CN111197965A

CN111197965A - Monitoring device and system, service device, method and storage medium

Info

Publication number: CN111197965A
Application number: CN201811364223.0A
Authority: CN
Inventors: 何铁; 唐健清; 李孟矫; 杨峰
Original assignee: Shanghai Zenitech Electronic Technology Development Co ltd
Current assignee: Suzhou hangding Internet of things Technology Co.,Ltd.
Priority date: 2018-11-16
Filing date: 2018-11-16
Publication date: 2020-05-26

Abstract

The invention relates to a monitoring device and a system, a service device, a method and a storage medium, wherein the monitoring device comprises: the system comprises an imaging unit, an image acquisition unit, a communication unit and a processing unit; the monitoring device can form an imaging pattern on the imaging unit according to the light coming from the external device, and an image containing the imaging pattern is shot by the image acquisition unit to serve as an acquisition result, so that the acquisition result can be used for calculating the relative displacement between the monitoring device and the external device according to the displacement of the imaging pattern; the monitoring device has the advantages of simple structure, low cost, convenient detection and better detection precision, can form a relative displacement monitoring system to transmit data, is convenient for fast data transmission to obtain the detection condition in time, and solves the problems in the prior art.

Description

Monitoring device and system, service device, method and storage medium

Technical Field

The invention relates to the technical field of deformation measurement and automatic monitoring of structures such as rail transit foundations and the like, in particular to a monitoring device and system, a service device and method and a storage medium.

Background

The rail transit is popular with the society due to the advantages of high speed, large transportation capacity, little pollution and the like; a rail transit line comprises different line laying forms such as a tunnel, an overhead line, a ground line and an underground line. The underground structure comprises a circular tunnel constructed by adopting a shield, a rectangular structure constructed by open excavation and a horseshoe-shaped structure constructed by underground excavation; the overhead line part has different structural forms such as a continuous beam, a simple supported beam, a steel-concrete combined beam and the like; the ground line roadbed part has construction conditions such as soil filling, excavation and the like; different structural forms are complicated in deformation, different deformation exists in each split structure, deformation conditions of all parts of a whole line, particularly deformation conditions of a joint, structural deformation differences of an existing line and a newly-built project, and structural deformation and settlement of rail transit engineering caused by foundation deformation, internal stress and external load change need to be known in time.

The rail crossing engineering is linearly distributed, the distribution range is long, and the problems of uneven settlement, relative displacement and the like are likely to exist in the whole engineering range; if the structural deformation and the settlement exceed the allowable value, the influence on the rail transit operation can be caused, and even the operation interruption can be caused. The method has the advantages that the rail transit engineering structure is monitored, the deformation condition is known, the deformation reason is analyzed, effective measures are taken, and the method is very necessary for preventing accidents and ensuring normal operation of rail transit.

The rail transit basic monitoring has the characteristics of long monitoring route, multiple targets, high data precision requirement, irreproducible deformation and process, complex operation environment, small influence degree on operation and the like, and has no stable reference point in a rail transit tunnel and an underground segment. At present, aiming at deformation monitoring such as uneven settlement, displacement and the like, the method still depends on low-frequency manual monitoring as a main method, and the monitoring method mainly comprises the steps of laying manual target points at key positions or positions with obvious changes, and acquiring position point elevation and position data by utilizing technologies such as leveling, triangular elevation measurement, a total station, an electronic level meter and the like.

There are several disadvantages to manual detection methods: (1) the method has the advantages that large errors exist, the continuity and comparability of front and back data are poor, the stability of the data is difficult to guarantee, and particularly under severe weather and environment; (2) the measuring points are difficult to cover comprehensively, the monitoring difficulty is high, and the real-time performance of monitoring data is poor; (3) the workload is large, and manpower and material resources are consumed; (4) labor cost rises quickly and labor cost is high; (5) the test data amount is small, and the structural health condition is difficult to comprehensively evaluate; (6) on-track traffic busy periods are difficult to implement.

Technically, in actual detection, due to the effects of repeated vibration during rail transit operation, unbalanced centrifugal force on a turning curve and the like, deformation of a tunnel body of an interval tunnel and property change of soil bodies around the tunnel can be induced, the settlement rate of a track bed is high and low, and continuous and reliable data are difficult to obtain through manual monitoring.

The automatic deformation monitoring is a necessary trend of social development, intelligent instruments, equipment and sensors are arranged in a monitoring area, high-frequency data acquisition is automatically carried out, and then acquired information is transmitted to a control center for analysis through data transmission and communication, so that the purpose of real-time monitoring is achieved.

At present, the automatic monitoring technology applied in the field mainly comprises hydrostatic leveling, an electronic level, a total station, a three-coordinate laser scanner, an electronic level, a satellite positioning system (GNSS) and the like.

The actual measurement technical state of the existing static level product is as follows:

1) the measuring range is wide, and the precision of a common single point is high; a water pipe and an air pipe need to be installed during installation, so that the engineering quantity is large;

2) when the differential settlement between two points and among multiple points is measured, the distance between the points is long, the measurement response time is long, the system precision is poor, generally 2 to 3mm, and the technical requirements of construction and maintenance cannot be met;

3) the static level can only complete settlement measurement;

4) are easily damaged when overloaded;

5) the influence of environmental vibration is large, and real-time detection is realized when the vehicle is not suitable for moving;

the actual measurement technical state of the existing photoelectric products (total station, coordinate laser scanner, electronic level, etc.) is as follows:

1) not only can the settlement measurement be completed, but also the horizontal displacement measurement can be completed;

2) 3' above high-performance product, high sedimentation measurement precision can be ensured when the light beam is good;

3) high price and difficult installation and maintenance;

4) the measurement effect is poor when the light beam is not good on site for a long time;

5) the installation and debugging are complex, and professional operation is required;

the actual measurement technical state of the existing GNSS product is as follows:

1) limited by satellite signals, cannot be used in subways and tunnels

2) The real-time precision can not reach millimeter level, and the requirements of construction and maintenance standards can not be met.

