CN107422330A - The infrared three-dimension positioner and positioning construction method of a kind of saddle camber building - Google Patents

The infrared three-dimension positioner and positioning construction method of a kind of saddle camber building Download PDF

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Publication number
CN107422330A
CN107422330A CN201710563012.9A CN201710563012A CN107422330A CN 107422330 A CN107422330 A CN 107422330A CN 201710563012 A CN201710563012 A CN 201710563012A CN 107422330 A CN107422330 A CN 107422330A
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mrow
mover
axis
msub
building
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CN107422330B (en
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王若林
朱道佩
桑农
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Wuhan University WHU
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Wuhan University WHU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target

Abstract

The invention discloses a kind of infrared three-dimension positioner of saddle camber building and positioning construction method, positioner by infrared transmitting device, roller bearing, longitudinally rotate control module, retractor device and remote control and form, the axis of curved-surface building can be accurately positioned；Curved surface where saddle camber building axis is respectively classified into m parts and n-layer by the present invention with vertical direction in the horizontal direction first, is divided into m × n parts altogether；Then calculated according to the height of building per a saddle camber and Curvature varying and process enough polylith small panels；Then small panel is subjected to horizontal splicing along axis direction at bottom one layer, then fixed using bolt, form template；After bottom one layer of model sheetinstallat, concrete cast is carried out, after construction, then carries out next layer of construction, until reaching the height h of building.The inventive method is simple, and efficiency of construction is high；Multiple key points of building can be positioned, so as to realize the three-dimensional reconstruction of building.

