CN107419912A  The infrared threedimension positioner and method of a kind of saddle camber building  Google Patents
The infrared threedimension positioner and method of a kind of saddle camber building Download PDFInfo
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 CN107419912A CN107419912A CN201710562490.8A CN201710562490A CN107419912A CN 107419912 A CN107419912 A CN 107419912A CN 201710562490 A CN201710562490 A CN 201710562490A CN 107419912 A CN107419912 A CN 107419912A
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 230000004807 localization Effects 0.000 claims description 3
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Classifications

 E—FIXED CONSTRUCTIONS
 E04—BUILDING
 E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKINGUP OR OTHER WORK ON EXISTING BUILDINGS
 E04G21/00—Preparing, conveying, or workingup building materials or building elements in situ; Other devices or measures for constructional work
 E04G21/14—Conveying or assembling building elements
 E04G21/16—Tools or apparatus
 E04G21/18—Adjusting tools; Templates
 E04G21/1841—Means for positioning building parts or elements

 G—PHYSICS
 G01—MEASURING; TESTING
 G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
 G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00  G01C13/00
 G01C15/002—Active optical surveying means
 G01C15/004—Reference lines, planes or sectors
Abstract
Description
Technical field
The invention belongs to optical locating techniques field, and in particular to a kind of infrared threedimension positioning dress of saddle camber building Put and method.
Background technology
Saddle camber building is enlivened with its exclusive space, and curved surface is graceful, flexible arrangement, enjoys green grass or young crops the features such as reasonable stress Look at.The control of the sectional dimension of concrete component, offset deviation, perpendicularity is than normal concrete structure in saddle camber building Engineering challenges are many, therefore complicated construction technique, the more difficult control of construction quality.
The content of the invention
In order to solve the abovementioned technical problem, the invention provides a kind of infrared threedimension positioner of saddle camber building And method.
Technical scheme is used by the device of the present invention：A kind of infrared threedimension positioner of saddle camber building, It is characterized in that：Including infrared transmitting device, remote control, mobile machine arm；
Some infrared transmitting devices form horizontal infrared transmitting device array, some infrared transmitting device groups Into longitudinal infrared transmitting device array；The mobile machine arm is two, and direction is arranged on saddle camber building mutual vertically Both sides, be fixedly installed the horizontal infrared transmitting device array and longitudinal infrared transmitting device array respectively thereon；
The remote control is used for the angle for controlling infrared transmitting device transmitting infrared ray, so that it is guaranteed that saddle camber Every bit can be determined by the intersection point of two beam infrared rays on saddle camber where the axis of building.
Technical scheme is used by the method for the present invention：A kind of infrared threedimension localization method of saddle camber building, It is characterised in that it includes following steps：
Step 1：Built for saddle camber, its exterior contour is hyperbolicparabolic：
Hyperbolicparabolic is put into threedimensional system of coordinate, its origin of coordinates is the summit of saddle camber, takes its first quartile to enter Row research；Horizontal infrared transmitting device array and longitudinal infrared transmitting device array are separately positioned on xaxis and zaxis, laterally Infrared transmitting device A in infrared transmitting device array_{1}With the infrared emitting in longitudinal infrared transmitting device array Device B_{1}The distance between origin is l；Infrared transmitting device A_{1}The light beam launched respectively with xaxis, yaxis and zaxis direction Angle be α_{1}、α_{2}And α_{3}；Infrared transmitting device B_{1}The light beam launched is respectively β with the angle in xaxis, yaxis and zaxis direction_{1}、 β_{2}And β_{3}；The intersection point of two beam infrared rays is P (x_{0},y_{0},z_{0}), P points are where the axis that saddle camber is built on saddle camber；Assuming that xaxis, The unit vector in yaxis and zaxis direction is respectivelyWithVector Then：
