CN103175510B - Smart laser profiler automatic in leveling and direction adjustment - Google Patents

Smart laser profiler automatic in leveling and direction adjustment Download PDF

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Publication number
CN103175510B
CN103175510B CN201310080127.4A CN201310080127A CN103175510B CN 103175510 B CN103175510 B CN 103175510B CN 201310080127 A CN201310080127 A CN 201310080127A CN 103175510 B CN103175510 B CN 103175510B
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CN
China
Prior art keywords
tunnel
profiler
step motor
decelerating step
laser
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CN201310080127.4A
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Chinese (zh)
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CN103175510A (en
Inventor
赵斌
汪琛
曹智颖
陈海平
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华中科技大学
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Publication of CN103175510A publication Critical patent/CN103175510A/en
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Publication of CN103175510B publication Critical patent/CN103175510B/en

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Abstract

The invention belongs to the technical field of geometric dimension measurement and specifically relates to a smart laser profiler automatic in leveling and direction adjustment. The smart laser profiler automatic in leveling and direction adjustment comprises an electric revolving stage, a wireless communication module, first and second speed reducing step motors, a bearing block with a bearing, a three-dimensional electronic compass and a laser distance measuring sensor. The smart laser profiler realizes automatic leveling and direction adjustment by means of direction indication of the three-dimensional electronic compass and thereby well solving the problems in the prior art. The laser profiler is capable of measuring the form of the section of a tunnel in real time in tunnel construction to determine back break, and also capable of performing long-term monitoring on the tunnel section form after the completion of tunnel construction; the laser profiler is high in accuracy, simple and convenient to operate, and convenient for reuse after dismounting; and the laser profiler is capable of well performing self-leveling and direction correction for base dislocation and torsion caused by geological changes during tunnel monitoring, and further realizes remote control.

Description

A kind of automatic leveling tuning Intelligent Laser profiler

Technical field

The invention belongs to physical dimension field of measuring technique, be specifically related to a kind of High Precision Automatic leveling tuning Intelligent Laser profiler, be particularly useful for tunnel, the face type testing and monitoring of the arch transversal section such as bridge and safe early warning.

Background technology

Along with the fast development of high ferro, City Underground Transportation and bridge construction, during constructing tunnel, owe to dig and cross the installation of digging and all can affect tunnel duct piece, if face, tunnel is repaired after installing again in section of jurisdiction, extra human cost and construction costs cost can be brought.Mounted tunnel duct piece, along with the elongated meeting of service time is because fall under coming off when effect of stress, geology variation etc. occur loosening, serious, affects traffic safety in tunnel.Based on this, tunnel cross section type in constructing tunnel process detects and tunnelling complete after face, tunnel type monitor and become very urgent and of far-reaching significance.

Amberg company of Switzerland in 1986 takes the lead in releasing laser cross section instrument, this profiler full accuracy ± 5mm, domesticly developed domestic laser cross section instrument in 1987 by Specialty Design research institute of the Ministry of Railways, this profiler precision is lower, only have 2.5 ‰, calendar year 2001, Beijing University of Technology developed a kind of drift section detector in conjunction with laser ranging technique and digital angle measurement technique, the release of powerful Machinery Co., Ltd. of 2002 Nian Zhongtie tunnel groups is a utilizes driven by servomotor, utilize the simple type laser cross section instrument of bubble method level-off, 2010, Tongji University proposes a kind of vehicle-mounted profiler of fan-shaped combination be made up of nine laser range finders, theoretical error ± 2.733mm.

Summary of the invention

The object of the present invention is to provide a kind of High Precision Automatic leveling tuning Intelligent Laser profiler, this laser cross section instrument well solves laser cross section instrument in the past can not measure the problem of attitude by intelligent leveling by artificial fine setting, can carry out that tunnel cross-section face type detects again can long term monitoring, and can realize Long-distance Control.

A kind of automatic leveling tuning Intelligent Laser profiler provided by the invention, it is characterized in that, it comprises electric rotary table, wireless communication module, first decelerating step motor, spring coupling, the bearing seat of band bearing, second decelerating step motor, three-dimensional electronic compass, and laser range sensor;

Electric rotary table and wireless communication module are fixed on the first connecting bottom board; The bearing seat of the first decelerating step motor and band bearing is all fixed on the second web joint, and the second web joint is fixed on electric rotary table; Second decelerating step motor is fixed on the first supporting plate, and the first supporting plate is linked together by bearing seat and the first decelerating step motor, and three-dimensional electronic compass and laser range sensor are arranged on the second supporting plate;

The axle head of the second supporting plate and the second decelerating step motor links together, first decelerating step motor, the second decelerating step motor are all connected by serial port data line with wireless communication module with laser range sensor, and wireless communication module is used for wireless receiving and the transmission of steering order and measurement data.

