CN108225293B - Automatic laser verticality measuring instrument and verticality measuring method - Google Patents

Automatic laser verticality measuring instrument and verticality measuring method Download PDF

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CN108225293B
CN108225293B CN201711305429.1A CN201711305429A CN108225293B CN 108225293 B CN108225293 B CN 108225293B CN 201711305429 A CN201711305429 A CN 201711305429A CN 108225293 B CN108225293 B CN 108225293B
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CN108225293A (en
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张文明
王志伟
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Southeast University
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    • G01—MEASURING; TESTING
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Abstract

The invention discloses an automatic laser verticality measuring instrument and a verticality measuring method, wherein the verticality measuring method comprises the following steps: s1, acquiring coordinates of two known leveling points A and B, a coordinate azimuth angle of an A-B side and a top surface elevation of a foundation of the structure to be measured; s2, uniformly arranging measurement stations around the object to be measured, performing closed conductor measurement on each measurement station by taking one point in the level points A, B as a starting point, and calculating the coordinate azimuth angle of each conductor side and the coordinate and elevation of each measurement station; s3, setting a scanning step distance delta Z, starting scanning from the bottom of the structure to be detected, and acquiring and recording local coordinates of each scanned target point; s4, repeating the step S3 at each testing station; and S5, calculating the horizontal section centroid coordinates at different heights by using the acquired measurement data to obtain the coordinates of each point on the vertical central axis. The invention realizes the detection of the deviation condition of the central axis of each part of the full height of the structure and avoids the deviation offset condition.

Description

Automatic laser verticality measuring instrument and verticality measuring method
Technical Field
The invention belongs to the technical field of engineering measurement equipment, and particularly relates to an automatic laser verticality measuring instrument and a verticality measuring method.
Background
The control of the verticality is particularly important for high-height structures such as high piers, chimneys, cooling towers and the like, and secondary internal force caused by overlarge inclination can cause cracking and even damage of the structure and lose normal use function. Factors such as construction deviation, uneven settlement of a foundation, accidental impact and the like all affect the verticality of the structure, and long-term monitoring of the structure is of great significance in ensuring the normal use function of the structure, so that a measurement device and a measurement technology which are convenient and rapid, safe to operate and wide in application range are necessary.
Standard for quality test and assessment of Highway engineering (JTGF80/1-2012) tables 8.6.1-1 and 8.6.1-2 of pier, platform body measured item and column, and double-wall pier body measured item require that the specified value or the allowable deviation of the verticality or the inclination is 0.3% H and not more than 20mm, wherein H is the height of the pier, the height of the platform or the height of the pier body and the column. The chimney engineering construction and acceptance criteria (GB 50078) Table 6.5.4 concrete quality standard and inspection method for the wall of the reinforced concrete chimney indicates that the verticality deviation of the central line of the chimney body has different allowable deviations at different elevations, the allowable deviation is 65mm when the height is 120m, the allowable deviation is 125mm when the height is 300m, and the intermediate value is calculated by an insertion method. The hyperbolic cooling tower construction and quality acceptance specification (GB 50573-2010) table 6.5.3 stipulates that the vertical deviation of the central line in the installation quality standard and the inspection method of the cylinder wall template is less than or equal to 15 mm.
The traditional verticality monitoring method mainly comprises four methods: plumb line methods, theodolite measurement methods, total station measurement methods, and laser plummet projection methods. When a building or a structure is high, a steel wire for fixing and hanging a plumb bob is difficult to fix, is easily influenced by wind, has large measurement error, can only reflect the integral characteristics of a measurement result, cannot reflect local deviation, and is easy to offset the deviation; the theodolite measurement method is greatly influenced by site conditions, is difficult to operate when a building or a structure is high, has long measurement time and low precision, and is only used when the building is low; the total station measurement method is similar to the theodolite measurement method, the requirement on measurement personnel is high, the field work and the interior work workload are large, and the measurement result cannot reflect detailed characteristics; the laser plummet apparatus projection method needs measuring personnel to climb to a high position to stand a target, has large danger coefficient, and is not suitable for external measurement of curved surface structures such as a cooling tower and the like.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides an automatic laser verticality measuring instrument and a verticality measuring method, which realize the detection of the deviation condition of central axes at all positions of the full height of a structure, avoid the condition of deviation offset and have obvious applicability to the structure with higher height; the method is not only suitable for the condition that the outer vertical surface is a straight surface, but also suitable for the condition that the outer vertical surface is a curved surface; the automation is basically realized, the workload of measuring personnel is reduced, and a mark point is not required to be arranged on the surface of the structure, so that the method is simple and convenient and has safety; the data processing is also completely finished by software, the user interface is friendly, the result visibility is good, the image display and the numerical calculation result are realized, and the remarkable measurement practicability is shown.