Step 2：If the height of saddle camber building is h, it will highly be divided into n parts；Work as z_{0}Take 0 respectively,..., h when, The drift angle of two beam infrared rays is discussed；
WhenWhen, 0≤m≤n, with x_{0}(0, x_{1}) in change, two beam infrared rays and xaxis, yaxis and zaxis direction Angle (α_{1},α_{2},α_{3}) and (β_{1},β_{2},β_{3}) will change therewith；Now, α is drawn respectively_{2},α_{3},β_{1},β_{2},β_{3}With α_{1}Change Change curve map, determine the quantitative relationship between them；
Step 3：Remote control by signal receiver and longitudinally rotates control module and lateral rotation control respectively Module is communicated, and adjustment respectively longitudinally rotates the rotational angle of control module and lateral rotation control module, and then to infrared Line emitter A_{1}With infrared transmitting device B_{1}The light beam launched and the angle in xaxis, yaxis and zaxis direction are adjusted in real time It is whole, and then control infrared transmitting device A_{1}Send infrared light beam and the angle α of xaxis_{1}α is changed to from 0_{0}When, by step 2 β_{i}And α_{j}With α_{1}Quantitative relationship figure, obtain α_{2},α_{3},β_{1},β_{2},β_{3}Size, this process realized by data processing module, wherein, 0<α_{0}<180 °, i=1,2,3, j=2,3；Then, by infrared transmitting device A_{1}In the α that will calculate of signal projector_{j}'s Size is sent to remote control；Meanwhile remote control adjustment infrared transmitting device B_{i}Send infrared light beam Angle β_{i}Size；
Step 4：Infrared transmitting device A_{1}With infrared transmitting device B_{1}The drift angle for launching light beam is respectively α_{i}And β_{i}When, Their intersection point be P wherein, i=1,2,3；With α_{1}Continuous change, the track of P points is also constantly changing；Similarly, utilization is red Outside line emitter A_{k}And B_{k}Other points are positioned, k=2,3...n；These tracing points are connected, just obtain saddle Build in z=z in face_{0}When axis；
Step 5：Work as z_{0}Traversal 0,... during these values of h, it is different to obtain saddle camber building 1 according to step 4 principle The axis of height；When n is sufficiently large, these axis just form the saddle camber where saddle camber 1 axis of building.
It is an advantage of the invention that：
1, the axis that can be built to saddle camber is accurately positioned, and so as to control construction precision in real time, method is simple, applies Work efficiency high.
2, multiple key points of building can be positioned, so as to realize the threedimensional reconstruction of building.
Brief description of the drawings
Fig. 1 is the saddle camber building of the embodiment of the present invention；
Fig. 2 is the positioning schematic of the embodiment of the present invention；
Fig. 3 and Fig. 4 is infrared transmitting device, roller bearing and the support meanss of the embodiment of the present invention；
Fig. 5 is the detail of construction of the roller bearing of the embodiment of the present invention；
Fig. 6 is the remote control figure of the embodiment of the present invention；
Fig. 7 and Fig. 8 is the infrared transmitting device array of the embodiment of the present invention；
In figure, 1 it is saddle camber building, 2 is saddle camber where axis, 3 is infrared ray, 4 is horizontal infrared transmitting device Array, 5 be longitudinal infrared transmitting device array, 6 be RF transmitter, 7 be signal control module, 8 be data processing mould Block, 9 be signal projector, 10 be signal receiver, 11 for longitudinally rotate control module, 12 be retractor device, 13 be roller bearing, 14 It is ball for outer layer ring, 15,16 be inner layer ring, 17 be lateral rotation control module, 18 be remote control, 19 is moving machine Tool arm.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this hair It is bright to be described in further detail, it will be appreciated that implementation example described herein is merely to illustrate and explain the present invention, not For limiting the present invention.
