CN115164826A

CN115164826A - Road construction distance exploration instrument capable of penetrating through obstacle and exploration method

Info

Publication number: CN115164826A
Application number: CN202210826964.6A
Authority: CN
Inventors: 肖立军; 苑斌; 张志�; 黄宗煜; 许蓓; 于芳
Original assignee: Zibo Transportation Construction And Development Center
Current assignee: Zibo Transportation Construction And Development Center
Priority date: 2022-07-14
Filing date: 2022-07-14
Publication date: 2022-10-11
Anticipated expiration: 2042-07-14
Also published as: CN115164826B

Abstract

The invention discloses a road construction distance surveying instrument capable of penetrating through an obstacle and a surveying method, and belongs to the technical field of surveying instruments. The road construction distance surveying instrument capable of passing through the obstacle comprises a moving trolley, an obstacle clearing assembly, a lifting device and a surveying instrument mounting assembly, wherein the lifting device is connected to the upper surface of the moving trolley, the surveying instrument mounting assembly is connected to the upper end of the lifting device, and the obstacle clearing assembly is arranged in one end, where the moving trolley advances. The invention provides a road construction distance surveying instrument capable of passing through an obstacle and a surveying method, wherein an obstacle clearing component retreats the obstacle blocking the moving trolley to the two sides of the moving trolley, a lifting device is arranged on the moving trolley, the lifting device is used for integrally lifting a mounting component of the surveying instrument, so that the surveying instrument capable of passing through the obstacle is completed, and different processing methods are adopted for different obstacles in two modes, so that the road construction distance surveying instrument is suitable for distance surveying under various environments.

Description

Road construction distance exploration instrument capable of penetrating through obstacle and exploration method

Technical Field

The invention relates to a road construction distance surveying instrument capable of penetrating through an obstacle and a surveying method, and belongs to the technical field of surveying instruments.

Background

Most of the existing road surveying activities adopt manpower surveying, and when roads are surveyed, some road surface positions cannot be surveyed and measured due to manual limitation, so surveying and measuring need to be carried out by means of surveying instruments.

In the chinese utility model patent with the publication number CN215944400U and the publication date 2022.03.04, a self-propelled surveying device for roads is disclosed, which comprises a vehicle body, a traveling mechanism arranged at the bottom of the vehicle body, a height adjusting mechanism arranged on the vehicle body and a surveying device; a groove is formed in the vehicle body, the height adjusting mechanism is connected in the groove, and one end of the height adjusting mechanism is connected with the surveying device; also included are shock absorbing mechanisms for improving the stability of the survey device and locking mechanisms for receiving the survey device. The utility model discloses a road is with self-propelled survey device can effectual improvement survey efficiency, reduces the degree of difficulty that the manpower surveyed, improves and surveys efficiency.

Although this application solves the problems in the background art to some extent, the following problems exist in this application:

1. in the road construction process, the barriers on the road surface are more, and the walking route of the surveying device is easy to block;

2. after the surveying instrument is lifted, a target point is difficult to test, the angle of the surveying instrument needs to be adjusted manually, and the surveying precision is influenced.

Disclosure of Invention

The invention provides a road construction distance surveying instrument and method capable of passing through obstacles, aiming at the technical problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme: a road construction distance surveying instrument capable of passing through an obstacle comprises a movable trolley, wherein the upper surface of the movable trolley is connected with a lifting device, the upper end of the lifting device is connected with a surveying instrument mounting assembly, and the front end of the movable trolley is connected with an obstacle clearing assembly along the advancing direction of the movable trolley;

the obstacle clearing assembly comprises a bulldozing plate, a grass poking roller, a threaded push rod and a connecting piece, the bottom of the moving trolley is fixedly connected with a threaded sleeve in threaded connection with the threaded push rod, one end of the threaded push rod is fixedly connected with a handle, the other end of the threaded push rod is fixedly connected with the connecting piece, and the connecting piece is movably connected with the bulldozing plate and the grass poking roller respectively;

survey appearance installation component and include backup pad and mounting panel, the lower surface of backup pad is connected with elevating gear's upper end, the shock attenuation groove has been seted up in the backup pad, the shock attenuation inslot is connected with damping device, the mounting panel is L shaped plate piece, and it has the fly leaf to articulate on the mounting panel, the equal fixedly connected with in upper end of mounting panel and fly leaf surveys the appearance body, the both ends of mounting panel and fly leaf bottom all are connected with damping device, wherein, the damping device's that is connected with the free end of fly leaf lower extreme is connected with synchronous subassembly, synchronous subassembly's lower extreme runs through the backup pad and is connected with elevating gear's upper end.

Preferably, damping device includes guide bar, movable sleeve and pull rod, the both ends of guide bar respectively with the both sides wall fixed connection in shock attenuation groove, the movable sleeve cup joints with the guide bar slides, all has cup jointed damping spring on the guide bar of movable sleeve both sides, damping spring is close to the one end of movable sleeve and all offsets with the lateral wall of movable sleeve, the one end and the movable sleeve of pull rod are articulated, the other end and mounting panel or the fly leaf of pull rod are articulated.

Preferably, the bulldozer comprises two bulldozer blades, opposite ends of the two bulldozer blades are hinged, first push rods are symmetrically hinged to opposite side walls of the two bulldozer blades, and opposite ends of the two first push rods are movably connected with one end of the connecting piece through a ring-shaped piece.

Preferably, the lower end of the grass poking roller is fixedly connected with a fixed shaft, the lower end of the fixed shaft is symmetrically and fixedly connected with two rotating shafts, the rotating shafts are rotatably connected with the front end of the movable trolley, the bottom of the fixed shaft is rotatably connected with a second push rod, and one end, far away from the fixed shaft, of the second push rod is hinged to the connecting piece.

Preferably, the road construction distance surveying instrument capable of passing through the obstacle further comprises: the video acquisition module, the center determination module, the proportion determination module, the frame judgment module, the video segment extraction module, the curve fitting module, the range division module, the point statistics module and the fault judgment module are arranged in the side wall of the damping groove;

the video acquisition module, the center determination module, the proportion determination module, the frame discrimination module, the video segment extraction module, the curve fitting module, the range division module, the point counting module and the fault discrimination module are sequentially connected;

the video acquisition module is used for acquiring a side video of the damping spring and extracting a turn line three-dimensional profile and a turn line end point position of the damping spring from each frame of video frame in the side video, wherein the turn line end point position is a head end position and a tail end position of the whole turn line of the damping spring;

the center determining module divides the three-dimensional contour of the turn line based on the end point position of the turn line to obtain a plurality of single-turn contours, and determines the center of a single turn of each turn line based on the single-turn contours;

the proportion determining module is used for determining the difference value of the central coordinate value of a single turn of the same turn of line in the adjacent video frame of the side video, determining the total number of first turns of lines of which the difference value of the central coordinate value of the single turn is larger than a vibration judging threshold, and determining the proportion of vibration turns of lines based on the total number of the first turns of lines and the total number of second turns of lines of the damping spring;

the frame judging module is used for judging a next frame video frame in the corresponding adjacent video frames as a vibrating video frame when the vibrating turn-line ratio is larger than a turn-line ratio threshold value, and otherwise, judging the video frames contained in the corresponding video frames as non-vibrating video frames;

the video segment extraction module is used for marking all the vibration video frames in the side video to obtain a marking result, and extracting a vibration video frame sequence with the continuous frame number not less than a continuous frame threshold value from the side video based on the marking result to obtain a vibration video segment;

the curve fitting module is used for sequencing the difference value of the central coordinate value of the single turn of each turn line in the adjacent video frames in the vibration video band based on the distribution sequence of the turn lines in the damping spring, obtaining a central displacement distance sequence of the single turn corresponding to the adjacent video frames, and fitting a central displacement distance curve of the single turn based on the central displacement distance sequence of the single turn;

the range division module is used for aligning single-turn center displacement distance curves of all adjacent video frames in the vibration video segment to obtain an alignment curve, marking the abrupt change points in the single-turn center displacement distance curve, and dividing the discrimination range of each abrupt change point based on the abrupt change points and a preset discrimination range;

the point counting module is used for taking partial curves in the discrimination range in all the remaining single-turn central displacement distance curves except the single-turn central displacement distance curve to which the abrupt change point belongs in the alignment curve as a discrimination curve set of the abrupt change point, and determining the total number of the first abrupt change points contained in the discrimination curve set;

the fault judging module is used for judging that the damping spring has a damping fault and sending out an alarm signal when the ratio of the total number of the first abrupt change points in the alignment curve to the total number of the judging curves contained in the corresponding judging curve set is greater than a judging threshold value, otherwise, keeping the judging result;

wherein, determining the single turn center of each turn line based on the single turn three-dimensional profile comprises:

determining the central coordinate value of the single turn corresponding to the turn line based on the coordinate value of each pixel point in the single turn three-dimensional profile:

in the formula (I), the compound is shown in the specification,

is the coordinate value of the center of a single turn of the turn line,

is the central abscissa value of the single turn of the turn line,

is the longitudinal coordinate value of the single turn center of the turn line,

is the abscissa value of the first pixel point in the single-turn three-dimensional profile,

is the ordinate value of the first pixel point in the single-turn three-dimensional profile,

is the ith pixel point in the single-turn three-dimensional profile,

the total number of pixel points contained in the single-turn stereo outline,

is the first in a single-turn three-dimensional profile

The horizontal coordinate value of each pixel point is determined,

is the first in a single-turn three-dimensional profile

The vertical coordinate value of each pixel point is determined,

is the abscissa value of the ith pixel point in the single-turn three-dimensional profile,

the vertical coordinate value of the ith pixel point in the single-turn three-dimensional profile is shown.