The technical scheme is as follows: the invention adopts the following technical scheme:
one aspect of the present invention provides an automatic laser plummet, comprising:
an automatic laser plumb bob, comprising: the system comprises a data processor CPU module, an electronic angle measuring module, a photoelectric distance measuring module, a distance meter rotating servo module and an internal processing module;
the electronic angle measuring module is used for measuring a horizontal angle alpha formed by the projection of a plumb on a horizontal plane of a direction line from the ground measuring station to the two target points and a vertical angle theta between the direction line from the ground measuring station to the target points and a horizontal sight line; the photoelectric ranging module is used for measuring the inclined distance D between the ground measuring station and the target point; the range finder rotary servo module is used for controlling the rotation of the photoelectric ranging module in the vertical plane.
The photoelectric distance measuring module consists of a distance measuring instrument, a temperature sensor and an air pressure sensor, the distance measuring instrument consists of a laser emitting system, a laser receiving system and an optical sighting system, and the emitting optical axis, the receiving optical axis and the sighting axis are coaxial.
The range finder rotation servo module comprises a servo motor and a servo drive; the servo drive adopts an MCU control circuit, the CPU module of the data processor sends an instruction to the MCU through an interface circuit with the MCU, and the MCU sends a control signal to drive the servo motor so as to control the rotation of the automatic laser range finder in a vertical plane.
The USB interface and the Bluetooth wireless communication module are connected with each other through a Bluetooth network, and the USB interface and the Bluetooth wireless communication module are connected with each other through a USB interface and a Bluetooth network.
The internal processing module is an intelligent terminal, and matched measurement software is installed in the intelligent terminal and used for storing, processing and operating the received data and displaying the measurement result in a three-dimensional manner.
The invention provides a verticality measuring method on the other hand, which comprises the following steps:
s1, acquiring the coordinates of two known level points A and B, and respectively recording the horizontal coordinates as (x)A,yA)、(xB,yB) Elevation is respectively HA、HBThe azimuth angle of the coordinate of the side A-B is alphaAB(ii) a Acquiring top surface elevation H of foundation of structure to be measuredtest；
S2, uniformly arranging at least four test stations around the object to be tested; the closed conductor measurement is carried out on each measuring station by taking one point in the level point A, B as a starting point, and the edge of each conductor is calculatedCoordinate azimuth angle and coordinates and elevation H of each measuring stationn；
S3, setting a scanning step distance delta Z, starting scanning from the bottom of the structure to be detected, and acquiring and recording local coordinates of each scanned target point;
s4, repeating the step S3 at each measuring station, wherein each measuring station should measure several contour lines as much as possible;
s5, calculating the horizontal section centroid coordinates at different heights by using the acquired measurement data to obtain the coordinates of each point on the vertical central axis, wherein the inclined bending characteristics of the vertical central axis of the structure indicate the overall vertical characteristics of the structure.
Further, the method also comprises the following steps:
s6, verticality calculation and evaluation: with z ═ Hn+i+Dsinθ-HtestHorizontal section centroid point (x) at 0c0,yc0) The vertical line is a reference standard line, and the deviation distance between each reference point and the actual point of the full height is calculated
Figure BDA0001501881200000031
Offset distance in the transverse and longitudinal directions throughout the full height: dhi＝yci-yc0，dvi＝xci-xc0Wherein D is the inclined distance between the measuring station and the target point; theta is a vertical angle between a direction line from the station to the target point and the horizontal view line; i is the instrument height; the deviation distance between the transverse direction and the longitudinal direction is divided into positive and negative, the deviation direction is positive towards the coordinate axis, and the deviation direction is negative on the contrary;
scoring the structure according to the measurement result, scoring the whole perpendicularity and the local perpendicularity of the structure by adopting a percentile system, wherein the scoring results are Q1、Q2The user sets the importance coefficient lambda of the two according to the requirement1And λ2And finally obtaining a final evaluation score Q, wherein the local verticality evaluation score is formed by half of evaluation results in the transverse direction and the longitudinal direction respectively, and the specific calculation method comprises the following steps:
Figure BDA0001501881200000032
Figure BDA0001501881200000033
n is the total number of centroid points calculated, d is the deviation distance between the reference point and the actual point at the top of the structure,
Q＝λ1·Q1+λ2·Q2，λ1+λ2＝1。
step S3, the local coordinates of the target point are:
x＝Dcosθcos(α0+α)，y＝Dcosθsin(α0+α)，z＝Hn+i+Dsinθ-Htest
wherein alpha is0Obtaining the coordinate azimuth angle of the wire side where the measuring station and the next measuring station are located when the target point is obtained; alpha is a horizontal angle formed by the projection of a plumb on a horizontal plane of a direction line from the station to the target point;
each local coordinate system is zero with respect to the z-axis height at the top surface of the structure foundation.
