CN108318011B - Method for monitoring peripheral displacement of construction site through unmanned aerial vehicle carrying total station - Google Patents
Method for monitoring peripheral displacement of construction site through unmanned aerial vehicle carrying total station Download PDFInfo
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- CN108318011B CN108318011B CN201810002067.7A CN201810002067A CN108318011B CN 108318011 B CN108318011 B CN 108318011B CN 201810002067 A CN201810002067 A CN 201810002067A CN 108318011 B CN108318011 B CN 108318011B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to a method for monitoring displacement around a construction site by carrying a total station through an unmanned aerial vehicle platform, which monitors displacement change around a subway construction site through an unmanned aerial vehicle, a damping cradle head, the total station and a database, wherein the set measuring points and datum points have the characteristics of scientificity, reasonability, convenience in monitoring, accurate data and high efficiency, the monitoring process is automatically carried out, a large amount of human resources are saved, the instrument transfer process in a complex urban area is reduced, the monitoring efficiency and precision are improved, and scientific basis is provided for construction of subways and other underground buildings.
Description
Technical Field
The invention belongs to the technical field of subway engineering construction monitoring, and particularly relates to a method for monitoring peripheral displacement of a construction site through an unmanned aerial vehicle carrying total station.
Background
The subway engineering construction process can generate certain deformation, can generate certain influence on the surrounding environment, and needs to carry out displacement monitoring on the subway engineering and the surrounding environment in order to ensure safe construction of the subway engineering.
At present, the displacement of the surrounding environment of the subway is mainly monitored by a level gauge or a total station. Subway construction is mainly located city core area, and there are a large amount of buildings and construction site narrow and small and the site surrounding condition is complicated, does not have good sight condition, causes measuring instrument to need to change the station many times and can accomplish the monitoring, will lead to the monitoring route overlength like this and influence measurement accuracy to lead to measurement inefficiency simultaneously.
The target point displacement is calculated by comparing the images before and after the image comparison by using an image method, but the method has low monitoring precision and cannot meet the requirements of site construction.
The method for monitoring the peripheral displacement of the construction site by carrying the total station by the unmanned aerial vehicle has not yet seen relevant reports.
Disclosure of Invention
In order to solve the problems, the invention provides a method for monitoring the displacement of the periphery of a construction site by carrying a total station through an unmanned aerial vehicle platform.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for monitoring peripheral displacement of a construction site by carrying a total station through an unmanned aerial vehicle uses the unmanned aerial vehicle, a damping cradle head, the total station and a database, wherein the database stores monitoring data and a special displacement calculation formula, and is characterized in that:
① a fixed damping cradle head is installed under the unmanned aerial vehicle, a first total station, a second total station and a third total station which are configured in the same way are respectively fixed under the damping cradle head, and are distributed in an equilateral triangle, the side lengths of the equilateral triangles are equal and are recorded in a database, horizontal discs of the first total station, the second total station and the third total station in the same direction are all set to be zero positions, and the data of three horizontal discs of the three total stations are kept consistent when the three total stations rotate at the same angle;
②, arranging a plurality of measuring points in the peripheral range of the construction site and the positions needing to be monitored at the periphery and making corresponding mark marks respectively, arranging a plurality of datum points outside the affected area and enabling the unmanned aerial vehicle to observe at least two datum points when observing each measuring point, wherein each prism is embedded in each base point or each measuring point;
the marks corresponding to the base points are respectively A1, A2, …, Ax and Ay in sequence, the marks corresponding to the measuring points are respectively B1, B2, … and Bz in sequence, and x, y and z are natural positive integers and x is smaller than y;
③ monitoring the three-dimensional coordinate values of each measuring point and any two reference points by a total station erected on the ground and adopting a conventional measuring method under the same coordinate system before construction, wherein all the monitored three-dimensional coordinate values with marks are respectively recorded into a database for checking;
④ flying the unmanned aerial vehicle to the vicinity of each measuring point, aiming the first total station at any reference point A capable of being observedxThen, aiming a second total station at another observable datum point AyAnd finally aiming a third total station at the measuring point B to be observedzAnd simultaneously monitoring by three total stations, and measuring the distance from the first total station to the datum point A by the first total stationxHorizontal angle, vertical angle and distance; the second total station measures the second total station to the datum point AyThe horizontal angle, the vertical angle and the distance of the reference point A which has been stored by the databasexAnd the reference point AyEstablishing a three-dimensional coordinate system, automatically calculating the three-dimensional coordinate value of a third total station through the displacement calculation formula, and measuring the distance from the third total station to the datum point B through the third total stationzThe horizontal angle, the vertical angle and the distance of the measuring point B are automatically calculated in the just established three-dimensional coordinate system through the displacement calculation formulazThree-dimensional coordinate values of (a);
⑤ comparing the newly calculated measure point B with a databasezThree-dimensional coordinate value and originally stored measuring point BzThe displacement variation of the measuring point can be monitored by the three-dimensional coordinate value;
⑥ repeating the steps ④ and ⑤ to complete the displacement variation of all the measuring points.
