CN107167109A - The method and device in two dot laser measurement plane spaces drift angle - Google Patents
The method and device in two dot laser measurement plane spaces drift angle Download PDFInfo
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- CN107167109A CN107167109A CN201710312304.5A CN201710312304A CN107167109A CN 107167109 A CN107167109 A CN 107167109A CN 201710312304 A CN201710312304 A CN 201710312304A CN 107167109 A CN107167109 A CN 107167109A
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- plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention belongs to technical field of laser detection, it is related to a kind of method and device of two dot lasers measurement plane space drift angle.It has the advantages that big automaticity height, measurement range, efficiency high, cost are low.The method of the invention be using two parallel and position relationship known to laser beam in target surface two hot spots of formation, above-mentioned laser beam makes the line at two laser beam centers and horizontal plane angle at an acute angle or obtuse angle perpendicular to plane to be measured；Target surface vertical direction is set, exploring laser light hot spot, calculates the centre coordinate of laser facula, calculates the horizontal and vertical distance of laser spot center, and is contrasted with the horizontal and vertical distance at known laser beam center, calculates the space drift angle of plane to be measured；Change the space angle of target surface, above-mentioned target surface rotates an angle respectively around vertical axis and trunnion axis, then calculate the horizontal and vertical distance of laser spot center respectively, two groups of result of calculation, obtains the space drift angle direction of plane to be measured before and after contrast rotation.
Description
Technical field
The invention belongs to technical field of laser detection, it is related to the method and dress of a kind of two dot lasers measurement plane space drift angle
Put.
Background technology
Large structure, such as building, bridge, rail, heavy duty equipment, in building and construction, its is some
The spatial angle measuring of plane is very crucial, is the important topic for being related to the national economy such as quality and safety.Certain structures body
The vertical drift angle of the drift angle of plane, such as external surface of buildings, observes its profile in side of buildings using theodolite and carries out
Measurement, but the structure plane having just can not observe (such as surface of building indent) to observer, or side, now can not
The space drift angle for obtaining the plane is detected by side profile.In addition, can only be obtained when carrying out side profile detection using theodolite
To the drift angle in a direction, it is impossible to while obtaining the drift angle of object planar horizontal to be measured and vertical both direction.To problems,
There are following three kinds of measuring methods：
First, the fixed pan mirror in structure plane to be measured, level and target plane mirror are adjusted by theodolite, observe longitude and latitude
The horizontally and vertically drift angle for the picture that instrument cross-graduation is reflected back through level crossing, i.e., the horizontally and vertically drift angle of plane to be measured.But this
The method of kind needs artificial reading, and inefficiency error in reading, and theodolite observation scope very little easily occurs, do not surpassed typically
2' is crossed, more bigger drift angle then exceeds measurement range, it is impossible to detect；
2nd, 3 D laser scanning is used for the mapping of space structure, and this method is non-cpntact measurement, to structural body without shadow
Ring, precision is high, acquired data are the three-dimensional coordinate data on structure surface, and three-dimensional mould can be built using the poster processing soft
Type.With reference to computer programming, three dimensional point cloud is effectively used for the analysis of structure perpendicularity, sectional view, elevation, equivalence
Line chart is drawn, and in the work such as deformation monitoring.But this method cost is very high, acquired data need subsequent treatment, it is impossible to
Direct reading, the professional standards to user of service require very high.It can not be obtained in fields such as building, construction and large-sized structural parts detections
To practical application；
3rd, such as rail surface space measurement of angle, which can fix laser, to be detected to the space drift angle of continuous tested surface
Rail surface is close on rail surface, receiving target, adjustment laser makes the alignment of its hot spot receive target target surface center, along rail
Surface movement receives target, and constantly measurement laser calculates rail surface to the distance for receiving target according to the offset of laser facula
Space drift angle, this method is although easy to automate, but must ranging, even if sky can not also be determined by carrying out ranging in addition
Between drift angle direction.
The content of the invention
The present invention seeks to solve space drift angle (the horizontal angle and vertical angle) measurement of above-mentioned large structure plane to be measured
Complicated, the poorly efficient and not convenient property of middle existing method, with automaticity is high, measurement range is big, that efficiency high, cost are low is excellent
Point.