The algorithm for calculating the coordinates of each point on the vertical central axis of the structure needs to calculate different heights ziCentroid coordinate of horizontal cross section, defined by height ziThe method for calculating the coordinates of the centroid of the section in the same coordinate system by calculating the coordinates of m random multiple points on the edge of the horizontal section comprises the following steps:
(10.1) height z in the case of a circular cross sectioniThe center coordinates of the horizontal section are as follows:
Figure BDA0001501881200000041
wherein
Figure BDA0001501881200000042
Figure BDA0001501881200000043
Figure BDA0001501881200000044
Figure BDA0001501881200000045
(10.2) when the section is rectangular or polygonal, the centroid coordinate of the horizontal section at the height zi is:
Figure BDA0001501881200000046
area therein
Figure BDA0001501881200000047
(xj,yj) Is the p corner point coordinates of the p-polygon.
Has the advantages that: compared with the prior art, the invention has the following beneficial effects: (1) automatic measurement, namely, the servo motor is driven by the MCU control circuit to realize the adjustable rotation of the photoelectric ranging module in a vertical plane, and meanwhile, the data are automatically measured and recorded without manual operation of a measurer, so that the workload of the measurer is reduced; (2) the vertical axis characteristics of the structure are obtained by calculating the coordinate algorithm of each point on the vertical central axis and are compared with the theoretical axis, so that the overall vertical characteristics of the structure are shown, the deviation characteristics of the axis details are also well shown, such as local external bulging of the surface of the structure caused by insufficient rigidity of a template, whether the inclination in the slip form construction process is corrected step by step or not and the like, the detection of the deviation condition of the central axis of each position of the full height of the structure is realized, the deviation offset condition is avoided, and the method has obvious applicability to the structure with higher height; (3) a new scoring mechanism is provided for scoring the perpendicularity of the structure, the more favorable the vertical characteristics of the structure are to the stress, the higher the score is, and vice versa; (4) the method has wide application range, is not only suitable for the condition that the transverse section in the vertical direction is an equal section, but also suitable for the condition that the transverse section in the vertical direction is a variable section, and has unique applicability to the verticality detection of variable-section structures such as a chimney and a cooling tower; (5) the method has the advantages of convenient and fast operation and high safety, greatly simplifies the measurement operation and improves the measurement speed because the measurement work basically realizes automation, does not need to set a mark point on the surface of the structure because of adopting a non-cooperative target type laser ranging method, does not need to climb to a dangerous high place, and has good safety. (6) The system has the advantages that the visibility of the real-time internal work processing and processing results is good, the internal work processing module adopts an intelligent terminal, the measurement software is preassembled, the data can be processed immediately after the data are received, the internal work workload of measurement personnel is greatly reduced, the user interface is friendly, the result is displayed by the image and has a numerical calculation result, and the strong measurement practicability is displayed.
Drawings
Fig. 1 is a schematic block diagram of an automatic laser plummet provided in embodiment 1;
FIG. 2 is a schematic view of a servo motor of the automatic laser plummet provided in embodiment 1;
fig. 3 is a schematic perspective view of the automatic laser plummet provided in embodiment 1;
fig. 4 is a schematic perspective view of the automatic laser plummet provided in embodiment 1;
FIG. 5 is a schematic view of a closed wire measurement of the automatic laser plummet measurement method provided in example 2;
FIG. 6 is a schematic diagram of the three-dimensional coordinate calculation of the measuring method of the automatic laser plummet provided in embodiment 2;
FIG. 7 is a first schematic view of the measurement method of the automatic laser plummet provided in embodiment 2;
fig. 8 is a second schematic measurement diagram of the measurement method of the automatic laser plummet provided in embodiment 2.