Due to the adoption of the technical scheme, the invention has the following positive effects:
1) according to the invention, the displacement monitoring of the measuring point is carried out by carrying the total station through the unmanned aerial vehicle, the monitoring process is carried out automatically, and a large amount of manpower resources are saved.
2) The invention completes monitoring in the air, reduces the process of transferring the instrument to the station in the urban complex zone, and improves the monitoring efficiency and precision.
Detailed Description
The invention relates to a method for monitoring peripheral displacement of a construction site by carrying a total station through an unmanned aerial vehicle. The unmanned aerial vehicle, the damping holder and the total station used in the invention can be purchased in the market, the database can be built by a computer, and the special displacement calculation formula is relatively complex but given.
The method according to the invention has already been stated in the description, the following supplementary contents merely being intended to explain the description further.
The same first total station, the same second total station and the same third total station are arranged on a fixed damping holder arranged below the unmanned aerial vehicle, the three total stations are distributed in an equilateral triangle shape, namely a regular triangle, the side lengths of the equilateral triangle are equal, and the horizontal scales of the three total stations in the same direction are all set to be zero, so that the data of the three horizontal scales are consistent when the three total stations rotate at the same angle, the three total stations can be set to be in the same three-dimensional coordinate system, and a platform is provided for monitoring of subsequent measuring points.
A plurality of measuring points are arranged in the peripheral range of the construction site and at the peripheral positions needing to be monitored, and a plurality of datum points are arranged outside an affected area, so that the unmanned aerial vehicle can observe at least two benchmarks when observing each measuring point. The measurement of the just measured station can only be performed temporarily as a reference point when the next station is measured immediately. The base point and the measuring point are embedded with respective prisms.
Before construction, a total station is erected on the ground, and three-dimensional coordinates of a datum point and a measuring point are measured in the same coordinate system through the total station. Will be and entered into the database for verification.
Flying the unmanned aerial vehicle to the vicinity of each measuring point, aiming the first total station to observe any reference point AxAiming a second total station at another observable reference point AyAiming a third total station at a measuring point B to be observedz. Three total stations measure simultaneously, the first total station measures, the first total station reaches the datum point AxHorizontal angle, vertical angle and distance; measured by a second total station, the second total station reaches the datum point AyHorizontal angle, vertical angle and distance. Reference point A already stored by the databasexAnd AyEstablishing a three-dimensional coordinate system by the three-dimensional coordinates, and calculating the three-dimensional coordinates to be the three-dimensional coordinates of the unmanned aerial vehicle; measured by a third total station, the third total station reaches a datum point BzCalculating a measuring point B in a just established coordinate system by using a horizontal angle, a vertical angle and a distancezThree-dimensional coordinates of (a).
The displacement of each measuring point can be monitored at any time in the construction process, for example, the first total station and the second total station can monitor the horizontal angle, the vertical angle and the distance between two reference points and the first total station and the second total station at the moment, the three-dimensional coordinate of the unmanned aerial vehicle can be calculated according to the three-dimensional coordinate position of the reference points stored in the database, and the three-dimensional coordinate of the measuring point can be calculated according to the three-dimensional coordinate of the unmanned aerial vehicle and the horizontal angle, the vertical angle and the distance between the three-dimensional coordinate of the unmanned aerial vehicle and the measuring point measured by the third total station. And comparing the newly calculated three-dimensional coordinates of the measuring points with the three-dimensional coordinates of the originally stored data through the database to determine the variation of the displacement of the measuring points.
Obviously, the method can be used for monitoring the peripheral displacement of the subway construction site and can also be used for monitoring the peripheral displacement of other underground buildings such as a tunnel construction site.
