Resumen
An optical device for the verification of pile-driving, comprising a supporting structure, a camera (1), an articulated arm (5) which in turn comprises a point of reference (11), a sensor-illuminator (3) configured to illuminate the surface of the pile (12) and the point of reference (11) by means of a laser illumination pattern, likewise to measure distances with regard to the pile (12); equipment (6) for the processing of the images captured by the camera (1) and of the distances measured by the sensor-illuminator (3); where said equipment (6) is configured so as to measure, on each image captured by the camera (1), a distance Yf between the contrast strip (4) and the point of reference (11) and, by means of triangulation, to calculate the actual distance, Ym, on the pile (12) between the contrast strip (4) and the projection of the point of reference (11) on the surface of the pile (12).
Reivindicaciones
1. An optical device for the verification of pile-driving characterised in that it comprises: - a supporting structure, comprising an inertial system (2) configured to eliminate and/or correct movements of the terrain due to the driving process of a pile (12), where the supporting structure comprises: ∘ a camera (1), configured to capture images (14) of the surface of the pile (12); ∘ an articulated arm (5), which in turn comprises a point of reference (11); ∘ a sensor-illuminator (3), configured to illuminate the surface of the pile (12) and the point of reference (11) by means of a laser illumination pattern, likewise to measure: ▪ a distance (D<1>) from said sensor-illuminator (3) to a contrast strip (4) adhered to the surface of the pile (12), and; ▪ a distance (D<0>) from the sensor-illuminator (3) to the projection of the point of reference (11) illuminated by the laser light on the surface of the pile (12); - equipment (6) for the processing of the images (14) captured by the camera (1) and of the distances measured by the sensor-illuminator (3); and - a monitor (8), configured to display the processed images (14), captured by the camera (1), containing the information about the distances measured by the sensor-illuminator (3); where the processing equipment (6) is configured so as to measure, on each image (14) captured by the camera (1), a distance Yf between the contrast strip (4) and the point of reference (11) and to calculate the actual distance, Ym, on the pile (12) between the contrast strip (4) and the projection of the point of reference (11) on the surface of the pile (12). 2. The optical device for the verification of pile-driving according to claim 1, characterised in that it comprises a driving completion warning system (10), configured to emit a signal identifying the completion of the driving process of the pile (12). 3. The optical device for the verification of pile-driving according to claim 2, characterised in that the warning system (10) is configured to emit an acoustic and/or visual signal. 4. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that the processing equipment (6) is configured to produce two types of images by means of the combination of the images (14) captured by the camera (1) and the distances measured by the sensor-illuminator (3), namely: - intensity images, where each intensity image contains an image of the pile (12), and wherein each intensity image has associated information in three fields, X, Y, Z, where: ∘ the field X has an associated horizontal distance from the sensor-illuminator (3) to the pile (12); ∘ the field Y has an associated vertical distance, Yf, from each point corresponding to the contrast strip (4) to the point of reference (11), and; ∘ the field Z has an associated intensity level, in grey scale, where the contrast strip (4) and the point of reference (11) comprise a light reflection spectrum different from the rest of the illuminated surface of the pile (12); - range images, where each range image contains an image of the pile (12), and wherein each range image has associated information in three fields, X, Y, Z, where: ∘ the field X has an associated horizontal distance from the sensor-illuminator (3) to the pile (12); ∘ the field Y has an associated vertical distance, corresponding to the actual distance Ym on the pile (12) between the contrast strip (4) and the projection of the point of reference (11) on the surface of the pile (12), and; ∘ the field Z has the associated distance (D<1>) from the sensor-illuminator (3) to the contrast strip (4). 5. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that the illumination pattern emitted by the sensor-illuminator (3) is a vertical line located between the contrast strip (4) and the point of reference (11). 6. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that the processing equipment (6) is installed on a rack which is damped and stabilised against possible vibrations of the terrain. 7. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that it comprises a storage system (7) for sequences of images (14) based on a rack with capacity for removable hard drives. 8. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that the monitor (8) is a touch screen. 9. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that it includes a data entry interface. 10. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that the camera (1) and the sensor-illuminator (3) are aligned in one same plane. 11. The optical device for the verification of pile-driving according to any of the preceding claims, characterised in that the articulated arm (5) is extendable. 12. A method for the optical verification of pile-driving, characterised in that it comprises: - fastening a contrast strip (4) to the surface of a pile (12); - arranging a point of reference (11) fastened to the terrain; - projecting, by means of a sensor-illuminator (3), a laser illumination pattern on the surface of the pile (12), such that said illumination pattern passes through the contrast strip (4) and through the point of reference (11), projecting said point of reference (11) on the surface of the pile (12); - capturing, by means of a camera (1), a sequence of images (14) of the pile (12), in the driving process thereof on the terrain; - measuring, by means of the sensor-illuminator (3), the distance (D<1>) between the sensor-illuminator (3) and the contrast strip (4) and the distance (D<0>) between the sensor-illuminator (3) and the projection of the point of reference (11) on the surface of the pile (12); - determining, starting from the measurements taken by the sensor-illuminator (3), a horizontal distance, X, between the sensor-illuminator (3) and the pile (12); - calculating, starting from the measurements taken by the sensor-illuminator (3), and from the images (14) captured by the camera (1), an actual distance Ym between the contrast strip (4) and the projection of the point of reference (11) on the surface of the pile (12). 13. The method for the optical verification of pile-driving according to claim 12, characterised in that it comprises issuing a warning indicating the completion of the driving process of the pile (12) when it is detected that the rejection occurs in the driving process.
