CN206707628U - Engineering machinery tilt correction system based on Big Dipper direction and location technology - Google Patents
Engineering machinery tilt correction system based on Big Dipper direction and location technology Download PDFInfo
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- CN206707628U CN206707628U CN201720434653.XU CN201720434653U CN206707628U CN 206707628 U CN206707628 U CN 206707628U CN 201720434653 U CN201720434653 U CN 201720434653U CN 206707628 U CN206707628 U CN 206707628U
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Abstract
The engineering machinery tilt correction system based on Big Dipper direction and location technology is the utility model is related to, including：Satellite signal receiver, the known control point chosen in construction area, satellite orientation receiver, the satellite orientation receiver are provided with：First Big Dipper satellite signal reception antenna R1 and the second Big Dipper satellite signal reception antenna R2, the R1 is arranged on the stabilized platform of stake railcar body, and R2 is arranged on the levelling bench at the top of the drilling rod for following drilling rod to move, terminal device, it is installed in the control room of the stake railcar body, in addition to：Double-axis tilt sensor on the levelling bench.Because the system in the utility model sets the Big Dipper/GNSS directional receptions equipment, the installation site of double-axis tilt sensor in the manner described above, and there is provided the direction points relationship that the rotary shaft of double-axis tilt sensor points to the Big Dipper/GNSS directional reception equipment with installing so that system can accurately be quickly found out design stake point point position and adjustment drilling rod position and direction.
Description
Technical field
Slant correction field and Big Dipper positioning and directing field are the utility model is related to, more particularly to based on Big Dipper direction and location
The engineering machinery tilt correction system of technology.
Background technology
GNSS full name is GLONASS (Global Navigation Satellite System), and it is
Refer to all satellite navigation systems, including it is the whole world, region and enhancing, the Glonass of GPS, Russia such as the U.S.,
Galileo, the Beidou satellite navigation system of China in Europe, and related strengthening system, such as WAAS (the wide area enhancings in the U.S.
System), the EGNOS (Europe geostationary Navigation Overlay System) in Europe and Japanese MSAS (Multi-functional transporting Satellite Augmentation System)
Deng being also contemplated by building and other that to be built satellite navigation system later.
Piling machine is engineering machinery common in engineering, and it is mainly made up of pile monkey, pile frame and auxiliary device etc..Pile monkey according to
It is attached between the anterior two parallel vertical guide rods (being commonly called as gantry) of pile frame, liter is hung with lifting hook.Pile frame is a steel structure tower
Frame, behind portion be provided with hoist engine, to lift by crane stake and pile monkey.The leading truck being made up of before pile frame two guide rods, to control
System piling direction, makes stake according to design orientation injection stratum exactly.The basic fundamental parameter of piling machine be impact moiety by weight,
Impact kinetic energy and frequency of impact.
Piling machine is typically driven piles according to design requirement, it is sometimes desirable to is squeezed into direction according to design and is carried out intensive beat
Point, it is ensured that stake point position is accurate, be evenly distributed, drive piles during the orientation consistency that drills, it is necessary to assure drilling rod is in piling side
To with design direction within the specific limits, but because stake driver drilling rod reaches more than ten meters of even tens meters of length, the distribution of stake point
Typically again than comparatively dense, control of which is extremely difficult, has a strong impact on construction quality.
General Main is at present：With on horizontal drilling rod fixed support, placing level meter, according to level meter and tying
Close human eye to observe drilling rod, drilling rod perpendicularity is adjusted, it is ensured the requirement to angle of driving piles to drilling rod.Although this
Kind of method seems simple, but the very complicated that operates, efficiency are low, more when disappearing and introduce interference from human factor, Wu Fashi
Now regulation drilling rod direction requires in real time in boring procedure as needed；Particularly with the intensive stake point of construction site, often not
The uniformity for a little distribution of driving piles is can guarantee that, stake holes distribution is disorderly and unsystematic, influences project progress and construction quality.
