CN107419912B - A kind of the infrared three-dimension positioning device and method of saddle camber building - Google Patents
A kind of the infrared three-dimension positioning device and method of saddle camber building Download PDFInfo
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- CN107419912B CN107419912B CN201710562490.8A CN201710562490A CN107419912B CN 107419912 B CN107419912 B CN 107419912B CN 201710562490 A CN201710562490 A CN 201710562490A CN 107419912 B CN107419912 B CN 107419912B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
- E04G21/1841—Means for positioning building parts or elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Wind Motors (AREA)
Abstract
The invention discloses a kind of infrared three-dimension positioning device of saddle camber building and method, device includes saddle camber, infrared ray, infrared transmitting device array, roller bearing, telescopic device, remote control apparatus where saddle camber building, axis；Infrared transmitting device is by RF transmitter, signal control module, data processing module, signal projector or signal receiver, lateral rotation control module and longitudinally rotates control module and constitutes；The axis that the present invention can build saddle camber is accurately positioned, thus real-time control construction precision, method is simple, and construction efficiency is high；It is also possible to which multiple key points to building position, to realize the three-dimensional reconstruction of building.
Description
Technical field
The invention belongs to optical locating techniques fields, and in particular to a kind of infrared three-dimension positioning dress of saddle camber building
It sets and method.
Background technique
The features such as saddle camber building is active with its exclusive space, and curved surface is graceful, flexible arrangement, reasonable stress is by blueness
It looks at.The control of the sectional dimension of concrete component, offset deviation, verticality is than normal concrete structure in saddle camber building
Engineering challenges are many, therefore complicated construction technique, construction quality are more difficult to control.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of infrared three-dimension positioning devices of saddle camber building
And method.
Technical solution used by the device of the invention is: a kind of infrared three-dimension positioning device of saddle camber building,
It is characterized by comprising infrared transmitting device, remote control apparatus, mobile machine arms；
Several infrared transmitting devices form lateral infrared transmitting device array, several infrared transmitting device groups
At longitudinal infrared transmitting device array；The mobile machine arm is two, and saddle camber building is arranged in direction mutual vertically
Two sides, be fixedly installed the lateral infrared transmitting device array and longitudinal infrared transmitting device array respectively thereon；
The remote control apparatus is used to control the angle of infrared transmitting device transmitting infrared ray, so that it is guaranteed that saddle camber
Every bit can be determined by the intersection point of two beam infrared rays on saddle camber where the axis of building.
Technical solution used by method of the invention is: a kind of infrared three-dimension localization method of saddle camber building,
Characterized by comprising the following steps:
Step 1: it is built for saddle camber, exterior contour is hyperbolic-parabolic:
Hyperbolic-parabolic is put into three-dimensional system of coordinate, coordinate origin be saddle camber vertex, take its first quartile into
Row research；Lateral infrared transmitting device array and longitudinal infrared transmitting device array are separately positioned on x-axis and z-axis, laterally
Infrared transmitting device A in infrared transmitting device array1With the infrared ray transmitting in longitudinal infrared transmitting device array
Device B1The distance between origin is l；Infrared transmitting device A1The light beam launched respectively with x-axis, y-axis and z-axis direction
Angle be α1、α2And α3；Infrared transmitting device B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、
β2And β3；The intersection point of two beam infrared rays is P (x0,y0,z0), P point is where the axis that saddle camber is built on saddle camber；Assuming that x-axis,
The unit vector in y-axis and z-axis direction is respectivelyWithVector Then:
Step 2: setting the height of saddle camber building as h, will highly be divided into n parts；Work as z0It takes respectively
When, it discusses to the drift angle of two beam infrared rays；
WhenWhen, 0≤m≤n, with x0(0, x1) in variation, two beam infrared rays and x-axis, y-axis and z-axis direction
Angle (α1,α2,α3) and (β1,β2,β3) will change therewith；At this point, drawing α respectively2,α3,β1,β2,β3With α1Change
Change curve graph, determines the quantitative relationship between them；
Step 3: remote control apparatus passes through signal receiver respectively and longitudinally rotates control module and lateral rotation control
Module is communicated, and adjusts separately the rotational angle for longitudinally rotating control module and lateral rotation control module, and then to infrared
Line emitter A1With infrared transmitting device B1The light beam launched and the angle in x-axis, y-axis and z-axis direction are adjusted in real time
It is whole, and then control infrared transmitting device A1Issue the angle α of infrared light beam and x-axis1α is changed to from 00When, by step 2
βiAnd αjWith α1Quantitative relationship figure, obtain α2,α3,β1,β2,β3Size, this process realized by data processing module, wherein
0 < α0180 ° of <, i=1,2,3, j=2,3；Then, by infrared transmitting device A1In signal projector by calculated αj
Size be sent to remote control apparatus；Meanwhile remote control apparatus adjusts infrared transmitting device BiIssue infrared light beam
Angle βiSize；
Step 4: infrared transmitting device A1With infrared transmitting device B1The drift angle for emitting light beam is respectively αiAnd βiWhen,
Their intersection point be P wherein, i=1,2,3；With α1Continuous variation, the track of P point is also constantly changing；Similarly, utilization is red
Outside line emitter AkAnd BkOther points are positioned, k=2,3...n；These tracing points are connected, saddle is just obtained
It builds in z=z in face0When axis；
Step 5: working as z0TraversalWhen these values, it is different that saddle camber building 1 is obtained according to step 4 principle
The axis of height；When n is sufficiently large, these axis just form the saddle camber where saddle camber 1 axis of building.
