CN103017743A - Pull wire positioning instrument and measurement method thereof - Google Patents
Pull wire positioning instrument and measurement method thereof Download PDFInfo
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- CN103017743A CN103017743A CN2012105079561A CN201210507956A CN103017743A CN 103017743 A CN103017743 A CN 103017743A CN 2012105079561 A CN2012105079561 A CN 2012105079561A CN 201210507956 A CN201210507956 A CN 201210507956A CN 103017743 A CN103017743 A CN 103017743A
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Abstract
The invention discloses a pull wire positioning instrument, which comprises an angle measurement device fixed on an outer frame bracket, an anti-falling device and a pull wire transmission structure, wherein the angle measurement device comprises a swing arm which is arranged at the bottom of the measurement device and is connected with a pull wire, a horizontal angle encoder which is arranged above the swing arm and a perpendicular angle encoder which is arranged on one side of the swing arm; a clinometer is fixedly arranged at the upper part of the angle measurement device or is arranged in an upper-layer bay of a positioning instrument body; the anti-falling device is connected with the pull wire and comprises a ranging wheel; a through hole in the middle of the ranging wheel is communicated with a fixing hole of a ranging wheel fixing seat, so that the ranging wheel rotates around the fixing hole; the pull wire transmission structure comprises a universal wheel and a steering wheel; the pull wire is connected with a winch through the universal wheel, the ranging wheel and the steering wheel; and the winch is coupled to a speed adjustment motor. The pull wire positioning instrument can be applied to overwater positioning and measurement and can be applied to hidden regions on lands or difficultly measured or reached by the conventional measurer; and the pull wire positioning instrument has the characteristics of simple structure and high positioning precision.
Description
Technical field
The present invention relates to the hull underwater structure position monitor fields of measurement is installed, be specifically related to a kind of backguy orientator and measuring method thereof.
Background technology
Existing underwater position fixing technique, length according to acoustic positioning system location baseline, positioning system is divided into 3 types: long baseline positioning system (LBL), short baseline positioning system (SBL) and ultra short baseline locating system (SSBL/USBL), in addition, acoustic positioning system also combines with some other positioning system, forms integrated positioning system.
Three kinds of positioning systems all need to be provided with under water transponder and transducer are set, system complex, complex operation at hull; Need the acoustic array of enormous amount for the location of profundal zone, somewhat expensive, and need the long-time seabed acoustic array of laying and regain; Need in detail to seabed acoustic array school supposition amount.
And the present emerging co-located system that is combined by GPS location and hydrolocation is called again GPS positioning system under water.It is utilize underwater sound relative positioning technology with the high-precision fixed capability of the GPS water surface to extending under water, the device of diving is dived in work deeply just can directly obtain the geodesic latitude and longitude coordinates of self, and bearing accuracy can guarantee with GPS water surface bearing accuracy in same magnitude.
But underwater transceivers need to be loaded on the underwater carrier equally, somewhat expensive does not utilize large-scale promotion.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of backguy orientator, not only can use location survey under water, can apply to land, routine measurement instrument and be difficult to the concealed zone measuring or reach, and is simple in structure, the characteristics that bearing accuracy is high.
For achieving the above object, technical scheme of the present invention is as follows:
A kind of backguy orientator comprises:
The fixing angle measurement unit on the outer gimbal support, described angle measurement unit comprises and is arranged on measurement mechanism bottom, and the swing arm that is connected with backguy, and be installed on the level angle scrambler of swing arm top and the vertical angle scrambler of swing arm one side, inclinator is fixedly installed in angle measurement unit top or is installed in the separation of orientator body upper strata
The one Anti-extrusion device that is connected with backguy, described Anti-extrusion device comprises a measuring wheel, the fixed orifice of described measuring wheel middle through-hole and measuring wheel holder connects and is connected, so that measuring wheel rotates around fixed orifice,
One backguy transmission structure comprises universal wheel and deflecting roller, and backguy is by universal wheel, and measuring wheel and deflecting roller connect a capstan winch, and capsizing moment spindle is connected to buncher.