Utility model content
In order to solve the above problems, the utility model, which provides, can accurately be quickly found out design stake point point position and adjustment drilling rod
The correction system of position and direction.
Based on above-mentioned, the utility model provides the engineering machinery tilt correction system based on Big Dipper direction and location technology,
Installed on the stake railcar body with drilling rod, including：
One satellite signal receiver, the known control point chosen in construction area,
One satellite orientation receiver, the satellite orientation receiver are provided with：First Big Dipper satellite signal reception antenna R1
With the second Big Dipper satellite signal reception antenna R2, the R1 on the stabilized platform of stake railcar body, R2 is arranged on and follows brill
On levelling bench at the top of the drilling rod of bar motion,
One terminal device, it is installed in the control room of the stake railcar body,
Also include：Double-axis tilt sensor on the levelling bench, to detect the anglec of rotation of drilling rod.
Further, the double-axis tilt sensor is configured as zero setting initialization, high to ground-plane antenna to measure R1
Degree.
Further, the satellite signal receiver includes：One kind in the Big Dipper/GNSS receiver.
Further, the satellite orientation receiver includes：One kind in the Big Dipper/GNSS direction-finding receivers.
Further, satellite signal receiver is configured as：Difference is sent out under base station base mode of operations
Correct the satellite signal receiver of signal.
Further, the drilling rod and the stake railcar body are in 90 ° of angles, the drilling rod in the vertical direction motion.
Further, the terminal device is：Tablet personal computer.
Further, system also includes electric supply installation, by with terminal device, double-axis tilt sensor and satellite orientation
Receiver connects respectively.
Further, the direction of the drilling rod and position are configured as adjusting using the terminal.
Further, the terminal device includes more.
The beneficial effects of the utility model：
Due to satellite orientation receiver, the satellite orientation receiver is provided with：First Big Dipper satellite signal reception antenna
On the stabilized platform of stake railcar body, R2 is arranged on and followed by R1 and the second Big Dipper satellite signal reception antenna R2, the R1
On levelling bench at the top of the drilling rod of drilling rod motion, additionally include：Bi-axial tilt sensing on the levelling bench
Device, to detect the anglec of rotation of drilling rod.So as to accurately be quickly found out design stake point point position and adjustment drilling rod position and side
To ensureing that the stake holes in intensive stake holes region is evenly distributed in addition, there is higher uniformity.Due to including terminal device, installation
In in the control room of the stake railcar body, drilling rod direction and position can be monitored, control and adjusted in real time.In the utility model
System has automation, real-time, high efficiency, easy-operating advantage, can save manpower in addition, improve project progress, ensures to apply
Working medium amount.
Brief description of the drawings
Fig. 1 is the system composition structural representation in the embodiment of the utility model one；
Fig. 2 is the schematic view of the mounting position of sensor in Fig. 1；
Fig. 3 is antenna height metering system schematic diagram；
Fig. 4 is tilt calibration schematic diagram；
Fig. 5 is Y-direction inclined cross section schematic diagram；
Fig. 6 is difference perspective view.
Embodiment
The principle of the disclosure is described referring now to some example embodiments.It is appreciated that these embodiments are merely for saying
It is bright and help it will be understood by those skilled in the art that with the purpose of the embodiment disclosure and describe, rather than suggest the model to the disclosure
Any restrictions enclosed.Content of this disclosure described here can in a manner of described below outside various modes implement.
As described herein, term " comprising " and its various variants are construed as open-ended term, it means that " bag
Include but be not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
The noun being defined as follows in this application：
Construction lofting, the plan-position and elevation of (setting out) engineering works on design drawing, with certain
Measuring instrument and method survey the measurement work being set on the spot up and are referred to as construction lofting (also referred to as the construction line-putting).Mapping work is profit
With landform characteristic point on determination of control point ground, contracting is painted on figure.Construction lofting is then the design according to building in contrast
Size, the geometrical relationship of position between building each several part characteristic point and control point is found out, calculate to obtain distance, angle, elevation, coordinate
Deng setting out data, then using control point, on the spot on make the characteristic point of building, construct according to this.