Detailed Description
The invention discloses an automatic laser verticality measuring instrument and a verticality measuring method, and the invention is further explained below by combining the attached drawings.
Example 1
As shown in fig. 1, the present embodiment provides an automatic laser plummet, which mainly includes: the system comprises a power module 1, a data processor CPU module 2, an electronic angle measuring module 3, a photoelectric distance measuring module 4, a distance measuring instrument rotary servo module 5, an input and display module 6, a data communication module 7 and an internal processing module 8.
The power module 1 is an external power supply, ensures sufficient and stable power supply, is connected with a power interface through a power line, and is hung on an instrument tripod.
The data processor CPU module 2 is used for converting the angle and distance information of the target point acquired by the instrument into the three-dimensional coordinates of the target point, processing input instructions and output information, performing instruction communication with the rotary servo MCU through an interface circuit of the CPU and the MCU (single chip microcomputer), controlling the operation of the servo motor, communicating with external equipment and the like.
The electronic angle measuring module 3 is used for measuring a horizontal angle alpha formed by the plumb projection of the direction lines from the ground measuring station to the two targets on a horizontal plane and a vertical angle theta between the direction lines from the ground measuring station to the targets and the horizontal plane.
The photoelectric distance measuring module 4 is used for measuring the inclined distance D between a ground measuring station and a target point, and comprises a distance measuring instrument, a temperature sensor and an air pressure sensor, wherein the temperature sensor and the air pressure sensor are used for detecting the temperature and the air pressure on site and correcting a measuring result, the distance measuring instrument comprises a laser emitting system, a laser receiving system and an optical sighting system, the emitting optical axis, the receiving optical axis and the sighting axis are coaxial, and the distance measuring instrument adopts a prism-free (cooperative target-free) laser distance measuring instrument in the embodiment, namely the laser distance measuring instrument directly sights the outer surface of a structure to obtain the inclined distance.
The rotary servo module 5 of the distance meter is used for controlling the rotation of the photoelectric distance measuring module in the vertical plane and consists of a servo motor and a servo driver. The servo drive adopts an MCU control circuit, the CPU sends an instruction to the MCU through an interface circuit with the MCU, and the MCU sends a control signal to drive a servo motor so as to control the laser range finder to rotate in a vertical plane; as shown in fig. 2, the servo motor mainly includes: the motor comprises an outer protective shell 1, a motor 2, an encoder 3, a motor connector 4 and an encoder connector 5.
The input and display module 6 is a keyboard and an LCD display screen for inputting instructions and displaying measurement information.
The data communication module 7 comprises wired transmission by adopting a USB interface and wireless transmission by adopting Bluetooth connection and is used for importing the three-dimensional coordinate data into the PDA for internal processing.
The internal processing module 8 is a PDA (personal digital assistant) for storing, processing and operating the received data, the PDA is provided with a matched measuring software, coordinate data under each local coordinate system can be normalized to the same coordinate system by coordinate translation, and z with different heights can be calculated by a built-in algorithmiAnd (4) locating the horizontal section centroid coordinates, further obtaining the coordinates of each point on the vertical central axis, and presenting the measured contour line and all the points on the vertical central axis obtained by calculation on a screen in a three-dimensional mode. The built-in measurement software can calculate the distance between each actual point of the central axis and the reference standard point, the offset distance is segmented and displayed in different colors on a graphical interface, the inclined and bent characteristics of the vertical central axis of the structure indicate the overall vertical characteristics of the structure, the deviation condition of each position is visually displayed, the standard limit value is set, and the software automatically reports the position exceeding the limit. In addition, the software can also complete the structural perpendicularity evaluation, wherein the perpendicularity evaluation refers to the scoring of the structure according to the measurement result and the adoption of a percentile system.