Preferably, the road construction distance surveying instrument capable of passing through the obstacle comprises: the system comprises a video acquisition unit, an edge extraction unit, a turn determination unit, a symmetrical association unit, a first fitting unit, an endpoint determination unit, a second fitting unit and a contour acquisition unit which are sequentially connected;

the video acquisition unit is used for acquiring a side video of the damping spring;

the edge extraction unit is used for converting each frame of video frame in the side video into a binary image, determining a spring area in the binary image, and extracting a plane contour edge of the damping spring in the spring area;

the turning determining unit is used for determining a curve function of the plane contour edge based on the curve image of the plane contour edge, determining a first derivative of the plane contour edge function, and taking pixel points with discontinuous first derivative in the plane contour edge as turning pixel points;

the symmetrical association unit is used for taking the turning pixel points as segmentation points in the plane edge profile, dividing the plane edge profile into a plurality of first curve segments based on the segmentation points, determining curve segment functions based on the first curve segments, determining a first derivative of the curve segment functions, and judging whether first pixel points with equal first derivative values exist in the first curve segments, wherein the first pixel points are pixel points with equal first derivative values in the first curve segments, and marking first pixel points contained in the first curve segments to obtain marked curve segments; if the first pixel points exist, marking the first pixel points corresponding to the first curve section to obtain a marked curve section, judging whether continuous first pixel points exist in the marked curve section, if so, connecting the continuous first pixel points to obtain a second curve section, and associating the second curve section with second curve sections to which other first pixel points equal to first derivative values of the first pixel points included in the second curve section belong on the basis of association relations among the first pixel points equal to the first derivative values, so as to obtain an association curve section; associating the second curve segment to obtain an associated curve segment;

the first fitting unit is used for determining a symmetry center of the first curve segment based on the associated curve segment, and fitting a hypothetical complete contour of the first curve segment based on the symmetry center and a third curve segment of the first curve segment except the associated curve segment;

the endpoint determining unit is used for determining a visual difference value between a first gray value of an endpoint pixel point in the first curve segment and a second gray value of a corresponding adjacent pixel point when no first pixel point with equal first-order derivative values exists in the first curve segment or no continuous first pixel point exists in the marked curve segment, connecting the adjacent pixel point corresponding to the minimum visual difference value with the endpoint pixel point in the first curve segment to obtain a new first curve segment, and meanwhile, taking the adjacent pixel point corresponding to the minimum visual difference value as the newest endpoint pixel point in the first curve segment;

the second fitting unit is configured to continue to screen new endpoint pixel points of the first curve segment in corresponding adjacent pixel points based on the latest endpoint pixel point, where the step of continuing to screen new endpoint pixel points of the first curve segment is as follows: determining a visual difference value between a third gray value of the latest endpoint pixel point and a fourth gray value corresponding to the adjacent pixel point, connecting the adjacent pixel point corresponding to the minimum visual difference value with the latest endpoint pixel point in the first curve segment to obtain a new first curve segment, and meanwhile, taking the adjacent pixel point corresponding to the minimum visual difference value as the latest endpoint pixel point in the first curve segment; stopping screening until the newly determined endpoint pixel point is coincident with the pixel point in the currently obtained first curve segment, and obtaining the assumed complete contour of the first curve;

the contour acquisition unit is used for acquiring a complete perspective contour of the damping spring based on assumed complete contours of all first curve segments in the plane edge contour, and marking the complete perspective contour based on a perspective relation; wherein, the marking process for the complete perspective outline based on the perspective relation is that: based on a perspective relation, marking partial outlines which cannot be visually seen in the complete perspective outlines as dotted lines to obtain turn line three-dimensional outlines of the damping springs, and marking turn line end points in the turn line three-dimensional outlines;

wherein determining a center of symmetry of the first curve segment based on the associated curve segment comprises:

in the formula (I), the compound is shown in the specification,

is the center of symmetry of the first curve segment,

is the abscissa value of the center of symmetry,

is the ordinate value of the center of symmetry,

is associated with the first in the curve segment

The number of the pixel points is one,

the total number of pixels contained in the associated curve segment,

is associated with the first in the curve segment

The horizontal coordinate value of each pixel point is determined,

is associated with the first in the curve segment

The vertical coordinate value of each pixel point.

Preferably, the synchronizing assembly comprises a synchronizing push rod and a fixed pushing piece, one end of the synchronizing push rod is connected with the lower end of the movable sleeve in a rotating mode, the other end of the synchronizing push rod is connected with the fixed pushing piece in a movable mode, one end, away from the synchronizing push rod, of the fixed pushing piece is fixedly connected with the lifting device, a movable sliding groove is formed in one end, connected with the fixed pushing piece, of the synchronizing push rod, a sliding block matched with the movable sliding groove is fixedly connected with the fixed pushing piece, opposite wedge-shaped clamping blocks are fixed to two opposite side faces of the movable sliding groove respectively, a groove is formed in the sliding block, and an ejecting piece is connected with the groove through a spring.

Preferably, elevating gear includes the lead screw, expansion bracket and guide post, the upper and lower both ends of expansion bracket are rotated respectively and are connected with uide bushing and thread bush, thread bush and lead screw threaded connection, the uide bushing slides the suit on the guide post, the lateral wall and the fixed connection that pushes away of uide bushing, the lead screw is provided with two and is parallel to each other, two lead screws rotate with the travelling car through the bearing frame respectively and are connected, the rotatory handle of one end fixedly connected with of one of them lead screw, the intermediate position of two lead screws is fixedly connected with synchronous pulley respectively, two synchronous pulley pass through synchronous belt drive and connect, the guide post rotates through bearing and backup pad and is connected.

The invention also provides a road construction distance surveying method capable of passing through the barrier, which is based on the road construction distance surveying instrument capable of passing through the barrier and comprises the following steps:

s1: adjusting the position of the obstacle clearing component according to the environment of the exploration ground, and rotating the threaded push rod to control the bulldozer and the grass poking roller to move to proper positions during adjustment;

s2: the movable trolley moves, the bulldozer pushes sandy soil which obstructs the moving trolley to the two sides of the movable trolley, the grass poking roller contacts weeds when moving along with the movable trolley, the weeds which obstruct the moving trolley to move can be flattened or broken until the movable trolley passes through an obstacle, and the surveying instrument body surveys the distance to be surveyed;

s3: when the height of the obstacle is too high and the obstacle is difficult to surmount, the lifting device is rotated to lift the supporting plate, so that the surveying instrument body is higher than the obstacle, the surveying is carried out from the upper part of the obstacle, the movable plate is pushed to rotate while the synchronous assembly is lifted, the photographing angle of the surveying instrument body arranged on the movable plate is inclined, the surveying is carried out downwards in a overlooking mode, and the distance is calculated and measured through the triangle principle;

s4: when only surveying in order to raise the survey appearance, rotatory elevating gear raises the backup pad, and the survey appearance body of installation on the mounting panel surveys the angle unchangeable, uses the survey appearance body of installation on the mounting panel to survey.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention provides a road construction distance surveying instrument and a surveying method capable of passing through an obstacle, wherein a barrier clearing component is arranged at the advancing end of a movable trolley, when the movable trolley moves, the barrier clearing component retreats the obstacle blocking the advancing of the movable trolley to the two sides of the movable trolley, a lifting device is arranged on the movable trolley, the lifting device is utilized to realize the integral lifting of a surveying instrument mounting component, so that the surveying instrument passing through the obstacle is completed, and the two modes adopt different processing methods for different obstacles, so that the road construction distance surveying instrument and the surveying method are suitable for distance surveying under various environments;

