate is threadedly connected to the second threaded rod through a second connecting sleeve, and the second connecting sleeve is rotatably connected to the sliding plate. A second mounting plate is fixedly installed on the top of the sliding plate. A second vision camera is fixedly installed at the front end of the top of the second mounting plate, and a second laser emitter is fixedly installed at the rear end of the top of the second mounting plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] In this invention, through the coordinated design of a base, support frame, lifting frame, height adjustment mechanism, first vision camera, first laser emitter, measuring point, horizontal adjustment mechanism, and second vision camera and second laser emitter, the height of the lifting frame is adjusted by the height adjustment mechanism during real-time monitoring of the spatial state of the jacking bridge. The height of the first vision camera and first laser emitter is adjusted according to the initial measurement position of the main beam of the bridge. The position of the second vision camera and second laser emitter is adjusted according to the initial measurement position of the bottom of the main beam of the bridge by the horizontal adjustment mechanism. The first and second laser emitters are used to determine the coordinate position. Since the positions of the first and second laser emitters are fixed, the relative position information of the measuring point and the laser position is determined by taking pictures, enabling measurement of changes in the position of the marker. During position change measurement, the first and second vision cameras take pictures simultaneously, thus enabling real-time monitoring of the spatial state of the jacking bridge. This not only facilitates the layout and greatly reduces measurement costs, but also allows for real-time synchronous monitoring of multiple measuring points, significantly improving measurement efficiency. Since the measurement process can be completed automatically, measurement accuracy is also guaranteed. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0018] Figure 3 This is a schematic diagram of the distribution structure of the measurement points of this utility model;

[0019] Figure 4 This is a schematic diagram of part of the structure of this utility model;

[0020] Figure 5This is a schematic diagram of the height adjustment mechanism of this utility model.

[0021] In the diagram: 1. Bridge main beam; 2. Pier; 3. Jacking device; 4. Mounting frame; 5. Base; 501. Fixing plate; 502. Mounting hole; 503. Reinforcing rib; 6. Support frame; 7. Lifting frame; 8. Height adjustment mechanism; 801. First motor; 802. First bevel gear; 803. First threaded rod; 804. First connecting sleeve; 805. Second bevel gear; 806. Slider; 807. Slide groove; 9. First vision camera; 01. First mounting plate; 10. First laser emitter; 11. Measuring point; 1101. QR code; 1102. Frame; 1103. Magnetic block; 12. Horizontal adjustment mechanism; 1201. Horizontal plate; 1202. Second motor; 1203. Second threaded rod; 1204. Guide rail; 1205. Sliding plate; 1206. Second connecting sleeve; 1207. Second mounting plate; 13. Second vision camera; 14. Second laser emitter. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model. Example

[0023] Please see Figures 1-5 This utility model provides a technical solution:

[0024] A machine vision-based real-time monitoring device for the spatial status of a bridge under jacking includes a jacking device 3, which is installed on a bridge pier 2. A mounting frame 4 is fixedly installed on the outer side of the bridge pier 2. A base 5 is fixedly installed on the top of the mounting frame 4. A support frame 6 is fixedly installed on the top of the base 5. A lifting frame 7 is slidably connected to the inner side of the support frame 6. A height adjustment mechanism 8 is installed inside the support frame 6. A first vision camera 9 and a first laser emitter 10 are fixedly installed on the top of the lifting frame 7. A measuring point 11 is installed on the outer side of the main beam 1 of the bridge. A horizontal adjustment mechanism 12 is fixedly installed at the bottom of the support frame 6. A second vision camera 13 and a second laser emitter 14 are fixedly installed on the top of the horizontal adjustment mechanism 12.

[0025] First, a fixing plate 501 is fixedly connected to the bottom of the base 5. Mounting holes 502 are provided at the four corners of the bottom of the fixing plate 501. Multiple sets of reinforcing ribs 503 are fixedly connected between the outer side of the base 5 and the fixing plate 501. The base 5 is fixedly installed on the mounting frame 4 through the mounting holes 502 on the fixing plate 501. The connection between the base 5 and the fixing plate 501 is strengthened by the multiple sets of reinforcing ribs 503, thereby ensuring the installation firmness of the support frame 6.