The invention has the advantages that
1, the axis that can be built to saddle camber is accurately positioned, thus real-time control construction precision, method is simple, applies
Work is high-efficient.
2, multiple key points of building can be positioned, to realize the three-dimensional reconstruction of building.
Detailed description of the invention
Fig. 1 is the saddle camber building of the embodiment of the present invention；
Fig. 2 is the positioning schematic of the embodiment of the present invention；
Fig. 3 and Fig. 4 is infrared transmitting device, roller bearing and the support device of the embodiment of the present invention；
Fig. 5 is the detail of construction of the roller bearing of the embodiment of the present invention；
Fig. 6 is the remote control apparatus figure of the embodiment of the present invention；
Fig. 7 and Fig. 8 is the infrared transmitting device array of the embodiment of the present invention；
In figure, 1 it is saddle camber building, 2 is saddle camber where axis, 3 is infrared ray, 4 is lateral infrared transmitting device
Array, 5 be longitudinal infrared transmitting device array, 6 be RF transmitter, 7 be signal control module, 8 be data processing mould
Block, 9 be signal projector, 10 be signal receiver, 11 for longitudinally rotate control module, 12 be telescopic device, 13 be roller bearing, 14
It is ball for outer layer ring, 15,16 be inner layer ring, 17 be lateral rotation control module, 18 be remote control apparatus, 19 is moving machine
Tool arm.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
See Fig. 1-Fig. 8, a kind of infrared three-dimension positioning device of saddle camber building provided by the invention, including saddle
Saddle camber 2, infrared ray 3, lateral infrared transmitting device array 4, longitudinal infrared transmitting device battle array where face building 1, axis
Column 5, telescopic device 12, roller bearing 13, remote control apparatus 18, mobile machine arm 19；
Infrared transmitting device array 4 is made of many infrared transmitting devices, and infrared transmitting device includes infrared ray
Transmitter 6, signal control module 7, data processing module 8, signal receiver 10 and/or signal projector 9, telescopic device 12；
12 both ends of telescopic device are configured with roller bearing 13, and roller bearing 13 is made of outer layer ring 14, ball 15 and inner layer ring 16；It is horizontal and vertical red
Outside line emitter array 4 and 5 is fixed on above mobile machine arm 19, and the distance between every two infrared transmitting device can be with
Adjustment as needed；The two sides of saddle camber building 1 are arranged in two mobile machine arms 19, and direction is mutually perpendicular to；Flexible dress
12 are set for adjusting RF transmitter 6 to appropriate height as needed；Two infrared transmitting device A1And B1Between origin
Distance be l；Infrared transmitting device A1The light beam launched is respectively α with the angle in x-axis, y-axis and z-axis direction1、α2With
α3；Infrared transmitting device B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、β2And β3；Long-range control
Device 18 can be to angle αiAnd βi(i=1,2,3) it is adjusted in real time.Every bit on saddle camber 2 where axis can be by
The intersection point of two beam infrared rays determines.
See Fig. 1 and Fig. 2, a kind of infrared three-dimension localization method of saddle camber building provided by the invention, including with
Lower step:
Step 1: for saddle camber building 1, exterior contour is hyperbolic-parabolic:
Hyperbolic-parabolic is put into three-dimensional system of coordinate, coordinate origin be saddle camber vertex, take its first quartile into
Row research；Lateral infrared transmitting device array 4 and longitudinal infrared transmitting device array 5 are separately positioned on x-axis and z-axis, horizontal
Infrared transmitting device A into infrared transmitting device array 41With the infrared ray in longitudinal infrared transmitting device array 5
Emitter B1The distance between origin is l；Infrared transmitting device A1The light beam launched respectively with x-axis, y-axis and z-axis
The angle in direction is α1、α2And α3；Infrared transmitting device B1The light beam the launched angle with x-axis, y-axis and z-axis direction respectively
For β1、β2And β3；The intersection point of two beam infrared rays is P (x0,y0,z0), P point is where the axis of saddle camber building 1 on saddle camber 2；
Assuming that the unit vector in x-axis, y-axis and z-axis direction is respectivelyWithVectorThen:
Step 2: assuming that the height of saddle camber building 1 is h, then will highly be divided into n parts.Work as z0It takes respectivelyWhen h, discuss to the drift angle of two beam infrared rays.WhenWhen, with x0(0, x1)
Interior variation, the angle (α of two beam infrared rays and x-axis, y-axis and z-axis direction1,α2,α3) and (β1,β2,β3) will become therewith
Change.At this point, drawing α respectively2,α3,β1,β2,β3With α1Change curve, determine the quantitative relationship between them.