Based on prior art Problems existing, when the present system of intelligent body of laser cross section instrument provided by the invention is installed, base does not need precision regulating level, system can carry out automatic adjusting horizontal for self attitude, and steering order and measurement data all adopt communication to transmit.Automatic leveling tuning refers to that profiler timing can carry out self direction adjustment according to Tunnel Design axial direction and the tunnel track face gradient, when profiler be arranged on tunnel wall carry out tunnel cross-section long term monitoring time, because geology variation causes bearing torsional deflection, profiler can carry out self-attitude correction according to the variation value integrating tunnel trends of design of profiler horizontal azimuth and the angle of gradient, ensure that laser range sensor scanning section and tunnel move towards to design axes normal, thus well ensure the long-term measuring accuracy of profiler.Instrumental of the present invention controls and data transmission all adopts wireless transmission method, to realize Long-distance Control.

Accompanying drawing explanation

Fig. 1 is the wiring layout of High Precision Automatic leveling tuning Intelligent Laser profiler in the present invention;

Fig. 2 is the schematic diagram that in the present invention, High Precision Automatic leveling tuning laser cross section instrument carries out the type detection of face, face, tunnel;

Fig. 3 is the schematic diagram that in the present invention, High Precision Automatic leveling tuning laser cross section instrument carries out the type monitoring of face, face, tunnel;

Fig. 4 is supporting plate (comprising the first supporting plate and the second supporting plate) schematic appearance;

In figure, 1 is the first connecting bottom board, and 2 is electric rotary tables, 3 is wireless communication modules, and 4 is second web joints, and 5 is first decelerating step motor, 6 is spring couplings, and 7 is the bearing seats being with bearing, and 8 is first supporting plates, 9 is second decelerating step motor, and 10 is second supporting plates, and 11 is three-dimensional electronic compass, 12 is laser range sensors, 13 is fixing support racks, and 14 is tunnel wall, and 15 is optics tripods.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.It should be noted that at this, the explanation for these embodiments understands the present invention for helping, but does not form limitation of the invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.

As shown in Fig. 1,2 and Fig. 3, one provided by the invention High Precision Automatic leveling tuning Intelligent Laser profiler, comprise electric rotary table 2, wireless communication module 3, the first decelerating step motor 5, spring coupling 6, bearing seat 7 with bearing, second decelerating step motor 9, three-dimensional electronic compass 11, laser range sensor 12.

Electric rotary table 2 and wireless communication module 3 are fixed on the first connecting bottom board 1.First decelerating step motor 5, the bearing seat 7 of band bearing is all fixed on the second web joint 4, and the second web joint 4 is fixed on electric rotary table 2.Second decelerating step motor 9 is fixed on the first supporting plate 8, and the first supporting plate 8 is linked together by bearing seat 7 and the first decelerating step motor 5, and three-dimensional electronic compass 11 and laser range sensor 12 are arranged on the second supporting plate 10.

The axle head of the second supporting plate 10 and the second decelerating step motor 9 is linked together by screw-driving.First decelerating step motor 5, second decelerating step motor 9 is all connected with wireless communication module 3 by serial port data line 16 with laser range sensor 12, and wireless communication module 3 is responsible for wireless receiving and the transmission of steering order and measurement data.

For improving the measuring accuracy of profiler, electric rotary table 2 should use high-accuracy electric rotary table as far as possible.

In order to improve the measuring accuracy of profiler provided by the invention further, following positioning requirements should be met: output shaft axial line and the first decelerating step motor 5 output shaft axial line of the second decelerating step motor 9 want mutually vertical.The plane of scanning motion of laser range sensor 12 will ensure vertical with the second stepper motor 9, and when the two out of plumb, the cross section, tunnel of scanning will be oval, thus causes larger measuring error.For ensureing that apparatus installation support has good versatility, profiler is connected with bearing by the first connecting bottom board 1, the mounting hole of back-plane design makes erection support can be conventional optics tripod 15, also can be the common fixing support rack 13 being fixed on tunnel wall.