Description

The infrared three-dimension positioner and positioning construction method of a kind of saddle camber building
Technical field
The invention belongs to optical locating techniques field, and in particular to a kind of infrared three-dimension positioning dress of saddle camber building Put and positioning construction 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 above-mentioned technical problem, the invention provides a kind of infrared three-dimension positioner of saddle camber building And positioning construction method.
Technical scheme is used by the device of the present invention：A kind of infrared three-dimension 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 three-dimension positioning construction party of saddle camber building Method, it is characterised in that comprise the following steps：
Step 1：Design saddle camber building template；
It is highly h if the thickness of saddle camber building is t, exterior contour is hyperbolic-parabolic, hyperbolic-parabolic equation For：
First, curved surface where the axis of saddle camber building is horizontally split into m parts, then, in short transverse point Into n-layer, every layer of height isThe height of i.e. one piece small panel；Now, saddle camber building template is divided into m × n parts, I.e. saddle camber building can be spliced to form by m × n block small panels；Then 4 summits of every a curved surface small panel are set to off Key point；Finally, calculated according to the Curvature varying of every a small panel and every layer of height and process enough polylith small panels；
Step 2：Position saddle camber building axis；
Hyperbolic-parabolic is put into three-dimensional system of coordinate, its origin of coordinates is the summit of saddle camber；Horizontal infrared emitting Apparatus array and longitudinal infrared transmitting device array are separately positioned on x-axis and z-axis, in horizontal infrared transmitting device array Infrared transmitting device A1With the infrared transmitting device B in longitudinal infrared transmitting device array1The distance between origin is equal For l；Infrared transmitting device A1The light beam launched is respectively α with the angle in x-axis, y-axis and z-axis direction1、α2And α3；Infrared ray Emitter B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、β2And β3；The intersection point of two beam infrared rays For P (x0,y0,z0), x0For key point x-axis coordinate,0≤m≤n；Assuming that the unit in x-axis, y-axis and z-axis direction Vector is respectivelyWithThen：
Remote control is entered by signal receiver with longitudinally rotating control module and lateral rotation control module respectively Row communication, respectively adjustment longitudinally rotate the rotational angle of control module and lateral rotation control module, and then to infrared emitting Device A1With infrared transmitting device B1The light beam launched and the angle in x-axis, y-axis and z-axis direction are adjusted in real time, one by one Key point on axis is positioned；With x0And z0Continuous change, the track of P points is also constantly changing, by these tracks Point connects, so that it may obtains the axis of saddle camber building；
Step 3：Saddle camber building template is installed；
First, small panel is subjected to horizontal splicing along axis direction at bottom one layer, then fixed, form template, This template distance of curved surface where the axis isThen it is in the curved surface where axisOther side set it is identical Template；
Step 4：The construction of saddle camber building；
After bottom one layer of model sheetinstallat, concrete cast is carried out, after construction, the template of this layer of dismantling, Then highly it is beingPlace, curved surface both sides set second layer template where axis；Next layer of construction is carried out successively, directly To the height h for reaching 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 three-dimensional 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 the infrared transmitting device 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. 1-Fig. 8, a kind of infrared three-dimension 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 A1And B1Between origin Distance be l；Infrared transmitting device A1The light beam launched is respectively α with the angle in x-axis, y-axis and z-axis direction1、α2With α3；Infrared transmitting device B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、β2And β3；Remote control Device 18 can be to angle αiAnd βi(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 three-dimension positioning construction method of saddle camber building provided by the invention, bag Include following steps：
Step 1：Design saddle camber building template；
It is highly h if the thickness of saddle camber building is t, exterior contour is hyperbolic-parabolic, hyperbolic-parabolic equation For：
First, curved surface where the axis of saddle camber building is horizontally split into m parts, then, in short transverse point Into n-layer, every layer of height isThe height of i.e. one piece small panel；Now, saddle camber building template is divided into m × n parts, I.e. saddle camber building can be spliced to form by m × n block small panels；Then 4 summits of every a curved surface small panel are set to off Key point；Finally, calculated according to the Curvature varying of every a small panel and every layer of height and process enough polylith small panels；
Step 2：Position saddle camber building axis；
Hyperbolic-parabolic is put into three-dimensional system of coordinate, its origin of coordinates is the summit of saddle camber；Horizontal infrared emitting Apparatus array 4 and longitudinal infrared transmitting device array 5 are separately positioned on x-axis and z-axis, horizontal infrared transmitting device array 4 In infrared transmitting device A1With the infrared transmitting device B in longitudinal infrared transmitting device array 51Between origin Distance is l；Infrared transmitting device A1The light beam launched is respectively α with the angle in x-axis, y-axis and z-axis direction1、α2And α3； Infrared transmitting device B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、β2And β3；Two beam infrared rays Intersection point be P (x0,y0,z0), x0For key point x-axis coordinate,0≤m≤n；Assuming that x-axis, y-axis and z-axis direction Unit vector be respectivelyWithThen：
Remote control 18 by signal receiver 10 and longitudinally rotates control module 11 and lateral rotation control respectively Module 17 is communicated, and adjustment respectively longitudinally rotates the rotational angle of control module 11 and lateral rotation control module 17, and then To infrared transmitting device A1With infrared transmitting device B1The light beam launched and the angle in x-axis, y-axis and z-axis direction carry out real When adjust, the key point on axis is positioned one by one；With x0And z0Continuous change, the track of P points is also constantly becoming Change, these tracing points are connected, so that it may obtain the axis of saddle camber building；
Step 3：Saddle camber building template is installed；
First, small panel is subjected to horizontal splicing along axis direction at bottom one layer, then fixed, form template, This template distance of curved surface where the axis isThen it is in the curved surface where axisOther side set it is identical Template；
Step 4：The construction of saddle camber building；
After bottom one layer of model sheetinstallat, concrete cast is carried out, after construction, the template of this layer of dismantling, Then highly it is beingPlace, curved surface both sides set second layer template where axis；Next layer of construction is carried out successively, directly To the height h for reaching building.
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, retractor device 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 above-mentioned 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)