Preferably, described swing arm comprises a swing arm connection box, be fixedly connected with swing arm connection box one end, the measuring staff that is used for connecting stay wire, counterbalance weight is relatively arranged on the swing arm connection box other end, guarantee to measure the equilibrium state of prelocalization instrument, described arm shaft is located on the stationary shaft that is installed in the angle measurement unit bottom, and swing arm can freely be rotated around stationary shaft.
Preferably, described measuring wheel comprises that one is close to the spring casting die of measuring wheel with backguy, and inflow point and the exit of spring casting die are provided with angle sheave, and backguy connects measuring wheel by angle sheave.
Preferably, a side of measuring wheel connects the distance measuring sensor of a measurement backguy length by the device that is coupling.
The method of utilizing the backguy orientator to locate under water may further comprise the steps:
1) before the measurement, utilizes positioning and directing GPS to measure the three-dimensional coordinate of backguy orientator self, and then further determine swing arm rotation center position;
2) buncher speed transfers to lower-speed state, after operating personnel pass the measurement mechanism of determinand with backguy one end, be connected with the swing arm end of orientator, the backguy other end passes through universal wheel successively, angle sheave, measuring wheel and deflecting roller are reserved section with the backguy of capstan winch again and are linked to each other, and described capstan winch backguy links to each other with buncher;
3) determinand arrives position to be measured, heightens the buncher rotating speed, increases the pulling force of backguy, makes backguy be in tension;
4) range finding angular transducer, the level angle scrambler, vertical angle scrambler and inclinator begin image data, measure respectively backguy length (L), horizontal direction angle (b), the bidimensional angle of inclination of vertical angle (a) and backguy orientator is through data transmission and processing, calculate the three-dimensional coordinate of measured point A
Measure the bidimensional angle of inclination of backguy orientator according to inclinator, and immediately revise the three-dimensional coordinate of tested point A.
Preferably, the three-dimensional coordinate of described tested point A:
x=L×sin(b)；y=L×con(b)×sin(a)；Z=L×con(b)×con(a)。
Preferably, in step 2) before, if the swing arm balanced system of detection and location instrument uneven, then flattens by fine adjustment counterbalance.
Preferably, described step 4) in, inclinator is used for measuring the bidimensional angle of inclination of backguy orientator, and the range finding angular transducer is used for measuring backguy length, and level angle scrambler and vertical angle scrambler are used for measuring the swing arm space angle,
Preferably, at determinand locating ring is installed, is used for connecting measurement target and backguy.
Preferably, measurement is turned down the buncher rotating speed after finishing, and backguy is untied from orientator swing arm end, slowly backguy is pulled to initial position by buncher, carries out next time location preparation.
By technique scheme, the invention has the beneficial effects as follows:
Measurement target connects orientator by backguy, operating personnel pass locating ring with backguy one end, and be connected with orientator swing arm end, the backguy other end reaches by measurement mechanism and links to each other with buncher, measure measurement target actual coordinate under water by orientator, thereby determine the measurement target position, bearing accuracy is high.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is structural representation of the present invention.
Fig. 2 is the left view of angle measurement unit of the present invention.
Fig. 3 is the front view of angle measurement unit of the present invention.
Fig. 4 is the front view of measuring wheel of the present invention.
Fig. 5 is the left view of measuring wheel of the present invention.
Fig. 6 is measuring method synoptic diagram of the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
With reference to Fig. 1-shown in Figure 5, a kind of backguy orientator comprises:
The fixing angle measurement unit 2 on the outer gimbal support 1, described angle measurement unit 2 comprises and is arranged on measurement mechanism bottom, and the swing arm 3 that is connected with backguy, and be installed on the level angle scrambler 4 of swing arm 3 tops and the vertical angle scrambler 5 of swing arm 3 one sides, inclinator 6 is fixedly installed in angle measurement unit 2 tops or is installed in the separation of orientator body upper strata
The one Anti-extrusion device 7 that is connected with backguy, described Anti-extrusion device 7 comprises a measuring wheel 8, the fixed orifice of described measuring wheel 8 middle through-holes and measuring wheel holder 9 connects and is connected, so that measuring wheel 8 is around fixed orifice 10 rotations,
One backguy transmission structure comprises universal wheel 11 and deflecting roller 12, and backguy is by universal wheel 11, and measuring wheel 8 and deflecting roller 12 connect a capstan winch 13, and capstan winch 13 is coupling in buncher 14.
