CN108344371B - A method of to whitewash, trolley visual angle determines whitewashing radius and flatness - Google Patents
A method of to whitewash, trolley visual angle determines whitewashing radius and flatness Download PDFInfo
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- CN108344371B CN108344371B CN201810184958.9A CN201810184958A CN108344371B CN 108344371 B CN108344371 B CN 108344371B CN 201810184958 A CN201810184958 A CN 201810184958A CN 108344371 B CN108344371 B CN 108344371B
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- whitewashing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
Abstract
The invention discloses a kind of methods that whitewashing radius and flatness are determined with trolley visual angle of whitewashing, and include the following steps: that S1 places laser ranging system and video identification device on the spray head of whitewashing trolley；S2 measures whitewashing radius by laser ranging system in the case where not considering barrier interference；S3 identifies disturbance in judgement object using video identification device, and judge the whitewashing radius that measures whether the interference by barrier；The flatness of S4 judgement whitewashing.The method of judgement whitewashing radius and flatness of the invention, it is combined with video identification with sensor instrument distance, not only accurately identify the interference of barrier classification, remove obstacles to sensing ranging, and depth information is provided for video identification, to improve the accuracy and efficiency of whitewashing radius and roughness measurement, while reducing the amount of labour of staff and improving the working environment of staff.
Description
Technical field
The present invention relates to technical field of tunnel construction, and in particular to a kind of to determine whitewashing radius with trolley visual angle of whitewashing and put down
The method of whole degree.
Background technique
According to " national highway network planning is drawn ", to the year two thousand thirty, also 2.6 ten thousand kilometers of National Highways are yet to be built, and there are also 100,000
The common Trunk highway highway of kilometer needs transformation and upgrade.And the construction of vcehicular tunnel is not only applicable to the public affairs of mountain area and knob
It is also that one kind cannot be neglected embodiment in the construction of east rivers bridge tunnel in the construction of road.
But there is also many problems in constructing tunnel construction.Such as prepare to apply for checking and examination after the completion of Construction of Steel Structure-spray concrete
Process in, the concrete of injection there are problems that spray out-of-flatness.And whitewashing platform is controlled with arch benchmark using detection device
The concrete ejection of vehicle overcomes following problems again: measuring the distance between arch benchmark and concrete, excludes certain fixations
The interference of barrier and the molecule of floating.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of sides for determining whitewashing radius and flatness with trolley visual angle of whitewashing
Method is combined with video identification with sensor instrument distance, not only accurately identifies barrier classification, remove obstacles to sensing ranging
Interference, and provide depth information for video identification, to improve the accuracy and efficiency of whitewashing radius and roughness measurement,
The amount of labour of staff is reduced simultaneously and improves the working environment of staff.
The present invention is solved the above problems by following technological means: a kind of to determine whitewashing radius with trolley visual angle of whitewashing and put down
The method of whole degree, includes the following steps:
S1 places laser ranging system and video identification device by mounting platform on the spray head of whitewashing trolley；
S2 measures whitewashing radius by laser ranging system in the case where not considering barrier interference, specific as follows:
S21 obtains the calculation formula of whitewashing radius according to existing theoretical knowledgeWherein
Tested point is respectively indicated according to cross, the ordinate in the design center of circle；Then corresponding kinematics analysis is carried out to obtain corresponding to the earth seat
Mark system Px, PyValue；
S22 is navigated using electronic total station and determines PxValue；
S23 determines PvIt is worth, wherein PvAsk method specific as follows:
A, the member coordinates of whitewashing trolley are established according to D-H method；
B, the transformation matrix of coordinates of whitewashing trolley end effector is established,
Wherein；
Length of connecting rod ai: along XiAxis direction and Zi-1With ZiBase tangent length；
Connecting rod torsional angleαi: around XiAxis is from Zi-1 Axis is extremelyZiThe angular displacement of axis, positive direction XiThe direction of axis；
Connecting rod spacing di: along Zi-1Axis direction Xi+1Axis and XiThe length of axis common normal；
Joint rotation angle θi: around Zi-1Axis is from Xi+1 Axis is extremelyXiThe angular displacement of axis, positive direction Zi-1The direction of axis；
C, according to kinematics relevant knowledge it is found that
D=y0+y+y1
=rsin β-a7cosθ7+sinθ1(a4+a3cosθ2+d3sinθ2)+y1；
Wherein d indicates the total height from ground to gunite layer, and y0 is height of the gunite layer apart from mounting platform, and y is spray head
To the distance of ground coordinate, provided by transformation matrix of coordinates；y1It is certain value for the height of whitewashing trolley to ground；R is to survey
The current gunite covering detected away from sensor is the distance between to mounting platform；β is whitewashing head-turned angle；
Then Py=d-ay, wherein ayFor the ordinate of the design center of circle size of tunnel vault；
S24 integrates Px、PyValue, acquire whitewashing radius ρ；
S3 identifies disturbance in judgement object using video identification device, when laser ranging system measures whitewashing radius ρ, using view
Whether the judgement of frequency identification device is interfered at this time by barrier；
The flatness of S4 judgement whitewashing: the whitewashing radius ρ that two sides detect in a certain time interval1、ρ2Difference be greater than
Be considered as whitewashing out-of-flatness when setting value δ, when Δ=| ρ1-ρ2| it is smooth that < δ is considered as whitewashing.
