CN107167109B - Method and device for measuring plane space deflection angle by two-point laser - Google Patents
Method and device for measuring plane space deflection angle by two-point laser Download PDFInfo
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Abstract
The invention belongs to the technical field of laser detection, and relates to a method and a device for measuring a plane space deflection angle by two-point laser. The method has the advantages of high automation degree, large measurement range, high efficiency and low cost. The method of the invention uses two parallel laser beams with known position relation to form two light spots on a target surface, the laser beams are vertical to a plane to be measured, so that an included angle between a connecting line of the centers of the two laser beams and the horizontal plane forms an acute angle or an obtuse angle; setting a target surface in the vertical direction, detecting laser spots, calculating the center coordinates of the laser spots, calculating the horizontal and vertical distances of the centers of the laser spots, comparing the horizontal and vertical distances with the known horizontal and vertical distances of the centers of laser beams, and calculating the spatial deflection angle of a plane to be measured; changing the space angle of the target surface, respectively rotating the target surface by an angle around a vertical axis and a horizontal axis, respectively calculating the horizontal and vertical distances of the center of the laser spot, and comparing the calculation results of the front group and the rear group of the laser spot to obtain the space deflection angle direction of the plane to be measured.
Description
Technical Field
The invention belongs to the technical field of laser detection, and relates to a method and a device for measuring a plane space deflection angle by two-point laser.
Background
In the construction and construction of large structures, such as buildings, bridges, rails, heavy machinery and the like, the measurement of the spatial angle of some planes is very critical, and is an important issue for the nation and people concerned about quality, safety and the like. The declination of some structural planes, such as the vertical declination of the outer surface of a building, can be measured by observing the profile of the structural plane on the side of the building by using a theodolite, but some structural planes are opposite to an observer, or the side cannot be observed (such as the concave surface of the building), and the spatial declination of the plane cannot be obtained through the detection of the profile of the side. In addition, when the theodolite is used for detecting the side profile, the declination angle in one direction can be obtained, and the declination angles in the horizontal direction and the vertical direction of the plane to be detected of the object can not be obtained simultaneously. For such problems, there are the following three measurement methods:
1. fixing a plane mirror on a plane to be measured of the structure body, adjusting the level of the theodolite, aiming at the plane mirror, and observing the horizontal deflection angle and the vertical deflection angle of an image reflected by the plane mirror through the cross division of the theodolite, namely the horizontal deflection angle and the vertical deflection angle of the plane to be measured. However, the method needs manual reading, is low in efficiency, is easy to cause reading errors, has a small theodolite observation range which is generally not more than 2', and cannot detect the deviation angle which is slightly larger than the deviation angle, and exceeds the measurement range;
2. the three-dimensional laser scanning is used for surveying and mapping a space structure, the method is non-contact measurement, has no influence on a structure body, is high in precision, and can construct a three-dimensional model by utilizing post-processing software, and the acquired data is three-dimensional coordinate data of the surface of the structure body. In combination with computer programming, the three-dimensional point cloud data can be effectively used for structural body perpendicularity analysis, cross-sectional view drawing, elevation view drawing, contour map drawing, deformation monitoring and other works. However, the method is very costly, the acquired data requires subsequent processing and cannot be read directly, and the requirements on the professional level of the user are very high. The method can not be practically applied in the fields of building, construction, large structural member detection and the like;
3. the method comprises the steps of detecting the space deflection angle of a continuous surface to be measured, for example, measuring the space deflection angle of the surface of a rail, fixing a laser on the surface of the rail, enabling a receiving target to be close to the surface of the rail, adjusting the laser to enable a light spot of the laser to be aligned with the center of the target surface of the receiving target, moving the receiving target along the surface of the rail, continuously measuring the distance from the laser to the receiving target, and calculating the space deflection angle of the surface of the rail according to the offset of the laser light spot.
Disclosure of Invention
The invention aims to solve the problems of complexity, low efficiency and inconvenience of the existing method in the measurement of the space deflection angle (horizontal angle and vertical angle) of the plane to be measured of the large-scale structural body, and has the advantages of high automation degree, large measurement range, high efficiency and low cost.