[0026] Furthermore, the height adjustment mechanism 8 includes a first motor 801 fixedly installed on the outer side of the bottom end of the support frame 6. A first bevel gear 802 is fixedly installed on the drive end of the first motor 801 and inside the support frame 6. A first threaded rod 803 is rotatably connected inside the support frame 6. The bottom end of the lifting frame 7 is threadedly connected to the first threaded rod 803 through a first connecting sleeve 804, and the first connecting sleeve 804 is rotatably connected to the lifting frame 7. The bottom end of the first threaded rod 803 meshes with the first bevel gear 802 through a second bevel gear 805. When monitoring the spatial status of the jacking bridge in real time, after the support frame 6 is installed, the first motor 801 is started to drive the first bevel gear 802 to rotate. Under the transmission of the second bevel gear 805, the first threaded rod 803 rotates. Then, under the connection of the first connecting sleeve 804, the lifting frame 7 moves up and down, thereby adjusting the height of the first visual camera 9 and the first laser emitter 10 according to the initial measurement position of the main beam 1 of the bridge. This facilitates the rapid arrangement of the device and greatly improves the measurement efficiency.

[0027] Then, two sets of sliders 806 are symmetrically connected to the outer side of the bottom end of the lifting frame 7. Both sets of sliders 806 are slidably connected to the inner arm of the support frame 6 through the slide groove 807. During the lifting process of the lifting frame 7, the sliders 806 slide inside the slide groove 807, thereby ensuring the movement stability of the lifting frame 7.

[0028] Furthermore, a first mounting plate 901 is fixedly installed on the top of the lifting frame 7, a first vision camera 9 is fixedly installed on the top of the first mounting plate 901, and a first laser emitter 10 is fixedly installed on the left side of the first mounting plate 901. The first vision camera 9 and the first laser emitter 10 are fixedly installed on the lifting frame 7 through the first mounting plate 901, so that the height of the first vision camera 9 and the first laser emitter 10 can be accurately adjusted according to the initial measurement position of the main beam 1 of the bridge.

[0029] Secondly, the measurement point 11 is composed of a frame 1102 with an embedded QR code 1101. The inside of the frame 1102 is magnetically connected to the outside of the main beam 1 of the bridge through a magnetic block 1103. First, multiple sets of frames 1102 are magnetically installed on the outside of the main beam 1 of the bridge through the magnetic block 1103. Different frames 1102 have different embedded QR codes 1101. During the real-time monitoring of the spatial state of the jacking bridge, the first laser emitter 10 and the second laser emitter 14 are used to determine the coordinate position. Since the positions of the first laser emitter 10 and the second laser emitter 14 are determined, the relative position information of the measurement point 11 and the laser position is determined by taking pictures. The change of the position of the marker can be measured. When measuring the position change, the first vision camera 9 and the second vision camera 13 take pictures at the same time, so that the spatial state of the jacking bridge can be monitored in real time. This not only facilitates the layout and greatly reduces the measurement cost, but also enables real-time synchronous monitoring of multiple measurement points 11, which greatly improves the measurement efficiency. Since the measurement process can be completed automatically, the measurement accuracy is also guaranteed.

[0030] Furthermore, utilizing the three attributes of QR code 1101: 1. All four corner points of QR code 1101 belong to the same plane; 2. The four corner points form a standard square; 3. As an important calculation parameter, the actual side length of the square formed by QR code 1101 is encoded within QR code 1101 itself and can be recognized and interpreted by the first visual camera 9 and the second visual camera 13. Based on these three conditions, and in conjunction with computer software algorithms, the specific coordinates and relative displacement of the spatial location of QR code 1101 can be obtained. Specifically, it is installed on the outer side of the main beam 1 of the bridge. After installing the QR code 1101, the first vision camera 9 and the second vision camera 13 are used to acquire the information of the QR code 1101. The information of the QR code 1101 is processed to calculate the displacement data and obtain the displacement in the X / Y / Z directions. After filtering and smoothing, an initial value is set, and the values ​​at all subsequent times are compared with this value. The difference is the actual relative displacement. The value in the X direction is the horizontal lateral displacement of the bridge, the value in the Y direction is the horizontal longitudinal displacement of the bridge, and the displacement in the Z direction is the vertical displacement of the bridge. This enables real-time monitoring of the spatial state of the jacking bridge.