Engineering coordinate system is also known as building coordinate system, and its reference axis is parallel or vertical with key construction main shaft, so as to
Method of direct coordinate carries out the setting-out of building.
The building baseline and building square grid of Control Survey for Construction typically use engineering coordinate system, and engineering coordinate system and survey
It is often inconsistent to measure coordinate system, therefore, before construction survey usually needs to carry out construction coordinate system and the coordinate of measuring coordinate system changes
Calculate.
Refer to Fig. 1 is the system composition structural representation in the embodiment of the utility model one, in the present embodiment based on
The engineering machinery tilt correction system of Big Dipper direction and location technology, installed on the stake railcar body with drilling rod, including：One defends
Star signal receiver 1, the known control point chosen in construction area, a satellite orientation receiver 2, the satellite orientation
Receiver 2 is provided with：First Big Dipper satellite signal reception antenna 21R1 and the second Big Dipper satellite signal reception antenna 22R2, it is described
R1 is arranged on the stabilized platform of stake railcar body, and R2 is arranged on the levelling bench at the top of the drilling rod for following drilling rod to move, and one eventually
End equipment 3, it is installed in the control room of the stake railcar body, in addition to：Bi-axial tilt on the levelling bench passes
Sensor 4, to detect the anglec of rotation of drilling rod.Whole system is chosen known to one firstly the need of in construction area when in use
Control point installs a Taibei bucket/GNSS receiver and is set to base station base mode of operations, is sent out differential correcting letter
Number.The Big Dipper/GNSS direction-finding receivers R1 and R2 is installed on stake machine, for wherein R1 at car body stabilization, R2 is arranged on drilling rod
On chain-wales on top (platform can move with drilling rod).In the stage+module bi-axial tilt sensing of installation R2 receivers
Device.Stake machine control indoor location tablet personal computer.Due to using satellite orientation receiver 2 and double-axis tilt sensor in the present embodiment
4, design stake point point position and adjustment drilling rod position and direction can be accurately quickly found out, ensure the stake holes in intensive stake holes region in addition
It is evenly distributed, there is higher uniformity., can due to including terminal device 3, being installed in the control room of the stake railcar body
Monitoring in real time, control and regulation drilling rod direction and position.System in the utility model have automation, real-time, high efficiency,
Easy-operating advantage, manpower can be saved in addition, project progress is improved, ensures construction quality.As shown in figure 3, as the present embodiment
In it is preferred, the double-axis tilt sensor 4 be configured as zero setting initialization, to measure R1 to ground-plane antenna highly.As
Preferred in the present embodiment, the satellite signal receiver 1 includes：One kind in the Big Dipper/GNSS receiver.As the present embodiment
In it is preferred, the satellite orientation receiver 2 includes：One kind in the Big Dipper/GNSS direction-finding receivers.As in the present embodiment
It is preferred that satellite signal receiver 2 is configured as：Defending for differential correcting signal is sent out under base station base mode of operations
Star signal receiver.As preferred in the present embodiment, the drilling rod and the stake railcar body are in 90 ° of angles, and the drilling rod exists
Moved on vertical direction, ensure that drilling rod does not tilt.In certain embodiments, the equipment of terminal 3 is：Tablet personal computer.Certainly also
Can be PC or other terminal devices with OS operating systems.Preferably, system also includes electric supply installation (not shown), leads to
Cross and be connected respectively with terminal device, double-axis tilt sensor and satellite orientation receiver.In certain embodiments, the drilling rod
Direction and position be configured as using the terminal adjust.In certain embodiments, the terminal device includes more, can be with
Carry out multiterminal control.