See Fig. 1Fig. 8, a kind of infrared threedimension positioner of saddle camber building provided by the invention, including saddle Saddle camber 2, infrared ray 3, horizontal infrared transmitting device array 4, longitudinal infrared transmitting device battle array where face building 1, axis Row 5, retractor device 12, roller bearing 13, remote control 18, mobile machine arm 19；
Infrared transmitting device array 4 is made up of many infrared transmitting devices, and infrared transmitting device includes infrared ray Transmitter 6, signal control module 7, data processing module 8, signal receiver 10 and/or signal projector 9, retractor device 12； The both ends of retractor device 12 are configured with roller bearing 13, and roller bearing 13 is made up of outer layer ring 14, ball 15 and inner layer ring 16；It is horizontal and vertical red Outside line emitter array 4 and 5 is fixed on above mobile machine arm 19, and the distance between each two infrared transmitting device can be with Adjustment as needed；Two mobile machine arms 19 are arranged on the both sides of saddle camber building 1, and direction is mutually perpendicular to；Flexible dress 12 are put to be used to adjust RF transmitter 6 to appropriate height as needed；Two infrared transmitting device A_{1}And B_{1}Between origin Distance be l；Infrared transmitting device A_{1}The light beam launched is respectively α with the angle in xaxis, yaxis and zaxis direction_{1}、α_{2}With α_{3}；Infrared transmitting device B_{1}The light beam launched is respectively β with the angle in xaxis, yaxis and zaxis direction_{1}、β_{2}And β_{3}；Remote control Device 18 can be to angle α_{i}And β_{i}(i=1,2,3) adjusted in real time.Every bit on saddle camber 2 where axis can be by The intersection point of two beam infrared rays determines.
See Fig. 1 and Fig. 2, a kind of infrared threedimension localization method of saddle camber building provided by the invention, including with Lower step：
Step 1：For saddle camber building 1, its exterior contour is hyperbolicparabolic：
Hyperbolicparabolic is put into threedimensional system of coordinate, its origin of coordinates is the summit of saddle camber, takes its first quartile to enter Row research；Horizontal infrared transmitting device array 4 and longitudinal infrared transmitting device array 5 are separately positioned on xaxis and zaxis, horizontal Infrared transmitting device A into infrared transmitting device array 4_{1}With the infrared ray in longitudinal infrared transmitting device array 5 Emitter B_{1}The distance between origin is l；Infrared transmitting device A_{1}The light beam launched respectively with xaxis, yaxis and zaxis The angle in direction is α_{1}、α_{2}And α_{3}；Infrared transmitting device B_{1}Angle of the light beam launched respectively with xaxis, yaxis and zaxis direction be β_{1}、β_{2}And β_{3}；The intersection point of two beam infrared rays is P (x_{0},y_{0},z_{0}), P points are built where 1 axis on saddle camber 2 in saddle camber；Assuming that x The unit vector of axle, yaxis and zaxis direction is respectivelyWithVector Then：
Step 2：Assuming that the height of saddle camber building 1 is h, then it will highly be divided into n parts.Work as z_{0}0 is taken respectively, ... during h, the drift angle of two beam infrared rays is discussed.WhenWhen, with x_{0}(0, x_{1}) in change, Two beam infrared rays and the angle (α in xaxis, yaxis and zaxis direction_{1},α_{2},α_{3}) and (β_{1},β_{2},β_{3}) will change therewith.Now, α is drawn respectively_{2},α_{3},β_{1},β_{2},β_{3}With α_{1}Change curve, determine the quantitative relationship between them.
Step 3：Remote control 18 by signal receiver 10 and longitudinally rotates control module 11 and horizontal turn respectively Dynamic control module 17 is communicated, and adjustment respectively longitudinally rotates the angle of rotation of control module 11 and lateral rotation control module 17 Degree, and then to infrared transmitting device A_{1}And B_{1}The light beam launched and the angle in xaxis, yaxis and zaxis direction are adjusted in real time, And then control infrared transmitting device A_{1}Send infrared light beam and the angle α of xaxis_{1}α is changed to from 0_{0}(0<α_{0}<180 °) when, by step β in rapid 2_{i}And α (i=1,2,3)_{i}And α (i=2,3)_{1}Quantitative relationship figure, α can be obtained_{2},α_{3},β_{1},β_{2},β_{3}Size, this Individual process is realized by data processing module 8；Then, by infrared transmitting device A_{1}In the α that will calculate of signal projector 9_{i}(i =2,3) size is sent to remote control 18；Meanwhile remote control 18 adjusts infrared transmitting device B_{i}Send The angle β of infrared light beam_{i}(i=1,2,3) size；
Step 4：Infrared transmitting device A_{1}And B_{1}The drift angle for launching light beam is respectively α_{i}And β_{i}When (i=1,2,3), they Intersection point be P.With α_{1}Continuous change, the track of P points is also constantly changing.Similarly, infrared transmitting device A can be utilized_{i} And B_{i}(i=2,3...n) other key points are positioned.These tracing points are connected, so that it may obtain saddle camber building In z=z_{0}When axis.