[0031] The QR code 1101 can be represented by numbers, replacing the QR code 1101 used at measurement point 11, thereby reducing the cost of using the QR code 1101.

[0032] Finally, the horizontal adjustment mechanism 12 includes a horizontal plate 1201 fixedly installed at the bottom of the support frame 6. A second motor 1202 is fixedly installed at the front end of the top of the horizontal plate 1201. A second threaded rod 1203 is rotatably connected to the top of the horizontal plate 1201, and the drive end of the second motor 1202 is fixedly connected to the front end of the second threaded rod 1203. Guide rails 1204 are fixedly installed at both ends of the top of the horizontal plate 1201. A sliding plate 1205 is slidably connected between the two sets of guide rails 1204. The bottom of the sliding plate 1205 is threadedly connected to the second threaded rod 1203 through a second connecting sleeve 1206, and the second connecting sleeve 1206 is rotatably connected to the sliding plate 1205. A second mounting plate 1207 is fixedly installed on the top of the second mounting plate 1205. The second vision camera 13 is fixedly installed on the front end of the top of the second mounting plate 1207, and the second laser emitter 14 is fixedly installed on the rear end of the top of the second mounting plate 1207. After the support frame 6 is installed and fixed, the second motor 1202 is started to drive the second threaded rod 1203 to rotate. Under the connection of the second connecting sleeve 1206, the sliding plate 1205 is driven to slide stably on the guide rail 1204. Thus, the positions of the second vision camera 13 and the second laser emitter 14 can be adjusted according to the initial measurement position of the bottom of the main beam 1 of the bridge, which facilitates the quick completion of the device layout and further improves the measurement efficiency.

[0033] In this embodiment, the specific implementation scenario is as follows: The base 5 is fixedly installed on the mounting frame 4 through the mounting holes 502 on the fixing plate 501. During real-time monitoring of the spatial status of the jacking bridge, after the support frame 6 is installed, the first motor 801 is started to drive the first bevel gear 802 to rotate. Under the transmission of the second bevel gear 805, the first threaded rod 803 rotates. Then, under the connection of the first connecting sleeve 804, the lifting frame 7 moves up and down, thereby adjusting the height of the first visual camera 9 and the first laser emitter 10 according to the initial measurement position of the main beam 1 of the bridge. The second motor 1202 is started to drive the second threaded rod 1203 to rotate. Under the connection of the second connecting sleeve 1206, the sliding plate 1205 slides stably on the guide rail 1204, thereby enabling the position of the second visual camera 13 and the second laser emitter 14 to be adjusted according to the initial measurement position of the bottom of the main beam 1 of the bridge. Adjustments are made to facilitate the quick and easy setup of the device. The first laser emitter 10 and the second laser emitter 14 are used to determine the coordinate positions. Since the positions of the first laser emitter 10 and the second laser emitter 14 are fixed, the relative position information between the measurement point 11 and the laser position is determined by taking pictures. This allows for the measurement of changes in the position of the marker. During position change measurement, the first vision camera 9 and the second vision camera 13 take pictures simultaneously, enabling real-time monitoring of the spatial state of the jacking bridge. The entire operation process is simple and convenient. Compared with existing machine vision-based real-time monitoring devices for the spatial state of jacking bridges, this invention not only facilitates setup and greatly reduces measurement costs, but also enables real-time synchronous monitoring of multiple measurement points 11, significantly improving measurement efficiency. Since the measurement process is automated, measurement accuracy is also guaranteed.