In the prior art, the problems of high cost, complex installation, poor field applicability and the like exist when the high-precision automatic monitoring of rail transit deformation is realized, so that a user faces the difficult problems of 'undetected state, inaccurate detection, slow detection and no detection'.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a monitoring device and system, a service device, a method and a storage medium, which are used to solve the problems of high cost, complex installation, poor field applicability, etc. of the rail transit deformation monitoring system in the prior art.

To achieve the above and other objects, the present invention provides a monitoring device for being installed at a measuring point; the device comprises: an imaging unit comprising: the first surface and the second surface are mutually a front surface and a back surface; the first surface is used for receiving light beams emitted by an external device from the outside and forming a corresponding imaging pattern on the second surface; the image acquisition unit is arranged corresponding to the second surface and is used for shooting the second surface to form a sample image; a communication unit for communicating with the outside to transmit each of the sample images; and the processing unit is connected with and controls the image acquisition unit and the communication unit.

To achieve the above and other objects, the present invention provides a monitoring device for being installed at a measuring point; the device comprises: an imaging unit comprising: the first surface and the second surface are mutually a front surface and a back surface; the first surface is used for receiving light beams emitted by an external device from the outside and forming a corresponding imaging pattern on the second surface; the image acquisition unit is arranged corresponding to the second surface and is used for shooting the second surface to form a sample image; a communication unit for communicating with the outside; and the processing unit is connected with and controls the image acquisition unit and the communication unit, and is used for obtaining displacement data of an imaging pattern of the shot sample image compared with a historical sample image through image processing so as to obtain the relative displacement between the monitoring device and the external device.

In an embodiment of the present invention, the monitoring apparatus further includes: and the light-emitting unit is connected with and controlled by the processing unit and is used for emitting light beams outwards.

In an embodiment of the invention, the first surface and the second surface are planes, and the light emitting direction of the light emitting unit is perpendicular to the first surface and the second surface.

In an embodiment of the invention, the light beam emitted by the external device and/or the light beam emitted by the light emitting unit is a laser.

In an embodiment of the present invention, the monitoring apparatus includes: the state information acquisition unit is connected with and controlled by the processing unit and is used for acquiring state data influencing displacement measurement of an imaging pattern on a sample image; the processing unit is used for processing the acquired state data to obtain encapsulated data; the communication unit is also used for communicating with the outside to transmit the encapsulated data.

In an embodiment of the present invention, the status information collecting unit includes: one or more of a tilt sensor, a temperature sensor, and a geomagnetic sensor; the state data includes: under the condition that the state information acquisition unit comprises a tilt angle sensor, measuring a first deviation angle of relative inclination between the monitoring device and an external device through the tilt angle sensor; and/or, in the case that the state information acquisition unit includes a geomagnetic sensor, the installation direction of the monitoring device measured by the geomagnetic sensor; and/or measured temperature data in case the status information acquisition unit comprises a temperature sensor.

To achieve the above and other objects, the present invention provides a data acquisition system, comprising: the monitoring devices are arranged at different measuring points; wherein, adjacent monitoring devices are arranged as follows: the monitoring device of the previous stage receives the optical cascade structure of the light beam emitted by the monitoring device of the current stage.

In an embodiment of the present invention, each of the monitoring devices includes a cascade interface for communicating with each other and cascading to form a local network.

In an embodiment of the present invention, an optical cascade structure formed by each of the monitoring devices includes: a chain cascade structure or a ring cascade structure.

In order to achieve the above and other objects, the present invention provides a data acquisition method applied to the monitoring device, including: starting the acquisition behavior when a starting instruction is received; the current collecting behavior comprises the following steps: starting the image acquisition unit to shoot a sample image; communicating with an outside to transmit the photographed sample image; or, obtaining displacement data of an imaging pattern of the shot sample image compared with a historical sample image of the monitoring device through image processing so as to obtain a relative displacement between the monitoring device and the external device.

In order to achieve the above and other objects, the present invention provides a relative displacement detecting method, applied to a service device in communication connection with the monitoring device; the method comprises the following steps: sending a starting instruction to a corresponding monitoring device to start the current acquisition behavior; receiving a current sample image acquired by the monitoring device through the current acquisition behavior; through image processing, displacement data of an imaging pattern of the current sample image compared with the historical sample image of the monitoring device is obtained, and accordingly the relative displacement between the monitoring device and the external device is obtained.

In an embodiment of the present invention, the displacement data of the imaging pattern of the current sample image compared to the historical sample image of the monitoring device includes: displacement data of the centroid of the imaged pattern.

In an embodiment of the invention, the method for detecting relative displacement further includes: receiving the packaging data from the monitoring device, and extracting state data which is acquired by the monitoring device and influences the displacement measurement of the imaging pattern on the sample image; and compensating the relative displacement according to the state data and/or analyzing the bad state of the monitoring device and giving an alarm.

In an embodiment of the present invention, the status data includes: monitoring a first deviation angle of relative tilt between the device and an external device; and/or, monitoring the installation direction of the device; and/or, monitoring temperature data of the device; the compensating the relative displacement and/or analyzing the bad state of the monitoring device according to the state data and giving an alarm includes: compensating and calculating the relative displacement by using the first deviation angle or a second angle deviation between the installation direction and a preset direction; and/or performing compensation calculation on the displacement information by using deformation data of the monitoring device calculated according to the temperature data.

In an embodiment of the present invention, the state data includes tilt angle data; the analyzing the bad state of the monitoring device according to the state data and giving an alarm comprises the following steps: judging whether the deviation of the inclination angle data from a reference value is greater than a preset threshold value or not; and if so, generating alarm information.

To achieve the above and other objects, the present invention provides a service apparatus, comprising: a communicator for communicating with the outside; a memory for storing a computer program; and the processor is connected with the communicator and the memory and is used for running the computer program to realize the relative displacement detection method.