In order to realize the above purpose, the invention provides a method for measuring plane space deflection angle by two-point laser, which utilizes two parallel laser beams with known position relation to form two light spots on a target surface, wherein the laser beams are vertical to a plane to be measured, so that the connecting line of the centers of the two laser beams and the horizontal plane form an acute angle or an obtuse angle;
setting a target surface in the vertical direction, detecting laser spots, calculating the center coordinates of the laser spots, calculating the horizontal and vertical distances of the centers of the laser spots, comparing the horizontal and vertical distances with the known horizontal and vertical distances of the centers of laser beams, and calculating the spatial deflection angle of a plane to be measured;
changing the space angle of the target surface, respectively rotating the target surface by an angle around a vertical axis and a horizontal axis, respectively calculating the horizontal and vertical distances of the laser spot center, and comparing the calculation results of the front group and the rear group of the laser spot center, thereby obtaining the space deflection angle direction of the plane to be measured.
The specific operation of the method is as follows:
1) The two lasers and the plane to be measured are relatively fixed in position, so that the emitted laser beams are parallel to each other and are vertical to the plane to be measured, the central connecting line of the two lasers and the horizontal plane form an acute angle or an obtuse angle, and the horizontal distance S between the optical axis centers of the two lasers is accurately measured 1 And a vertical distance S 2 ；
2) Turning on a laser, placing a detector at a certain distance from the laser, and forming light spots on a target surface;
3) Adjusting the target surface to be vertically arranged relative to the horizontal plane;
4) Controlling the laser switches to control the two lasers to be turned on and off;
5) Calculating the horizontal distance L between the centers of the two laser spots according to the central coordinates of the laser spots 1 And a vertical distance L 2 Calculating the space deflection angle of the plane to be measured;
6) Rotating the target surface by an angle around the horizontal axis, and calculating the vertical distance l of the two light spots again 2 After the calculation is finished, the target surface is reset, and the spatial vertical deflection angle direction of the plane to be measured can be calculated;
7) Rotating the target surface by an angle around the vertical axis, and calculating the horizontal distance l of the two light spots again 1 And resetting the target surface after the calculation is finished, and calculating to obtain the spatial horizontal deflection angle direction of the plane to be measured.
The method for calculating the size and the direction of the spatial deflection angle of the plane to be measured comprises the following steps:
the laser beam is perpendicular to the plane to be measured, and the vertical deflection angle of the plane to be measured is calculatedIs composed of
Horizontal deflection angle of
Comparison L 2 And l 2 Is used for determining the vertical deflection angle
Direction of (D), comparison L 1 And l 1 Determines the direction of the horizontal declination.
A device capable of measuring plane space deflection angle comprises a laser component and a detector,
the laser assembly comprises two lasers and a mounting seat, the two lasers are fixed in the mounting seat, and laser beams emitted by the two lasers are parallel to each other;
the mounting seat is rotatably arranged in the reference seat;
a reference surface is arranged on the reference seat, and laser beams emitted by the two lasers are vertical to the reference surface;
the detector comprises a target surface, an optical lens, a photoelectric sensor and a processing circuit, wherein a detection light axis of the optical lens is perpendicular to the target surface, the photoelectric sensor is arranged on the rear side of the optical lens, the geometric center of the target surface is coincided with the optical axes of the optical lens and the photoelectric sensor, and the photoelectric sensor is connected with the processing circuit.
The photoelectric sensor is a CCD or CMOS image sensor.
The pipe level is arranged on the mounting seat. To facilitate indicating the horizontal direction.
Compared with the prior art, the invention has the following characteristics:
1) The method solves the subjective judgment error when the theodolite measures the plane space declination angle, adopts the methods of automatic measurement and digital display, intuitively provides the plane space declination angle to be measured, and has high measurement efficiency;
2) The shortcoming of small measurement range of the theodolite is overcome, and the measurement range can be enlarged when the measurement distance is unchanged;
3) The size and the direction of the spatial deflection angle of the plane to be measured can be calculated simultaneously;
4) Simple structure, low cost and simple data processing.