Described swing arm 3 comprises a swing arm connection box 3a, be fixedly connected with swing arm connection box 3a one end, the measuring staff 3b that is used for connecting stay wire, counterbalance weight 3c is relatively arranged on the swing arm connection box 3a other end, guarantee to measure the equilibrium state of prelocalization instrument, swing arm 3 axles are located on the stationary shaft 15 that is installed in angle measurement unit 2 bottoms, and swing arm 3 can freely be rotated around stationary shaft 15.
Described measuring wheel 8 comprises that one is close to the spring casting die 16 of measuring wheel 8 with backguy, and the inflow point of spring casting die 16 and exit are provided with angle sheave 17, and backguy connects measuring wheels 8 by angle sheave 17.
One side of measuring wheel 8 connects the distance measuring sensor 18 of a measurement backguy length by the device 19 that is coupling.
With reference to shown in Figure 6, the method for utilizing the backguy orientator to locate under water may further comprise the steps:
1) before the measurement, utilizes positioning and directing GPS to measure the three-dimensional coordinate of backguy orientator self, and then further determine swing arm rotation center position;
2) buncher speed transfers to lower-speed state, after operating personnel pass the measurement mechanism of determinand with backguy one end, be connected with the swing arm end of orientator, the backguy other end passes through universal wheel successively, angle sheave, measuring wheel and deflecting roller are reserved section with the backguy of capstan winch again and are linked to each other, and capsizing moment spindle is connected to buncher;
3) determinand arrives position to be measured, heightens the buncher rotating speed, increases the pulling force of backguy, makes backguy be in tension;
4) range finding angular transducer, the level angle scrambler, vertical angle scrambler and inclinator begin image data, measure respectively backguy length (L), horizontal direction angle (b), the bidimensional angle of inclination of vertical angle (a) and backguy orientator is through data transmission and processing, calculate the three-dimensional coordinate of measured point A
Measure the bidimensional angle of inclination of backguy orientator according to inclinator, and immediately revise the three-dimensional coordinate of tested point A.
Preferably, the three-dimensional coordinate of described tested point A:
x=L×sin(b)；y=L×con(b)×sin(a)；Z=L×con(b)×con(a)。
In step 2) before, if the swing arm balanced system of detection and location instrument uneven, then flattens by fine adjustment counterbalance.
Described step 4) in, inclinator is used for measuring the bidimensional angle of inclination of backguy orientator, and the range finding angular transducer is used for measuring backguy length, and level angle scrambler and vertical angle scrambler are used for measuring the swing arm space angle,
At determinand locating ring is installed, is used for connecting measurement target and backguy.
After measuring end, turn down the buncher rotating speed, backguy is untied from orientator swing arm end, slowly backguy is pulled to initial position by buncher, carry out next time location preparation.
Described deflecting roller is used for changing stayguy direction; Described universal wheel is along with backguy is rotated.Described backguy is selected nonelastic, seizing wire.
The workflow that the present invention locates under water:
1) before each systematic survey, survey crew detects the swing arm balanced system of measurement mechanism, if uneven, then flattens by fine adjustment counterbalance;
2) install and measure the little ring in location or pulley at weight to be measured;
3) (pulling force is less buncher speed to be transferred to low speed, the pulling force that backguy is had appropriateness) state, operating personnel pass the little ring in location with backguy one end, and be connected with the swing arm end of orientator, the backguy other end passes through universal wheel, angle sheave, measuring wheel and deflecting roller successively, reserve section with the backguy of capstan winch again and link to each other, the capstan winch backguy links to each other with buncher;
4) tested point is located little ring and is arrived position to be measured (bottom, riverbed), and heightening torque motor increases pulling force, backguy is in is strained to straight line;
5) the computer software operating personnel send instruction, and each measuring unit sensor begins image data, through data transmission and processing, calculate the three-dimensional coordinate of measured point A, the parameters such as Software on Drawing location graphic;
7) after the little ring A point measurement in location finished, survey crew was turned down torque motor, and backguy is untied the connection hasp from orientator swing arm section, slowly backguy is pulled to initial position by buncher, carried out next time location preparation;
8) data are processed according to the locator data demonstration and are generated as a result form, and function software records the preservation locator data automatically.