The present embodiment is that the direction of drilling rod and position are entered using the anglec of rotation of the double-axis tilt sensor offer of installation
Row adjustment, ensures its being operated by design.Realize that need of work carries out two steps in this technology embodiment：
STEP1 horizontal alignments
1. first in operating area, a stake point is selected, places a machine, stake machine is prepared to enter into working condition；
2. installing the Big Dipper/GNSS direction-finding receivers, receiver R1 is arranged at car body stabilization, and receiver R2, which is arranged on, to be bored
On chain-wales at the top of bar；
3. the levelness of the chain-wales at the top of pair drilling rod is adjusted, horizontality is at；
4. face is established two-dimensional Cartesian coordinate system O-XY, R1 reception antenna geometric center and connect for starting point O, R2 on the basis of horizontal plane
Receipts antenna geometrical center is terminal, establishes Y-axis；Y-axis is established in vertical X axis direction.L2 double-axis tilt sensors are installed, make sensor
The y-axis of upper mark is parallel with Y-axis, and is overlapped with it；The x-axis marked on sensor is parallel with X-axis, as shown in Figure 2；
5. the equipment of installation is powered startup, equipment enters normal operating conditions；
6. gathering the direction and location result data of the Big Dipper/GNSS receiver, Y-axis is obtained in engineering construction coordinate system O-XgYg
In initial orientation angle α, as shown in Figure 2.
7. pair double-axis tilt sensor carries out zero setting initialization, R1 reception antennas are measured to the high h of ground-plane antenna, such as Fig. 3 institutes
Show；
8. it is the method for horizontal alignment more than.
STEP2 slant corrections
Stake machine can, according to design attitude, utilizes peace into the state of normal work after completing first step horizontal alignment
The equipment of dress finds point position, and stake-man is carried out according to the stake machine point position of double-axis tilt sensor and the Big Dipper/GNSS direction-finding receivers
Make.Control software carries out tilt calibration using calibration algorithm, and calibration method is as follows：
1.Pi points are that ground point is being placed in stake driver drilling rod bottom, and face M is horizontal plane, as shown in Figure 4.
2. if placing drilling rod is in vertical state, drilling rod top is located at O points and the plane vertical with drilling rod is in level
State, three dimensions right angle left side system O-XYZ is established by origin of O, in the coordinate system, reference axis X senses with bi-axial tilt
Device x directions are parallel, and reference axis Y is parallel with double-axis tilt sensor y directions, and reference axis Z overlaps with plumb line (drilling rod axis).
Plane coordinate system O-XY is the two-dimensional Cartesian coordinate system " O-XY " that the first step is established, as shown in Figure 4.
If being tilted 3. placing drilling rod, cause that drilling rod top is located at O1 points and the horizontal plane M vertical with drilling rod has inclination, with
O1 is that origin establishes three dimensions rectangular coordinate system O1-X1Y1Z1, in the coordinate system, reference axis X1 and double-axis tilt sensor
X directions are parallel, and reference axis Y1 is parallel with double-axis tilt sensor y directions, and reference axis Z1 overlaps with drilling rod axis, such as Fig. 4 institutes
Show.
4. couple point O1 is earthward projected along vertical to point O0, make O0 points with Pi in same level, using O0 as original
Point, three dimensions rectangular coordinate system O0-X0Y0Z0 is established, this coordinate system is parallel with O-XYZ reference axis, as shown in Figure 4.
5. coordinate system O1-X1Y1Z1 and O-XYZ difference are due to that drilling rod produces with being actually needed by the angle difference put
It is raw, can be to obtain the Y-axis anglec of rotation α x and X by double-axis tilt sensor due to having disposed double-axis tilt sensor
Axle anglec of rotation α y, as shown in Figure 4.
6. the caused X-direction distance difference in O-XYZ coordinate systems of the drilling rod as caused by being tilted O1-X1Y1Z1 is lx, Y
Direction of principal axis distance difference is ly, as shown in Figure 4.