Drawings
FIG. 1 is a schematic view of a reference base according to the present invention;
FIG. 2 is a view in the direction A of FIG. 1;
FIG. 3 is a schematic diagram of a detector according to the present invention;
FIG. 4 is a view in the direction A of FIG. 3;
FIG. 5 is a schematic view showing the arrangement of the lasers in example 1;
FIG. 6 is a schematic diagram of a method for measuring a spatial declination according to the present invention;
FIG. 7 is a schematic diagram illustrating the calculation of the vertical angle when the datum 131 is mounted against the plane to be measured;
fig. 8 is a schematic diagram of calculation of the horizontal angle when the reference surface 131 is mounted against the plane to be measured.
Wherein:
1-base 2-detector
11-mounting base 12-laser controller
21-target surface 22-optical lens
23-photoelectric sensor 24-processing circuit
25-horizontal adjustment knob 26-vertical angle adjusting device
27-horizontal angle adjusting device 28-detector base
111-first laser 112-second laser
113-tube level gauge 131-datum plane
Detailed Description
The invention provides a method for measuring plane space deflection angle by two-point laser, which is characterized in that two parallel laser beams with known position relation are utilized to form two light spots on a target surface, the laser beams are vertical to a plane to be measured, and a connecting line of the centers of the two laser beams forms an acute angle or an obtuse angle with a horizontal plane;
setting a target surface in the vertical direction, detecting laser spots, calculating the central coordinates of the laser spots, calculating the horizontal and vertical distances of the laser spot center, comparing the horizontal and vertical distances with the known horizontal and vertical distances of the laser beam center, and calculating the spatial declination of a plane to be measured;
changing the space angle of the target surface, respectively rotating the target surface by an angle around a vertical axis and a horizontal axis, respectively calculating the horizontal and vertical distances of the laser spot center, and comparing the calculation results of the front group and the rear group of the laser spot center, thereby obtaining the space deflection angle direction of the plane to be measured.
Referring to fig. 1-4, in order to implement the above method, the present invention provides a device capable of measuring a plane space deflection angle: comprises a laser component and a detector, wherein the laser component is arranged on the detector,
the laser assembly comprises two lasers and a mounting seat, the two lasers are fixed in the mounting seat, and laser beams emitted by the two lasers are parallel to each other;
the mounting seat is rotatably arranged in the reference seat;
the reference base is provided with a reference surface, and laser beams emitted by the two lasers are vertical to the reference surface;
the detector comprises a target surface, an optical lens, a photoelectric sensor and a processing circuit, wherein a detection light axis of the optical lens is perpendicular to the target surface, the photoelectric sensor is arranged on the rear side of the optical lens, the geometric center of the target surface is coincided with the optical axes of the optical lens and the photoelectric sensor, and the photoelectric sensor is connected with the processing circuit.
The photoelectric sensor is a CCD or CMOS image sensor.
The pipe level is arranged on the mounting seat. To facilitate indicating the horizontal direction.
The two lasers 111 and 112 on the laser assembly are connected with the laser controller 12, and the laser controller 12 controls the on and off of the two lasers so as to specify the laser corresponding to the light spot, and the on and off of the relay can be controlled by adopting a 51 single chip microcomputer.
There are many mechanisms for the mounting base 11 to rotate in the reference base 1, for example, there is a section of connecting shaft at the rear of the mounting base 11 that is precisely matched with the connecting hole in the reference base 1, so as to achieve the purpose of free rotation of the laser assembly.
The tube level 113 is located on the mounting 11, and its bubble is set by indicating the horizontal direction, the angle formed by the central connecting line of the first laser 111 and the second laser 112 and the horizontal plane.
The target surface 21 is vertically arranged with the horizontal plane and changes the space angle through an adjusting mechanism on the detector 2, and may include a horizontal adjusting knob 25, a vertical angle adjusting device 26, a horizontal angle adjusting device 27 and a detector base 28.
The size of the target surface 21 can be increased or reduced by adjusting the distance from the optical lens 22 to the target surface 21 and the parameters of the optical lens;
the target surface 21 is vertical to the upper surface of the detector base, and the horizontal adjusting knob 25 adjusts the level of the upper surface of the detector base;
the vertical angle adjusting device 26 can change the vertical angle of the target surface 21 by an angle along one direction and can reset;
the horizontal angle adjusting device 27 can change the horizontal angle of the target surface 21 by an angle in one direction and can be reset.