2. according to the road construction distance surveying instrument and method capable of penetrating through the obstacle, provided by the invention, the threaded push rod is rotated, the soil shifting plates and the grass shifting rollers can be simultaneously driven to adjust, the angle between the soil shifting plates is increased, the grass shifting rollers rotate towards the outer side of the mobile trolley, the integral obstacle clearing range of the obstacle clearing assembly is adjusted, the road construction distance surveying instrument and method are suitable for the condition that low weeds and sandy soil exist on the road surface, and when the road construction distance surveying instrument and method are not used, the soil shifting plates and the grass shifting rollers are folded, so that the occupied space is reduced;

3. according to the road construction distance surveying instrument capable of penetrating through the obstacle and the surveying method, the lifting device can drive the surveying instrument mounting assembly to move upwards integrally, the surveying height of the surveying instrument body can be adjusted, the road construction distance surveying instrument is suitable for surveying under the environment with larger obstacles, meanwhile, the mounting plate is hinged with the movable plate, the movable plate is connected with the telescopic frame through the synchronous assembly, the telescopic frame drives the mounting plate to ascend, and meanwhile, the movable plate completes angular rotation, the surveying angle of the surveying instrument body is adjusted, and the surveying requirement is met;

4. the invention provides a road construction distance surveying instrument capable of penetrating through an obstacle and a surveying method. In addition, when the fixed pushing piece pushes the synchronous push rod to synchronously move along with the lifting device, the wedge-shaped fixture blocks on the two sides of the movable sliding groove abut against the two ejection pieces, and the synchronous push rod cannot rotate to realize self locking, so that the fixed pushing piece pushes the synchronous push rod and the movable sleeve to synchronously move, the damping use of the damping device is not influenced, the lifting of the movable plate can be realized, and the structure is compact;

5. the invention provides a road construction distance surveying instrument and a surveying method capable of penetrating through an obstacle, which are based on a video acquisition module, a center determination module, an occupation ratio determination module, a frame judgment module, a video segment extraction module, a curve fitting module, a range division module, a point statistics module and a fault judgment module which are arranged inside the side wall of a damping groove, and are used for tracking the compression distance of adjacent turn lines of a damping spring in a vibration process through a vibration video segment screened from a side video of the damping spring and judging whether the compression distance of the adjacent turn lines of the damping spring gradually and uniformly changes along with the turn line distribution in the vibration process, so that the fault recognition of the damping spring is realized, and an operator can be prompted in time when the damping fault occurs in the damping spring;

6. the invention provides a road construction distance surveying instrument capable of passing through an obstacle and a surveying method, which are based on a video acquisition unit, an edge extraction unit, a turning determination unit, a symmetrical association unit, a first fitting unit, an end point determination unit, a second fitting unit and a contour acquisition unit, realize that a plane edge contour of a damping spring is extracted from a side video, and then the turning pixel point identified based on a first derivative continuous principle divides the plane edge contour into a plurality of curve sections, thereby providing a foundation for realizing the subsequent restoration of a complete contour of a turn line, and reducing a turn line three-dimensional contour of the damping spring based on a symmetrical principle and a visual gradual change principle of a spring turn line on the basis of the plane edge contour, realizing the complete and accurate restoration of a perspective contour of the damping spring, also determining the end point position of the turn line, and providing a foundation for the subsequent complete restoration of the fault of the damping spring.

Drawings

FIG. 1 is a schematic view showing an overall structure of a road construction distance measuring instrument capable of passing through an obstacle according to the present invention;

FIG. 2 is a schematic view of a barrier clearing assembly according to the present invention;

FIG. 3 is a schematic view of the operation of the barrier clearing assembly of the present invention;

FIG. 4 is a schematic view of the operation state of the lifting device of the present invention

FIG. 5 is a schematic view of the connection of the installation assembly of the surveying instrument according to the invention;

FIG. 6 is a schematic view of the operation of the installation assembly of the surveying instrument according to the invention;

FIG. 7 is a schematic view of the connection structure of the synchronizing assembly according to the present invention;

FIG. 8 is an exploded view of the synchronization module of the present invention;

FIG. 9 is a partial schematic diagram of a synchronization module according to the present invention;

FIG. 10 is a schematic diagram of a connection relationship between modules for implementing a spring failure determination function according to the present invention;

fig. 11 is a schematic diagram of a connection relationship of units included in the video capture module according to the present invention.

In the figure: 1. moving the trolley; 11. a threaded sleeve; 2. clearing the barrier component; 21. a bulldozer plate; 211. a first push rod; 212. an annular member; 22. a grass poking roller; 221. a fixed shaft; 222. a rotating shaft; 223. a second push rod; 23. a threaded push rod; 231. a handle; 24. a connecting member; 3. a lifting device; 31. a screw rod; 32. a telescopic frame; 321. a guide sleeve; 322. a threaded sleeve; 33. a guide post; 4. a surveying instrument mounting assembly; 41. a support plate; 411. a damping groove; 412. a video acquisition module; 4121. a video acquisition unit; 4122. an edge extraction unit; 4123. a turn determination unit; 4124. a symmetric association unit; 4125. a first fitting unit; 4126. an end point determination unit; 4127. a second fitting unit; 4128. a contour acquisition unit; 413. a center determination module; 414. an occupancy ratio determination module; 415. a frame discrimination module; 416. a video segment extraction module; 417. a curve fitting module; 418. a range division module; 419. a point counting module; 420 and a fault discrimination module; 42. a shock-absorbing device; 421. a guide bar; 422. a movable sleeve; 423. a pull rod; 424. a damping spring; 43. mounting a plate; 431. a movable plate; 44. a surveying instrument body; 45. a synchronization component; 451. a synchronous push rod; 4511. a movable chute; 4512. a wedge-shaped fixture block; 452. fixing the pushing piece; 4521. a slider; 4522. a pop-up member; 45221. a propping block; 45222. a short spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, a road construction distance surveying instrument capable of passing through an obstacle comprises a moving trolley 1, wherein the upper surface of the moving trolley 1 is connected with a lifting device 3, and the upper end of the lifting device 3 is connected with a surveying instrument mounting assembly 4; the front end of the moving trolley 1 is connected with an obstacle clearing component 2 along the advancing direction of the moving trolley 1. The obstacle clearing component 2 is arranged at the advancing end of the movable trolley 1, thrust can be generated when the movable trolley 1 moves, obstacles blocking the advancing of the movable trolley 1 are pushed to the two sides of the movable trolley 1, meanwhile, the lifting device 3 is arranged on the movable trolley 1, the overall rising of the surveying instrument installation component 4 is realized by the lifting device 3, and therefore the obstacles can be penetrated to survey.

Referring to fig. 2-3, the obstacle clearing assembly 2 includes a dozing plate 21, a grass poking roller 22, a threaded push rod 23 and a connecting member 24, the bottom of the mobile cart 1 is fixedly connected with a threaded sleeve 11 in threaded connection with the threaded push rod 23, one end of the threaded push rod 23 is fixedly connected with a handle 231, the other end of the threaded push rod 23 is fixedly connected with the connecting member 24, and the connecting member 24 is movably connected with the dozing plate 21 and the grass poking roller 22, respectively.

The two bulldozer blades 21 are hinged, opposite ends of the two bulldozer blades 21 are hinged, first push rods 211 are symmetrically hinged on opposite side walls of the two bulldozer blades 21, opposite ends of the two first push rods 211 are movably connected with one end of the connecting piece 24 through a ring piece 212, and when the connecting piece 24 moves forwards under the pushing of the threaded push rod 23, the two bulldozer blades 21 are driven by the first push rods 211 to adjust an included angle between the two bulldozer blades, so that the bulldozer range of the bulldozer blades 21 is changed.

The lower extreme fixedly connected with fixed axle 221 of dialling grass roller 22, the lower extreme symmetry of fixed axle 221 has linked firmly two rotation axis 222, rotation axis 222 rotates with the front end of travelling car 1 to be connected, the bottom of fixed axle 221 rotates and is connected with second push rod 223, the one end of keeping away from fixed axle 221 in the second push rod 223 is articulated with connecting piece 24, connecting piece 24 is when promoting first push rod 211 adjustment bull dozer board 21 angle, drive fixed axle 221 through second push rod 223 around rotation axis 222 and the rotation junction of travelling car 1 and rotate, make the slope of dialling grass roller 22 take place. The travelling car 1 is when removing, according to near weeds condition, can adjust the inclination of dialling the grass roller 22, dials grass roller 22 and when moving along with travelling car 1, contacts weeds, can flatten or break the weeds that hinder travelling car 1 to go forward, makes things convenient for travelling car 1 to pass through, avoids influencing surveying.