To realize object above, the present invention provides a kind of method of two dot lasers measurement plane space drift angle, is to utilize two
Laser beam known to individual parallel and position relationship target surface formation two hot spots, above-mentioned laser beam perpendicular to plane to be measured,
Make the line and horizontal plane angle at two laser beam centers at an acute angle or obtuse angle；
Target surface vertical direction is set, exploring laser light hot spot, calculates the centre coordinate of laser facula, calculates laser spot center
Horizontal and vertical distance, and contrasted with the horizontal and vertical distance at known laser beam center, calculating plane to be measured
Space drift angle；
Change the space angle of target surface, above-mentioned target surface rotates an angle respectively around vertical axis and trunnion axis, then counts respectively
The horizontal and vertical distance of laser spot center is calculated, two groups of result of calculation, obtains the space of plane to be measured before and after contrast rotation
Drift angle direction.
The concrete operations of the above method are as follows：
1) two lasers and the position of plane to be measured are relatively fixed, the laser beam sent is parallel to each other and with treating
Survey plane vertical, two filters center lines are arranged horizontal by an acute angle or obtuse angle, accurate measurement obtains two and swashed
The horizontal range S of light device optical axis center1With vertical range S2；
2) laser is opened, detector is placed at a certain distance from laser, hot spot is formed on target surface；
3) target surface is adjusted, its relative level is vertically arranged；
4) control laser switch make two lasers it is controlled it is bright, go out；
5) the horizontal range L of two laser spot centers is calculated according to the centre coordinate of laser facula1With vertical range L2,
The space drift angle of plane to be measured can just be calculated；
6) target surface is rotated an angle around trunnion axis, the vertical range l of two hot spots is calculated again2, after calculating terminates
Reset target surface, it is possible to calculate the vertical drift angle direction in space of plane to be measured；
7) target surface is rotated an angle around vertical axis, the horizontal range l of two hot spots is calculated again1, after calculating terminates
Reset target surface, it is possible to calculate the space level drift angle direction of plane to be measured.
The space drift angle size of above-mentioned plane to be measured and the computational methods in direction are：
Above-mentioned laser beam is vertical with plane to be measured, and the vertical drift angle of plane to be measured is calculated asLevel angle
ForCompare L2And l2Size determine vertical drift angle
Direction, compare L1And l1Size determine the direction of level angle.
A kind of device of measurable plane space drift angle, including laser assembly and detector,
The laser assembly includes two lasers and mounting seat, and two lasers are fixed in mounting seat, and two are swashed
The laser beam that light device is sent is parallel to each other；
The mounting seat rotary setting is in reference seat；
Reference plane is provided with the reference seat, the laser beam that two lasers are sent is vertical with reference plane；
The detector includes target surface, optical lens, photoelectric sensor and process circuit, and the detection optical axis of optical lens is hung down
Straight to be set in target surface, photoelectric sensor is arranged on rear side of optical lens, geometric center and optical lens, the photoelectric sensor of target surface
Optical axis coincidence, the photoelectric sensor is connected with process circuit.
Above-mentioned photoelectric sensor is CCD or cmos image sensor.
Above-mentioned pipe spirit level is arranged in mounting seat.To facilitate instruction horizontal direction.
Compared with prior art, the invention has the characteristics that：
1) subjective judgement error during transit survey plane space drift angle is solved, using automatic measurement, numerical monitor
Method, intuitively provide plane space drift angle to be measured, measurement efficiency is high；
2) the small shortcoming of transit survey scope is solved, it is possible to increase target surface size increases measurement when measurement distance is constant
Scope；
3) size and Orientation of plane space drift angle to be measured can be calculated simultaneously；
4) simple in construction, cost is low, and data processing is simple.
Brief description of the drawings
Fig. 1 is reference seat structural representation of the present invention；
Fig. 2 is Fig. 1 A direction views；
Fig. 3 is panel detector structure schematic diagram of the present invention；
Fig. 4 is Fig. 3 A direction views；
Fig. 5 is the arrangement mode schematic diagram of the laser of embodiment 1；
Fig. 6 is measurement of angle method schematic diagram in space of the present invention；
Fig. 7 is the calculating schematic diagram that datum clamp face 131 is close to vertical angle during plane to be measured；
Fig. 8 is the calculating schematic diagram that datum clamp face 131 is close to horizontal angle during plane to be measured.