The invention is described in detail below by means of specific examples:
example 1:
see fig. 5 and 6. A device capable of measuring plane space deflection angle comprises a first laser 111, a second laser 112 and a mounting base 11, wherein the central connecting line of optical axes of the two lasers forms an included angle of 45 degrees with the upper surface of the mounting base 11.
A method for measuring plane space deflection angle by two-point laser comprises the following steps:
1) Fixing the laser assembly on a plane to be measured, and enabling the reference surface 131 of the reference seat to be tightly attached to the plane to be measured, so that laser beams emitted by the two lasers are parallel and vertical to the plane to be measured;
2) Adjusting the mounting base 11 to center the bubble of the pipe level, in this embodiment, horizontally arranging the upper surface of the mounting base 11, setting the connection line between the first laser 111 and the second laser 112 at 45 degrees to the horizontal plane, and setting the horizontal distance S between the first laser 111 and the second laser 112 1 And a vertical distance S 2 Obtained by actual measurement after laser installation, aligning the laserA target surface 21;
3) Controlling a laser controller 12 to open a laser, placing a detector 2 at a certain distance from a laser assembly, and enabling light spots formed by two beams of laser to be displayed on a target surface 21;
4) Adjusting a horizontal adjusting knob 25 to enable the upper surface of a detector base 28 to be horizontal and ensure that a target surface is vertically arranged;
5) Controlling the laser controller 12 to turn on and off the plurality of lasers as required;
6) The first laser 111 forms a spot P on the target surface 21 1 The spot formed on the target surface 21 by the second laser 112 is P 2 That is, the light spot P can be calculated according to the coordinates 1 And P 2 Horizontal distance L of 1 And a vertical distance L 2 ；
7) Rotating the target surface 21 by a clockwise vertical angle about the horizontal axis, and recalculating the spot P 1 To P 2 Perpendicular distance l of 2 Resetting the target surface 21 after the calculation is finished;
8) The target surface 21 is rotated by a clockwise horizontal angle about the vertical axis and the spot P is again calculated 1 To P 2 Horizontal distance l of 1 Resetting the target surface 21 after the calculation is finished;
9) The geometric center of the target surface 21 is the origin of a coordinate system for calculating the center of the light spot, the photoelectric sensor 23 acquires image information of the laser light spot and transmits the image information to the processing circuit 24, the processing circuit 24 calculates the center coordinate of the light spot and further calculates the spatial declination of the plane to be measured, and the processing circuit visually displays the numerical value and the direction of the spatial declination of the plane to be measured through the display module.
See fig. 7 and 8. In this embodiment, the two laser beams are perpendicular to the plane to be measured, and the vertical deflection angle of the plane to be measured is calculated as
Horizontal deflection angle of
When L is 2 ＞l 2 When the vertical deflection angle of the plane to be measured is in the anticlockwise direction, and when the vertical deflection angle is L 2 ＜l 2 When the vertical deflection angle of the plane to be measured is clockwise, when L is equal to 1 ＞l 1 When the horizontal deflection angle of the plane to be measured is in the counterclockwise direction, L is 1 ＜l 1 And the horizontal deflection angle of the plane to be measured is clockwise.
Example 2:
this embodiment also differs from embodiment 1 in that the target surface 21 is rotated by a counterclockwise vertical angle about the horizontal axis, and the spot P is calculated again 1 To P 2 Perpendicular distance l of 2 Resetting the target surface 21 after the calculation is finished; the target surface 21 is rotated by a counterclockwise horizontal angle about the vertical axis and the spot P is again calculated 1 、P 2 Horizontal distance l of 1 Resetting the target surface 21 after the calculation is finished;
in this embodiment, when L is 2 ＞l 2 When the vertical deflection angle of the plane to be measured is clockwise, when L is equal to 2 ＜l 2 When the vertical deflection angle of the plane to be measured is in the anticlockwise direction, and when the vertical deflection angle is L 1 ＞l 1 When the horizontal deflection angle of the plane to be measured is clockwise, when L is 1 ＜l 1 And the horizontal deflection angle of the plane to be measured is in the anticlockwise direction.