Step 5：Work as z_{0}Traversal 0,... during these values of h, saddle camber is can be obtained by according to the operation in step 4 Build the axis of different height.When n is sufficiently large, the saddle camber where these axis can sweeping saddle camber building axis lines, And then it can be carried out accurately constructing.
Saddle camber 2, infrared ray 3, infrared ray hair where although this specification has more used saddle camber building 1, axis Injection device 4, roller bearing 5, RF transmitter 6, signal control module 7, data processing module 8, signal projector 9, signal receive Device 10, longitudinally rotate control module 11, support meanss 12, outer layer ring 13, ball 14, inner layer ring 15, remote control 16, horizontal stroke To terms such as rotation control module 17, mobile machine arms 18, but it is not precluded from the possibility using other terms.Use these arts Language is used for the purpose of more easily describing the essence of the present invention, and being construed as any additional limitation is all and this hair What bright spirit was disagreed.
It should be appreciated that the part that this specification does not elaborate belongs to prior art.
It should be appreciated that the abovementioned description for preferred embodiment is more detailed, therefore can not be considered to this The limitation of invention patent protection scope, one of ordinary skill in the art are not departing from power of the present invention under the enlightenment of the present invention Profit is required under protected ambit, can also be made replacement or deformation, be each fallen within protection scope of the present invention, this hair It is bright scope is claimed to be determined by the appended claims.
Claims (4)
 A kind of 1. infrared threedimension positioner of saddle camber building, it is characterised in that：Including infrared transmitting device, remotely Control device (18), mobile machine arm (19)；Some infrared transmitting devices form horizontal infrared transmitting device array (4), some infrared transmitting device groups Into longitudinal infrared transmitting device array (5)；The mobile machine arm (19) is two, and direction is arranged on saddle mutual vertically The both sides of face building (1), it is fixedly installed the horizontal infrared transmitting device array (4) and longitudinal infrared ray hair respectively thereon Injection device array (5)；The remote control (18) is used for the angle for controlling infrared transmitting device to launch infrared ray (3), so that it is guaranteed that horse Every bit can be determined by the intersection point of two beam infrared rays on saddle camber (2) where the axis of saddle face building (1).
 2. the infrared threedimension positioner of saddle camber building according to claim 1, it is characterised in that：It is described infrared Line emitter includes RF transmitter (6), signal control module (7), data processing module (8), signal receiver (10) And/or signal projector (9), longitudinally rotate control module (11), lateral rotation control module (17)；The infrared transmitting device is also configured with retractor device (12), is arrived for adjusting RF transmitter (6) as needed Appropriate height.
 3. the infrared threedimension positioner of saddle camber building according to claim 2, it is characterised in that：It is described flexible Device (12) both ends are configured with roller bearing (13), and roller bearing (13) is made up of outer layer ring (14), ball (15) and inner layer ring (16).
 4. a kind of infrared threedimension localization method of saddle camber building, it is characterised in that comprise the following steps：Step 1：(1) is built for saddle camber, its exterior contour is hyperbolicparabolic：<mrow> <mfrac> <msup> <mi>x</mi> <mn>2</mn> </msup> <msup> <mi>a</mi> <mn>2</mn> </msup> </mfrac> <mo></mo> <mfrac> <msup> <mi>y</mi> <mn>2</mn> </msup> <msup> <mi>b</mi> <mn>2</mn> </msup> </mfrac> <mo>=</mo> <mn>2</mn> <mi>z</mi> <mo>;</mo> </mrow>Hyperbolicparabolic is put into threedimensional system of coordinate, its origin of coordinates is the summit of saddle camber, takes its first quartile to be ground Study carefully；Horizontal infrared transmitting device array (4) and longitudinal infrared transmitting device array (5) are separately positioned on xaxis and zaxis, horizontal Infrared transmitting device A into infrared transmitting device array (4)_{1}With it is red in longitudinal infrared transmitting device array (5) Outside line emitter B_{1}The distance between origin is l；Infrared transmitting device A_{1}The light beam launched