To achieve the above and other objects, the present invention provides a computer-readable storage medium storing a first computer program and/or a second computer program; the first computer program realizes the data acquisition method when running; the second computer program realizes the relative displacement detection method when running.

As described above, the monitoring apparatus and system, the service apparatus, the method, and the storage medium of the present invention include: the system comprises an imaging unit, an image acquisition unit, a communication unit and a processing unit; the monitoring device can form an imaging pattern on the imaging unit according to the light coming from the external device, and an image containing the imaging pattern is shot by the image acquisition unit to serve as an acquisition result, so that the acquisition result can be used for calculating the relative displacement between the monitoring device and the external device according to the displacement of the imaging pattern; the monitoring device has the advantages of simple structure, low cost, convenient detection and better detection precision, can form a relative displacement monitoring system to transmit data, is convenient for fast data transmission to obtain the detection condition in time, and solves the problems in the prior art.

Drawings

Fig. 1 is a schematic diagram illustrating a principle of data acquisition according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of an imaging pattern according to an embodiment of the invention.

Fig. 3A is a schematic structural diagram of a chain-like cascade structure among a plurality of monitoring devices in the embodiment of the present invention.

Fig. 3B is a schematic diagram illustrating an annular cascade structure among a plurality of monitoring devices according to an embodiment of the present invention.

Fig. 4A is a schematic structural diagram of a monitoring device according to an embodiment of the present invention.

Fig. 4B is a schematic structural diagram of an imaging unit in the embodiment of the present invention.

Fig. 5 is a schematic circuit diagram of a monitoring device according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a relative displacement monitoring system according to an embodiment of the present invention.

Fig. 7 is a schematic flow chart illustrating a data acquisition method according to an embodiment of the present invention.

Fig. 8 is a flowchart illustrating a relative displacement detection method according to an embodiment of the invention.

Fig. 9 is a schematic view showing the principle of the mounting direction compensation in the embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a service device according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

In the prior art, the automatic monitoring technologies currently applied in the field mainly include hydrostatic leveling, electronic level, total station, three-coordinate laser scanner, electronic level, satellite positioning system (GNSS), etc., but various problems exist, such as accuracy problem, cost problem, etc.

Therefore, the invention provides a scheme of utilizing optical imaging to cooperate with image processing, so as to realize data acquisition and further detect the relative displacement between the first device and the second device.

In an embodiment, a first device 101 and a second device 102 are shown.

The second device 102 comprises: and a light emitting unit 103 for emitting light to the outside. In this embodiment, the light emitting direction of the light emitting unit 103 faces the first device 101.

In a possible embodiment, the light emitting unit 103 may be a laser generator, in particular a single beam laser generator, to emit a single beam of laser light with precision. In other possible embodiments, the light emitting unit 103 may also be an LED light source or other light sources, and may be combined with, for example, a polarizer, a grating, and/or a mirror to realize an outgoing light beam with a desired angle, wavelength, or intensity.

The first device 101 comprises: an imaging unit 105 and an image acquisition unit 104.

The imaging unit 105 has a first surface and a second surface which are opposite to each other. In this embodiment, the first surface and the second surface are flat surfaces, but the shape thereof may be changed in other embodiments, and the embodiment is not limited thereto.

The first surface is disposed toward a light emitting direction of the light emitting unit 103. Preferably, in the initial state, the light beam emitted by the light emitting unit 103 is perpendicular to the first surface.

When the first surface is irradiated by the light beam, a corresponding imaging pattern is formed on the second surface of the imaging unit 105. In one possible embodiment, if a single laser beam is applied to the first surface, the imaged pattern on the second surface appears as a circular spot 201, as shown in fig. 2.

In a possible embodiment, the imaging unit 105 may be implemented as a light-shielding imaging plate, and the material of the imaging unit is, for example, PET.

It is inferred that when the first device 101 and the second device 102 are displaced relative to each other, for example, when the first device 101 is displaced relative to the second device 102 in a vertical or horizontal direction, the imaged pattern on the second surface is also displaced, i.e., the circular spot 201 in fig. 2 may be displaced in the directions of the arrows shown in the figure.

The image acquisition unit 104 may be implemented by a camera, facing the second surface to acquire a sample image of the second surface including the imaging pattern, the same first device 101 may acquire a plurality of sample images at different times, and the displacement of the first device 101 relative to the second device 102 may be calculated by analyzing the displacement of the imaging pattern in the sample image, so that the first device 101 and the second device 102 are disposed in two adjacent segments of a building (such as a bridge, a beam, a bank, etc.), and the relative physical displacement between the two segments may be obtained, and it may be known that, for example, a segment has settled.

In a possible embodiment, the relative positions of the first device 101 and the second device 102 in the initial state after installation are the axis of the light emitting unit 103 of the second device 102 and perpendicular to the first surface, so that the light beam is perpendicular to the first surface, and if a relative displacement in the vertical or horizontal direction is generated between the first device 101 and the second device 102, the physical displacement calculated according to the displacement of the imaging pattern on the sample image is the relative displacement between the first device 101 and the second device 102; in another embodiment, even if there is a relative tilt between the second device 102 and the first device 101 and the axis of the light emitting unit 103 of the second device 102 is not perpendicular to the first surface, the relative displacement between the first device 101 and the second device 102 can be calculated by collecting angle data through some sensors on the first device 101, such as an angle sensor, a levelness sensor, or a tilt sensor, and then inputting the established geometric model between the first device 101 and the second device 102.

In some possible embodiments, the actual displacement amount may be derived from the displacement amount of the imaged pattern in the sample image by means of image processing. Specifically, the image capturing unit 104 has calibrated internal and external references in advance, and can convert a pair of coordinate points before and after displacement of the captured image in the pixel coordinate system or the image coordinate system to a pair of coordinate points in the world coordinate system through internal and external references, so as to obtain a physical displacement of the imaging pattern on the second surface; alternatively, if the light beam emitted by the light emitting unit 103 of the second device 102 before and after the displacement is not perpendicular to the first surface, the relative actual displacement between the first device 101 and the second device 102 can be further calculated by establishing a geometric model between the first device 101 and the second device 102, and inputting the physical displacement and the measured deflection before and after the displacement.