The present invention not only can use location survey waterborne, can apply to land, routine measurement instrument and be difficult to the concealed zone measuring or reach, and is simple in structure, the characteristics that bearing accuracy is high.
Bearing accuracy of the present invention is described below:
GPS bearing accuracy: horizontal accuracy: 8mm+1ppm RMS, vertical precision: 15mm+1ppmRMS.Hypothetical reference station ultimate range is no more than 15km, and the plane error that is then caused by the GPS location is 23mm.
Inclinator precision: minimum resolution: 0.001 degree, precision: 0.01 degree.Suppose that in whole position fixing process locating device is 30 meters to the ultimate range of anchor point, then the plane positioning error that causes of inclinator error is Δ q=30*0.01/57.3=0.005m.
The high precision angular encoder: the angular encoder precision index is 0.01 degree.Suppose that in whole position fixing process locating device is 30 meters to the ultimate range of anchor point, then the plane positioning error that causes of angular encoder error is Δ s=30*0.01/57.3=0.005m.
The backguy error in length: the backguy error in length comprises that high resolving power encoder error at measurment, making error and stretcher strain error cause.According to lectotype selection and experience, this error can be controlled in the 10mm.
Therefore, suppose in whole position fixing process that locating device is 30 meters to the ultimate range of isostere anchor point, the total impact of above-mentioned every error is Δ=(23*23+5*5+5*5+10*10)
1/2=26.0mm.
Be in the controlled range characteristics that precision is high.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in above-described embodiment and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (10)
1. a backguy orientator is characterized in that, comprising:
The fixing angle measurement unit on the outer gimbal support, described angle measurement unit comprise and are arranged on the measurement mechanism bottom, and the swing arm that is connected with backguy, and are installed on level angle scrambler above the swing arm and the vertical angle scrambler of swing arm one side,
Inclinator is fixedly installed in angle measurement unit top or is installed in the separation of orientator body upper strata,
The one Anti-extrusion device that is connected with backguy, described Anti-extrusion device comprises a measuring wheel, the fixed orifice of described measuring wheel middle through-hole and measuring wheel holder connects and is connected, so that measuring wheel rotates around fixed orifice,
One backguy transmission structure comprises universal wheel and deflecting roller, and backguy is by universal wheel, and measuring wheel and deflecting roller connect a capstan winch, and capsizing moment spindle is connected to buncher.
2. a kind of backguy orientator according to claim 1, it is characterized in that: described swing arm comprises a swing arm connection box, be fixedly connected with swing arm connection box one end, the measuring staff that is used for connecting stay wire, counterbalance weight is relatively arranged on the swing arm connection box other end, guarantee to measure the equilibrium state of prelocalization instrument, described arm shaft is located on the stationary shaft that is installed in the angle measurement unit bottom, and swing arm can freely be rotated around stationary shaft.
3. a kind of backguy orientator according to claim 1 is characterized in that: described measuring wheel comprises that one is close to the spring casting die of measuring wheel with backguy, and inflow point and the exit of spring casting die are provided with angle sheave, and backguy connects measuring wheel by angle sheave.
4. a kind of backguy orientator according to claim 1 is characterized in that: a side of measuring wheel connects a distance measuring sensor of measuring backguy length by the device that is coupling.