As shown in fig. 3 and 4, the specific components of the automatic laser plummet mainly include: external power socket 1, USB interface 2, a horizontal system fine motion spiral 3 for the horizontal motion of control part of alighting, optics centralizer 4, coarse sighting device 5, instrument height mark 6, the objective 7 of transmission accepting mirror, base 8, foot spiral 9, keyboard 11, display screen 12, a circular level 10 and the level of the part of alighting 13 for the flattening, a vertical system fine motion spiral 14 for the vertical motion of control part of alighting, eyepiece 15 of transmission accepting mirror, telescope focusing spiral 16, servo motor 17, external power supply 18, the tripod etc.
Example 2
The embodiment provides a perpendicularity measuring method using the automatic laser plummet in embodiment 1, which includes the steps of measuring a plurality of vertical contour lines on an outer contour of a structure by the automatic laser plummet, calculating a vertical central axis from the vertical contour lines, and judging a vertical characteristic of the structure according to a curve characteristic of the central axis, including:
s1, obtaining two known level points (control points) A and B with coordinates of (x)A,yA)、(xB,yB) Elevation is respectively HA、HBThe azimuth angle of the coordinate of the side A-B is alphaAB(ii) a Acquiring top surface elevation H of foundation of structure to be measuredtest；
S2, as shown in fig. 5, four stations are uniformly arranged around the object to be measured, and a mark is established, where point a is the first station, and the other three stations are: the method comprises the following steps that the survey stations 1,2 and 3 measure closed conductors clockwise by taking a point A in a control point A, B as a starting point, and calculate the coordinate azimuth angle of each conductor side and the coordinate and elevation of each survey station, and the specific method comprises the following steps:
coordinate azimuth of each wire side:
αA1＝αAB+β′，
Figure BDA0001501881200000071
Figure BDA0001501881200000072
the coordinate and elevation measurement method of each measurement station is the basic common knowledge of the metrology, which is not described herein again, and the horizontal coordinate and elevation of each measurement station are recorded as follows:
and (3) station A: (x)A,yA,HA) And the survey station 1: (x)1,y1,H1) And the measuring station 2: (x)2,y2,H2) And the measuring station 3: (x)3,y3,H3)。
S3, erecting the instrument on a measuring station, and centering and leveling; inputting the elevation H of the measuring stationnCoordinates, coordinate azimuth angle of the wire side where the current measuring station and the next measuring station are located, instrument height i and top surface elevation H of foundation of structure to be measuredtestThe data of all the measuring stations can be input into the instrument before formal measurement, and can be directly called during measurement;
aligning the next station according to the clockwise sequence, for example aligning the instrument with the station 1 at the station a, and setting a horizontal angle to zero;
aiming at the bottom of the structure to be measured, rotating a vertical micro-motion adjusting hand wheel, and adjusting the vertical coordinate of a target point to z ═ Hn+i+Dsinθ-H test0, where D is the tilt distance between the survey station and the target point; theta is a vertical angle between a direction line from the measuring station to the target point and the horizontal line. Note that in a coordinate system with each measuring station as an origin, each local coordinate system takes the height at the top surface of the structure foundation as a zero point of a z-axis, each local coordinate system takes north coordinates as a positive direction of an x-axis, and an azimuth angle of a coordinate of a target point is alpha0+ α, α is the instrument horizontal angle reading, the instrument vertical angle reading θ is the vertical angle of the target point, and has a positive or negative score, the direction line of the target point is positive above the horizontal line of sight, otherwise negative, as shown in fig. 6. For example, the coordinates in the local coordinate system with the survey station a as the origin are:
xA＝Dcosθcos(αA1+α)，yA＝Dcosθsin(αA1+α)，zA＝HA+i+Dsinθ-Htest；
wherein alpha isA1The azimuth angle of the coordinate of the wire side where the test station a and the next test station, i.e. the test station 1, are located is shown.
Setting a scanning step distance delta Z, wherein the scanning step distance delta Z refers to the vertical coordinate Z of the target point as Hn+i+Dsinθ-HtestEvery time the Δ Z changes, the instrument records the coordinate data of the point, for example, the Δ Z is set to be 0.05m, and the vertical coordinate Z is set to be in the coordinate of the target point recorded by the instrumentiThe interval of (2) is 0.05 m;
and rotating the sighting part to command the instrument to automatically measure according to the scanning step distance, and simultaneously calculating the local coordinate data of the target point and recording and storing the local coordinate data.