In some possible embodiments, the displacement of the imaging pattern may be represented by a displacement of a reference point chosen on the imaging pattern. For example, if the outline of the spot is a centrosymmetric pattern (e.g., a circle), the reference point is its center (e.g., the center of the circle); however, since the spot is generally irregular in shape, the center of the spot cannot be obtained, and thus the position of the spot in the image can be approximately represented by its centroid.

Through image processing, the contour of the light spot can be calculated, and the centroid of the contour can be calculated. For example, the outline of the light spot may be obtained by various edge detection algorithms, and the centroid may also be obtained by marking all connected domains in the obtained outline image and applying a Geometric Moments (centrometric) algorithm to each connected domain.

Optionally, when the image processing in the above embodiment is performed, the sample image may be subjected to preprocessing of graying and binarization, so as to reduce the amount of calculation.

In the above embodiments, the first device 101 and the second device 102 can be used as monitoring devices respectively disposed at different measuring points of a building to measure relative displacement between the measuring points, such as horizontal displacement or vertical displacement.

In a possible embodiment, the first device 101 may also integrate the light emitting unit 103 as a monitoring device, and the second device 102 may also be implemented by the monitoring device, that is, multiple monitoring devices may form an optical cascade structure through the transmission and reception of light beams.

Fig. 3A is a schematic diagram illustrating a chain-like cascade structure among a plurality of monitoring devices 301 according to an embodiment of the present invention.

By placing each monitoring device 301 at a plurality of measuring points on a building respectively, and transmitting light beams to the imaging unit of the previous/next monitoring device 301 by the previous/next monitoring device 301, a monitoring chain is formed in this way, and the relative settlement and horizontal displacement conditions of the plurality of measuring points in the corresponding area can be monitored simultaneously.

Of course, as shown in fig. 3B, more than 3 monitoring devices 301 may be adopted, and are disposed at different measuring points, and are connected end to end in a cascade connection to form a ring-shaped monitoring network.

Fig. 4A is a schematic structural diagram of the monitoring device according to the embodiment of the present invention.

The monitoring device comprises a shell 400, wherein a light outlet bin 401 and an imaging bin 402 are formed in the shell 400, a light emitting unit 411 is arranged in the light outlet bin 401, and an image acquisition unit 412, a controller 422 and an imaging unit 432 are arranged in the imaging bin 402. Optionally, the imaging chamber 402 is a sealed chamber, so as to effectively protect the image capturing unit 412, the controller 422 and other important components therein.

Alternatively, the light emitting unit 411 may be implemented as a laser generator, the image collecting unit 412 may be implemented as a camera, the imaging unit 432 may be implemented as a light-shielding imaging plate (e.g., PET material), and the controller 422 may be implemented as a circuit board with a control circuit.

Optionally, the light emitting unit 411 is movably disposed in the light exit bin 401, so as to adjust a light exit angle. In particular, the movement may include: horizontal and/or pitch rotation. In this embodiment, the light emitting unit 411 may be fixed on a mounting bracket 421, the mounting bracket 421 is disposed in the light-emitting bin 401, and a connection portion between the mounting bracket 421 and the light emitting unit 411 may be tilted or horizontally rotated so as to enable the light emitting unit 411 to move. The connecting portion can move through a longitudinal rotating structure and/or a horizontal rotating structure, and the rotating structure can be implemented in many ways, such as a rotating shaft and a combined structure of rotating portions which can be relatively rotatably sleeved on the rotating shaft.

Optionally, the light outlet bin 401 is provided with a plurality of light outlets 431 for the light emitting unit 411 to emit light from different angles. The plurality of light outlets 431 is, for example, 3 as shown in fig. 3A, and one light outlet is provided at each of opposite sides and at a front side contacting the opposite sides. Of course, the number and the position of the light outlets 431 may be changed according to the requirement, and are not limited thereto.

Optionally, a battery chamber 442 is further disposed in the housing 400; the battery chamber 442 is provided with a battery for supplying power to the control circuit board. Optionally, the battery chamber 442 is disposed in the imaging chamber 402 and may be protected by the sealed imaging chamber 402.

Optionally, the light exiting bin 401 and the imaging bin 402 are separated by a light shielding member 452, so as to prevent light in the imaging bin 402 from entering the light exiting bin 401 and causing interference; further optionally, the image capturing unit 412 may be fixed on the light shielding member 452 by bonding, screwing, or the like.

The housing 400 may further include an external power interface 403, a communication interface 404, and/or a maintenance interface 405.

In an example, optionally, the communication interface 404 may include a cascade interface (e.g., a serial port) for communicating with other monitoring devices in cascade, where the cascade interface includes two cascade interfaces, one is used for data reception and the other is used for data output, and the cascade interfaces respectively cascade the other monitoring devices adjacent to both sides, so that the cascade-connected monitoring devices form a local network.

In an example, optionally, the communication interface 404 may include a remote interface for accessing a communication network, such as a wired circuit module (e.g., RJ45 interface, etc.), such as a wireless circuit module (e.g., wireless circuit conforming to WiFi, NB-IOT, LoRa, Zigbee, and/or 2G/3G/4G/5G, etc. protocols).

As shown in fig. 4B, a planar structure of the imaging unit 432 in the embodiment of the present invention is shown.

As shown in the figure, the imaging unit 432 may be provided with a plurality of reference light supplementing points 462, and the transparency of the position of each reference light supplementing point 462 is higher than that of other positions, so as to supplement light to the image acquisition unit 412, thereby obtaining a clearer sample image; also, since the position of each reference light complementing point 462 can be known, it can be used as a reference at the time of image processing.

As shown in fig. 5, a schematic circuit block diagram of a controller 500 of a monitoring device in an embodiment of the present invention is shown. Which may be used as the controller 422 in fig. 4A.