Referring to fig. 4, the lifting device 3 includes a screw rod 31, an expansion bracket 32 and a guide post 33, the upper and lower ends of the expansion bracket 32 are rotatably connected with a guide sleeve 321 and a threaded sleeve 322, the threaded sleeve 322 is in threaded connection with the screw rod 31, the guide sleeve 321 is slidably sleeved on the guide post 33, the outer side wall of the guide sleeve 321 is fixedly connected with a fixed pushing part 452, the guide sleeve 321 drives the fixed pushing part 452 to move, the screw rod 31 is provided with two parallel screw rods 31, the two screw rods 31 are rotatably connected with the mobile cart 1 through bearing seats, one end of one screw rod 31 is fixedly connected with a rotating handle, the screw rod 31 is driven to rotate by the rotating handle, the middle positions of the two screw rods 31 are fixedly connected with synchronous belt wheels respectively, the two synchronous belt wheels are connected through synchronous belt transmission, when the rotating handle drives one screw rod 31 to rotate, the two screw rods 31 are driven to rotate by the synchronous belt wheels and the synchronous belt, the screw rod 31 drives the two threaded sleeves 322 connected with the screw rod 31 to move oppositely, the expansion bracket 32 is driven to rise, the support plate 41 is driven to rise, thereby raising the position of the surveying instrument body 44, and crossing over obstacles to survey. Meanwhile, the two guide sleeves 321 on the same guide column 33 move oppositely to drive the fixed pushing piece 452 to push the synchronous pushing rod 451 to move, the synchronous pushing rod 451 pushes the movable sleeve 422 to move along the guide rod 421, the pulling rod 423 rotates to prop up one end of the movable plate 431, the movable plate 431 rotates to enable the surveying end of the surveying instrument body 44 to rotate downwards, and the guide column 33 is rotatably connected with the supporting plate 41 through a bearing.

Referring to fig. 5, the surveying instrument mounting assembly 4 includes a support plate 41 and a mounting plate 43, a lower surface of the support plate 41 is connected to an upper end of the lifting device 3, the support plate 41 is provided with a damping groove 411, the damping groove 411 is connected to a damping device 42, referring to fig. 6, the mounting plate 43 is an L-shaped plate, the mounting plate 43 is hinged to a movable plate 431, upper ends of the mounting plate 43 and the movable plate 431 are fixedly connected to a surveying instrument body 44, wherein the surveying instrument body 44 mounted on the movable plate 431 is used when an obstacle is too high to pass through, the surveying instrument body 44 mounted on the mounting plate 43 is used for horizontal shooting, both ends of bottoms of the mounting plate 43 and the movable plate 431 are connected to the damping device 42, a lower end of the damping device 42 connected to a free end of the movable plate 431 is connected to a synchronizing assembly 45, and a lower end of the synchronizing assembly 45 penetrates through the support plate 41 and is connected to an upper end of the lifting device 3. The synchronizing assembly 45 works only on the movable plate 431 and does not control the whole mounting plate 43, the surveying end of the surveying instrument body 44 is close to the hinged end of the movable plate 431 and the mounting plate 43, and when the movable plate 431 rotates upwards, the surveying end of the surveying instrument body 44 rotates downwards, so that overlooking shooting is facilitated.

Damping device 42 includes guide bar 421, movable sleeve 422 and pull rod 423, the both ends of guide bar 421 respectively with the both sides wall fixed connection of shock attenuation groove 411, movable sleeve 422 cup joints with guide bar 421 slip, all cup jointed damping spring 424 on the guide bar 421 of movable sleeve 422 both sides, damping spring 424 is close to the one end of movable sleeve 422 and all offsets with movable sleeve 422's lateral wall, the one end and the movable sleeve 422 of pull rod 423 are articulated, the other end and mounting panel 43 or the fly leaf 431 of pull rod 423 are articulated, control pull rod 423 is used for supporting mounting panel 43 and the position of fly leaf 431, damping spring 424 is flexible can reduce the influence of vibrations to mounting panel 43 and fly leaf 431.

Referring to fig. 7-9, the synchronizing assembly 45 includes a synchronizing push rod 451 and a fixed push member 452, one end of the synchronizing push rod 451 is rotatably connected to the lower end of the movable sleeve 422, the other end of the synchronizing push rod 451 is movably connected to the fixed push member 452, one end of the fixed push member 452, which is far away from the synchronizing push rod 451, is fixedly connected to the lifting device 3, the fixed push member 452 moves synchronously with the lifting device 3, the fixed push member 452 pushes the synchronizing push rod 451 to move synchronously with the lifting device 3, the synchronizing push rod 451 pushes the movable sleeve 422 to move along the guide rod 421, the pull rod 423 rotates to prop up one end of the movable plate 431, and the movable plate 431 rotates to rotate the surveying end of the surveying instrument body 44 downward.

A movable sliding groove 4511 is formed in one end, connected to the fixed pushing element 452, of the synchronous pushing rod 451, a sliding block 4521 matched with the movable sliding groove 4511 is fixedly connected to the fixed pushing element 452, wedge-shaped clamping blocks 4512 in opposite directions are respectively fixed to two opposite side surfaces of the movable sliding groove 4511, a groove is formed in the sliding block 4521, and an ejecting element 4522 is connected to the groove through a spring. The ejector 4522 comprises a short spring 45222 and a resisting block 45221, one end of the short spring 45222 is fixedly connected with the resisting block 45221, when the synchronous push rod 451 vibrates, the wedge-shaped fixture block 4512 pushes the resisting block 45221 to press the resisting block 45221 into the slider 4521 against the elastic force of the short spring 45222 without affecting the moving position of the slider 4521, when the synchronous push rod 451 is not stressed, the resisting block 45221 is clamped with the wedge-shaped fixture block 4512 under the action of the short spring 45222, the synchronous push rod 451 cannot rotate downwards (i.e., cannot rotate in the counterclockwise direction in fig. 9), the tip position of the wedge-shaped fixture block 4512 abuts against the ejector 4522, the synchronous push rod 451 cannot rotate upwards (i.e., cannot rotate in the clockwise direction in fig. 9), and the synchronous push rod 451 is prevented from rotating when the synchronous push rod 451 is not stressed.

When the surveying instrument vibrates, the pull rod 423 rotates and drives the movable sleeve 422 to move along the guide rod 421 against the elastic force of the damping spring 424 to achieve damping, when the surveying instrument shakes downwards, one end of the pull rod 423, which is close to the mounting plate 43 and the movable plate 431, faces downwards, correspondingly, one end of the pull rod 423, which is connected with the movable sleeve 422, is arranged to rotate so as to meet the requirement that the mounting plate 43 and the movable plate 431 move downwards, after the pull rod 423 rotates, the length of vertical lines at two ends of the pull rod 423 is reduced, the pull rod 423 pushes the movable sleeve 422 to move towards the end position of the supporting plate 41, the damping spring 424, which is close to the end position of the supporting plate 41, the synchronization push rod 451 drives the wedge-shaped fixture block 4512 to press the pop-out piece 4522, so that the pop-out piece 4522 retracts into the groove, the lower pop-out piece 4522 is disengaged from the wedge-shaped fixture block 4512, the synchronization push rod 451 can rotate around the slide block 4521, and after the synchronization push rod 451 rotates, the pop-out piece 4522 is re-engaged with the adjacent wedge-shaped fixture block 4512 to fix the position of the synchronization push rod 451. Conversely, when the surveying instrument moves upwards, the damping spring 424 on the other side of the movable sleeve 422 contracts, the movable sleeve 422 moves along the guide rod 421 and simultaneously drives the upper end of the synchronous push rod 451 to move synchronously, so that the synchronous push rod 451 rotates, the synchronous push rod 451 drives the wedge-shaped fixture block 4512 to squeeze the ejector 4522, the ejector 4522 contracts into the groove, the ejector 4522 above is disengaged from the wedge-shaped fixture block 4512, the synchronous push rod 451 can rotate around the slider 4521, after the vibration is finished, the short spring 45222 rebounds and resets, the ejector 4522 is re-engaged with the adjacent wedge-shaped fixture block 4512, the ejector 4522 limits the position of the synchronous push rod 451, and the relative positions of the movable chute 4511 and the slider 4521 are changed to meet the requirement for displacement of the synchronous push rod 451. In addition, when the fixed pushing element 452 pushes the synchronous pushing rod 451 to move synchronously along with the lifting device 3, the wedge-shaped fixture blocks 4512 at the two sides of the movable chute 4511 abut against the two ejecting elements 4522, the synchronous pushing rod 451 can not rotate, self-locking is realized, so that the fixed pushing element 452 pushes the synchronous pushing rod 451 and the movable sleeve 422 to move synchronously,