Wherein：
1-reference seat, 2-detector
11-mounting seat, 12-laser controller
21-target surface, 22-optical lens
23-photoelectric sensor, 24-process circuit
25-horizontal adjustment knob 26-vertical angles adjusting means
27-level angle, 28-detector base of adjusting means
111-first laser, 112-second laser of device
113-pipe, 131-reference plane of spirit level
Embodiment
The present invention provides a kind of method of two dot lasers measurement plane space drift angle, is to utilize two parallel and position relationships
Known laser beam makes in two laser beams in target surface two hot spots of formation, above-mentioned laser beam perpendicular to plane to be measured
The line of the heart is horizontal by an acute angle or obtuse angle；
Target surface vertical direction is set, exploring laser light hot spot, calculates the centre coordinate of laser facula, calculates laser spot center
Horizontal and vertical distance, and contrasted with the horizontal and vertical distance at known laser beam center, calculating plane to be measured
Space drift angle；
Change the space angle of target surface, above-mentioned target surface rotates an angle respectively around vertical axis and trunnion axis, then counts respectively
The horizontal and vertical distance of laser spot center is calculated, two groups of result of calculation, obtains the space of plane to be measured before and after contrast rotation
Drift angle direction.
Referring to Fig. 1-Fig. 4, in order to realize the above method, the invention provides a kind of dress of measurable plane space drift angle
Put：Including laser assembly and detector,
The laser assembly includes two lasers and mounting seat, and two lasers are fixed in mounting seat, and two are swashed
The laser beam that light device is sent is parallel to each other；
The mounting seat rotary setting is in reference seat；
Reference plane is provided with the reference seat, the laser beam that two lasers are sent is vertical with reference plane；
The detector includes target surface, optical lens, photoelectric sensor and process circuit, and the detection optical axis of optical lens is hung down
Straight to be set in target surface, photoelectric sensor is arranged on rear side of optical lens, geometric center and optical lens, the photoelectric sensor of target surface
Optical axis coincidence, the photoelectric sensor is connected with process circuit.
Above-mentioned photoelectric sensor is CCD or cmos image sensor.
Above-mentioned pipe spirit level is arranged in mounting seat.To facilitate instruction horizontal direction.
Two lasers 111 and 112 on laser assembly are connected with laser controller 12, the control of laser controller 12 two
Individual laser it is bright, go out, can be real using the switching of 51 single-chip microcomputer control relays so as to the laser corresponding to clear and definite hot spot
It is existing.
The mechanism that mounting seat 11 can rotate in reference seat 1 is a lot, for example, have one section and reference seat 1 at the rear portion of mounting seat 11
The connecting shaft of the connecting hole precision-fit of interior setting, reaches the purpose that laser assembly is rotated freely.
Pipe spirit level 113 is located in mounting seat 11, and its bubble carries out the He of first laser device 111 by indicating horizontal direction
The line of centres of second laser 112 and the angled setting of horizontal plane.
The target surface 21 is realized by the adjustment mechanism on detector 2 to be vertically arranged and space angle with horizontal plane
Change, horizontal adjustment knob 25, vertical angles adjusting means 26, level angle adjusting means 27 and detector base can be included
28 compositions.
The size of the target surface 21 can be increased by adjusting optical lens 22 to the distance of target surface 21 and the parameter of optical lens
Big or diminution；
The target surface 21 is vertical with detector base upper surface, the adjustment detector base of horizontal adjustment knob 25 upper surface water
It is flat；
The vertical angles adjusting means 26 can make the vertical angle of target surface 21 change an angle in one direction and can answer
Position；
The level angle adjusting means 27 can make the horizontal angle of target surface 21 change an angle in one direction and can answer
Position.
The present invention is described in detail below by way of specific embodiment：
Embodiment 1：
Referring to Fig. 5 and Fig. 6.A kind of device of measurable plane space drift angle, including first laser device 111 and second laser
Device 112 and mounting seat 11, above-mentioned two-laser optical axis center line is with the upper surface of mounting seat 11 in 45 ° of angles.