7. receiving R1 antennas to the high h of ground-plane antenna using the Big Dipper/GNSS receiver R2 and the Big Dipper/GNSS, can accurately obtain
The distance between invocation point O1 and point O0 ho, for ease of understanding, as shown in figure 5, using two-dimensional plane coordinate system O-YZ, calculate distance
Difference ly, can similarly obtain distance difference lx, and calculation formula is as follows：
8. when stake machine is moved to different stake points, established plane coordinate system O-XY and engineering construction coordinate can be caused
It is that corresponding azimuth angle alpha is produced in O-XgYg, to meet at work using the requirement of unified construction coordinate system, it is necessary to will be with
Offset distance ly and lx based on plane coordinate system O-XY are converted to distance gy and gx in O-XgYg, as shown in Figure 6.
9. this α of azimuth can be obtained using the Big Dipper/GNSS direction-finding receivers, deviation is projected using spin matrix
Rotation can obtain distance gy and gx in O-XgYg, and calculation formula is as follows：
, can be to enter as needed to stake machine and drilling rod 10. according to the distance gy and gx in O-XgYg that calculate
Row adjustment.
It is the principle and computational methods of slant correction more than 11., this algorithm is built into the control installed in tablet personal computer
In software, the real-time adjustment to stake driver drilling rod can be achieved according to the prompting of software by operating personnel
It should be appreciated that each several part of the present utility model can be realized with hardware, software, firmware or combinations thereof.
In above-mentioned embodiment, what multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Software or firmware are realized.If, and in another embodiment, can be with known in this field for example, realized with hardware
Any one of following technology or their combination realize：With the gate for realizing logic function to data-signal
The discrete logic of circuit, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA),
Field programmable gate array (FPGA) etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present utility model.In this manual, to the schematic table of above-mentioned term
State and be not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be
Combined in an appropriate manner in any one or more embodiments or example.
In general, the various embodiments of the disclosure can be with hardware or special circuit, software, logic or its any combination
Implement.Some aspects can be implemented with hardware, and some other aspect can be with firmware or software implementation, and the firmware or software can
With by controller, microprocessor or other computing devices.Although the various aspects of the disclosure be shown and described as block diagram,
Flow chart is represented using some other drawing, but it is understood that frame described herein, equipment, system, techniques or methods can
With in a non limiting manner with hardware, software, firmware, special circuit or logic, common hardware or controller or other calculating
Equipment or some combinations are implemented.
Although in addition, operation is described with particular order, this is understood not to require this generic operation with shown suitable
Sequence is performed or performed with generic sequence, or requires that all shown operations are performed to realize expected result.In some feelings
Under shape, multitask or parallel processing can be favourable.Similarly, begged for although the details of some specific implementations is superincumbent
By comprising but these are not necessarily to be construed as any restrictions to the scope of the present disclosure, but the description of feature is only pin in
To specific embodiment.Some features described in some embodiments of separation can also be held in combination in single embodiment
OK.Mutually oppose, the various features described in single embodiment can also in various embodiments be implemented separately or to appoint
The mode of what suitable sub-portfolio is implemented.
Claims (10)
1. based on the engineering machinery tilt correction system of Big Dipper direction and location technology, installed in the stake railcar body with drilling rod
On, it is characterised in that including：
One satellite signal receiver, the known control point chosen in construction area,
One satellite orientation receiver, the satellite orientation receiver are provided with：First Big Dipper satellite signal reception antenna R1 and
For two Big Dipper satellite signal reception antenna R2, the R1 on the stabilized platform of stake railcar body, R2, which is arranged on, follows drilling rod to transport
On levelling bench at the top of dynamic drilling rod,
One terminal device, it is installed in the control room of the stake railcar body,
Also include：Double-axis tilt sensor on the levelling bench, to detect the anglec of rotation of drilling rod.