referring to fig. 10-11, the road construction distance surveying instrument capable of passing through obstacles further includes a video acquiring module 412, a center determining module 413, a proportion determining module 414, a frame distinguishing module 415, a video segment extracting module 416, a curve fitting module 417, a range dividing module 418, a point counting module 419 and a fault distinguishing module 420 which are disposed inside the side wall of the damping slot 411; the video acquisition module 412, the center determination module 413, the proportion determination module 414, the frame discrimination module 415, the video segment extraction module 416, the curve fitting module 417, the range division module 418, the point statistics module 419 and the fault discrimination module 420 are connected in sequence;

the video obtaining module 412 is configured to obtain a side video of the damping spring 424, and extract a turn-line stereoscopic profile and a turn-line end position of the damping spring 424 from each frame of video frame of the side video, where the turn-line end position is a head end position and a tail end position of the whole turn-line of the damping spring 424; the center determining module 413 divides the three-dimensional contour of the turn line based on the end point position of the turn line to obtain a plurality of single-turn three-dimensional contours, and determines the single-turn center of each turn line based on the single-turn three-dimensional contours; the occupancy ratio determination module 414 is configured to determine a difference value of central coordinate values of single turns of the same turn line in adjacent video frames of the side video, determine a total number of first turns of the line, where the difference value of the central coordinate values of the single turns is greater than a vibration determination threshold, and determine a vibration turn-line occupancy ratio based on the total number of the first turns of the line and a total number of second turns of the damping spring 424; the frame determination module 415 is configured to determine that a next video frame in the corresponding adjacent video frames is a vibrating video frame when the vibrating turn-line ratio is greater than the turn-line ratio threshold, and otherwise, determine that all video frames included in the corresponding video frames are non-vibrating video frames; the video segment extraction module 416 is configured to mark all the vibration video frames in the side video to obtain a marking result, and extract a vibration video frame sequence with a continuous frame number not less than a continuous frame threshold from the side video based on the marking result to obtain a vibration video segment; the curve fitting module 417 is configured to sort the difference values of the central coordinate values of the single turn of each turn line in the adjacent video frames in the vibration video segment based on the turn line distribution sequence in the damping spring 424, obtain a central displacement distance sequence of the single turn corresponding to the adjacent video frames, and fit a central displacement distance curve of the single turn based on the central displacement distance sequence of the single turn; the range division module 418 is configured to align single-turn center displacement distance curves of all adjacent video frames in the vibration video segment to obtain an alignment curve, mark abrupt change points in the single-turn center displacement distance curve, and divide a determination range of each abrupt change point based on the abrupt change points and a preset determination range; the point counting module 419 is configured to use a partial curve in the discrimination range of all remaining single-turn center displacement distance curves in the alignment curve except the single-turn center displacement distance curve to which the abrupt change point belongs as a discrimination curve set of the abrupt change point, and determine a total number of the first abrupt change points included in the discrimination curve set; the fault determination module 420 is configured to determine that the damping spring 424 has a damping fault and send an alarm signal when a ratio of a total number of the first abrupt change points in the alignment curve to a total number of the determination curves included in the corresponding determination curve set is greater than a determination threshold, and otherwise, retain the determination result.

The side video is the video that the video obtaining module 412 obtains on the side of the damping spring 424 and contains the damping spring; the turn-line stereoscopic contour is a stereoscopic perspective contour of the damping spring 424 determined in each frame of video frame of the side video; the end position of the winding wire is the end position of the winding wire of the damping spring 424; the single-turn three-dimensional profile is a three-dimensional perspective profile of the spring single-turn wire obtained by dividing the end point position of the turn wire at the corresponding position of each turn wire in the turn wire three-dimensional profile; determining the single turn center of each turn line based on the single turn three-dimensional profile, comprising:

based on the coordinate value of each pixel point in the single-turn three-dimensional profile, determining the single-turn central coordinate value of the corresponding turn line:

in the formula (I), the compound is shown in the specification,

is the coordinate value of the center of a single turn of the turn line,

is the central abscissa value of the single turn of the turn line,

is the longitudinal coordinate value of the center of a single turn of the turn line,

is the ith pixel point in the single-turn stereo outline,

the total number of pixel points contained in the single-turn stereo outline,

is the first in a single-turn three-dimensional profile

The horizontal coordinate value of each pixel point is as follows,

is the first in a single-turn three-dimensional profile

The vertical coordinate value of each pixel point is determined,

the longitudinal coordinate value of the ith pixel point in the single-turn three-dimensional profile is obtained;

for example, if the single-turn three-dimensional contour includes three pixel coordinate values, and the coordinate values are (3, 4), (4, 5), (5, 6) in sequence, then

Is (4,5);

based on the formula, the central coordinate value of the single turn of the corresponding turn line can be accurately calculated, and then whether the compression distance of the adjacent turn line of the damping spring 424 gradually and uniformly changes along with the distribution of the turn line in the vibration process is judged subsequently, and a foundation is provided for fault identification of the damping spring 424.

The difference value of the coordinate value of the center of the single turn is the difference value of the coordinate value of the center of the single turn of the adjacent video frame of the same turn line in the side video; the vibration judging threshold is the minimum single-turn central coordinate value difference value corresponding to the vibration when the corresponding turn line is judged to occur; the total number of the first turns is the total number of the turns of which the difference value of the central coordinate value of the single turn is greater than the vibration judging threshold; the second total number of turns is the total number of turns included in the damping spring 424; the vibration turn line ratio is the ratio of the total number of the first turn lines to the total number of the second turn lines; the turn-line ratio threshold is the corresponding maximum vibration turn-line ratio when the video frame is not determined as the vibration video frame; the vibration video frame is the next frame video frame in the adjacent video frames with the vibration turn-line ratio larger than the turn-line ratio threshold; the non-vibration video frame is a video frame in an adjacent video frame with the vibration turn-line ratio not greater than the turn-line ratio threshold; the marking result is the result obtained after all the vibration video frames are marked in the side video; the continuous frame threshold is the minimum continuous frame number corresponding to the vibration video frame which is judged as the video frame in the vibration video section; the vibration video frame sequence is a sequence formed by vibration video frames with continuous frame numbers not less than a continuous frame threshold value, which are extracted from the side video; the vibration video segment is a video segment formed by a vibration video frame sequence; the single turn center displacement distance sequence is a sequence of single turn center displacement distances corresponding to adjacent video frames obtained by sorting the difference values of the single turn center coordinate values of each turn line in the adjacent video frames in the vibration video segment based on the turn line distribution sequence in the damping spring 424; the single-turn central displacement distance curve is a curve fitted based on the single-turn central displacement distance sequence; the alignment curve is a curve set obtained by aligning single-turn center displacement distance curves of all adjacent video frames in the vibration video segment; the sudden change point is a point corresponding to the single turn center displacement distance, wherein the difference value between the single turn center displacement distance curve and the adjacent single turn center displacement distance is larger than the average value of the difference values of all the adjacent single turn center displacement distances in the single turn center displacement distance curve; the predetermined determination range is the predetermined range for dividing the determination range of the abrupt change point, for example, the predetermined range is [ -1,1], the determination range of the abrupt change point is [ x-1, x +1], where x is the abscissa value of the abrupt change point.

The judgment range is a range which is divided based on the abrupt change point and a preset judgment range and is used for judging whether the corresponding position of the abrupt change point in the damping spring 424 has a fault or not; the judging curve set is a set formed by partial curves in the judging range in all the remaining single-turn center displacement distance curves except the single-turn center displacement distance curve to which the abrupt change point belongs in the alignment curve; the total number of the first abrupt change points is the total number of the abrupt change points contained in the judging curve set; the judgment threshold is the minimum ratio of the total number of the first abrupt change points of the judgment curve set existing in the corresponding alignment curve to the total number of the judgment curves contained in the corresponding judgment curve set when the damping spring is judged to have the damping fault.

The judgment result is the result of judging whether the ratio of the total number of the first abrupt change points in the alignment curve to the total number of the judgment curves contained in the corresponding judgment curve set is greater than the judgment threshold.

The beneficial effects of the above technology are: based on the video acquisition module 412, the center determination module 413, the occupation ratio determination module 414, the frame judgment module 415, the video segment extraction module 416, the curve fitting module 417, the range division module 418, the point statistics module 419 and the fault judgment module 420 which are arranged inside the side wall of the damping groove, the vibration video segment screened from the side video of the damping spring 424 is realized, the compression distance of the adjacent turn line of the damping spring 424 in the vibration process is tracked, whether the compression distance of the adjacent turn line of the damping spring 424 in the vibration process gradually and uniformly changes gradually along with the turn line distribution is judged, and then the fault identification of the damping spring 424 is realized, so that the damping spring 424 can prompt an operator in time when the damping fault occurs.