Further, in step S3, the edge image of barrier is obtained by image procossing, and with the edge image of barrier
The foundation that the shape feature of composition determines as barrier determines if the Aspect Ratio of barrier edge image is greater than the set value
The barrier is tunnel support；Determine the barrier for prominent rubble if the area of barrier edge image is greater than the set value；
Determine the barrier for floating if at a certain time interval, there is the mobile barrier changed greatly in detection twice
Little particle.
Further, the detailed process of step S22 are as follows:
1) electronic total station navigation initialization prepares；
2) measurement whitewashing trolley prism；
3) tunnel prism is measured；
4) trolley navigation is completed, and P is obtainedxValue.
Further, when radius of whitewashing is greater than the set value, determine that whitewashing height has reached demand.
Further, step S3 includes head end video information using the detailed process of video identification device identification disturbance in judgement object
Acquisition and transmission, the video detection of centre and rear end analysis handle three links.
Beneficial effects of the present invention: the present invention discloses a kind of side that whitewashing radius and flatness are determined with trolley visual angle of whitewashing
Method includes the following steps: that S1 places laser ranging system and video identification device on the spray head of whitewashing trolley；S2 is not being examined
Consider and whitewashing radius is measured by laser ranging system in the case that barrier interferes；S3 utilizes video identification device identification judgement barrier
Hinder object, and judge the whitewashing radius measured whether the interference by barrier；The flatness of S4 judgement whitewashing.Judgement of the invention
The method for radius and the flatness of whitewashing, combines with video identification with sensor instrument distance, not only accurately identify barrier classification,
Interference of the remove obstacles to sensing ranging, and provides depth information for video identification, to improve the radius and smooth of whitewashing
The accuracy and efficiency of measurement are spent, while reducing the amount of labour of staff and improving the working environment of staff.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the cross-sectional view that whitewashing trolley is whitewashed in tunnel；
Fig. 2 is the A-A schematic diagram of Fig. 1；
Fig. 3 is the structural schematic diagram of existing whitewashing trolley；
Fig. 4 is the member coordinates schematic diagram for the whitewashing trolley established according to D-H method；
Specific embodiment
Below with reference to attached drawing, the present invention is described in detail, and the present invention provides one kind to be determined with trolley visual angle of whitewashing
The method for radius and the flatness of whitewashing, includes the following steps:
S1 places laser ranging system and video identification device by mounting platform on the spray head of whitewashing trolley；
S2 measures whitewashing radius by laser ranging system in the case where not considering barrier interference, specific as follows:
S21 is according to existing theoretical knowledge, referring to figs. 1 and 2, obtains the calculation formula of whitewashing radiusWhereinTested point is respectively indicated according to cross, the ordinate in the design center of circle；Then it carries out corresponding
Kinematics analysis obtains corresponding to earth coordinates Px、PyValue；
S22 is navigated using electronic total station and determines PxValue；Detailed process are as follows:
1) electronic total station navigation initialization prepares；
2) measurement whitewashing trolley prism；
3) tunnel prism is measured；
4) trolley navigation is completed, and P is obtainedxValue.