[0034] In this embodiment, the first visual camera 9 and the first laser generator 10, used to measure vertical displacement changes, cooperate with the second visual camera 13 and the second laser emitter 14, used to measure horizontal displacement changes. This allows the visual system to perceive not only changes in displacement within a plane but also changes in distance, thereby achieving the perception of three-dimensional spatial position changes. For example, the cooperation of the first visual camera 9 and the first laser generator 10 can only achieve displacement perception within the vertical plane. However, with the cooperation of the second visual camera 13 and the second laser emitter 14, the displacement measurement results of the second visual camera 13 and the second laser generator 14 in the horizontal plane can be integrated into the vertical displacement measurement results of the first visual camera 9 and the first laser emitter 10 to obtain the displacement change results in three-dimensional space.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based real-time monitoring device for the spatial state of a jacking bridge, comprising a jacking device (3), wherein the jacking device (3) is installed on a bridge pier (2), and a mounting frame (4) is fixedly installed on the outer side of the bridge pier (2), characterized in that: A base (5) is fixedly installed on the top of the mounting frame (4), a support frame (6) is fixedly installed on the top of the base (5), a lifting frame (7) is slidably connected to the inner side of the support frame (6), a height adjustment mechanism (8) is installed inside the support frame (6), a first vision camera (9) and a first laser emitter (10) are fixedly installed on the top of the lifting frame (7), a measuring point (11) is installed on the outer side of the main beam of the bridge (1), a horizontal adjustment mechanism (12) is fixedly installed at the bottom of the support frame (6), and a second vision camera (13) and a second laser emitter (14) are fixedly installed on the top of the horizontal adjustment mechanism (12).

2. The machine vision-based real-time monitoring device for the spatial state of a jacking bridge according to claim 1, characterized in that: The bottom of the base (5) is fixedly connected to a fixing plate (501), and mounting holes (502) are provided at the four corners of the bottom of the fixing plate (501). Multiple sets of reinforcing ribs (503) are fixedly connected between the outer side of the base (5) and the fixing plate (501).

3. The machine vision-based real-time monitoring device for the spatial state of a jacking bridge according to claim 1, characterized in that: The height adjustment mechanism (8) includes a first motor (801) fixedly installed on the outer side of the bottom end of the support frame (6). A first bevel gear (802) is fixedly installed on the drive end of the first motor (801) and inside the support frame (6). A first threaded rod (803) is rotatably connected inside the support frame (6). The bottom end of the lifting frame (7) is threadedly connected to the first threaded rod (803) through a first connecting sleeve (804), and the first connecting sleeve (804) is rotatably connected to the lifting frame (7). The bottom end of the first threaded rod (803) meshes with the first bevel gear (802) through a second bevel gear (805).

4. The machine vision-based real-time monitoring device for the spatial state of a jacking bridge according to claim 1, characterized in that: Two sets of sliders (806) are symmetrically connected to the outer side of the bottom end of the lifting frame (7). Both sets of sliders (806) are slidably connected to the inner arm of the support frame (6) through the slide groove (807).

5. The machine vision-based real-time monitoring device for the spatial state of a jacking bridge according to claim 1, characterized in that: The top of the lifting frame (7) is fixedly installed with a first mounting plate (901), the first vision camera (9) is fixedly installed on the top of the first mounting plate (901), and the first laser emitter (10) is fixedly installed on the left side of the first mounting plate (901).

6. The machine vision-based real-time monitoring device for the spatial state of a jacking bridge according to claim 1, characterized in that: The measurement point (11) is composed of a box (1102) with an embedded QR code (1101). The inside of the box (1102) is magnetically connected to the outside of the main beam (1) of the bridge through a magnetic block (1103).

7. The machine vision-based real-time monitoring device for the spatial state of a jacking bridge according to claim 1, characterized in that: The horizontal adjustment mechanism (12) includes a horizontal plate (1201) fixedly installed at the bottom of the support frame (6). A second motor (1202) is fixedly installed at the front end of the top of the horizontal plate (1201). A second threaded rod (1203) is rotatably connected to the top of the horizontal plate (1201), and the driving end of the second motor (1202) is fixedly connected to the front end of the second threaded rod (1203). Guide rails (1204) are fixedly installed at both the left and right ends of the top of the horizontal plate (1201), and the two sets of guide rails (1204) are slidably connected. A sliding plate (1205) is attached. The bottom of the sliding plate (1205) is threadedly connected to the second threaded rod (1203) through the second connecting sleeve (1206). The second connecting sleeve (1206) is rotatably connected to the sliding plate (1205). A second mounting plate (1207) is fixedly installed on the top of the sliding plate (1205). The second vision camera (13) is fixedly installed on the front end of the top of the second mounting plate (1207). The second laser emitter (14) is fixedly installed on the rear end of the top of the second mounting plate (1207).

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