The video obtaining module 412 comprises a video obtaining unit 4121, an edge extracting unit 4122, a turning determining unit 4123, a symmetrical association unit 4124, a first fitting unit 4125, an end point determining unit 4126, a second fitting unit 4127 and a contour obtaining unit 4128 which are connected in sequence;

the video acquiring unit 4121 is used to acquire a side video of the damper spring 424;

the edge extraction unit 4122 is configured to convert each frame of video frame in the side video into a binarized image, determine a spring region in the binarized image, and extract a plane contour edge of the damping spring 424 in the spring region;

the turning determining unit 4123 is configured to determine a curve function of the plane contour edge based on the curve image of the plane contour edge, determine a first derivative of the plane contour edge function, and take a pixel point where the first derivative is discontinuous in the plane contour edge as a turning pixel point;

the symmetrical association unit 4124 is configured to use the turning pixel point as a dividing point in the plane edge contour, divide the plane edge contour into a plurality of first curve segments based on the dividing point, determine a curve segment function based on the first curve segments, determine a first derivative of the curve segment function, and determine whether a first pixel point with an equal first derivative value exists in the first curve segments, where the first pixel point is a pixel point with an equal first derivative value in the first curve segment, mark a first pixel point included in the first curve segment, and obtain the marked curve segment; if the first pixel points exist, the first pixel points are marked corresponding to the first curve section to obtain a marked curve section, whether continuous first pixel points exist in the marked curve section or not is judged, if yes, the continuous first pixel points are connected to obtain a second curve section, and based on the incidence relation among the first pixel points with the same first derivative values, the incidence relation is the relation among the first pixel points with the same first derivative values, the second curve section is associated with the second curve section to which other first pixel points with the same first derivative values as the first pixel points included in the second curve section belong, and the incidence curve section is obtained; associating the second curve segment to obtain an associated curve segment;

the first fitting unit 4125 is configured to determine a symmetry center of the first curve segment based on the associated curve segment, and fit a hypothetical complete contour of the first curve segment based on the symmetry center and a third curve segment of the first curve segment, which is left except the associated curve segment;

the endpoint determining unit 4126 is configured to determine, when there is no first pixel point with the same first-order derivative value in the first curve segment or there is no continuous first pixel point in the marked curve segment, a visual difference between a first gray value of an endpoint pixel point in the first curve segment and a second gray value of a corresponding adjacent pixel point, connect an adjacent pixel point corresponding to the minimum visual difference with an endpoint pixel point in the first curve segment to obtain a new first curve segment, and meanwhile, use an adjacent pixel point corresponding to the minimum visual difference as a latest endpoint pixel point in the first curve segment;

the second fitting unit 4127 is configured to continue to screen new endpoint pixel points of the first curve segment in corresponding adjacent pixel points based on the latest endpoint pixel point, where the step of continuing to screen new endpoint pixel points of the first curve segment is as follows: determining a visual difference value between a third gray value of the latest endpoint pixel point and a fourth gray value corresponding to the adjacent pixel point, connecting the adjacent pixel point corresponding to the minimum visual difference value with the latest endpoint pixel point in the first curve segment to obtain a new first curve segment, and meanwhile, taking the adjacent pixel point corresponding to the minimum visual difference value as the latest endpoint pixel point in the first curve segment; stopping screening until the newly determined endpoint pixel point is coincident with the pixel point in the currently obtained first curve segment, and obtaining the assumed complete contour of the first curve;

the contour acquiring unit 4128 is configured to acquire a complete perspective contour of the damping spring 424 based on assumed complete contours of all first curve segments in the planar edge contour, and perform a labeling process on the complete perspective contour based on a perspective relationship; wherein, the marking process for the complete perspective outline based on the perspective relation is that: based on the perspective relation, the partial contour which cannot be visually seen in the complete perspective contour is marked as a dotted line, the turn line three-dimensional contour of the damping spring 424 is obtained, and the turn line end point position is marked in the turn line three-dimensional contour.

In this embodiment, the binarized image is an image obtained by binarizing each frame of video frame in the side video; the spring area is the area of the spring contained in the binary image; the flat profile edge is the flat profile of the damper spring 424 in the spring region; the plane contour edge function is a curve function of the plane contour edge; the turning pixel points are pixel points with discontinuous first-order derivatives in the plane contour edge; the first curve segment is a plurality of curve segments obtained after dividing the plane edge contour based on the turning pixel points; the curve segment function is a curve function corresponding to the first curve segment; the first pixel points are pixel points with the same first-order derivative value in the first curve section; the marked curve segment is a curve segment obtained after all the first pixel points contained in the first curve segment are marked; the second curve section is a curve section obtained by connecting the continuous first pixel points; the association curve segment is a curve segment with an association relation obtained by associating second curve segments where two pixel points with the same first-order derivative value are located; determining a center of symmetry of the first curve segment based on the associated curve segment, comprising:

in the formula (I), the compound is shown in the specification,

is the center of symmetry of the first curve segment,

is the abscissa value of the center of symmetry,

is the ordinate value of the center of symmetry,

for the first in the associated curve segment

The number of the pixel points is one,

the total number of pixels contained in the associated curve segment,

for the first in the associated curve segment

The horizontal coordinate value of each pixel point is determined,

is associated with the first in the curve segment

The longitudinal coordinate value of each pixel point;

for example, if the associated curve segment includes coordinate values of four pixels, and the coordinate values are (3, 4), (4, 5), (-3, -4), (-4, -5) in sequence, then

Is (0, 0); based on the formula, the symmetry center of the first curve segment can be calculated, and a basis is provided for subsequently fitting out the assumed complete contour of the single-turn line.

In this embodiment, it is assumed that the complete contour, which is obtained by supplementing the third curve segment of the first curve segment except the associated curve segment at the symmetric position based on the symmetric center or supplementing the first curve segment continuously based on the gray value, is a complete perspective contour of a single turn line in the damping spring 424.

In this embodiment, the first gray value is a gray value of an endpoint pixel point in the first curve segment; the endpoint pixel points are the pixel points positioned at the endpoint positions in the first curve segment; the second gray value is the gray value of the adjacent pixel point corresponding to the endpoint pixel point; the gray difference value is the difference value between the first gray value and the second gray value; the new first curve segment is a new curve segment obtained after the adjacent pixel point corresponding to the minimum visual difference value is connected with the endpoint pixel point; the latest endpoint pixel point is the adjacent pixel point corresponding to the minimum visual difference value; the new endpoint pixel point is the pixel point of the new endpoint position of the first curve segment which is continuously screened out in the corresponding adjacent pixel point based on the latest endpoint pixel point;

the complete perspective outline is obtained based on the assumed complete outline of all the first curve segments in the plane edge outline; and marking the complete perspective outline based on the perspective relation, namely: and marking the partial outline which cannot be visually seen in the complete perspective outline by using a dotted line based on the perspective relation.

The beneficial effects of the above technology are: based on the arranged video obtaining unit 4121, the edge extracting unit 4122, the turning determining unit 4123, the symmetrical association unit 4124, the first fitting unit 4125, the end point determining unit 4126, the second fitting unit 4127 and the profile obtaining unit 4128, the plane edge profile of the damping spring 424 is extracted from the side video, then the turning pixel point identified based on the first derivative continuous principle divides the plane edge profile into a plurality of curve segments, so that a basis is provided for the subsequent reduction of the complete profile of the turn line, and the turn line three-dimensional profile of the damping spring is reduced based on the plane edge profile based on the symmetry principle and the visual gradual change principle of the spring turn line, so that the complete and accurate reduction of the perspective profile of the damping spring is realized, the end point position of the turn line is also determined, and a basis is provided for the subsequent complete reduction of the fault of the damping spring 424.

In order to better show the surveying process of the road construction distance surveying instrument capable of passing through the obstacle, the invention also provides a road construction distance surveying method capable of passing through the obstacle based on the road construction distance surveying instrument capable of passing through the obstacle, which comprises the following steps:

s1: according to the environment of the exploration ground, the position of the obstacle clearing component 2 is adjusted, and during adjustment, the threaded push rod 23 is rotated to control the bulldozer 21 and the grass poking roller 22 to move to proper positions;

s2: the movable trolley 1 moves, the bulldozer 21 pushes sandy soil which obstructs the advance of the movable trolley 1 to the two sides of the movable trolley 1, the grass poking roller 22 contacts weeds when moving along with the movable trolley 1, the weeds which obstruct the advance of the movable trolley 1 can be flattened or broken until the movable trolley 1 passes through an obstacle, and the surveying instrument body 44 surveys the distance to be surveyed;

s3: when the height of the obstacle is too high and the obstacle is difficult to surmount, the lifting device 3 is rotated, the supporting plate 41 is lifted, the surveying instrument body 44 is higher than the obstacle, the surveying is carried out from the upper side of the obstacle, the synchronous component 45 pushes the movable plate 431 to rotate while being lifted, the shooting angle of the surveying instrument body 44 mounted on the movable plate 431 is inclined, the surveying is carried out in a downward overlooking mode, the distance is calculated and measured through the principle of a triangle, the principle of the triangle is that the surveying distance, the vertical height of the surveying instrument body 44 relative to the object and the horizontal distance of the surveying instrument body 44 and the object form a right triangle, the surveying distance is known to be the hypotenuse of the right triangle (measured by the surveying instrument body 44 on the movable plate 431), the shooting position point of the surveying instrument body 44 on the movable plate 431 relative to the object is one of the right-angled sides of the triangle and the included angle of the hypotenuse and the right-angled side of the right triangle, the included angle of the movable plate 431 and the mounting plate 43 can be measured by adopting an angle measuring instrument, and the horizontal distance of the surveying instrument body 44 and the target can be obtained;

s4: when surveying is carried out only for elevating the surveying instrument, the lifting device 3 is rotated, the supporting plate 41 is lifted, the surveying angle of the surveying instrument body 44 mounted on the mounting plate 43 is unchanged, and surveying is carried out by using the surveying instrument body 44 mounted on the mounting plate 43.