The controller 500 includes: a processor 501, which may be implemented, for example, as a MCU, SoC, CPU, or other processing circuitry; not shown, the controller 500 further comprises a memory, which may be implemented, for example, as a RAM, a ROM, etc., connected to the processor 501, for storing a computer program; the processor 501 and the memory constitute a processing unit, and the processor 501 runs a computer program in the memory to implement various functions, method flows, and the like of the monitoring device in the embodiment of the present invention.

The processor 501 is electrically connected to and controls the image capturing unit 502 and the light emitting unit 503.

In an example, the processor 501 and the image acquisition unit 502 may be connected through a serial port to perform communication interaction; the processor 501 and the light emitting unit 503 can be connected through a DO (digital signal output) interface to output instructions to control the light emitting unit 503 to operate.

In an example, the processor 501 may be connected to the image capturing unit 502 and the light emitting unit 503 through a power switch 504, respectively, so as to control the on/off of the power switch 504 to control the operations of the image capturing unit 502 and the light emitting unit 503.

Optionally, the monitoring device is provided with a maintenance interface 505, which is electrically connected to the processor 501, and is used for connecting an external device to perform program maintenance on the processor 501. Optionally, the maintenance interface 505 may be a serial interface, such as an RS232 interface.

Optionally, the monitoring device is provided with a pair of cascade interfaces 506, one of which is a data sending interface, and the other is a data receiving interface, and is used for communicating with other monitoring devices in cascade to form a local network. Optionally, the two cascade interfaces 506 may be serial interfaces, such as RS485 interfaces.

Optionally, the monitoring device is further provided with a remote interface, such as a wired circuit module (e.g., RJ45 interface, etc.), for example, a wireless circuit module (e.g., a wireless circuit complying with WiFi, NB-IOT, LoRa, Zigbee, and/or 2G/3G/4G/5G, etc.) for accessing an external network to transmit data; although the embodiment shows the WiFi module 507 and the NB-IOT module 508, the disclosure is not limited thereto.

Through the wireless communication module of the monitoring device, the monitoring device of each measuring point can be controlled in a wireless or wired mode in a time sequence mode to complete the data acquisition process.

Optionally, the monitoring device is provided with a status information collecting unit for collecting status information of the monitoring device or the environment where the monitoring device is located, and the monitoring device includes: any one or more of a tilt sensor 509, a temperature sensor 510, a geomagnetic sensor 511, a GNSS module 512, and a voltage detection circuit 513.

In some examples, the tilt sensor 509 may be used as a levelness sensor to measure whether the monitoring device is level when installed, the tilt sensor 509 may be a MEMS sensor, preferably to a high accuracy of 0.005 °; further optionally, the levelness data of the monitoring device may be collected for comparison with historical data to determine the inclination condition of the monitoring device; the geomagnetic sensor 511 may be used to measure the installation direction of the apparatus, so as to further compare with historical data to determine whether the monitoring apparatus and its components (such as the imaging unit) deviate from a predetermined position, and the precision of the geomagnetic sensor 511 may be between 1 and 2 °; the temperature sensor 510 may be mounted on a circuit board of the controller 500, implemented by, for example, a thermistor, which preferably achieves a high accuracy of 1-way 12 bits; the GNSS module 512 uses the geographical positioning and data acquisition of the monitoring device for time service when the satellite signal is good.

Optionally, the monitoring device includes a power circuit, which includes: a battery 514. In one example, the battery 514 may be a rechargeable battery (e.g., a rechargeable lithium battery), and the power circuit may further have a charging circuit 515 for charging the battery 514.

Optionally, the monitoring device is provided with an external power interface 516 for accessing an external power source, and the external power interface is connected to the charging circuit 515 to supply power to the battery 514.

The power circuit may output multiple power sources to power different modules, such as a main power source for supplying power to the processor 501, the image capturing unit 502, and the light emitting unit 503, a peripheral power source for supplying power to the power switch 504, a communication power source for supplying power to communication interfaces such as the NB-IOT module 508 and the WiFi module 507, and a GPS power source for supplying power to the GNSS module 512.

Of course, the structure of the power circuit shown in the embodiment is merely an example, and may be changed according to actual requirements, and the invention is not limited thereto.

Fig. 6 is a schematic structural diagram of a relative displacement detection system according to an embodiment of the present invention.

As shown in the figure, a plurality of the monitoring devices 601 connected in an optical cascade manner as shown in the embodiment of fig. 3A or 3B are shown, each monitoring device 601 may also be cascaded through a respective cascade interface to form a local network, and connected to the service device 602 through a network interface of any one or more of the monitoring devices 601 through, for example, the internet, so as to transmit the collected and processed data.

In this embodiment, the service device 602 may be implemented by a server/server group in a centralized network architecture, for example, a database server 603 providing a database service, a data receiving server 604 providing a data receiving service, a data processing server 605 providing a data processing service, and an ITS server 606 connected through a network bus in the figure are connected to the internet for receiving, processing, analyzing, and storing the data uploaded by the monitoring device 601, and providing a network service.

The system may further include, for example, a monitoring terminal 607, which is also connected to the internet, so as to monitor the displacement condition, such as settlement, horizontal displacement, etc., of the measurement point where each monitoring device 601 is located according to the analysis result of the data uploaded by each monitoring device 601. In some examples, the monitor terminal 607 may be an electronic terminal of one or more of a desktop computer, a laptop computer, a smart phone, and a tablet computer.

Of course, in other embodiments, the service device 602 may also vary according to the processing capability requirement, and in case that a single server is powerful enough, the service device 602 may also be implemented by only one server; in other embodiments, the service device 602 may be implemented by a plurality of terminals with processing capability in a distributed network environment.

Fig. 7 is a schematic flow chart showing a data acquisition method according to an embodiment of the present invention. The data acquisition method can be applied to the monitoring device in the embodiment of fig. 6.