  1. A kind of 1. infrared three-dimension 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. 2. the infrared three-dimension 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. 3. the infrared three-dimension 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. 4. a kind of infrared three-dimension positioning construction method of saddle camber building, it is characterised in that comprise the following steps：
    Step 1：Design saddle camber building template；
    It is highly h if the thickness of saddle camber building is t, exterior contour is hyperbolic-parabolic, and hyperbolic-parabolic equation is：
    First, curved surface where the axis of saddle camber building is horizontally split into m parts, then, is divided into n in short transverse Layer, every layer of height areThe height of i.e. one piece small panel；Now, saddle camber building template is divided into m × n parts, i.e., Saddle camber building can be spliced to form by m × n block small panels；Then 4 summits of every a curved surface small panel are set to crucial Point；Finally, calculated according to the Curvature varying of every a small panel and every layer of height and process enough polylith small panels；
    Step 2：Position saddle camber building axis；
    Hyperbolic-parabolic is put into three-dimensional system of coordinate, its origin of coordinates is the summit of saddle camber；Horizontal infrared transmitting device Array (4) and longitudinal infrared transmitting device array (5) are separately positioned on x-axis and z-axis, horizontal infrared transmitting device array (4) the infrared transmitting device A in1With the infrared transmitting device B in longitudinal infrared transmitting device array (5)1With origin it Between distance be l；Infrared transmitting device A1The light beam launched is respectively α with the angle in x-axis, y-axis and z-axis direction1、α2 And α3；Infrared transmitting device B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、β2And β3；Two beams are red The intersection point of outside line is P (x0,y0,z0), x0For key point x-axis coordinate,0≤m≤n；Assuming that x-axis, y-axis and z-axis The unit vector in direction is respectivelyWithThen：
    <mrow> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&amp;CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mo>|</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&amp;alpha;</mi> <mn>2</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&amp;CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mo>|</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&amp;alpha;</mi> <mn>3</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mn>3</mn> </msub> <mo>&amp;CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mo>|</mo> <mover> <mrow> <mi>P</mi> <mi>A</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>;</mo> </mrow>
    <mrow> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mn>1</mn> </msub> <mo>&amp;CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mo>|</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&amp;beta;</mi> <mn>2</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mn>2</mn> </msub> <mo>&amp;CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mo>|</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&amp;beta;</mi> <mn>3</mn> </msub> <mo>=</mo> <mi>arccos</mi> <mfrac> <mrow> <msub> <mover> <mi>e</mi> <mo>&amp;RightArrow;</mo> </mover> <mn>3</mn> </msub> <mo>&amp;CenterDot;</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> </mrow> <mrow> <mo>|</mo> <mover> <mrow> <mi>P</mi> <mi>B</mi> </mrow> <mo>&amp;RightArrow;</mo> </mover> <mo>|</mo> </mrow> </mfrac> <mo>;</mo> </mrow> 1
    Remote control (18) by signal receiver (10) and longitudinally rotates control module (11) and lateral rotation control respectively Molding block (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 A1With infrared transmitting device B1The light beam launched and the folder in x-axis, y-axis and z-axis direction Angle is adjusted in real time, and the key point on axis is positioned one by one；With x0And z0Continuous change, the track of P points also exists Constantly change, these tracing points is connected, so that it may obtain the axis of saddle camber building；
    Step 3：Saddle camber building template is installed；
    First, small panel is subjected to horizontal splicing along axis direction at bottom one layer, then fixed, form template, this mould Plate distance of curved surface where the axis isThen it is in the curved surface where axisOther side set same template；
    Step 4：The construction of saddle camber building；
    After bottom one layer of model sheetinstallat, concrete cast is carried out, after construction, the template of this layer of dismantling, then Highly it is beingPlace, curved surface both sides set second layer template where axis；Next layer of construction is carried out successively, until arriving Up to the height h of building.
CN201710563012.9A 2017-07-11 2017-07-11 A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building Expired - Fee Related CN107422330B (en)

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CN104251693A (en) * 2013-06-26 2014-12-31 苏州宝时得电动工具有限公司 Laser positioning device
CN104818792A (en) * 2015-04-10 2015-08-05 广东电白建设集团有限公司 Measurement, control and construction method for curved roof formwork system
CN106679618A (en) * 2016-11-01 2017-05-17 水利部交通运输部国家能源局南京水利科学研究院 Remote multifunctional monitoring system for architectural structure and monitoring method

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