In summary, the following steps: in the road construction distance exploration instrument capable of penetrating through the obstacle and the exploration method, the advancing end of a movable trolley 1 is provided with an obstacle clearing component 2, when the movable trolley 1 moves, the obstacle clearing component 2 can clear the obstacle obstructing the advancing of the movable trolley 1 to the two sides of the movable trolley 1, meanwhile, a lifting device 3 is arranged on the movable trolley 1, the whole lifting of an installation component 4 of the exploration instrument is realized by utilizing the lifting device 3, so that the exploration through the obstacle is finished, different processing methods are adopted for different obstacles in two modes, and the road construction distance exploration instrument is suitable for distance exploration under various environments; the threaded push rod 23 is rotated to simultaneously drive the soil pushing plates 21 and the grass poking roller 22 to adjust the positions, the included angle between the two soil pushing plates 21 is increased, the grass poking roller 22 rotates towards the outer side of the movable trolley 1, the integral obstacle clearing range of the obstacle clearing assembly 2 is adjusted, the device is suitable for the condition that low weeds and sandy soil exist on the road surface, and when the device is not used, the soil pushing plates 21 and the grass poking roller 22 are folded, so that the occupied space is reduced; elevating gear 3 can drive and survey appearance installation component 4 and wholly shift up, can adjust the survey height of surveying appearance body 44, is applicable to surveying under the great environment of barrier, and articulated fly leaf 431 is gone up to mounting panel 43 simultaneously, and fly leaf 431 is connected with expansion bracket 32 through synchronous subassembly 45, makes expansion bracket 32 drive the ascending while fly leaf 431 of mounting panel 43 accomplish angular adjustment to adjust the survey angle of surveying appearance body 44 on the fly leaf 431, the adaptation is surveyed the needs.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The utility model provides a can pass road construction distance reconnaissance appearance of barrier which characterized in that: the device comprises a moving trolley (1), wherein the upper surface of the moving trolley (1) is connected with a lifting device (3), and the upper end of the lifting device (3) is connected with a surveying instrument installation component (4); the front end of the movable trolley (1) is connected with a barrier clearing component (2) along the advancing direction of the movable trolley (1);

the obstacle clearing assembly (2) comprises a soil shifting plate (21), a grass shifting roller (22), a threaded push rod (23) and a connecting piece (24), the bottom of the movable trolley (1) is fixedly connected with a threaded sleeve (11) in threaded connection with the threaded push rod (23), one end of the threaded push rod (23) is fixedly connected with a handle (231), the other end of the threaded push rod (23) is fixedly connected with the connecting piece (24), and the connecting piece (24) is movably connected with the soil shifting plate (21) and the grass shifting roller (22) respectively;

survey appearance installation component (4) including backup pad (41) and mounting panel (43), the lower surface of backup pad (41) is connected with the upper end of elevating gear (3), damping slot (411) have been seted up on backup pad (41), damping device (42) have been connected in damping slot (411), mounting panel (43) are L shaped plate piece, and it has fly leaf (431) to articulate on mounting panel (43), equal fixedly connected with surveys appearance body (44) in the upper end of mounting panel (43) and fly leaf (431), the both ends of mounting panel (43) and fly leaf (431) bottom all are connected with damping device (42), wherein, the lower extreme of damping device (42) of being connected with fly leaf (431) is connected with synchronizing assembly (45), the lower extreme of synchronizing assembly (45) runs through backup pad (41) and is connected with the upper end of elevating gear (3).

2. A road construction distance surveying instrument traversable through obstacles according to claim 1, wherein: damping device (42) include guide bar (421), movable sleeve (422) and pull rod (423), the both ends of guide bar (421) respectively with the both sides wall fixed connection of shock attenuation groove (411), movable sleeve (422) and guide bar (421) slip cup joint, all cup jointed damping spring (424) on guide bar (421) of movable sleeve (422) both sides, damping spring (424) are close to the one end of movable sleeve (422) and all offset with the lateral wall of movable sleeve (422), the one end and the movable sleeve (422) of pull rod (423) are articulated, the other end and mounting panel (43) or fly leaf (431) of pull rod (423) are articulated.

3. A road construction distance surveying instrument for penetrating obstacles according to claim 2, characterized in that: the improved bulldozer is characterized in that two bulldozer blades (21) are arranged, opposite ends of the two bulldozer blades (21) are hinged, first push rods (211) are symmetrically hinged to opposite side walls of the two bulldozer blades (21), and opposite ends of the two first push rods (211) are movably connected with one end of the connecting piece (24) through ring-shaped pieces (212).

4. A road construction distance surveying instrument traversable through obstacles according to claim 3, wherein: the lower end of the grass poking roller (22) is fixedly connected with a fixing shaft (221), the lower end of the fixing shaft (221) is symmetrically and fixedly connected with two rotating shafts (222), the rotating shafts (222) are rotatably connected with the front end of the movable trolley (1), the bottom of the fixing shaft (221) is rotatably connected with a second push rod (223), and one end, far away from the fixing shaft (221), of the second push rod (223) is hinged to the connecting piece (24).

5. The road construction distance surveying instrument capable of passing through obstacles according to claim 4, further comprising a video acquisition module (412), a center determination module (413), an occupation ratio determination module (414), a frame discrimination module (415), a video segment extraction module (416), a curve fitting module (417), a range division module (418), a point statistics module (419) and a fault discrimination module (420) which are arranged inside the side wall of the damping slot (411);

the video acquisition module (412), the center determination module (413), the proportion determination module (414), the frame judgment module (415), the video segment extraction module (416), the curve fitting module (417), the range division module (418), the point statistics module (419) and the fault judgment module (420) are sequentially connected;

the video acquisition module (412) is configured to acquire a side video of the damping spring (424), and extract a turn line three-dimensional profile and a turn line end point position of the damping spring (424) from each frame of video frame in the side video, where the turn line end point position is a head end position and a tail end position of a whole turn line of the damping spring (424);

the center determining module (413) divides the turn-line three-dimensional profile based on the turn-line end point position to obtain a plurality of single-turn three-dimensional profiles, and determines the single-turn center of each turn-line based on the single-turn three-dimensional profiles;

the occupation ratio determining module (414) is used for determining the difference value of the central coordinate values of the single turns of the same turn line in the adjacent video frames of the side video, determining the total number of the first turn lines of which the difference value of the central coordinate values of the single turns is greater than a vibration judging threshold value, and determining the vibration turn line occupation ratio based on the total number of the first turn lines and the total number of the second turn lines of the damping spring (424);

the frame judging module (415) is used for judging a next frame video frame in the corresponding adjacent video frames as a vibrating video frame when the vibrating turn-line ratio is larger than a turn-line ratio threshold value, otherwise, judging the video frames contained in the corresponding video frames as non-vibrating video frames;

the video segment extraction module (416) is configured to mark all the vibration video frames in the side video to obtain a marking result, and extract a vibration video frame sequence with a continuous frame number not less than a continuous frame threshold from the side video based on the marking result to obtain a vibration video segment;

the curve fitting module (417) is configured to sort the difference values of the central coordinate values of the single turn of each turn line in the adjacent video frames in the vibration video segment based on the distribution sequence of the turn lines in the damping spring (424), obtain a central displacement distance sequence of the single turn corresponding to the adjacent video frames, and fit a central displacement distance curve of the single turn based on the central displacement distance sequence of the single turn;

the range division module (418) is used for aligning the single-turn center displacement distance curves of all adjacent video frames in the vibration video segment to obtain an alignment curve, marking abrupt change points in the single-turn center displacement distance curve, and dividing the discrimination range of each abrupt change point based on the abrupt change points and a preset discrimination range;