The data acquisition method comprises the following steps:

step S701: when a starting instruction is received, the monitoring device enters a working state;

the monitoring device can be in a dormant state under the condition that the monitoring device does not receive the instruction, and when a starting instruction sent by a service device or other control terminals through a communication network (such as the Internet) is received, the monitoring device wakes up from the dormant state to enter a working state, so that the working time can be prolonged, and the charging frequency is reduced.

And then, executing the collection action:

step S702: and starting the image acquisition unit to shoot a sample image, and starting the light-emitting unit to output light beams to the next-stage monitoring device.

It should be noted that, if the displacement condition of the next section of the monitoring device does not need to be measured, the monitoring device may not start the light emitting unit or be provided with the light emitting unit.

Optionally, since the monitoring device may include a state information collecting unit, such as one or more of a tilt sensor, a temperature sensor, and a geomagnetic sensor, the state data may be collected.

Therefore, it is not necessary to distinguish the step S702, and the method may further include the step S703: state data affecting the displacement measurement of the imaging pattern on the sample image is collected.

For example, state data affecting imaging pattern displacement measurements on a sample image:

for example, the displacement measurement of the imaging pattern may be affected by the inclination of the monitoring device such that the angle of the imaging unit deviates from a predetermined position (e.g., a predetermined position); similarly, due to the installation problem, the previous stage monitoring devices are not parallel in the initial state, so that the light beams of the previous stage monitoring devices cannot vertically irradiate onto the imaging unit of the current stage monitoring device, and the displacement measurement of the imaging pattern can also be influenced; or, because the temperature of the environment where the monitoring devices of different stages are located is different, the monitoring devices deform, which also affects the displacement measurement of the imaging pattern.

Thus, the state data affecting the displacement measurement of the imaged pattern on the sample image may be collected data from one or more of a tilt sensor, a temperature sensor, and a geomagnetic sensor, including: in the case where the state information collecting unit includes an inclination sensor, a first deviation angle between an actual incident angle of the received light beam on the first surface and a reference angle (e.g., 0 degrees horizontally, the inclination sensor may be a horizontal sensor), that is, an angle of relative inclination between the monitoring device and an external device, is measured by the inclination sensor; and/or, in the case that the state information acquisition unit includes a geomagnetic sensor, the installation direction of the monitoring device measured by the geomagnetic sensor; and/or measured temperature data in case the status information acquisition unit comprises a temperature sensor.

Optionally, in order to obtain more accurate state data, the processor may compensate for zero drift of the tilt sensor, the temperature sensor, and the like.

The relative displacement amount finally calculated can be compensated by analyzing the state data.

Step S704: the collected state data is processed to generate encapsulated data.

The encapsulated data is, for example, a message conforming to the internet protocol.

Step S705: communicating with the outside to transmit the captured sample image to the service device, optionally, also transmitting the encapsulated data to the service device.

Based on the scenario shown in fig. 6, each monitoring device in the local network may access the internet independently (e.g., perform NB-IOT wireless connection and data transmission independently with the base station, perform WiFi router independently, etc.) to connect to the service device for data transmission, or connect to the internet through any one or more monitoring devices in the local network as an interface.

Fig. 8 is a schematic flow chart showing a relative displacement detection method according to an embodiment of the present invention. The relative displacement detection method may be applied to, for example, the service apparatus in the embodiment shown in fig. 6.

The relative displacement detection method comprises the following steps:

step S801: and sending a starting instruction to the corresponding current-stage monitoring device to start the current acquisition behavior of the current-stage monitoring device, so as to acquire the current sample image according to the light beam of the preceding-stage monitoring device.

The corresponding acquisition behavior can be seen in the embodiment of fig. 7.

Step S802: receiving a current sample image acquired by the current-stage monitoring device through the current acquisition behavior;

optionally, the step S803 may be further included without distinguishing from the step S802: and receiving the encapsulated data.

Step S804: through image processing, displacement data of an imaging pattern of a current sample image compared with a historical sample image of the current-stage monitoring device is obtained, and accordingly the relative displacement between the current-stage monitoring device and a previous-stage monitoring device is obtained.

Specifically, according to the image processing principle described in the foregoing description relating to the embodiment of fig. 1, the current sample image and the historical sample image are acquired, the outlines of the imaging patterns (i.e., light spots) in the two images are respectively extracted, the centroids are respectively acquired, and then the relative displacement between the two centroids is compared as the relative displacement between the measurement points of the current-stage monitoring device and the previous-stage monitoring device, and further, the relative displacement can be expressed by being decomposed into a horizontal displacement and a vertical displacement.

When the historical sample image is selected as an initial image, the obtained relative displacement is accumulated displacement; and when the historical sample image is selected as the sample image acquired last time, the obtained relative displacement is the current variation.

It should be noted that the resolution of the calculation of the relative displacement amount depends on the size of the imaging unit and the resolution of the image acquisition unit; preferably, the resolution is better than one pixel.

In an actual scene, the installation direction and temperature among the monitoring devices can cause errors; therefore, optionally, step S805 may be further included after step S803: extracting state data which are collected by a monitoring device and influence the displacement measurement of an imaging pattern on a sample image from the packaging data, and analyzing whether the monitoring device has a bad state or not according to the state data; if the quality is not good, an alarm can be given; and preferably step S803 and step S803 may be stopped.

For example, in some scenarios, such as the chain-like cascade structure shown in fig. 3A, it is desirable that the monitoring devices of the previous and current stages are parallel to each other, and it is undesirable that the monitoring devices are inclined; since a change in the tilt of the monitoring device also causes a change in the position of the status imaging pattern on the imaging unit, which interferes with the amount of change in the imaging pattern caused by relative displacement in the vertical or horizontal direction, the installed monitoring device must be stable; the inclination angle sensor of the monitoring device can realize levelness measurement and is used for leveling when the monitoring device is installed; preferably, before the service device obtains the sample image or before the image processing (i.e. before step S802 or S803), step S805 is executed, i.e. for example, the levelness data is obtained first to determine whether the tilt state of the monitoring device changes, if the tilt variation is found to exceed the threshold value compared with the reference value (e.g. horizontal 0 degree) in the correct state, step S802 of obtaining the sample pattern or step S803 of processing the obtained sample pattern may be stopped, and a tilt alarm is sent to the monitoring terminal of the device administrator, such as a terminal of a smart phone, a computer, a tablet computer, etc., to remind the monitoring device to maintain and reset the reference value.