5. the method for utilizing the backguy orientator to locate under water is characterized in that, may further comprise the steps:
1) before the measurement, utilizes positioning and directing GPS to measure the three-dimensional coordinate of backguy orientator self, and then further determine swing arm rotation center position;
2) buncher speed transfers to lower-speed state, after operating personnel pass the measurement mechanism of determinand with backguy one end, be connected with the swing arm end of orientator, the backguy other end passes through universal wheel successively, angle sheave, measuring wheel and deflecting roller are reserved section with the backguy of capstan winch again and are linked to each other, and capsizing moment spindle is connected to buncher;
3) determinand arrives position to be measured, heightens the buncher rotating speed, increases the pulling force of backguy, makes backguy be in tension;
4) range finding angular transducer, the level angle scrambler, vertical angle scrambler and inclinator begin image data, measure respectively backguy length (L), horizontal direction angle (b), the bidimensional angle of inclination of vertical angle (a) and backguy orientator is through data transmission and processing, calculate the three-dimensional coordinate of measured point A
Measure the bidimensional angle of inclination of backguy orientator according to inclinator, and immediately revise the three-dimensional coordinate of tested point A.
6. the method for utilizing the backguy orientator to locate under water according to claim 5 is characterized in that, the three-dimensional coordinate of described tested point A:
x=L×sin(b)；y=L×con(b)×sin(a)；Z=L×con(b)×con(a)。
7. the method for utilizing the backguy orientator to locate under water according to claim 5 is characterized in that, in step 2) before, if the swing arm balanced system of detection and location instrument uneven, then flattens by fine adjustment counterbalance.
8. the method for utilizing the backguy orientator to locate under water according to claim 5, it is characterized in that, described step 4) in, inclinator is used for measuring the bidimensional angle of inclination of backguy orientator, the range finding angular transducer is used for measuring backguy length, and level angle scrambler and vertical angle scrambler are used for measuring the swing arm space angle.
9. the method for utilizing the backguy orientator to locate under water according to claim 5 is characterized in that, at determinand locating ring is installed, and is used for connecting measurement target and backguy.
10. the method for utilizing the backguy orientator to locate under water according to claim 5 is characterized in that, after measurement finishes, turn down the buncher rotating speed, backguy is untied from orientator swing arm end, slowly backguy is pulled to initial position by buncher, carry out next time location preparation.
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| CN201210507956.1A CN103017743B (en) | 2012-11-30 | 2012-11-30 | Pull wire positioning instrument and measurement method thereof |
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| CN201210507956.1A CN103017743B (en) | 2012-11-30 | 2012-11-30 | Pull wire positioning instrument and measurement method thereof |
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| CN103017743B CN103017743B (en) | 2015-01-21 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103267472A (en) * | 2013-05-16 | 2013-08-28 | 常州纺织服装职业技术学院 | Flatness measuring instrument for engineering and measuring method thereof |
| CN104481190A (en) * | 2014-12-02 | 2015-04-01 | 中国十七冶集团有限公司 | Fixing support of baseline for accurate positioning of equipment installation |
| CN105806217A (en) * | 2016-03-12 | 2016-07-27 | 上海大学 | Single pull thread type measuring system and method for object space position measurement |
| CN106225689A (en) * | 2016-10-21 | 2016-12-14 | 河北稳控科技有限公司 | Various dimensions displacement measuring device based on survey line |