S4, repeating the step S3 at each testing station, wherein each testing station should measure several contour lines as much as possible;
s5, the intelligent terminal calculates different heights z by using the received measurement dataiLocating the horizontal section centroid coordinate to obtain the coordinate of each point on the vertical central axis, and calculating the section centroid coordinate by using each measuring stationA coordinate system which is an original point is classified into the same coordinate system by performing coordinate translation, for example, if a coordinate system where a control point A is located, for example, local coordinates of the measuring station 1 are classified into the coordinate system of the measuring station A, only the difference value between the vertical coordinate and the horizontal coordinate of the measuring station A and the vertical coordinate of the measuring station 1 is required to be added to the vertical coordinate and the horizontal coordinate of the measuring station 1 in the coordinate system of the measuring station 1;
the algorithm for calculating the coordinates of each point on the vertical central axis of the structure needs to calculate different heights ziCentroid coordinate of horizontal cross section, defined by height ziThe method for calculating the coordinates of the centroid of the section in the same coordinate system by calculating the coordinates of m random multiple points on the edge of the horizontal section comprises the following steps:
(10.1) As shown in FIG. 7, assume that the structure to be measured is a circular cooling tower of variable cross-section.
Each of the four stations measures three vertical contour lines, and the method of least square fitting includes:
Figure BDA0001501881200000091
Figure BDA0001501881200000092
Figure BDA0001501881200000093
Figure BDA0001501881200000094
on the basis of the formulae (1), (2), (3) and (4), the height ziThe center coordinates of the horizontal section are as follows:
Figure BDA0001501881200000095
since the vertical coordinates of each point on the same horizontal section are the same, zci＝zi。
(10.2) As shown in FIG. 8, assume that the structure to be tested is a high pier with a rectangular cross section.
Considering inconvenient measurement of the edge of the structure, linear fitting method is adopted to calculate different heights ziAfter the equation of each side of the horizontal section is processed, the different heights z are determined by the method of solving the intersection point of each sideiCoordinates of the corner points of the horizontal cross-section.
Four stations each measure four vertical contours, two of which are closer to the edge, i.e. of different heights ziThere are four measuring points on each side of the horizontal section.
Let the equation for the kth side on a rectangular cross-section be: f. ofSurvey station k(y)＝ak+bkAnd y, k is A,1,2 and 3, and a straight line parameter a can be obtained by adopting a least square normal fitting methodkAnd bkBest estimate of (d):
Figure BDA0001501881200000096
combined stand
Figure BDA0001501881200000101
k is a,1,2,3, different heights z can be obtainediEach corner coordinate of the horizontal section is calculated, and the calculated coordinates of 4 corners of the rectangle are substituted into the formula, height ziThe centroid coordinates of the horizontal section are:
Figure BDA0001501881200000102
area therein
Figure BDA0001501881200000103
Since the vertical coordinates of each point on the same horizontal section are the same, zci＝zi。
Of note is (x)4,y4) Should be in contact with (x)0,y0) The same is true.
The measured contour and all the points on the calculated vertical center axis are presented on the screen in a three-dimensional mode.
S6 verticalityCalculating and evaluating: with z ═ Hn+i+Dsinθ-HtestHorizontal section centroid point (x) at 0c0,yc0) The vertical line is a reference standard line, under an ideal condition, the calculated vertical central axis is coincident with the reference standard line, but the vertical central axis and the reference standard line deviate due to construction technology or deviation caused by uneven settlement; calculating the deviation distance between each reference point and the actual point at all the heights
Figure BDA0001501881200000104
Offset distance in the transverse and longitudinal directions throughout the full height: dhi＝yci-yc0，dvi＝xci-xc0The deviation distance between the transverse direction and the longitudinal direction is divided into positive and negative, the deviation direction is positive towards the positive direction of the coordinate axis, and the deviation direction is negative on the contrary; the offset distance is segmented on a graphical interface and displayed in different colors, the inclined bending characteristic of the vertical central axis of the structure indicates the integral vertical characteristic of the structure, the deviation condition of each position is visually displayed, the standard limit value is set, and the software automatically reports the position of the overrun.