2. engineering machinery tilt correction system according to claim 1, it is characterised in that the double-axis tilt sensor quilt
Zero setting initialization is configured to, to measure R1 to ground-plane antenna height.
3. engineering machinery tilt correction system according to claim 1, it is characterised in that the satellite signal receiver bag
Include：One kind in the Big Dipper/GNSS receiver.
4. engineering machinery tilt correction system according to claim 1, it is characterised in that the satellite orientation receiver bag
Include：One kind in the Big Dipper/GNSS direction-finding receivers.
5. engineering machinery tilt correction system according to claim 1, it is characterised in that satellite signal receiver be by with
It is set to：The satellite signal receiver for being sent out differential correcting signal under base station base mode of operations.
6. engineering machinery tilt correction system according to claim 1, it is characterised in that the drilling rod and the stake locomotive
Body is in 90 ° of angles, the drilling rod in the vertical direction motion.
7. engineering machinery tilt correction system according to claim 1, it is characterised in that the terminal device is：Flat board
Computer.
8. engineering machinery tilt correction system according to claim 1, it is characterised in that also including electric supply installation, pass through
It is connected respectively with terminal device, double-axis tilt sensor and satellite orientation receiver.
9. engineering machinery tilt correction system according to claim 1, it is characterised in that the direction and position of the drilling rod
It is configured as adjusting using the terminal.
10. engineering machinery tilt correction system according to claim 1, it is characterised in that the terminal device includes more
Platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434653.XU CN206707628U (en) | 2017-04-24 | 2017-04-24 | Engineering machinery tilt correction system based on Big Dipper direction and location technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434653.XU CN206707628U (en) | 2017-04-24 | 2017-04-24 | Engineering machinery tilt correction system based on Big Dipper direction and location technology |
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| Publication Number | Publication Date |
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| CN206707628U true CN206707628U (en) | 2017-12-05 |
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ID=60456793
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720434653.XU Active CN206707628U (en) | 2017-04-24 | 2017-04-24 | Engineering machinery tilt correction system based on Big Dipper direction and location technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110286393A (en) * | 2019-06-26 | 2019-09-27 | 中国人民解放军火箭军工程大学 | Orientation transmission error compensation method in a kind of Vehicular satellite orientation |
| CN110726572A (en) * | 2019-08-31 | 2020-01-24 | 广州海达安控智能科技有限公司 | Intelligent pile driving monitoring system and method and storage medium |
| CN114320273A (en) * | 2022-03-11 | 2022-04-12 | 江苏交水建智能装备研究院有限公司 | Rotary excavating pile construction process monitoring system based on Internet of things technology |
-
2017
- 2017-04-24 CN CN201720434653.XU patent/CN206707628U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110286393A (en) * | 2019-06-26 | 2019-09-27 | 中国人民解放军火箭军工程大学 | Orientation transmission error compensation method in a kind of Vehicular satellite orientation |
| CN110726572A (en) * | 2019-08-31 | 2020-01-24 | 广州海达安控智能科技有限公司 | Intelligent pile driving monitoring system and method and storage medium |
| CN110726572B (en) * | 2019-08-31 | 2022-08-02 | 广州市中海达测绘仪器有限公司 | Intelligent pile driving monitoring system and method and storage medium |
| CN114320273A (en) * | 2022-03-11 | 2022-04-12 | 江苏交水建智能装备研究院有限公司 | Rotary excavating pile construction process monitoring system based on Internet of things technology |
| CN114320273B (en) * | 2022-03-11 | 2022-05-24 | 江苏交水建智能装备研究院有限公司 | Rotary excavating pile construction process monitoring system based on Internet of things technology |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Rui Inventor after: Li Baojia Inventor after: Su Qing Inventor after: Wang Jian Inventor after: Chen Shu Inventor after: Ren Yongchao Inventor after: Niu Ben Inventor before: Li Baojia Inventor before: Su Qing |
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| CB03 | Change of inventor or designer information |