| CN106247897A (en) * | 2016-08-10 | 2016-12-21 | 九江汉唐光电传输技术有限公司 | A kind of displacement sensor for pull rope being integrated with Error Compensation Technology and preparation method thereof |
| CN108413948A (en) * | 2018-02-07 | 2018-08-17 | 吴义锖 | A kind of measurement anchoring for building |
| CN108896030A (en) * | 2018-08-15 | 2018-11-27 | 深圳市闪龙科技有限公司 | Space positioning apparatus |
| CN109916391A (en) * | 2019-03-27 | 2019-06-21 | 山东大学 | A kind of mechanized equipment spatial position real-time acquisition device and its measuring system, method |
| CN109931897A (en) * | 2017-12-19 | 2019-06-25 | 东莞前沿技术研究院 | The positioning system and its localization method of aerostatics, storage medium and processor |
| CN110553632A (en) * | 2019-10-21 | 2019-12-10 | 山河智能装备股份有限公司 | Underwater construction positioning system |
| CN110686597A (en) * | 2019-10-28 | 2020-01-14 | 中交第三航务工程局有限公司 | Three-dimensional positioning system of slant chute tube |
| CN110864656A (en) * | 2019-10-15 | 2020-03-06 | 武汉船用机械有限责任公司 | Test tool for underwater pull rope sensor |
| CN114148481A (en) * | 2021-12-30 | 2022-03-08 | 武昌船舶重工集团有限公司 | Positioning mechanism and stay wire positioning method |
| CN114812526A (en) * | 2022-04-29 | 2022-07-29 | 中船广西船舶及海洋工程有限公司 | Method for measuring saddle of large-sized liquid tank of inclined slipway |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103267472B (en) * | 2013-05-16 | 2016-06-08 | 常州纺织服装职业技术学院 | Engineering method measuring flatness |
| CN103267472A (en) * | 2013-05-16 | 2013-08-28 | 常州纺织服装职业技术学院 | Flatness measuring instrument for engineering and measuring method thereof |
| CN104481190A (en) * | 2014-12-02 | 2015-04-01 | 中国十七冶集团有限公司 | Fixing support of baseline for accurate positioning of equipment installation |
| CN105806217B (en) * | 2016-03-12 | 2018-12-07 | 上海大学 | Single stay formula measuring system and method for the measurement of object space position |
| CN105806217A (en) * | 2016-03-12 | 2016-07-27 | 上海大学 | Single pull thread type measuring system and method for object space position measurement |
| CN106247897A (en) * | 2016-08-10 | 2016-12-21 | 九江汉唐光电传输技术有限公司 | A kind of displacement sensor for pull rope being integrated with Error Compensation Technology and preparation method thereof |
| CN106225689A (en) * | 2016-10-21 | 2016-12-14 | 河北稳控科技有限公司 | Various dimensions displacement measuring device based on survey line |
| CN106225689B (en) * | 2016-10-21 | 2019-01-04 | 河北稳控科技有限公司 | Various dimensions displacement measuring device based on survey line |
| CN109931897A (en) * | 2017-12-19 | 2019-06-25 | 东莞前沿技术研究院 | The positioning system and its localization method of aerostatics, storage medium and processor |
| CN109931897B (en) * | 2017-12-19 | 2020-06-30 | 东莞前沿技术研究院 | Positioning system of aerostat, positioning method thereof, storage medium and processor |
| CN108413948A (en) * | 2018-02-07 | 2018-08-17 | 吴义锖 | A kind of measurement anchoring for building |
| CN108413948B (en) * | 2018-02-07 | 2020-11-06 | 嘉兴考普诺机械科技有限公司 | Stay wire measuring device for building |
| CN108896030A (en) * | 2018-08-15 | 2018-11-27 | 深圳市闪龙科技有限公司 | Space positioning apparatus |
| CN109916391A (en) * | 2019-03-27 | 2019-06-21 | 山东大学 | A kind of mechanized equipment spatial position real-time acquisition device and its measuring system, method |
| CN110864656A (en) * | 2019-10-15 | 2020-03-06 | 武汉船用机械有限责任公司 | Test tool for underwater pull rope sensor |
| CN110553632A (en) * | 2019-10-21 | 2019-12-10 | 山河智能装备股份有限公司 | Underwater construction positioning system |
| CN110686597A (en) * | 2019-10-28 | 2020-01-14 | 中交第三航务工程局有限公司 | Three-dimensional positioning system of slant chute tube |
| CN114148481A (en) * | 2021-12-30 | 2022-03-08 | 武昌船舶重工集团有限公司 | Positioning mechanism and stay wire positioning method |
| CN114812526A (en) * | 2022-04-29 | 2022-07-29 | 中船广西船舶及海洋工程有限公司 | Method for measuring saddle of large-sized liquid tank of inclined slipway |
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