S23 determines PyIt is worth, wherein PyAsk method specific as follows:
A, the member coordinates of whitewashing trolley are established according to D-H method；Detailed process are as follows: analyze existing whitewashing trolley first
Structure feature, whitewashing trolley sprays supporting occasion for the tunnels cement such as tunnel, coal mine, it is therefore an objective to mitigate the labor of field worker
Fatigue resistance.The structure diagram of whitewashing trolley is as shown in Figure 3.Bracket makees ± 35 ° of rotations, the first oil cylinder 4 and the second oil on chassis
For 2 coordination of cylinder to keep connecting rod to be in a horizontal position, third oil cylinder 3 drives base arm and semi-girder in the longitudinally asymmetric face in tunnel
- 18 °~+55 ° of work is swung up and down, and the oil cylinder driving semi-girder stretching motion in base arm simultaneously makes large arm end keep vertical movement
(or horizontal rectilinear motion), the first motor 2 drive forearm axially to make feed motion along tunnel, and the second motor 3 drives barral of a gun in lane
Make 110 ° of swing, the swing that the 4th oil cylinder 1 drives the body of a gun to make 45 ° in road cross section, horse third is done continuously not up to 1 driving pipette tips
Disconnected 360 ° draw circular motion, to meet the requirement of shotcreting process, then set up the member coordinates of whitewashing trolley, trolley of whitewashing
Member coordinates are as shown in Figure 4.
B, when keeping forearm horizontal and forearm is parallel to wall surface, the coordinate transform of whitewashing trolley end effector is established
Matrix,
Wherein；
Length of connecting rod ai: along XiAxis direction and Zi-1With ZiBase tangent length；
Connecting rod torsional angleαi: around XiAxis is from Zi-1Axis is to ZiThe angular displacement of axis, positive direction XiThe direction of axis；
Connecting rod spacing di: along Zi-1Axis direction Xi+1Axis and XiThe length of axis common normal；
Joint rotation angle θi: around Zi-1Axis is from Xi+1 Axis is extremelyXiThe angular displacement of axis, positive direction Zi-1The direction of axis；
C, according to kinematics relevant knowledge it is found that
D=y0+y+y1
=rsin β-a7cosθ7+sinθ1(a4+a3cosθ2+d3sinθ2)+y1；
Wherein d indicates the total height from ground to gunite layer, y0Height for gunite layer apart from mounting platform, y are spray head
To the distance of ground coordinate, provided by transformation matrix of coordinates；y1It is certain value for the height of whitewashing trolley to ground；R is to survey
The current gunite covering detected away from sensor is the distance between to mounting platform；β is whitewashing head-turned angle；
Then Py=d-ay, wherein ayFor the ordinate of the design center of circle size of tunnel vault；
S24 integrates Px、PyValue, acquire whitewashing radius ρ；
S3 identifies disturbance in judgement object using video identification device, when laser ranging system measures whitewashing radius ρ, using view
Whether the judgement of frequency identification device is interfered at this time by barrier；Specifically, it due to the particularity of constructing tunnel, is only used only and surveys
It is easy the interference by barrier when spraying head at a distance from gunite layer away from sensor measurement, and obtains a wrong value.Cause
This introduces video identification device to exclude interference when using distance measuring sensor.Video identification mainly includes head end video information
Acquisition and transmission, the video detection of centre and rear end analysis handle three links.By being mounted on taking the photograph on mounting platform
As head carrys out collection site image.For tunnel gunite work of whitewashing, typical barrier has the rock of tunnel support, protrusion
Fragment and the molecule of floating etc..Texture, color and shape are the basic visual signatures of image.Tunnel support, rock are broken
Block and the particulate matter of floating are both without surface texture abundant, also without strikingly color feature, therefore discomfort share texture or
Judgment basis of the color characteristic as detection of obstacles.But their obstacles in the image of video camera imaging plane upslide movie queen
The shape difference of object is bigger, therefore, obtains the edge image of barrier by image procossing, and with the edge image of barrier
The foundation that the shape feature of composition determines as barrier determines if the Aspect Ratio of barrier edge image is greater than the set value
The barrier is tunnel support；Determine the barrier for prominent rubble if the area of barrier edge image is greater than the set value；
Determine the barrier for floating if at a certain time interval, there is the mobile barrier changed greatly in detection twice
Little particle.