Claims (1)
1. A method for monitoring peripheral displacement of a construction site by carrying a total station through an unmanned aerial vehicle uses the unmanned aerial vehicle, a damping cradle head, the total station and a database, wherein the database stores monitoring data and a special displacement calculation formula, and is characterized in that:
① a fixed damping cradle head is installed under the unmanned aerial vehicle, a first total station, a second total station and a third total station which are configured in the same way are respectively fixed under the damping cradle head, and are distributed in an equilateral triangle, the side lengths of the equilateral triangles are equal and are recorded in a database, horizontal discs of the first total station, the second total station and the third total station in the same direction are all set to be zero positions, and the data of three horizontal discs of the three total stations are kept consistent when the three total stations rotate at the same angle;
②, configuring a plurality of measuring points in the peripheral range of the construction site and the positions needing to be monitored at the periphery and marking corresponding marks respectively, configuring a plurality of datum points outside the affected area and enabling the unmanned aerial vehicle to observe at least two datum points when observing each measuring point, wherein each prism is embedded in each datum point or each measuring point;
each datum point corresponding mark is sequentially and respectively A1、A2、…、Ax、AyAnd the corresponding marks of each measuring point are respectively B in sequence1、B2、…、BzX, y and z are natural positive integers, and x is smaller than y;
③ monitoring the three-dimensional coordinate values of each measuring point and any two reference points by a total station erected on the ground and adopting a conventional measuring method under the same coordinate system before construction, wherein all the monitored three-dimensional coordinate values with marks are respectively recorded into a database for checking;
④ flying the unmanned aerial vehicle to the vicinity of each measuring point, aiming the first total station at any reference point A capable of being observedxThen, aiming a second total station at another observable datum point AyAt the mostThen aiming a third total station at the measuring point B to be observedzAnd simultaneously monitoring by three total stations, and measuring the distance from the first total station to the datum point A by the first total stationxHorizontal angle, vertical angle and distance; the second total station measures the second total station to the datum point AyThe horizontal angle, the vertical angle and the distance of the reference point A which has been stored by the databasexAnd the reference point AyEstablishing a three-dimensional coordinate system, automatically calculating the three-dimensional coordinate value of a third total station through the displacement calculation formula, and measuring the distance from the third total station to the measuring point B through the third total stationzThe horizontal angle, the vertical angle and the distance of the measuring point B are automatically calculated in the three-dimensional coordinate system through the displacement calculation formulazThree-dimensional coordinate values of (a);
⑤ comparing the newly calculated measure point B with a databasezThree-dimensional coordinate value and originally stored measuring point BzThe displacement variation of the measuring point can be monitored by the three-dimensional coordinate value;
⑥ repeating the steps ④ and ⑤ to complete the displacement variation of all the measuring points.
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| CN109269486B (en) * | 2018-11-01 | 2020-11-24 | 中铁隧道局集团有限公司 | Vibration-corrected total station displacement monitoring method |
| CN109813510B (en) * | 2019-01-14 | 2020-01-24 | 中山大学 | High-speed rail bridge vertical dynamic disturbance degree measuring method based on unmanned aerial vehicle |
| CN109945795B (en) * | 2019-04-03 | 2021-08-31 | 山西省汾河二库管理局 | Device and method for testing performance of measuring robot |
| CN112268541B (en) * | 2020-10-16 | 2022-04-15 | 中国有色金属长沙勘察设计研究院有限公司 | Three-dimensional space detection method |
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| CN102409703A (en) * | 2011-08-17 | 2012-04-11 | 北京交通大学 | Monitoring method for horizontal displacement of foundation pit pile top and monitoring device thereof |
| CN103926913A (en) * | 2014-05-08 | 2014-07-16 | 中国水利水电第七工程局有限公司 | Total station tunnel deformation remote monitoring system and establishing method thereof |
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| CN107339970A (en) * | 2017-06-23 | 2017-11-10 | 徐州重型机械有限公司 | A kind of altitude operation vehicle arm support deformation detection method based on total powerstation |
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| JP6367522B2 (en) * | 2013-02-28 | 2018-08-01 | 株式会社トプコン | Aerial photography system |
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| CN102409703A (en) * | 2011-08-17 | 2012-04-11 | 北京交通大学 | Monitoring method for horizontal displacement of foundation pit pile top and monitoring device thereof |
| CN103926913A (en) * | 2014-05-08 | 2014-07-16 | 中国水利水电第七工程局有限公司 | Total station tunnel deformation remote monitoring system and establishing method thereof |
| CN205691120U (en) * | 2016-06-23 | 2016-11-16 | 洛阳理工学院 | A kind of topography mapping device of UAV flight's total powerstation |
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