Step S806: and compensating the relative displacement according to the state data.

The principles of the various compensation calculations are illustrated below:

referring to fig. 9, since the error of the relative displacement caused by the error of the installation direction of the monitoring devices may cause the error of the measured relative displacement, there may be non-parallelism between the two monitoring devices 901, 902 during actual installation; if the light beam emitted from the light emitting unit 903 of the previous stage monitoring apparatus 901 cannot be vertically incident on the imaging unit 904 of the present stage monitoring apparatus 902, when the light emitting unit 903 is displaced (for example, vertically or horizontally displaced) relative to the imaging unit 904 in the direction of arrow a, a measurement error is formed between the position of the imaging pattern formed by light beam irradiation and the correct position, and is also represented as an error between Δ Dt and Δ Dtc in the figure, and when the image acquisition unit 905 of the present stage monitoring apparatus 901 is installed, the installation angle difference Δ a between the two monitoring apparatuses 901 and 902 can be calibrated by measurement, that is, the angle difference Δ a between the first surface of the imaging unit 904 of the present stage monitoring apparatus 902 and the incident light beam of the previous stage monitoring apparatus 901 deviates from a right angle; alternatively, the measurement of the installation angle difference Δ a (i.e., the angle difference between the installation angle of the imaging unit 904 and the predetermined position) may be performed using a geomagnetic sensor provided in the local monitoring apparatus 902 (and the preceding stage monitoring apparatus 901).

Assuming that the angle of the light emitting unit 903 is a north angle a00 after the front stage monitoring device 901 is installed; when the present stage of the monitoring device 902 is installed, the first surface of the imaging unit 904 is directed to the north angle a 10; the difference Δ a between the installation angles of the two

monitoring devices

901 and 902 is a00-a 10;

further, as shown in the figure, Δ Dtc ═ Δ Dt × cos Δ a is calculated; and obtaining the compensated relative displacement.

Wherein, Δ Dt is the relative displacement calculated by the server; Δ Dtc is the relative displacement amount compensated in the mounting direction.

In addition, since the main body structure of the monitoring device slightly changes when the temperature is different, the relative displacement between the monitoring devices in different temperature environments also needs to be compensated for by temperature.

In some possible embodiments, compensation may be performed by establishing a temperature compensation model through the known coefficients of thermal expansion of the component materials in the monitoring device.

For example, if a low temperature deformation material (such as stainless steel) is selected to make the mounting bracket and the image capturing unit in fig. 4A for fixing. Stainless steel expansion coefficient according to material characteristics: 4.5X10-5, and the compensation of the displacement value when the temperature is different is realized by establishing a temperature compensation model.

In one possible embodiment, the compensation formula associated with the temperature compensation model is:

ΔHt＝Ht-0.035*(Tt-25)，ΔDt＝Dt-0.035*(Tt-25)；

wherein Ht is the relative vertical displacement measured, and Δ Ht is the relative vertical displacement measured after temperature compensation; dt is the measured relative horizontal displacement, and Δ Dt is the measured relative horizontal displacement after temperature compensation, and the unit is mm; tt is the temperature at the moment of measurement at the point of measurement, in degrees Celsius.

Of course, the coefficients in the compensation formula may be changed as needed, for example, the coefficients may be adjusted within a possible peripheral range, such as a range of ± 5%, ± 10%, ± 15%, or ± 20%, and are not limited to the above-mentioned exemplary values.

It should be noted that, although in the foregoing embodiments, the image processing and calculation to obtain the relative displacement amount and the displacement amount compensation calculation are both completed by the service device, and the monitoring device is mainly responsible for data acquisition and uploading, if the processing capability of the monitoring device is strong enough, part or all of the workload in the image processing and calculation to obtain the relative displacement amount and the displacement amount compensation calculation may be completed by each monitoring device, and the embodiments of fig. 7 and 8 are not limited to the above embodiments.

It should be noted that the service device can control each monitoring device one by one through an instruction time sequence to detect the relative displacement one by one, so as to obtain whether each section of the whole building has settlement and horizontal movement.

Fig. 10 is a schematic structural diagram of a service apparatus 1000 according to an embodiment of the present invention.

The service device 1000 includes:

a communicator 1001 for accessing a communication network (such as the internet) to communicate with each monitoring apparatus; the communicator may include: and wired or wireless network communication interfaces, such as a wired network card, a WiFi module and the like.

A memory 1002 for storing a computer program;

the processor 1003, connected to the communicator 1001 and the memory 1002, is configured to run the computer program to implement the steps of the relative displacement detection method in the embodiment of fig. 8, for example.

The memory 1002 may include, but is not limited to, a high speed random access memory, a non-volatile memory, among others. Such as one or more magnetic disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.

The Processor 1003 may be a general-purpose Processor, and includes one or more Central Processing Units (CPUs), Network Processors (NPs), and the like; the Integrated Circuit may also be 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.

Additionally, various computer programs for executing to implement the method embodiments of fig. 7, 8 may be loaded onto a computer-readable storage medium, which may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disc-read only memory), magneto-optical disks, ROMs (read only memory), RAMs (random access memory), EPROMs (erasable programmable read only memory), EEPROMs (electrically erasable programmable read only memory), magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing machine-executable instructions. The computer readable storage medium may be a product that is not accessed by the computer device or may be a component that is used by an accessed computer device.

In particular implementations, the computer programs are routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.

The application is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, computer programs may be located in both local and remote computer storage media including memory storage devices.