Step 3: remote control apparatus 18 by signal receiver 10 and longitudinally rotates control module 11 and laterally turns respectively
Dynamic control module 17 is communicated, and the angle of rotation for longitudinally rotating control module 11 and lateral rotation control module 17 is adjusted separately
Degree, and then to infrared transmitting device A1And B1The light beam launched and the angle in x-axis, y-axis and z-axis direction are adjusted in real time,
And then control infrared transmitting device A1Issue the angle α of infrared light beam and x-axis1α is changed to from 00(0 < α0180 ° of <) when, by
β in step 2i(i=1,2,3) and αi(i=2,3) and α1Quantitative relationship figure, available α2,α3,β1,β2,β3Size,
This process is realized by data processing module 8；Then, by infrared transmitting device A1In signal projector 9 by calculated αi
(i=2,3) size is sent to remote control apparatus 18；Meanwhile remote control apparatus 18 adjusts infrared transmitting device BiHair
The angle β of infrared light beam outi(i=1,2,3) size；
Step 4: infrared transmitting device A1And B1The drift angle for emitting light beam is respectively αiAnd βiWhen (i=1,2,3), they
Intersection point be P.With α1Continuous variation, the track of P point is also constantly changing.Similarly, it can use infrared transmitting device Ai
And Bi(i=2,3...n) other key points are positioned.These tracing points are connected, so that it may obtain saddle camber building
In z=z0When axis.
Step 5: working as z0TraversalWhen these values, saddle can be obtained by according to the operation in step 4
The axis of face building different height.When n is sufficiently large, these axis can saddle where sweeping saddle camber building axis line
Face, and then can be carried out accurately constructing.
Although saddle camber 2, infrared ray 3, transverse direction are infrared where this specification has more used saddle camber building 1, axis
Line emitter array 4, longitudinal infrared transmitting device array 5, RF transmitter 6, signal control module 7, data processing
Module 8, signal projector 9, signal receiver 10, longitudinally rotate control module 11, telescopic device 12, roller bearing 13, outer layer ring 14,
The terms such as ball 15, inner layer ring 16, lateral rotation control module 17, remote control apparatus 18, mobile machine arm 19, but do not arrange
A possibility that except other terms are used.The use of these items is only for more easily describing essence of the invention, them
Being construed to any additional limitation is disagreed with spirit of that invention.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (3)
1. a kind of infrared three-dimension localization method of saddle camber building positions dress using the infrared three-dimension of saddle camber building
It sets；Described device includes infrared transmitting device, remote control apparatus (18), mobile machine arm (19)；
Several infrared transmitting devices form lateral infrared transmitting device array (4), several infrared transmitting device groups
At longitudinal infrared transmitting device array (5)；The mobile machine arm (19) is two, and saddle is arranged in direction mutual vertically
The two sides of (1) are built in face, are fixedly installed the lateral infrared transmitting device array (4) and longitudinal infrared ray hair respectively thereon
Injection device array (5)；
The remote control apparatus (18) is used to control the angle of infrared transmitting device transmitting infrared ray (3), so that it is guaranteed that horse
Every bit can be determined by the intersection point of two beam infrared rays on saddle camber (2) where the axis of saddle face building (1)；
It is characterized in that, the described method comprises the following steps:
Step 1: for saddle camber building (1), exterior contour is hyperbolic-parabolic:
Hyperbolic-parabolic is put into three-dimensional system of coordinate, coordinate origin is the vertex of saddle camber, its first quartile is taken to be ground
Study carefully；Lateral infrared transmitting device array (4) and longitudinal infrared transmitting device array (5) are separately positioned on x-axis and z-axis, horizontal
Infrared transmitting device A in infrared transmitting device array (4)1With it is red in longitudinal infrared transmitting device array (5)
Outside line emitter B1The distance between origin is l；Infrared transmitting device A1The light beam launched respectively with x-axis, y-axis
Angle with z-axis direction is α1、α2And α3；Infrared transmitting device B1The light beam launched respectively with x-axis, y-axis and z-axis direction
Angle be β1、β2And β3；The intersection point of two beam infrared rays is P (x0,y0,z0), P point is in horse where the axis of saddle camber building (1)
On saddle face (2)；Assuming that the unit vector in x-axis, y-axis and z-axis direction is respectivelyWithVectorThen:
Step 2: setting the height of saddle camber building (1) as h, will highly be divided into n parts；Work as z0Take 0 respectively,..., h when, it is right