The flatness of S4 judgement whitewashing: the whitewashing radius ρ that two sides detect in a certain time interval1、ρ2Difference be greater than
Be considered as whitewashing out-of-flatness when setting value δ, when Δ=| ρ1-ρ2| it is smooth that < δ is considered as whitewashing.In addition, when whitewashing radius is greater than the set value
When, illustrate that whitewashing height has reached demand.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (5)
1. a kind of method for determining whitewashing radius and flatness with trolley visual angle of whitewashing, which comprises the steps of:
S1 places laser ranging system and video identification device by mounting platform on the spray head of whitewashing trolley；
S2 measures whitewashing radius by laser ranging system in the case where not considering barrier interference, specific as follows:
S21 obtains the calculation formula of whitewashing radius according to existing theoretical knowledgeWhereinRespectively
Indicate tested point according to cross, the ordinate in the design center of circle；Then corresponding kinematics analysis is carried out to obtain corresponding to earth coordinates
Px、PyValue；
S22 is navigated using electronic total station and determines PxValue；
S23 determines PrIt is worth, wherein PrAsk method specific as follows:
A, the member coordinates of whitewashing trolley are established according to D-H method；
B, the transformation matrix of coordinates of whitewashing trolley end effector is established,
Wherein；
Length of connecting rod ai: along XiAxis direction and Zi-1With ZiBase tangent length；
Connecting rod torsional angleαi: around XiAxis is from Zi-1 Axis is extremelyZiThe angular displacement of axis, positive direction XiThe direction of axis；
Connecting rod spacing di: along Zi-1Axis direction Xi+1Axis and XiThe length of axis common normal；
Joint rotation angle θi: around Zi-1Axis is from Xi+1 Axis is extremelyXiThe angular displacement of axis, positive direction Zi-1The direction of axis；
C, according to kinematics relevant knowledge it is found that
D=y0+y+y1
=rsin β-a7cosθ7+sinθ1(a4+a3cosθ2+d3sinθ2)+y1；
Wherein d indicates the total height from ground to gunite layer, y0Height for gunite layer apart from mounting platform, y are spray head to ground
The distance of coordinate, is provided by transformation matrix of coordinates；y1It is certain value for the height of whitewashing trolley to ground；R is ranging sensing
The current gunite covering that device detects is the distance between to mounting platform；β is whitewashing head-turned angle；
Then Py=d-ay, wherein ayFor the ordinate of the design center of circle size of tunnel vault；
S24 integrates Px、PyValue, acquire whitewashing radius ρ；
S3 identifies disturbance in judgement object using video identification device, when laser ranging system measures whitewashing radius ρ, knows using video
Whether other device judgement is interfered at this time by barrier；
The flatness of S4 judgement whitewashing: the whitewashing radius ρ that two sides detect in a certain time interval1、ρ2Difference be greater than setting
Be considered as whitewashing out-of-flatness when value δ, when Δ=| ρ1-ρ2| it is smooth that < δ is considered as whitewashing.
2. the method according to claim 1 for determining whitewashing radius and flatness with trolley visual angle of whitewashing, which is characterized in that
In step S3, the edge image of barrier, and the shape feature constituted with the edge image of barrier are obtained by image procossing
As the foundation that barrier determines, determine the barrier for tunnel if the Aspect Ratio of barrier edge image is greater than the set value
Supporting；Determine the barrier for prominent rubble if the area of barrier edge image is greater than the set value；If in the regular hour
In interval, there is the mobile barrier changed greatly in detection twice and then determine the barrier for the little particle of floating.
3. the method according to claim 2 for determining whitewashing radius and flatness with trolley visual angle of whitewashing, which is characterized in that
The detailed process of step S22 are as follows:
1) electronic total station navigation initialization prepares；
2) measurement whitewashing trolley prism；
3) tunnel prism is measured；
4) trolley navigation is completed, and P is obtainedxValue.
4. the method according to claim 1 for determining whitewashing radius and flatness with trolley visual angle of whitewashing, it is characterised in that:
When radius of whitewashing is greater than the set value, determine that whitewashing height has reached demand.
5. the method according to claim 1 for determining whitewashing radius and flatness with trolley visual angle of whitewashing, which is characterized in that
Step S3 using video identification device identification disturbance in judgement object detailed process include head end video information acquisition and transmission, in
Between video detection and rear end analysis handle three links.
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| CN109049714B (en) * | 2018-09-26 | 2021-01-22 | 蒋青 | 3D printing method and printing system |
| CN110821524A (en) * | 2019-11-28 | 2020-02-21 | 江苏华淼电子科技有限公司 | Tunnel whitewashing auxiliary device |
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