The perpendicularity evaluation means that the structure is scored according to the measurement result, the overall perpendicularity and the local perpendicularity of the structure are respectively scored by adopting a percentile system, and the scoring results are Q1、Q2The user sets the importance coefficient lambda of the two according to the requirement1And λ2Considering that the overall verticality is more important, let λ be10.6 and λ2And (3) finally obtaining a final evaluation score Q, wherein the local perpendicularity evaluation score is formed by half of evaluation results in the transverse direction and the longitudinal direction respectively, and the specific calculation method comprises the following steps:
Figure BDA0001501881200000105
Figure BDA0001501881200000106
n is the total number of centroid points calculated, d is the deviation distance between the reference point and the actual point at the top of the structure,
Q＝0.6·Q1+0.4·Q2。

Claims (8)

1. an automatic laser plumb measuring instrument, comprising: the system comprises a data processor CPU module, an electronic angle measuring module, a photoelectric distance measuring module, a distance meter rotating servo module and an internal processing module;
the electronic angle measuring module is used for measuring a horizontal angle alpha formed by the projection of a plumb on a horizontal plane of a direction line from the ground measuring station to the two target points and a vertical angle theta between the direction line from the ground measuring station to the target points and a horizontal sight line; the photoelectric ranging module is used for measuring the inclined distance D between the ground measuring station and the target point; the range finder rotation servo module is used for controlling the rotation of the photoelectric range finding module in a vertical plane;
the internal processing module is an intelligent terminal, matched measurement software is installed in the intelligent terminal, coordinate data under each local coordinate system are integrated into the same coordinate system through coordinate translation, and z with different heights is calculated through a built-in algorithmiLocating the horizontal section centroid coordinates to further obtain the coordinates of each point on the vertical central axis, and presenting the measured contour line and all the points on the vertical central axis obtained by calculation on a screen in a three-dimensional mode;
the contour line measuring method comprises the following steps:
setting a scanning step distance delta Z, starting scanning from the bottom of the structure to be detected, and acquiring and recording local coordinates of each scanned target point;
the local coordinates of the target point are as follows:
x＝Dcosθcos(α0+α)，y＝Dcosθsin(α0+α)，z＝Hn+i+Dsinθ-Htest；
wherein alpha is0Obtaining the coordinate azimuth angle of the wire side where the measuring station and the next measuring station are located when the target point is obtained; forming a vertical contour line by the local coordinates in the vertical direction; hnFor elevation of the survey station, i is the instrument height, HtestThe top surface elevation of the foundation of the structure to be measured;
the intelligent terminal calculates different heights z by using the received measurement dataiLocating the horizontal section centroid coordinate to obtain the coordinate of each point on the vertical central axis, and the specific steps are as follows:
(10.1) height z in the case of a circular cross sectioniCenter coordinate (x) of horizontal sectionci,yci) Comprises the following steps:
Figure FDA0002732646910000011
wherein
Figure FDA0002732646910000012
(xj,yj) For structures at height ziThe coordinates of random points on the edge of the horizontal section are located, and m is the number of the random points;
Figure FDA0002732646910000013
Figure FDA0002732646910000021
Figure FDA0002732646910000022
(10.2) height z in the case of a rectangular or polygonal cross sectioniCentroid coordinate (x) of horizontal sectionci,yci) Comprises the following steps:
Figure FDA0002732646910000023
area therein
Figure FDA0002732646910000024
(xj,yj) P corner point coordinates of the p-edge shape; p is the angle of the cross-sectional polygonThe number of dots.
2. The automatic laser plummet according to claim 1, wherein the electro-optical distance measuring module comprises a distance measuring instrument, a temperature sensor and an air pressure sensor, the distance measuring instrument comprises a laser emitting system, a laser receiving system and an optical sighting system, and the emitting optical axis, the receiving optical axis and the sighting axis are coaxial.
3. The automatic laser plummet of claim 1, wherein the rangefinder rotation servo module comprises a servo motor and a servo drive; the servo drive adopts an MCU control circuit, the CPU module of the data processor sends an instruction to the MCU through an interface circuit with the MCU, and the MCU sends a control signal to drive the servo motor so as to control the rotation of the automatic laser range finder in a vertical plane.
4. The automatic laser plummet of claim 1, further comprising an input and display module.
5. The automatic laser plummet of claim 1, further comprising a data communication module comprising a wired transmission using a USB interface and a wireless transmission using a bluetooth connection.
