CN107422330B - A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building - Google Patents

A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building Download PDF

Info

Publication number
CN107422330B
CN107422330B CN201710563012.9A CN201710563012A CN107422330B CN 107422330 B CN107422330 B CN 107422330B CN 201710563012 A CN201710563012 A CN 201710563012A CN 107422330 B CN107422330 B CN 107422330B
Authority
CN
China
Prior art keywords
axis
infrared transmitting
building
layer
saddle camber
Prior art date
Application number
CN201710563012.9A
Other languages
Chinese (zh)
Other versions
CN107422330A (en
Inventor
王若林
朱道佩
桑农
Original Assignee
武汉大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉大学 filed Critical 武汉大学
Priority to CN201710563012.9A priority Critical patent/CN107422330B/en
Publication of CN107422330A publication Critical patent/CN107422330A/en
Application granted granted Critical
Publication of CN107422330B publication Critical patent/CN107422330B/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target

Abstract

The invention discloses a kind of infrared three-dimension positioning device of saddle camber building and positioning construction methods, positioning device by infrared transmitting device, roller bearing, longitudinally rotate control module, telescopic device and remote control apparatus and constitute, 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 first by the present invention with vertical direction in the horizontal direction, total to be divided into m × n parts;Then it calculates according to the height of every a saddle camber building and Curvature varying and processes enough muti-piece small panels;Then small panel is subjected to horizontal splicing along axis direction at bottom one layer, is then fixed using bolt, form template;Bottom one layer of template after the installation is completed, carry out concrete casting, after construction, then next layer of construction carried out, until reaching the height h of building.The method of the present invention is simple, and construction efficiency is high;Multiple key points of building can be positioned, to realize the three-dimensional reconstruction of building.

Description

A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building

Technical field

The invention belongs to optical locating techniques fields, and in particular to a kind of infrared three-dimension positioning dress of saddle camber building It sets and positioning construction method.

Background technique

The features such as saddle camber building is active with its exclusive space, and curved surface is graceful, flexible arrangement, reasonable stress is by blueness It looks at.The control of the sectional dimension of concrete component, offset deviation, verticality is than normal concrete structure in saddle camber building Engineering challenges are many, therefore complicated construction technique, construction quality are more difficult to control.

Summary of the invention

In order to solve the above-mentioned technical problems, the present invention provides a kind of infrared three-dimension positioning devices of saddle camber building And positioning construction method.

Technical solution used by the device of the invention is: a kind of infrared three-dimension positioning device of saddle camber building, It is characterized by comprising infrared transmitting device, remote control apparatus, mobile machine arms;

Several infrared transmitting devices form lateral infrared transmitting device array, several infrared transmitting device groups At longitudinal infrared transmitting device array;The mobile machine arm is two, and saddle camber building is arranged in direction mutual vertically Two sides, be fixedly installed the lateral infrared transmitting device array and longitudinal infrared transmitting device array respectively thereon;

The remote control apparatus is used to control the angle of 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 solution used by method of the invention is: a kind of infrared three-dimension positioning construction party of saddle camber building Method, which comprises the following steps:

Step 1: design saddle camber building template;

If saddle camber building with a thickness of t, be highly h, exterior contour is hyperbolic-parabolic, hyperbolic-parabolic equation Are as follows:

Firstly, curved surface where the axis of saddle camber building is horizontally split into m parts, then, in short transverse point At n-layer, every layer of height isThe height of i.e. one piece small panel;At this point, 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 panel;Then 4 vertex of every a curved surface small panel are set to off Key point;Finally, calculating according to the Curvature varying of every a small panel and every layer of height and processing enough muti-piece small panels;

Step 2: positioning saddle camber building axis;

Hyperbolic-parabolic is put into three-dimensional system of coordinate, coordinate origin is the vertex of saddle camber;Lateral infrared ray transmitting Apparatus array and longitudinal infrared transmitting device array are separately positioned on x-axis and z-axis, in lateral 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 list in x-axis, y-axis and z-axis direction Bit vector is respectivelyWithThen:

Remote control apparatus pass through respectively signal receiver and longitudinally rotate control module and lateral rotation control module into Row communication adjusts separately the rotational angle for longitudinally rotating control module and lateral rotation control module, and then emits infrared ray 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 variation, the track of P point is also constantly changing, by these tracks Point connects, so that it may obtain the axis of saddle camber building;

Step 3: installation saddle camber building template;

Firstly, small panel is carried out horizontal splicing along axis direction at bottom one layer, then fix, form template, This template distance of curved surface where the axis isThen it is in the curved surface where axisOther side setting it is identical Template;

Step 4: the construction of saddle camber building;

In bottom, one layer of template after the installation is completed, carries out concrete casting, after construction, the template of this layer of dismantling, Then highly it is beingPlace, second layer template is arranged in curved surface two sides where axis;Next layer of construction is successively carried out, directly To the height h for reaching building.

The invention has the advantages that

1: the axis that can be built to saddle camber is accurately positioned, thus real-time control construction precision, method is simple, applies Work is high-efficient;

2: multiple key points of building can be positioned, to realize the three-dimensional reconstruction of building.

Detailed description of the invention

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 apparatus 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 lateral 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 telescopic 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 apparatus, 19 is moving machine Tool arm.

Specific embodiment

Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair It is bright to be described in further detail, it should be understood 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 positioning device of saddle camber building provided by the invention, including saddle Saddle camber 2, infrared ray 3, lateral infrared transmitting device array 4, longitudinal infrared transmitting device battle array where face building 1, axis Column 5, telescopic device 12, roller bearing 13, remote control apparatus 18, mobile machine arm 19;

Infrared transmitting device array 4 is made 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, signal projector 9, telescopic device 12;It is flexible 12 both ends of device are configured with roller bearing 13, and roller bearing 13 is made of outer layer ring 14, ball 15 and inner layer ring 16;Horizontal and vertical infrared ray Emitter array 4 and 5 is fixed on above mobile machine arm 19, and the distance between every two infrared transmitting device can basis It needs to adjust;The two sides of saddle camber building 1 are arranged in two mobile machine arms 19, and direction is mutually perpendicular to;Telescopic device 12 For adjusting RF transmitter 6 as needed to appropriate height;Two infrared transmitting device A1And B1Between origin away from From being 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;It is red Outside line emitter B1The light beam launched is respectively β with the angle in x-axis, y-axis and z-axis direction1、β2And β3;Remote control apparatus 18 can be to angle αiAnd βi(i=1,2,3) it is adjusted in real time.Every bit where axis on saddle camber 2 can be by two beams The intersection point of infrared ray determines.

See Fig. 1 and Fig. 2, a kind of infrared three-dimension positioning construction method of saddle camber building provided by the invention, packet Include following steps:

Step 1: design saddle camber building template;

If saddle camber building with a thickness of t, be highly h, exterior contour is hyperbolic-parabolic, hyperbolic-parabolic equation Are as follows:

Firstly, curved surface where the axis of saddle camber building is horizontally split into m parts, then, in short transverse point At n-layer, every layer of height isThe height of i.e. one piece small panel;At this point, 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 panel;Then 4 vertex of every a curved surface small panel are set to off Key point;Finally, calculating according to the Curvature varying of every a small panel and every layer of height and processing enough muti-piece small panels;

Step 2: positioning saddle camber building axis;

Hyperbolic-parabolic is put into three-dimensional system of coordinate, coordinate origin is the vertex of saddle camber;Lateral infrared ray transmitting Apparatus array 4 and longitudinal infrared transmitting device array 5 are separately positioned on x-axis and z-axis, lateral 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 side To unit vector be respectivelyWithThen:

Remote control apparatus 18 by signal receiver 10 and longitudinally rotates control module 11 and lateral rotation control respectively Module 17 is communicated, and adjusts separately the rotational angle for longitudinally rotating control module 11 and lateral rotation control module 17, in turn To infrared transmitting device A1With infrared transmitting device B1The angle of the light beam and x-axis, y-axis and z-axis direction launched carries out real When adjust, the key point on axis is positioned one by one;With x0And z0Continuous variation, the track of P point is also constantly becoming Change, these tracing points is connected, so that it may obtain the axis of saddle camber building;