the point statistic module (419) is configured to use a partial curve in the discrimination range of all remaining single-turn center displacement distance curves in the alignment curve except the single-turn center displacement distance curve to which the abrupt change point belongs as a discrimination curve set of the abrupt change point, and determine a total number of first abrupt change points included in the discrimination curve set;

the fault judging module (420) is used for judging that the damping spring (424) has a damping fault and sending out an alarm signal when the ratio of the total number of the first abrupt change points in the alignment curve to the total number of the judging curves contained in the corresponding judging curve set is greater than a judging threshold value, otherwise, keeping the judging result;

in the formula (I), the compound is shown in the specification,

is the coordinate value of the center of a single turn of the turn line,

is the central abscissa value of the single turn of the turn line,

is the ith pixel point in the single-turn stereo outline,

the total number of pixel points contained in the single-turn stereo outline,

is the first in a single-turn three-dimensional profile

The horizontal coordinate value of each pixel point is determined,

is the first in a single-turn three-dimensional profile

The vertical coordinate value of each pixel point is determined,

6. A road construction distance surveying instrument traversable through obstacles according to claim 5, wherein said video acquisition module (412) comprises: the device comprises a video acquisition unit (4121), an edge extraction unit (4122), a turning determination unit (4123), a symmetrical association unit (4124), a first fitting unit (4125), an end point determination unit (4126), a second fitting unit (4127) and a contour acquisition unit (4128) which are connected in sequence;

the video acquisition unit (4121) is used for acquiring a side video of the damping spring (424);

the edge extraction unit (4122) is used for converting each frame of video frame in the side video into a binary image, determining a spring area in the binary image, and extracting a plane contour edge of the damping spring (424) in the spring area;

the turning determining unit (4123) is configured to determine a curve function of the plane contour edge based on the curve image of the plane contour edge, determine a first derivative of the plane contour edge function, and take pixel points with discontinuous first derivative in the plane contour edge as turning pixel points;

the symmetrical association unit (4124) is configured to use the turning pixel point as a dividing point in the plane edge contour, divide the plane edge contour into a plurality of first curve segments based on the dividing point, determine a curve segment function based on the first curve segments, determine a first derivative of the curve segment function, determine whether a first pixel point with an equal first derivative value exists in the first curve segments, where the first pixel point is a pixel point with an equal first derivative value in the first curve segments, mark a first pixel point included in the first curve segments, and obtain the marked curve segments; if the first pixel points exist, marking the first pixel points to the corresponding first curve segment to obtain a marked curve segment, judging whether continuous first pixel points exist in the marked curve segment, if so, connecting the continuous first pixel points to obtain a second curve segment, and associating the second curve segment with second curve segments to which other first pixel points with the same first derivative values of the first pixel points in the second curve segment belong based on the association relationship among the first pixel points with the same first derivative values to obtain an association curve segment; associating the second curve segment to obtain an associated curve segment;

the first fitting unit (4125) is configured to determine a center of symmetry of the first curve segment based on the associated curve segment, and to fit a hypothetical complete contour of the first curve segment based on the center of symmetry and a third curve segment of the first curve segment remaining in addition to the associated curve segment;

the endpoint determining unit (4126) is configured to determine a visual difference between a first gray value of an endpoint pixel in the first curve segment and a second gray value of a corresponding adjacent pixel when there is no first pixel with equal first derivative values in the first curve segment or there is no continuous first pixel in the marked curve segment, connect the adjacent pixel corresponding to the minimum visual difference with the endpoint pixel in the first curve segment to obtain a new first curve segment, and meanwhile, take the adjacent pixel corresponding to the minimum visual difference as a latest endpoint pixel in the first curve segment;

the second fitting unit (4127) is configured to continue to screen new endpoint pixel points of the first curve segment among corresponding adjacent pixel points based on the latest endpoint pixel point, wherein the step of continuing to screen new endpoint pixel points of the first curve segment is as follows: determining a visual difference value between a third gray value of the latest endpoint pixel point and a fourth gray value corresponding to the adjacent pixel point, connecting the adjacent pixel point corresponding to the minimum visual difference value with the latest endpoint pixel point in the first curve segment to obtain a new first curve segment, and meanwhile, taking the adjacent pixel point corresponding to the minimum visual difference value as the latest endpoint pixel point in the first curve segment; stopping screening until the newly determined endpoint pixel point is coincident with the pixel point in the currently obtained first curve segment, and obtaining the assumed complete contour of the first curve;

the contour acquisition unit (4128) is used for acquiring a complete perspective contour of the damping spring (424) based on an assumed complete contour of all first curve segments in the plane edge contour, and marking the complete perspective contour based on a perspective relation; wherein, the marking process for the complete perspective outline based on the perspective relation is that: marking partial outlines which cannot be visually seen in the complete perspective outlines as dotted lines based on the perspective relation, obtaining turn line three-dimensional outlines of the damping springs (424), and marking turn line end points in the turn line three-dimensional outlines;

in the formula (I), the compound is shown in the specification,

is the center of symmetry of the first curve segment,

is the abscissa value of the center of symmetry,

is the ordinate value of the center of symmetry,

for the first in the associated curve segment

The number of the pixel points is one,

the total number of pixels contained in the associated curve segment,

for the first in the associated curve segment

The horizontal coordinate value of each pixel point is determined,

for the first in the associated curve segment

The ordinate value of each pixel.

7. A road construction distance surveying instrument traversable through obstacles according to claim 6, wherein: synchronous subassembly (45) are including synchronous push rod (451) and fixed push member (452), the one end of synchronous push rod (451) rotates with the lower extreme of movable sleeve (422) to be connected, the other end and the fixed push member (452) swing joint of synchronous push rod (451), keep away from the one end and the elevating gear (3) fixed connection of synchronous push rod (451) in fixed push member (452), movable spout (4511) have been seted up to synchronous push rod (451) and the one end of being connected of fixed push member (452), fixedly connected with and movable spout (4511) complex slider (4521) on the fixed push member (452), opposite direction's wedge fixture block (4512) are fixed with respectively to the relative both sides face of movable spout (4511), the recess has been seted up on slider (4521), there is ejection piece (4522) through spring coupling in the recess.

8. A road construction distance surveying instrument according to claim 7 and capable of traversing obstacles, comprising: elevating gear (3) are including lead screw (31), expansion bracket (32) and guide post (33), the upper and lower both ends of expansion bracket (32) are rotated respectively and are connected with uide bushing (321) and thread bush (322), thread bush (322) and lead screw (31) threaded connection, uide bushing (321) slip suit is on guide post (33), the lateral wall and the fixed push member (452) fixed connection of uide bushing (321), lead screw (31) are provided with two and are parallel to each other, two lead screws (31) rotate with travelling car (1) through the bearing frame respectively and are connected, the one end fixedly connected with of one of them lead screw (31) is rotatory the handle, the intermediate position difference fixedly connected with synchronous pulley of two lead screws (31), two synchronous pulley pass through synchronous belt drive and connect, guide post (33) rotate with backup pad (41) through the bearing and are connected.

9. A method for surveying the distance of construction of a road which can pass through an obstacle, which is based on the apparatus for surveying the distance of construction of a road which can pass through an obstacle according to any one of claims 1 to 8, comprising the steps of:

s1: according to the environment of the exploration ground, the position of the obstacle clearing component (2) is adjusted, and during adjustment, the threaded push rod (23) is rotated to control the bulldozer (21) and the grass poking roller (22) to move to proper positions;

s2: the movable trolley (1) moves, the soil block which obstructs the advance of the movable trolley (1) is pushed to the two sides of the movable trolley (1) by the bulldozer (21), the grass poking roller (22) contacts weeds when moving along with the movable trolley (1), the weeds which obstruct the advance of the movable trolley (1) can be flattened or broken until the movable trolley (1) passes through an obstacle, and the distance to be surveyed is surveyed by the surveying instrument body (44);

s3: when the height of the obstacle is too high and the obstacle is difficult to surmount, the lifting device (3) is rotated, the supporting plate (41) is lifted, the surveying instrument body (44) is higher than the obstacle, the surveying is carried out from the upper side of the obstacle, the movable plate (431) is pushed to rotate while the synchronous component (45) is lifted, the shooting angle of the surveying instrument body (44) arranged on the movable plate (431) is inclined, the downward surveying is carried out in a overlooking mode, and the measured distance is calculated through the triangle principle;

s4: when surveying only in order to raise the surveying instrument, the supporting plate (41) is raised by rotating the lifting device (3), the surveying instrument body (44) arranged on the mounting plate (43) has a constant surveying angle, and the surveying instrument body (44) arranged on the mounting plate (43) is used for surveying.