6. A perpendicularity measuring method is characterized by comprising the following steps:
s1, acquiring the coordinates of two known level points A and B, and respectively recording the horizontal coordinates as (x)A,yA)、(xB,yB) Elevation is respectively HA、HBThe azimuth angle of the coordinate of the side A-B is alphaAB(ii) a Acquiring top surface elevation H of foundation of structure to be measuredtest；
S2, uniformly arranging at least four test stations around the object to be tested; performing closed conductor measurement on each measurement station by taking one point in the level points A, B as a starting point, and calculating the coordinate azimuth angle of each conductor side and the coordinate and elevation H of each measurement stationn；
S3, setting a scanning step distance delta Z, starting scanning from the bottom of the structure to be detected, and acquiring and recording local coordinates of each scanned target point;
s4, repeating the step S3 at each measuring station, wherein each measuring station should measure several contour lines as much as possible;
s5, calculating the horizontal section centroid coordinates at different heights by using the acquired measurement data to obtain the coordinates of each point on the vertical central axis, wherein the inclined bending characteristics of the vertical central axis of the structure indicate the overall vertical characteristics of the structure;
the algorithm for calculating the coordinates of each point on the vertical central axis of the structure needs to calculate different heights ziCentroid coordinate of horizontal cross section, defined by height ziThe method for calculating the coordinates of the centroid of the section in the same coordinate system by calculating the coordinates of m random multiple points on the edge of the horizontal section comprises the following steps:
(10.1) height z in the case of a circular cross sectioniCenter coordinate (x) of horizontal sectionci,yci) Comprises the following steps:
Figure FDA0002732646910000031
wherein
Figure FDA0002732646910000032
(xj,yj) For structures at height ziThe coordinates of random points on the edge of the horizontal section are located, and m is the number of the random points;
Figure FDA0002732646910000033
Figure FDA0002732646910000034
Figure FDA0002732646910000035
(10.2) height z in the case of a rectangular or polygonal cross sectioniCentroid coordinate (x) of horizontal sectionci,yci) Comprises the following steps:
Figure FDA0002732646910000036
area therein
Figure FDA0002732646910000037
(xj,yj) P is the coordinate of the corner points of the p-polygon, and p is the number of the corner points of the cross-section polygon.
7. The perpendicularity measuring method according to claim 6, further comprising the steps of:
s6, verticality calculation and evaluation: with z ═ Hn+i+Dsinθ-HtestHorizontal section centroid point (x) at 0c0,yc0) The vertical line is a reference standard line, and the deviation distance between each reference point and the actual point of the full height is calculated
Figure FDA0002732646910000038
Offset distance in the transverse and longitudinal directions throughout the full height: dhi＝yci-yc0，dvi＝xci-xc0Wherein D is the inclined distance between the measuring station and the target point; theta is a vertical angle between a direction line from the station to the target point and the horizontal view line; i is the height of the instrument, HnTo measure the elevation of the station, HtestFor the height of the top surface of the foundation of the structure to be measured, the centroid coordinate (x)ci,yci) The height of the horizontal section is zi(ii) a The deviation distance between the transverse direction and the longitudinal direction is divided into positive and negative, the deviation direction is positive towards the coordinate axis, and the deviation direction is negative on the contrary;
according to the measuring result, the structure is scored, and the whole structure is respectively scored by adopting a percentage systemThe verticality and the local verticality are scored, and the scoring result is Q1、Q2The user sets the importance coefficient lambda of the two according to the requirement1And λ2And finally obtaining a final evaluation score Q, wherein the local verticality evaluation score is formed by half of evaluation results in the transverse direction and the longitudinal direction respectively, and the specific calculation method comprises the following steps:
Figure FDA0002732646910000041
n is the calculated total number of centroid points, dTop roofThe offset distance of the reference point at the apex of the structure from the actual point,
Q＝λ1·Q1+λ2·Q2，λ1+λ2＝1。
8. the measuring method according to claim 6, wherein in the coordinate system with the test stations as the origin, the local coordinates of the target point in step S3 are:
x＝Dcosθcos(α0+α)，y＝Dcosθsin(α0+α)，z＝Hn+i+Dsinθ-Htest
wherein alpha is0Obtaining the coordinate azimuth angle of the wire side where the measuring station and the next measuring station are located when the target point is obtained; alpha is a horizontal angle formed by the projection of a plumb on a horizontal plane of a direction line from the station to the target point; d is the inclined distance between the measuring station and the target point; hnFor elevation of the survey station, i is the instrument height, HtestThe top surface elevation of the foundation of the structure to be measured;
each local coordinate system is zero with respect to the z-axis height at the top surface of the structure foundation.
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