respectively with xaxis, yaxis Angle with zaxis direction is α_{1}、α_{2}And α_{3}；Infrared transmitting device B_{1}The light beam launched respectively with xaxis, yaxis and_{z}Direction of principal axis Angle is β_{1}、β_{2}And β_{3}；The intersection point of two beam infrared rays is P (x_{0},y_{0},z_{0}), P points saddle where the axis of saddle camber building (1) On face (2)；Assuming that the unit vector in xaxis, yaxis and zaxis direction is respectivelyWithVectorThen：<mrow> <msub> <mi>&alpha;</mi> <mn>1</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&RightArrow;</mo> </mover> </mrow> <mrow> <mo></mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&RightArrow;</mo> </mover> <mo></mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&alpha;</mi> <mn>2</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&RightArrow;</mo> </mover> </mrow> <mrow> <mo></mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&RightArrow;</mo> </mover> <mo></mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&alpha;</mi> <mn>3</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&RightArrow;</mo> </mover> <mn>3</mn> </msub> <mo>&CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&RightArrow;</mo> </mover> </mrow> <mrow> <mo></mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&RightArrow;</mo> </mover> <mo></mo> </mrow> </mfrac> <mo>;</mo> </mrow><mrow> <msub> <mi>&beta;</mi> <mn>1</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&RightArrow;</mo> </mover> </mrow> <mrow> <mo></mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&RightArrow;</mo> </mover> <mo></mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&beta;</mi> <mn>2</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&RightArrow;</mo> </mover> </mrow> <mrow> <mo></mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&RightArrow;</mo> </mover> <mo></mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&beta;</mi> <mn>3</mn> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&RightArrow;</mo> </mover> <mn>3</mn> </msub> <mo>&CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&RightArrow;</mo> </mover> </mrow> <mrow> <mo></mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&RightArrow;</mo> </mover> <mo></mo> </mrow> </mfrac> <mo>;</mo> </mrow>Step 2：If the height of saddle camber building (1) is h, it will highly be divided into n parts；Work as z_{0}Take 0 respectively,..., h when, it is right Discuss the drift angle of two beam infrared rays；WhenWhen, 0≤m≤n, with x_{0}(0, x_{1}) in change, the folder in two beam infrared rays and xaxis, yaxis and zaxis direction Angle (α_{1},α_{2},α_{3}) and (β_{1},β_{2},β_{3}) will change therewith；Now, α is drawn respectively_{2},α_{3},β_{1},β_{2},β_{3}With α_{1}Change it is bent Line chart, determine the quantitative relationship between them；Step 3：Remote control (18) by signal receiver (10) and longitudinally rotates control module (11) and transverse direction respectively Rotate control module (17) to be communicated, adjustment respectively longitudinally rotates control module (11) and lateral rotation control module (17) Rotational angle, and then to infrared transmitting device A_{1}With infrared transmitting device B_{1}The light beam launched and xaxis, yaxis and zaxis side To angle adjusted in real time, and then control infrared transmitting device A_{1}Send infrared light beam and the angle α of xaxis_{1}Become from 0 To α_{0}When, by the β in step 2_{i}And α_{j}With α_{1}Quantitative relationship figure, obtain α_{2},α_{3},β_{1},β_{2},β_{3}Size, this process is by data Processing module (8) realization, wherein, 0<α_{0}<180 °, i=1,2,3, j=2,3；Then, by infrared transmitting device A_{1}In signal The α that transmitter (9) will calculate_{j}Size be sent to remote control (18)；Meanwhile remote control (18) adjustment is red Outside line emitter B_{i}Send the angle β of infrared light beam_{i}Size；Step 4：Infrared transmitting device A_{1}With infrared transmitting device B_{1}The drift angle for launching light beam is respectively α_{i}And β_{i}When, they Intersection point be P wherein, i=1,2,3；With α_{1}Continuous change, the track of P points is also constantly changing；Similarly, sent out using infrared ray Injection device A_{k}And B_{k}Other points are positioned, k=2,3...n；These tracing points are connected, just obtain saddle camber building In z=z_{0}When axis；Step 5：Work as z_{0}Traversal 0,... during these values of h, obtain saddle camber according to step 4 principle and build 1 different height Axis；When n is sufficiently large, these axis just form the saddle camber where saddle camber 1 axis of building.
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