Step 3: installation saddle camber building template;

Firstly, small panel is carried out horizontal splicing along axis direction at bottom one layer, then fix, form template, This template distance of curved surface where the axis isThen it is in the curved surface where axisOther side setting it is identical Template;

Step 4: the construction of saddle camber building;

In bottom, one layer of template after the installation is completed, carries out concrete casting, after construction, the template of this layer of dismantling, Then highly it is beingPlace, second layer template is arranged in curved surface two sides where axis;Next layer of construction is successively carried out, directly To the height h for reaching building.

Although saddle camber 2, infrared ray 3, transverse direction are infrared where this specification has more used saddle camber building 1, axis Line emitter array 4, longitudinal infrared transmitting device array 5, RF transmitter 6, signal control module 7, data processing Module 8, signal projector 9, signal receiver 10, longitudinally rotate control module 11, telescopic device 12, roller bearing 13, outer layer ring 14, The terms such as ball 15, inner layer ring 16, lateral rotation control module 17, remote control apparatus 18, mobile machine arm 19, but do not arrange A possibility that except other terms are used.The use of these items is only for more easily describing essence of the invention, them Being construed to any additional limitation is disagreed with spirit of that invention.

It should be understood that the part that this specification does not elaborate belongs to the prior art.

It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair It is bright range is claimed to be determined by the appended claims.

Claims (3)

1. a kind of infrared three-dimension positioning construction method of saddle camber building, fixed using the infrared three-dimension of saddle camber building Position device;
It is characterized by: described device includes infrared transmitting device, remote control apparatus (18), mobile machine arm (19);
Several infrared transmitting devices form lateral infrared transmitting device array (4), several infrared transmitting device groups At longitudinal infrared transmitting device array (5);The mobile machine arm (19) is two, and saddle is arranged in direction mutual vertically The two sides of (1) are built in face, are fixedly installed the lateral infrared transmitting device array (4) and longitudinal infrared ray hair respectively thereon Injection device array (5);
The remote control apparatus (18) is used to control the angle of infrared transmitting device transmitting 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);
It the described method comprises the following steps:
Step 1: design saddle camber building template;
If saddle camber building with a thickness of t, be highly h, exterior contour is hyperbolic-parabolic, hyperbolic-parabolic equation are as follows:
Firstly, curved surface where the axis of saddle camber building is horizontally split into m parts, then, it is divided into n in short transverse Layer, every layer of height areThe height of i.e. one piece small panel;At this point, 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 panel;Then 4 vertex of every a curved surface small panel are set as crucial Point;Finally, calculating according to the Curvature varying of every a small panel and every layer of height and processing enough muti-piece small panels;
Step 2: positioning saddle camber building axis;
Hyperbolic-parabolic is put into three-dimensional system of coordinate, coordinate origin is the vertex of saddle camber;Lateral infrared transmitting device Array (4) and longitudinal infrared transmitting device array (5) are separately positioned on x-axis and z-axis, lateral 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 The unit vector of axis direction is respectivelyWithThen:
Remote control apparatus (18) by signal receiver (10) and longitudinally rotates control module (11) and lateral rotation control respectively Molding block (17) is communicated, and the angle of rotation for longitudinally rotating control module (11) and lateral rotation control module (17) is adjusted separately Degree, and then to infrared transmitting device A1With infrared transmitting device B1The folder of the light beam and x-axis, y-axis and z-axis direction launched Angle is adjusted in real time, is positioned one by one to the key point on axis;With x0And z0Continuous variation, the track of P point also exists Constantly variation, these tracing points is connected, so that it may obtain the axis of saddle camber building;
Step 3: installation saddle camber building template;
Firstly, small panel is carried out horizontal splicing along axis direction at bottom one layer, then fix, forms template, this mould Plate distance of curved surface where the axis isThen it is in the curved surface where axisOther side be arranged same template;
Step 4: the construction of saddle camber building;
In bottom, one layer of template after the installation is completed, carries out concrete casting, after construction, the template of this layer of dismantling, then Highly it is beingPlace, second layer template is arranged in curved surface two sides where axis;Next layer of construction is successively carried out, until arriving Up to the height h of building.
2. according to the method described in claim 1, it is characterized by: the infrared transmitting device includes RF transmitter (6), signal control module (7), data processing module (8), signal receiver (10), signal projector (9), longitudinally rotate control Module (11), lateral rotation control module (17);
The infrared transmitting device is also configured with telescopic device (12), arrives for adjusting RF transmitter (6) as needed Appropriate height.
3. according to the method described in claim 2, it is characterized by: the telescopic device (12) both ends be configured with roller bearing (13), Roller bearing (13) is made of outer layer ring (14), ball (15) and inner layer ring (16).
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 CN107422330B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710563012.9A CN107422330B (en) 2017-07-11 2017-07-11 A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710563012.9A CN107422330B (en) 2017-07-11 2017-07-11 A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building