Claims (6)
1. A method for measuring plane space deflection angle by two-point laser is characterized in that: the method comprises the steps that two laser beams which are parallel and have known position relations are utilized to form two light spots on a target surface, the laser beams are perpendicular to a plane to be measured, and an included angle between a connecting line of the centers of the two laser beams and the horizontal plane is an acute angle or an obtuse angle;
setting a target surface in a vertical direction, detecting laser spots, calculating center coordinates of the two laser spots, calculating horizontal and vertical distances between the centers of the two laser spots, comparing the horizontal and vertical distances with the known horizontal and vertical distances between the centers of the two laser beams, and calculating a space deflection angle of a plane to be measured;
changing the space angle of the target surface, respectively rotating the target surface by an angle around a vertical axis and a horizontal axis, respectively calculating the horizontal and vertical distances of the center of the laser spot, and comparing the calculation results of the front group and the rear group of the laser spot to obtain the space deflection angle direction of the plane to be measured.
2. The method for measuring the plane space deflection angle by the two-point laser according to claim 1, wherein the method comprises the following steps:
the method comprises the following specific operations:
1) The two lasers and the plane to be measured are relatively fixed in position, so that the emitted laser beams are parallel to each other and vertical to the plane to be measured, the connecting line of the centers of the two lasers and the horizontal plane form an acute angle or an obtuse angle, and the horizontal distance S between the centers of the optical axes of the two lasers is accurately measured 1 And a vertical distance S 2 ；
2) Turning on a laser, placing a detector at a certain distance from the laser, and forming light spots on a target surface;
3) Adjusting the target surface to be vertically arranged relative to the horizontal plane;
4) Controlling the laser switches to control the two lasers to be turned on and off;
5) Calculating the horizontal distance L between the centers of the two laser spots according to the central coordinates of the laser spots 1 And a vertical distance L 2 Calculating the space deflection angle of the plane to be measured;
6) Rotating the target surface by an angle around the horizontal axis, and calculating the vertical distance l of the two light spots again 2 After the calculation is finished, the target surface is reset, and the spatial vertical deflection angle direction of the plane to be measured can be calculated;
7) Rotating the target surface by an angle around the vertical axis, and calculating the horizontal distance l of the two light spots again 1 And resetting the target surface after the calculation is finished, and calculating to obtain the spatial horizontal deflection angle direction of the plane to be measured.
3. The method for measuring the plane space deflection angle by the two-point laser according to claim 2, wherein:
the method for calculating the size and the direction of the spatial deflection angle of the plane to be measured comprises the following steps:
the laser beam is perpendicular to the plane to be measured, and the vertical deflection angle of the plane to be measured is calculated as
Horizontal deflection angle of
Comparison L 2 And l 2 Determine the direction of the vertical deflection angle, compare L 1 And l 1 Determines the direction of the horizontal declination.
4. An apparatus for implementing the method for measuring the plane space deflection angle by two-point laser according to claim 1, wherein: comprises a laser component and a detector (2),
the laser assembly comprises a first laser (111), a second laser (112) and a mounting seat (11), the two lasers are fixed in the mounting seat (11), and laser beams emitted by the two lasers are parallel to each other;
the mounting seat (11) is rotatably arranged in the reference seat (1);
a reference surface (131) is arranged on the reference seat (1), and laser beams emitted by the two lasers are perpendicular to the reference surface (131);
the detector (2) comprises a target surface (21), an optical lens (22), a photoelectric sensor (23) and a processing circuit (24), wherein a detection light axis of the optical lens (22) is perpendicular to the target surface (21), the photoelectric sensor (23) is arranged on the rear side of the optical lens (22), the geometric center of the target surface (21) is superposed with the optical axes of the optical lens (22) and the photoelectric sensor (23), and the photoelectric sensor (23) is connected with the processing circuit (24).
5. The apparatus of claim 4, wherein: the photoelectric sensor (23) is a CCD or CMOS image sensor.
6. The apparatus of claim 5, wherein: the mounting seat (11) is provided with a pipe level (113).
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| 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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| 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 |
| CN113466791B (en) * | 2021-07-14 | 2022-05-20 | 深圳市武测空间信息有限公司 | Laser mapping and positioning equipment and method |
| CN114670945B (en) * | 2022-03-28 | 2023-08-18 | 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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| 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 meter for measuring distance between two target points |
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