In order to further improve the measuring accuracy of profiler provided by the invention, also should meet following positioning requirements: the layout of three-dimensional electronic compass 11 and laser range sensor 12 will make the center of gravity of the two drop on the output shaft axial line of the second decelerating step motor 9, improves the rotation homogeneity of the second decelerating step motor 9.

The course of work of profiler provided by the invention is:

First step attitude is aligned:

After apparatus installation, wireless communication module 3 reads course angle α and the angle of gradient β and roll angle γ of three-dimensional electronic compass 11 after receiving instruction, first sending pulse signal by the value of α drives electric rotary table 2 axis of the axis of the second decelerating step motor 9 and Tunnel Design constructs to be adjusted to coaxial, then drives the first decelerating step motor 5 to be adjusted to by the axis of the second decelerating step motor 9 by the value transmission pulse signal of β domatic parallel with tunnel reality.So far, by aforementioned regulating guarantee, laser range sensor surface sweeping cross section is vertical with tunnel axis, and the attitude regulation of measuring instrument is complete.

Second step circumferential scanning is measured:

Sending pulse signal drives decelerating step motor 2 to rotate in a circumferential direction, and makes γ angle turn over certain angle at every turn, and the circumferential scanning realizing tunnel cross-section is measured.The measurement data of laser range sensor 12 transfers to wireless communication module 3 by serial port data line, and measurement data sends by wireless communication module 3 again.

When carrying out tunnel cross section out break and measuring, whole measuring system is arranged on optics tripod 15, optical triangulation frame is placed in tunnel center line orbital plane, as shown in Figure 2, laser cross section instrument is placed on optics tripod 15, optics tripod is positioned on tunnel center line, pushes ahead successively with constructing tunnel, thus realizes measuring in real time with constructing tunnel.The self-leveling tuning function of measuring system can ensure that optics tripod does not need accurate leveling, after measuring a section, mobile optical tripod to next section can continue to measure, save Measuring Time greatly, improve work efficiency, decrease the impact of measuring constructing tunnel.

When carrying out tunnel cross section face type long term monitoring, its object mainly monitors tunnel deformation, and prevention tunnel duct piece comes off because geology variation causes, and drops on track and affects traffic safety.When carrying out long term monitoring, measuring system is fixed on above the fixing support rack 13 of tunnel wall, to carry out long term monitoring to tunnel cross-section, measurement data by wireless transmission to pulpit.As shown in Figure 3, laser cross section instrument is as on fixing support rack 13, and fixed support is arranged in tunnel wall by screw, when tunnel wall change causes fixed support deformation, laser cross section instrument in the present invention can adjust in self-leveling, thus ensures long-term measuring accuracy.The main error influence factor of carrying out the type monitoring of tunnel cross-section face is that geology variation causes the bearing torsional deflection of being fixed on tunnel wall, and the measuring system in the present invention can carry out self-leveling tuning for bearing torsion, ensure that long-term measuring accuracy greatly.Conventional monitoring methods regularly sends workman to enter in tunnel to measure, and tunnel cross-section long term monitoring function of the present invention eliminates long human input, section face type information is sent to operation room outside hole by wireless transmission method and can completes monitoring task by measuring system timing.

In a word, the present invention carries out automatic leveling tuning by the temporald eixis of three-dimensional electronic compass, tunnel cross-section face type can be measured in real time with constructing tunnel, judge whether out break, face, tunnel type long term monitoring can be carried out again after constructing tunnel, well solve laser cross section instrument in the past and can not measure attitude by automatic leveling at any time by artificial fine setting, only can not the problem of long term monitoring for tunnel cross-section detects.There is precision high, simple to operation, energy one key automatic leveling tuning during installation, instrument is reused after being convenient to dismounting, can well change for geology the pedestal dislocation that causes when monitoring in tunnel and the correction of self-leveling tuning is carried out in torsion, thus ensureing long-term measuring accuracy, steering order and measurement data are transmitted by wireless communication module, realize Long-distance Control.

Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (2)

1. an automatic leveling tuning Intelligent Laser profiler, it is characterized in that, this profiler is used for timing and carries out self direction adjustment according to Tunnel Design axial direction and the tunnel track face gradient, and it specifically comprises electric rotary table (2), wireless communication module (3), first decelerating step motor (5), spring coupling (6), the bearing seat (7) of band bearing, the second decelerating step motor (9), three-dimensional electronic compass (11), and laser range sensor (12);
Electric rotary table (2) and wireless communication module (3) are fixed on the first connecting bottom board (1); The bearing seat (7) of the first decelerating step motor (5) and band bearing is all fixed on the second web joint (4), and the second web joint (4) is fixed on electric rotary table (2); Second decelerating step motor (9) is fixed on the first supporting plate (8), output shaft axial line and the first decelerating step motor (5) the output shaft axial line of the second decelerating step motor (9) want mutually vertical, first supporting plate (8) is linked together by bearing seat (7) and the first decelerating step motor (5), three-dimensional electronic compass (11) and laser range sensor (12) are arranged on the second supporting plate (10), and the plane of scanning motion of laser range sensor (12) is vertical with the second stepper motor (9); The layout of three-dimensional electronic compass (11) and laser range sensor (12) makes the center of gravity of the two drop on the output shaft axial line of the second decelerating step motor (9);
Second supporting plate (10) links together with the axle head of the second decelerating step motor (9), first decelerating step motor (5), the second decelerating step motor (9) are all connected by serial port data line (16) with wireless communication module (3) with laser range sensor (12), and wireless communication module (3) is for the wireless receiving of steering order and measurement data and transmission;
Can carry out automatic adjusting horizontal for self attitude during the work of this profiler, and steering order and measurement data all adopt communication to transmit; When profiler be arranged on tunnel wall carry out tunnel cross-section long term monitoring time, profiler can carry out self-attitude correction according to the variation value integrating tunnel trends of design of profiler horizontal azimuth and the angle of gradient, make up because geology variation causes bearing torsional deflection, ensure that laser range sensor scanning section and tunnel move towards to design axes normal, ensure the long-term measuring accuracy of profiler.
2. automatic leveling tuning Intelligent Laser profiler according to claim 1, it is characterized in that, the temporald eixis by three-dimensional electronic compass carries out automatic leveling tuning.
CN201310080127.4A 2013-03-13 2013-03-13 Smart laser profiler automatic in leveling and direction adjustment CN103175510B (en)

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104792261B (en) * 2015-04-10 2018-05-29 清华大学 The fine measuring system of underground chamber three dimensions
CN105004732A (en) * 2015-07-16 2015-10-28 武汉长盛工程检测技术开发有限公司 Tunnel crack rapid detection device and method
CN105004270A (en) * 2015-08-05 2015-10-28 云南省公路科学技术研究院 Tunnel lining section laser detector
CN105841626B (en) * 2016-03-29 2018-10-23 华北科技学院 A kind of underworkings deformation monitoring device and method
CN107702693B (en) * 2017-10-19 2020-06-02 伟志股份公司 Geological section measuring device and method

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CA2368157A1 (en) * 2002-01-08 2003-07-08 Paul A. Rantala Device and method for underground tunnel alignment
CN201031704Y (en) * 2007-05-31 2008-03-05 中国科学院武汉岩土力学研究所 Tunnel wireless laser setting-out work device
CN201130017Y (en) * 2007-12-21 2008-10-08 范兴旺 Dynamoelectric laser tunnel section detector
CN201159643Y (en) * 2008-03-06 2008-12-03 北京光电技术研究所 Tunnel clearance detecting instrument
CN102221680A (en) * 2011-04-02 2011-10-19 中色地科矿产勘查股份有限公司 Plane measurement method and apparatus for total field magnetometer measuring rock and magnetic parameter of ore specimen

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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2368157A1 (en) * 2002-01-08 2003-07-08 Paul A. Rantala Device and method for underground tunnel alignment
CN201031704Y (en) * 2007-05-31 2008-03-05 中国科学院武汉岩土力学研究所 Tunnel wireless laser setting-out work device
CN201130017Y (en) * 2007-12-21 2008-10-08 范兴旺 Dynamoelectric laser tunnel section detector
CN201159643Y (en) * 2008-03-06 2008-12-03 北京光电技术研究所 Tunnel clearance detecting instrument
CN102221680A (en) * 2011-04-02 2011-10-19 中色地科矿产勘查股份有限公司 Plane measurement method and apparatus for total field magnetometer measuring rock and magnetic parameter of ore specimen

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