In summary, the monitoring device and system, the service device, the method, and the storage medium of the present invention include: the system comprises an imaging unit, an image acquisition unit, a communication unit and a processing unit; the monitoring device can form an imaging pattern on the imaging unit according to the light coming from the external device, and an image containing the imaging pattern is shot by the image acquisition unit to serve as an acquisition result, so that the acquisition result can be used for calculating the relative displacement between the monitoring device and the external device according to the displacement of the imaging pattern; the monitoring device has the advantages of simple structure, low cost, convenient detection and better detection precision, can form a relative displacement monitoring system to transmit data, is convenient for fast data transmission to obtain the detection condition in time, and solves the problems in the prior art.

The invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A monitoring device is characterized in that the monitoring device is arranged at a measuring point; the device comprises:

an imaging unit comprising: the first surface and the second surface are mutually a front surface and a back surface; the first surface is used for receiving light beams emitted by an external device from the outside and forming a corresponding imaging pattern on the second surface;

the image acquisition unit is arranged corresponding to the second surface and is used for shooting the second surface to form a sample image;

a communication unit for communicating with the outside to transmit each of the sample images;

and the processing unit is connected with and controls the image acquisition unit and the communication unit.

2. A monitoring device is characterized in that the monitoring device is arranged at a measuring point; the device comprises:

a communication unit for communicating with the outside;

and the processing unit is connected with and controls the image acquisition unit and the communication unit, and is used for obtaining displacement data of an imaging pattern of the shot sample image compared with a historical sample image through image processing so as to obtain the relative displacement between the monitoring device and the external device.

3. The monitoring device of claim 1 or 2, further comprising: and the light-emitting unit is connected with and controlled by the processing unit and is used for emitting light beams outwards.

4. The apparatus according to claim 3, wherein the first and second surfaces are planar surfaces, and the light emitting direction of the light emitting unit is perpendicular to the first and second surfaces.

5. A device according to claim 3, wherein the light beam emitted by the external device and/or the light beam emitted by the light emitting unit is a laser.

6. The monitoring device of claim 1 or 2, comprising:

the state information acquisition unit is connected with and controlled by the processing unit and is used for acquiring state data influencing displacement measurement of an imaging pattern on a sample image;

the processing unit is used for processing the acquired state data to obtain encapsulated data;

the communication unit is also used for communicating with the outside to transmit the encapsulated data.

7. The monitoring device of claim 6, wherein the status information acquisition unit comprises: one or more of a tilt sensor, a temperature sensor, and a geomagnetic sensor;

the state data includes: under the condition that the state information acquisition unit comprises a tilt angle sensor, measuring a first deviation angle of relative inclination between the monitoring device and an external device through the tilt angle sensor; and/or, in the case that the state information acquisition unit includes a geomagnetic sensor, the installation direction of the monitoring device measured by the geomagnetic sensor; and/or measured temperature data in case the status information acquisition unit comprises a temperature sensor.

8. A data acquisition system, comprising:

a plurality of monitoring devices according to claim 3, provided at different measuring points;

wherein, adjacent monitoring devices are arranged as follows: the monitoring device of the previous stage receives the optical cascade structure of the light beam emitted by the monitoring device of the current stage.

9. The data acquisition system of claim 8, wherein each of the monitoring devices includes a cascading interface for communicating with each other to cascade to form a local network.

10. The data acquisition system of claim 8, wherein each of the monitoring devices forms an optical cascade structure comprising: a chain cascade structure or a ring cascade structure.

11. A data acquisition method applied to the monitoring device according to claim 1 or 2, comprising:

starting the acquisition behavior when a starting instruction is received;

the current collecting behavior comprises the following steps:

starting the image acquisition unit to shoot a sample image;

communicating with an outside to transmit the photographed sample image; or, obtaining displacement data of an imaging pattern of the shot sample image compared with a historical sample image of the monitoring device through image processing so as to obtain a relative displacement between the monitoring device and the external device.

12. A relative displacement detection method, applied to a service device communicatively connected to the monitoring device of claim 1; the method comprises the following steps:

sending a starting instruction to a corresponding monitoring device to start the current acquisition behavior;

receiving a current sample image acquired by the monitoring device through the current acquisition behavior;

through image processing, displacement data of an imaging pattern of the current sample image compared with the historical sample image of the monitoring device is obtained, and accordingly the relative displacement between the monitoring device and the external device is obtained.

13. The method of claim 12, wherein the displacement data of the imaging pattern of the current sample image compared to the historical sample image of the monitoring device comprises: displacement data of the centroid of the imaged pattern.

14. The relative displacement detection method according to claim 13, further comprising:

receiving the packaging data from the monitoring device, and extracting state data which is acquired by the monitoring device and influences the displacement measurement of the imaging pattern on the sample image;

and compensating the relative displacement according to the state data and/or analyzing the bad state of the monitoring device and giving an alarm.

15. The relative displacement detection method according to claim 14, wherein the state data includes: monitoring a first deviation angle of relative tilt between the device and an external device; and/or, monitoring the installation direction of the device; and/or, monitoring temperature data of the device;

the compensating the relative displacement and/or analyzing the bad state of the monitoring device according to the state data and giving an alarm includes:

compensating and calculating the relative displacement by using the first deviation angle or a second angle deviation between the installation direction and a preset direction; and/or performing compensation calculation on the displacement information by using deformation data of the monitoring device calculated according to the temperature data.

16. The relative displacement detection method according to claim 14, wherein the state data includes: monitoring a first deviation angle of relative tilt between the device and an external device; the analyzing the bad state of the monitoring device according to the state data and giving an alarm comprises the following steps: judging whether the deviation of the inclination angle data from a reference value is greater than a preset threshold value or not; and if so, generating alarm information.

17. A service device, comprising:

a communicator for communicating with the outside;

a memory for storing a computer program;

a processor connected to the communicator and the memory for running the computer program to implement the relative displacement detection method according to any one of claims 12 to 16.

18. A computer-readable storage medium, characterized in that a first computer program and/or a second computer program is stored; the first computer program when running implements the data acquisition method of claim 11; the second computer program when running implements a relative displacement detection method as claimed in any one of claims 12 to 16.