It discusses the drift angle of two beam infrared rays；
WhenWhen, 0≤m≤n, with x0(0, x1) in variation, the folder of two beam infrared rays and x-axis, y-axis and z-axis direction
Angle (α1,α2,α3) and (β1,β2,β3) will change therewith；At this point, drawing α respectively2,α3,β1,β2,β3With α1Variation it is bent
Line chart determines the quantitative relationship between them；
Step 3: remote control apparatus (18) by signal receiver (10) and longitudinally rotates control module (11) and transverse direction respectively
Rotation control module (17) is communicated, and is adjusted separately and is longitudinally rotated control module (11) and lateral rotation control module (17)
Rotational angle, and then to infrared transmitting device A1With infrared transmitting device B1The light beam launched and x-axis, y-axis and z-axis side
To angle adjusted in real time, and then control infrared transmitting device A1Issue the angle α of infrared light beam and x-axis1Become from 0
To α0When, by the β in step 2iAnd αjWith α1Quantitative relationship figure, obtain α2,α3,β1,β2,β3Size, this process is by data
Processing module (8) is realized, wherein 0 < α0180 ° of <, i=1,2,3, j=2,3；Then, by infrared transmitting device A1In letter
Number transmitter (9) is by calculated αjSize be sent to remote control apparatus (18)；Meanwhile remote control apparatus (18) adjusts
Infrared transmitting device BiIssue the angle β of infrared light beamiSize；
Step 4: infrared transmitting device A1With infrared transmitting device B1The drift angle for emitting light beam is respectively αiAnd βiWhen, they
Intersection point be P wherein, i=1,2,3；With α1Continuous variation, the track of P point is also constantly changing；Similarly, it is sent out using infrared ray
Injection device AkAnd BkOther points are positioned, k=2,3...n；These tracing points are connected, saddle camber building is just obtained
In z=z0When axis；
Step 5: working as z0Traversal 0,... when these values of h, saddle camber is obtained according to step 4 principle and builds 1 different height
Axis；When n is sufficiently large, these axis just form the saddle camber where saddle camber 1 axis of building.
2. according to the method described in claim 1, it is characterized by: the infrared transmitting device includes RF transmitter
(6), signal control module (7), data processing module (8), signal receiver (10), signal projector (9), longitudinally rotate control
Module (11) and lateral rotation control module (17)；
The infrared transmitting device is also configured with telescopic device (12), arrives for adjusting RF transmitter (6) as needed
Appropriate height.
3. according to the method described in claim 2, it is characterized by: the telescopic device (12) both ends be configured with roller bearing (13),
Roller bearing (13) is made of outer layer ring (14), ball (15) and inner layer ring (16).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710562490.8A CN107419912B (en) | 2017-07-11 | 2017-07-11 | A kind of the infrared three-dimension positioning device and method of saddle camber building |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710562490.8A CN107419912B (en) | 2017-07-11 | 2017-07-11 | A kind of the infrared three-dimension positioning device and method of saddle camber building |
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| CN107419912A CN107419912A (en) | 2017-12-01 |
| CN107419912B true CN107419912B (en) | 2019-03-19 |
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| EP0301019B1 (en) * | 1986-04-11 | 1993-03-10 | Valtion Teknillinen Tutkimuskeskus | Method for the three-dimensional surveillance of the object space |
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| CN203213585U (en) * | 2013-04-19 | 2013-09-25 | 江苏省华建建设股份有限公司 | Scaffold tool for pouring concrete slab provided with saddle-shaped double curved surfaces |
| CN203430003U (en) * | 2013-06-28 | 2014-02-12 | 潘存勋 | Infrared projection tile laying machine |
| CN104251693A (en) * | 2013-06-26 | 2014-12-31 | 苏州宝时得电动工具有限公司 | Laser positioning device |
| CN104818792A (en) * | 2015-04-10 | 2015-08-05 | 广东电白建设集团有限公司 | Measurement, control and construction method for curved roof formwork system |
-
2017
- 2017-07-11 CN CN201710562490.8A patent/CN107419912B/en not_active Expired - Fee Related
Patent Citations (6)
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| CN203213585U (en) * | 2013-04-19 | 2013-09-25 | 江苏省华建建设股份有限公司 | Scaffold tool for pouring concrete slab provided with saddle-shaped double curved surfaces |
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| CN203430003U (en) * | 2013-06-28 | 2014-02-12 | 潘存勋 | Infrared projection tile laying machine |
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Non-Patent Citations (1)
| Title |
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| 视觉引导激光经纬仪测量系统关键技术研究;王冰;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20150515(第5期);正文第8-12页，第15-25页，第42-45页 |
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