A kind of method of two dot lasers measurement plane space drift angle：
1) laser assembly is fixed in plane to be measured, the reference plane 131 of reference seat is close to plane to be measured, such two
The laser beam that individual laser is sent is parallel and vertical with plane to be measured；
2) mounting seat 11 is adjusted, makes pipe spirit level bubble placed in the middle, in the present embodiment sets the upper surface level of mounting seat 11
Put, the line between first laser device 111 and second laser 112 is horizontal by 45 ° of settings, first laser device 111 and the
The horizontal range S of dual-laser device 1121With vertical range S2Actually measurement is obtained after laser installation, by laser alignment target surface
21；
3) control laser controller 12 opens laser, and detector 2 is placed at a certain distance from laser assembly, makes two
The laser-formed hot spot of beam is presented on target surface 21；
4) regulation horizontal adjustment knob 25 makes the upper surface level of detector base 28, it is ensured that target surface is vertically arranged；
5) control laser controller 12 makes that multiple lasers are bright on request, go out；
6) hot spot that first laser device 111 is formed on target surface 21 is P1, what second laser 112 was formed on target surface 21
Hot spot is P2, you can hot spot P is calculated according to coordinate1And P2Horizontal range L1With vertical range L2；
7) target surface 21 is rotated a clockwise vertical angles around trunnion axis, hot spot P is calculated again1To P2It is vertical away from
From l2, calculate resets target surface 21 after terminating；
8) target surface 21 is rotated a clockwise level angle around vertical axis, hot spot P is calculated again1To P2Level away from
From l1, calculate resets target surface 21 after terminating；
9) geometric center of target surface 21 is calculates the coordinate origin of spot center, and photoelectric sensor 23 obtains laser facula
Image information simultaneously sends process circuit 24 to, and process circuit 24 calculates spot center coordinate, further calculates plane space to be measured
Drift angle, process circuit intuitively shows space drift angle numerical value and the direction of plane to be measured by display module.
Referring to Fig. 7 and Fig. 8.In the present embodiment, two laser beams are vertical with plane to be measured, the vertical drift angle of plane to be measured
It is calculated asLevel angle isWork as L2＞ l2When, the vertical drift angle of plane to be measured is side counterclockwise
To working as L2＜ l2When, the vertical drift angle of plane to be measured is clockwise direction, works as L1＞ l1When, the level angle of plane to be measured is inverse
Clockwise, works as L1＜ l1When, the level angle of plane to be measured is clockwise.
Embodiment 2：
The present embodiment also differ in that with embodiment 1 make target surface 21 around trunnion axis rotate one it is counterclockwise vertical
Angle, calculates hot spot P again1To P2Vertical range l2, calculate resets target surface 21 after terminating；Target surface 21 is set to be revolved around vertical axis
Turn a level angle counterclockwise, hot spot P is calculated again1、P2Horizontal range l1, calculate resets target surface 21 after terminating；
In the present embodiment, work as L2＞ l2When, the vertical drift angle of plane to be measured is clockwise direction, works as L2＜ l2When, it is to be measured flat
The vertical drift angle in face is counter clockwise direction, works as L1＞ l1When, the level angle of plane to be measured is clockwise direction, works as L1＜ l1When,
The level angle of plane to be measured is counterclockwise.
Claims (6)
1. a kind of method of two dot lasers measurement plane space drift angle, it is characterised in that：Described method is parallel using two
And laser beam known to position relationship, in target surface two hot spots of formation, above-mentioned laser beam makes two perpendicular to plane to be measured
The line at laser beam center and horizontal plane angle be at an acute angle or obtuse angle；
Target surface vertical direction is set, exploring laser light hot spot, calculates the centre coordinate of laser facula, calculates the water of laser spot center
Gentle vertical range, and contrasted with the horizontal and vertical distance at known laser beam center, calculate the sky of plane to be measured
Between drift angle；
Change the space angle of target surface, above-mentioned target surface rotates an angle respectively around vertical axis and trunnion axis, then calculates respectively sharp
The horizontal and vertical distance of light spot center, two groups of result of calculation, obtains the space drift angle of plane to be measured before and after contrast rotation
Direction.
2. a kind of method of two dot lasers measurement plane space drift angle according to claim 1, it is characterised in that：
The concrete operations of the above method are as follows：
1) two lasers and the position of plane to be measured are relatively fixed, the laser beam sent is parallel to each other and is put down with to be measured
Face is vertical, and two filters center lines are arranged horizontal by an acute angle or obtuse angle, and accurate measurement obtains two lasers
The horizontal range S of optical axis center1With vertical range S2；
2) laser is opened, detector is placed at a certain distance from laser, hot spot is formed on target surface；
3) target surface is adjusted, its relative level is vertically arranged；
4) control laser switch make two lasers it is controlled it is bright, go out；
5) the horizontal range L of two laser spot centers is calculated according to the centre coordinate of laser facula1With vertical range L2, so that it may
To calculate the space drift angle of plane to be measured；
6) target surface is rotated an angle around trunnion axis, the vertical range l of two hot spots is calculated again2, calculate makes target surface after terminating
Reset, it is possible to calculate the vertical drift angle direction in space of plane to be measured；
7) target surface is rotated an angle around vertical axis, the horizontal range l of two hot spots is calculated again1, calculate makes target surface after terminating
Reset, it is possible to calculate the space level drift angle direction of plane to be measured.
3. a kind of method of two dot lasers measurement plane space drift angle according to claim 2, it is characterised in that：
The space drift angle size of above-mentioned plane to be measured and the computational methods in direction are：
Above-mentioned laser beam is vertical with plane to be measured, and the vertical drift angle of plane to be measured is calculated asLevel angle isCompare L2And l2Size determine the direction of vertical drift angle, to compare L1And l1Size determine the side of level angle
To.
4. a kind of device of measurable plane space drift angle according to claim 1, it is characterised in that：Including laser group
Part and detector (2),
The laser assembly includes laser (111) and laser (112) and mounting seat (11), and two lasers are fixed on peace
Fill in seat (11), the laser beam that two lasers are sent is parallel to each other；
Mounting seat (11) rotary setting is in reference seat (1)；
Reference plane (131) is provided with the reference seat (1), the laser beam that two lasers are sent hangs down with reference plane (131)
Directly；
The detector (2) includes target surface (21), optical lens (22), photoelectric sensor (23) and process circuit (24), optics
The detection optical axis of camera lens (22) is set perpendicular to target surface (21), and photoelectric sensor (23) is arranged on rear side of optical lens (22), target
The geometric center in face (21) and optical lens (22), the optical axis coincidence of photoelectric sensor (23), the photoelectric sensor (23) with
Process circuit (24) is connected.
5. a kind of device of measurable plane space drift angle according to claim 4, it is characterised in that：Above-mentioned photoelectric sensing
Device (23) is CCD or cmos image sensor.
6. a kind of device of measurable plane space drift angle according to claim 5, it is characterised in that：Above-mentioned pipe spirit level
(113) it is arranged in mounting seat (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710312304.5A CN107167109B (en) | 2017-05-05 | 2017-05-05 | Method and device for measuring plane space deflection angle by two-point laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710312304.5A CN107167109B (en) | 2017-05-05 | 2017-05-05 | Method and device for measuring plane space deflection angle by two-point laser |
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| Publication Number | Publication Date |
|---|---|
| CN107167109A true CN107167109A (en) | 2017-09-15 |
| CN107167109B CN107167109B (en) | 2023-02-24 |
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ID=59813580
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710312304.5A Active CN107167109B (en) | 2017-05-05 | 2017-05-05 | Method and device for measuring plane space deflection angle by two-point laser |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111637826A (en) * | 2020-06-02 | 2020-09-08 | 广西壮族自治区农业科学院 | Sugarcane lodging angle rapid measuring device and using method thereof |
| CN113466791A (en) * | 2021-07-14 | 2021-10-01 | 深圳市武测空间信息有限公司 | Laser mapping and positioning equipment and method |
| CN114670945A (en) * | 2022-03-28 | 2022-06-28 | 中国铁建重工集团股份有限公司 | Wall-climbing robot and wall-climbing robot walking method |
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| CN205120046U (en) * | 2015-11-04 | 2016-03-30 | 宁波舜宇智能科技有限公司 | System for measure inclination and displacement |
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| US6628378B1 (en) * | 1999-11-09 | 2003-09-30 | University Of Pittsburgh | Methods and apparatus for aligning rolls |
| CN1599441A (en) * | 2003-09-19 | 2005-03-23 | 日本电气视象技术株式会社 | Projector with tilt angle measuring device |
| CN101776758A (en) * | 2010-02-09 | 2010-07-14 | 卢波 | Distance measuring instrument for measuring distance between two target points |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111637826A (en) * | 2020-06-02 | 2020-09-08 | 广西壮族自治区农业科学院 | Sugarcane lodging angle rapid measuring device and using method thereof |
| CN113466791A (en) * | 2021-07-14 | 2021-10-01 | 深圳市武测空间信息有限公司 | Laser mapping and positioning equipment and method |
| CN114670945A (en) * | 2022-03-28 | 2022-06-28 | 中国铁建重工集团股份有限公司 | Wall-climbing robot and wall-climbing robot walking method |
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| CN107167109B (en) | 2023-02-24 |
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