Publications (2)

Publication Number Publication Date
CN107422330A CN107422330A (en) 2017-12-01
CN107422330B true CN107422330B (en) 2019-06-11

Family

ID=60427236

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710563012.9A CN107422330B (en) 2017-07-11 2017-07-11 A kind of the infrared three-dimension positioning device and positioning construction method of saddle camber building

Country Status (1)

Country Link
CN (1) CN107422330B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102981143A (en) * 2012-11-11 2013-03-20 李良杰 Sphere infrared sensor array combination positioning device
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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102981143A (en) * 2012-11-11 2013-03-20 李良杰 Sphere infrared sensor array combination positioning device
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

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
视觉引导激光经纬仪测量系统关键技术研究;王冰;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20150515;C030-13

Also Published As

Publication number Publication date
CN107422330A (en) 2017-12-01

Similar Documents

Publication Publication Date Title
CN103162622B (en) The Portable ball target of single camera vision system and use thereof and measuring method thereof
CN103364171B (en) A kind of high-speed wind tunnel model attitude video measuring system and measuring method
EP2638358B1 (en) Device for measuring and marking of points along horizontal contour lines
CN104792274B (en) A kind of measuring method of circular tunnel convergent deformation
JP4714907B2 (en) Gyro system for bore sighting equipment
CN1250942C (en) Construction optical visual sense transducer calibration method based on plane targets
RU2440594C2 (en) Method and apparatus for providing spatial stability of multielement structures during assembly
CN102927908A (en) Robot eye-on-hand system structured light plane parameter calibration device and method
CN103983254A (en) Novel imaging method in agile satellite maneuvering
US20180312277A1 (en) Metrology system for positioning assemblies
CN105928467B (en) Large Spacecraft malformation measures pilot system under vacuum low-temperature environment
CN104299261A (en) Three-dimensional imaging method and system for human body
CN103529838B (en) The multi-vision visual guiding drive device and its collaboration scaling method of automatic guided vehicle
EP2951525B1 (en) Three-dimensional (3d) emitting apparatus
CN105676865A (en) Target tracking method, device and system
CN104515478A (en) Automatic three-dimensional measuring method and automatic three-dimensional measuring system for high-precision blade of aviation engine
CN105629200A (en) Positioning light beam emission system and method and indoor positioning system
CN104006787A (en) High-precision attitude determination method for spacecraft attitude motion simulation platform
CN104034261B (en) A kind of curved surface normal direction measurement apparatus and curved surface normal direction measuring method
CN104315983B (en) Method for increasing coordinate measurement field accuracy through space multi-length constraint
Konyakhin et al. Optic-electronic systems for measuring the angle deformations and line shifts of the reflecting elements at the rotateable radio-telescope
CN103862330B (en) Based on the bend pipe magnetic grinding automatic navigation method of machine vision
CN106042005B (en) The method of work of bionic eye location tracking system
CN103542846B (en) The alignment system of a kind of mobile robot and localization method thereof
CN103034767B (en) Establishing method of off-axis non-spherical-surface reflecting mirror face CAD (Computer-Aided Design) model for use before milling and grinding

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant