CN110031858A - A kind of formwork monitoring device, system and method - Google Patents
A kind of formwork monitoring device, system and method Download PDFInfo
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- CN110031858A CN110031858A CN201910401532.9A CN201910401532A CN110031858A CN 110031858 A CN110031858 A CN 110031858A CN 201910401532 A CN201910401532 A CN 201910401532A CN 110031858 A CN110031858 A CN 110031858A
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- 238000009415 formwork Methods 0.000 title claims abstract description 100
- 238000012806 monitoring device Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 112
- 238000006073 displacement reaction Methods 0.000 claims abstract description 58
- 238000012544 monitoring process Methods 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims description 41
- 230000000694 effects Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 239000002131 composite material Substances 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005266 casting Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 238000004062 sedimentation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
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- 238000003384 imaging method Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
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- 238000012546 transfer Methods 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention discloses a kind of formwork monitoring devices, system and method.The device includes: laser ranging module, Angle Measurement Module, laser target；Laser ranging module is fixed on the upright bar of formwork, and the laser that laser ranging module is emitted is perpendicular to upright bar；Laser target and laser ranging module are horizontally disposed, so that laser ranging module is receiving after the laser that laser target reflects, measure the range information of laser target and upright bar；Measurement plane where Angle Measurement Module is vertically arranged with upright bar, so that after with upright bar any direction inclination occurs for measurement plane, measure the inclined direction information of upright bar, it solves the problems, such as to determine that positioning brought by upright bar displacement is not unique using one-dimensional monitoring method, it also solves using high cost problem brought by robot measurement positioning upright bar, it realizes that the positioning of upright bar in space in formwork is unique, increases the accuracy of positioning, and bring and position technical effect at low cost, that interference is small.
Description
Technical field
The present embodiments relate to engineering construction third party monitoring technical field more particularly to a kind of formwork monitoring device,
System and method.
Background technique
Formwork is also known as Zhi Mu, i.e. building template is constructed.High-supported formwork refers to that formwork when formwork height is greater than or equal to 8 meters is made
Industry.High-supported formwork monitoring automation is increasingly mature, and it includes upright bar sedimentation, upright bar position that current high-supported formwork, which monitors main monitoring parameters,
Shifting, template axles pressure, upright bar inclination angle etc..Wherein, for upright bar sedimentation, template axles pressure, these three parameters of upright bar inclination angle, each system
The monitoring mode or monitoring device of integrator or third party monitoring unit are all similar.
In general, can be monitored using one-dimensional monitoring method to upright bar displacement.For example, by the one of guy type displacement meter
End is fixed on upright bar, and the other end is fixed on column, can measure by guy type displacement meter and obtains upright bar displacement, further
, position of the upright bar displacement as upright bar in space can be used.But one-dimensional monitoring method can only measure a side
To displacement, due to upright bar direction of displacement have uncertainty, the monitoring mode be it is unreasonable, be displaced using upright bar
Also not displacement determines for the position of expression.And in high form-tie assembly, a column is found for fixing bracing wire displacement meter also very
It is not easy, therefore there is also disadvantages difficult to install for which.
Secondly, can also be monitored using robot measurement to upright bar displacement.Although a target point in upright bar can be measured
Two-dimensional coordinate, and the two-dimensional coordinate of the target point is used to identify the position of upright bar in space.Further, it is accurate to realize
Calculate the displacement of the target point.But the horizontal cloth of high-supported formwork upright bar, target point be difficult with robot measurement intervisibility, and robot measurement at
This is extremely expensive, therefore the monitoring method is also gradually abandoned.
Summary of the invention
The present invention provides a kind of formwork monitoring device, system and method, to realize the determining in space of the upright bar in formwork
Position is unique, increases the accuracy of positioning, and brings and position technical effect at low cost, that interference is small.
In a first aspect, the embodiment of the invention provides a kind of formwork monitoring device, the device include: laser ranging module,
Angle Measurement Module, laser target；
The laser ranging module is fixed on the upright bar of formwork, and the laser that the laser ranging module is emitted is perpendicular to institute
State upright bar；
The laser target and the laser ranging module are horizontally disposed so that the laser ranging module receive from
After the laser of the laser target reflection, the range information of the laser target Yu the upright bar is measured；
Measurement plane where the Angle Measurement Module is vertically arranged with the upright bar, so that the measurement plane is with institute
After stating upright bar generation any direction inclination, the inclined direction information of the upright bar is measured.
Further, device further include: be used to support the telescopic rod of the laser target；Along the extension of the telescopic rod
Direction adjusts the terrain clearance of the telescopic rod, so that the laser target and the laser ranging module are in same level
Position.
It further, include the effective reflection area domain being made of reflector plate or reflecting prism in the laser target；
The laser target is located in pre-determined distance at a distance from the laser ranging module, described in upright bar generation
When inclination in the angle range of Angle Measurement Module, the laser that the laser ranging module is emitted falls within the laser mark
In the effective reflection area domain of target, the laser reflection is returned the laser ranging module by the laser target.
Further, the Angle Measurement Module includes first axle and the second axis, the first axle and the second axis institute
Determining plane is the measurement plane；
Wherein, the first axle and the laser are at preset first angle, and second axis and the laser are at second
Angle formed by angle, the first axle and second axis is the sum of the first angle and the second angle.
Further, the Angle Measurement Module includes double-shaft acceleration sensor.
Further, the laser ranging module and the Angle Measurement Module are integrated in laser range finder.
Second aspect, the embodiment of the invention also provides a kind of formworks to monitor system, which includes: that data transmission is single
Member, host computer and any formwork monitoring device of first aspect；
The host computer is connect with the formwork monitoring device, is constituted to the formwork monitoring device and is sent Monitoring instruction
First line, the laser ranging module in the formwork monitoring device measure the laser target and institute according to the Monitoring instruction
State the range information of upright bar, the Angle Measurement Module in the formwork monitoring device measures the upright bar according to the Monitoring instruction
Inclined direction information；
The data transmission unit is connect with the laser ranging module in the formwork monitoring device, is swashed with constituting from described
Ligh-ranging module receives the second route of the range information；
The data transmission unit is also connect with the Angle Measurement Module in the formwork monitoring device, to constitute from described
Angle Measurement Module receives the tertiary circuit of the inclined direction information；
The host computer is connect with the data transmission unit, receives the distance to constitute from the data transmission unit
4th route of information and the inclined direction information；
The host computer, which is also used for the range information and the inclined direction information, indicates the space of the upright bar
Position.
The third aspect, the embodiment of the invention also provides a kind of formwork monitoring methods, applied to branch described in second aspect
Mould monitors system, which comprises
Monitoring instruction is sent to formwork monitoring device, the laser ranging module in the formwork monitoring device is according to the prison
The range information that instruction measures the laser target Yu the upright bar is surveyed, sends the range information, institute to data transmission unit
The inclined direction information that the Angle Measurement Module in formwork monitoring device measures the upright bar according to the Monitoring instruction is stated, to institute
It states data transmission unit and sends the inclined direction information；
Receive the range information and the inclined direction information that the data transmission unit is sent；
The spatial position of the upright bar is indicated using the range information and the inclined direction information.
Further, in the space bit for indicating the upright bar using the range information and the inclined direction information
After setting, further includes:
Obtain first spatial position of the upright bar when not pouring；
Obtain second space position of the upright bar during pouring；
The first difference of first spatial position and second space position on range information is calculated, it is poor by described first
It is worth the displacement as the relatively described laser target of the upright bar；
First spatial position and second space position are calculated in the second difference of the inclined direction information；
Survey of the upright bar during pouring, where the corresponding Angle Measurement Module is determined using second difference
Measure plane；
Projection by the displacement in the measurement plane, the space displacement occurred during pouring as the upright bar.
Further, described to determine the upright bar during pouring, the corresponding angle survey using second difference
Measure the measurement plane where module, comprising:
The first tilt component, the second tilt component of the second axis of first axle are read from second difference, wherein institute
Stating plane determined by first axle and second axis is the measurement plane where the Angle Measurement Module；
By the displacement the measurement plane projection, as the space displacement that the upright bar occurs during pour,
Include:
Obtaining first angle and second angle, wherein the first angle is the angle of the first axle and the laser,
The second angle is the angle of second axis and the laser, and angle formed by the first axle and second axis is institute
State the sum of first angle and the second angle；
Calculate first and value of the first angle Yu first tilt component；
Calculate the first cosine value of described first He value；
By the first product of first cosine value and the displacement, as space of the displacement in the first axle
Displacement；
Calculate second and value of the second angle Yu second tilt component；
Calculate the second cosine value of described second He value；
By the second product of second cosine value and the displacement, as the space of the displacement on second axis
Displacement.
The embodiment of the present invention includes laser ranging module, Angle Measurement Module, laser mark by setting formwork monitoring device
Target；The laser ranging module is fixed on the upright bar of formwork, and the laser that the laser ranging module is emitted is perpendicular to described vertical
Bar；The laser target and the laser ranging module are horizontally disposed, so that the laser ranging module is being received from described
After the laser of laser target reflection, the range information of the laser target Yu the upright bar is measured；The angle measurement mould
Measurement plane where block is vertically arranged with the upright bar, is tilted so that with the upright bar any direction occurs for the measurement plane
Afterwards, the inclined direction information for measuring the upright bar solves and determines that upright bar positions brought by being displaced using one-dimensional monitoring method
Not unique problem is also solved using high cost problem brought by robot measurement positioning upright bar, is realized vertical in formwork
The positioning of bar in space is unique, increases the accuracy of positioning, and brings and position technical effect at low cost, that interference is small.
Detailed description of the invention
Figure 1A is a kind of structural schematic diagram for formwork monitoring device that the embodiment of the present invention one provides；
Figure 1B is a kind of Laser emission schematic diagram for laser target that the embodiment of the present invention one provides；
Fig. 1 C is a kind of operation schematic diagram for Angle Measurement Module that the embodiment of the present invention one provides；
Fig. 1 D is a kind of twin shaft for Angle Measurement Module that the embodiment of the present invention one provides and the structural schematic diagram of laser；
Fig. 2 is the structural schematic diagram that a kind of formwork provided by Embodiment 2 of the present invention monitors system；
Fig. 3 is a kind of flow chart for formwork monitoring method that the embodiment of the present invention three provides；
Fig. 4 is a kind of flow chart for formwork monitoring method that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Figure 1A is a kind of structural schematic diagram for formwork monitoring device that the embodiment of the present invention one provides.The present embodiment is applicable
In determine the spatial position of upright bar in formwork the case where, which be can integrate in formwork monitoring system, referring to Fig.1 A, the dress
It sets and specifically includes such as flowering structure: laser ranging module, Angle Measurement Module, laser target.
It should be noted that laser ranging module and Angle Measurement Module can be separately provided, it can also use and be integrated with
The laser range finder of laser ranging module and Angle Measurement Module.In the present embodiment, it is illustrated by taking laser range finder as an example.
In the present embodiment, range information of the laser ranging module for measuring upright bar to laser target.
Specifically, laser ranging can be fixed in upright bar, it is equivalent to and laser ranging module is fixed on the vertical of formwork
Bar, which can be is fixed using fastener.Further, what the laser ranging module after fixing was emitted swashs
Light is perpendicular to upright bar.
Corresponding, and laser ranging module is mating is provided with laser target, and the laser target and laser ranging module are horizontal
Setting, allows laser target to reflect the laser emitted by laser ranging module.It in one embodiment, should with reference to Figure 1A
Device further includes the telescopic rod for being used to support laser target；Along the extending direction of telescopic rod, the terrain clearance of telescopic rod is adjusted, is made
It obtains laser target and laser ranging module is in the same horizontal position.
Further, the laser target in the present embodiment can be made of plane mirror.General plane mirror is all in glass
Rear surface it is silver-plated form, front surface, that is, glass surface of plane mirror also reflection light, light will be by glass surface and silver-colored face
Multiple reflections, so can be at multiple pictures.Wherein, most bright by silver-colored face reflection imaging (main picture) for the first time, and other pictures
Then darkness deepens, will not generally arouse attention, but for accurate optical instrument, such as laser ranging module, laser range finder
Deng these extra pictures must be driven off.
Figure 1B is a kind of Laser emission schematic diagram for laser target that the embodiment of the present invention one provides.Figure 1B is referred to as a result,
It is different from the technical solution for constituting the laser target using plane mirror, includes in one embodiment, in laser target by reflector plate
Or the effective reflection area domain 11 that reflecting prism is constituted.Wherein, reflector plate is the slide by that can generate reflection by its back side
It is formed, which has a front being partially or completely made of multiple composite surfaces, and each composite surface is by only
It being formed to the inclined cylindrical surface in a direction and to the inclined curved surface of opposite direction or plane, above-mentioned composite surface can be continuously,
Plane can also be inserted between composite surface.Also, in the structure of a composite surface, cylindrical surface accounts for most of face of composite surface
Product.In addition, the slide further includes the back side being made of multiple adjacent right-angle prisms.It certainly, can also be in laser target
Only it is made of reflecting prism.
It should be noted that for effective reflection area domain 11, no matter laser from what angle enters the effective reflection area domain 11,
Go out from the foveal reflex in effective reflection area domain 11.Illustratively, the black solid dot in Figure 1B is in effective reflection area domain 11
The heart, black heavy line with the arrow are the incidence and reflection of a kind of laser, black solid line with the arrow be another laser incidence and
Reflection.But no matter black heavy line or black solid line go out from the foveal reflex in effective reflection area domain 11.
Further, laser target is located in pre-determined distance at a distance from laser ranging module, so that when angle occurs for upright bar
When spending the inclination in the angle range of measurement module, the laser that laser ranging module is emitted falls within the effective anti-of laser target
It penetrates in region, laser reflection is returned laser ranging module by laser target.
In general, laser ranging can be divided into two kinds of situations:
1, using pulse type laser ranging
The half of the product of the light velocity and two-way time, is exactly the distance between laser ranging module and laser target.This reality
Apply in example, laser ranging module receiving from laser target reflect laser after, can according to laser target reflect laser,
The time difference information of the laser that laser ranging module is emitted between the two, measures the range information of laser target and upright bar.
2, phase laser distance measurement method
Phase shift rangefinder is then to be modulated light intensity of the modulated signal to transmitting light wave, through measurement phase difference come between
Time of measuring is connect, the processing difficulty of relatively directly measurement two-way time reduces many.In the present embodiment, laser ranging module is being connect
It receives after the laser that laser target reflects, what can be emitted according to the laser of laser target reflection, laser ranging module swashs
The phase information of light between the two, measures the range information of laser target and upright bar.
In the present embodiment, Angle Measurement Module is used to measure the inclined direction information of upright bar.
Specifically, the measurement plane where Angle Measurement Module is vertically arranged with upright bar, so that measurement plane is sent out with upright bar
After raw any direction inclination, the inclined direction information of upright bar is measured.
Illustratively, Fig. 1 C is a kind of operation schematic diagram for Angle Measurement Module that the embodiment of the present invention one provides.With reference to
1C, Angle Measurement Module has twin shaft, including first axle X and the second axis Y, the Angle Measurement Module may include two-axis acceleration
Sensor.In fig. 1 c, the corresponding arrow of g is the direction of acceleration of gravity.Plane determined by first axle X and the second axis Y is
Measure plane；When measuring plane run-off the straight, can measure including about first axle X the first axis component, about the second axis Y
The second axis component.When being vertically arranged as the measurement plane where the Angle Measurement Module with upright bar, when upright bar is not inclined
When oblique, the first axis component, the second axis component are zero.Further, the difference of the first axis component before inclination and after inclination is
Δ X can be used to indicate that inclined degree of the upright bar along first axle；The difference of the second axis component before inclination and after inclination is Δ Y,
It can be used to indicate that upright bar along the inclined degree of the second axis.
Further, Fig. 1 D is a kind of twin shaft for Angle Measurement Module that the embodiment of the present invention one provides and the structure of laser
Schematic diagram, with reference to Fig. 1 D, the dotted arrow in Fig. 1 D refers to the direction of the launch of laser, first axle X and laser at preset
One angle [alpha], the second axis Y and laser are first angle α and second at angle formed by second angle β, first axle X and the second axis Y
The sum of angle beta.
It should be noted that when laser ranging module, Angle Measurement Module, laser target installation site are fixed, and first
Angle [alpha] and second angle β are fixed, then the range information measured and inclined direction information, which can be used, uniquely indicates the space of upright bar
Position, the form of coordinate, can be (range information, inclined direction information) or (range information, the first tilt component, second
Tilt component).Further, the inclination of any direction occurs with upright bar for measurement plane, can be measured by Angle Measurement Module
The inclined direction information of upright bar, so that using spatial position represented by the range information and inclined direction information measured, it will not
It is limited to a direction and further increases the accuracy of positioning.
The technical solution of the present embodiment, by be arranged formwork monitoring device include laser ranging module, Angle Measurement Module,
Laser target；Laser ranging module is fixed on the upright bar of formwork, and the laser that laser ranging module is emitted is perpendicular to upright bar；Laser
Target and laser ranging module are horizontally disposed, so that laser ranging module is receiving after the laser that laser target reflects, survey
Obtain the range information of laser target and upright bar；Measurement plane where Angle Measurement Module is vertically arranged with upright bar, so that measurement
After with upright bar any direction inclination occurs for plane, the inclined direction information of upright bar is measured, is solved true using one-dimensional monitoring method
Determine the not unique problem of positioning brought by upright bar displacement, also solve using height brought by robot measurement positioning upright bar at
This problem realizes that the positioning of upright bar in space in formwork is unique, increases the accuracy of positioning, and bring positioning cost
Technical effect low, interference is small.
Embodiment two
Fig. 2 is the structural schematic diagram that a kind of formwork provided by Embodiment 2 of the present invention monitors system.It is provided in this embodiment
A kind of formwork monitoring system, comprising: any formwork monitoring device in data transmission unit 20, host computer 21 and above-described embodiment
21。
In the present embodiment, host computer 21 is connect with formwork monitoring device 21, is constituted to formwork monitoring device 21 and is sent monitoring
The first line of instruction.When laser ranging module 211 and Angle Measurement Module 211 are to be separately provided, host computer 21 respectively with
Laser ranging module 211 and Angle Measurement Module 211 in formwork monitoring device 21 connect.When laser ranging module 211 and angle
When degree measurement module 211 is integrated in the laser range finder with angle measuring function, host computer 21 is provided with laser range finder
Interface be attached.Further, the laser ranging module 211 in formwork monitoring device 21 measures laser according to Monitoring instruction
Angle Measurement Module 211 in target and the range information of upright bar, formwork monitoring device 21 measures upright bar according to Monitoring instruction
Inclined direction information.
In the present embodiment, data transmission unit 20 is connect with the laser ranging module 211 in formwork monitoring device 21, with structure
At the second route for receiving range information from laser ranging module 211.Data transmission unit 20 is also and in formwork monitoring device 21
Angle Measurement Module 211 connect, with constitute from Angle Measurement Module 211 receive inclined direction information tertiary circuit.It is upper
Machine 21 is connect with data transmission unit 20, receives the of range information and inclined direction information to constitute from data transmission unit 20
Four routes；
Likewise, when laser ranging module 211 and Angle Measurement Module 211 are to be separately provided, data transmission unit 20
Respectively in formwork monitoring device 21 laser ranging module 211 and Angle Measurement Module 211 connect.Work as laser ranging module
211 when being integrated in the laser range finder with angle measuring function with Angle Measurement Module 211, data transmission unit 20 and laser
Interface provided by rangefinder is attached.
In the present embodiment, data transmission unit 20 (Data Transfer unit, DTU) is used exclusively for serial data
It is converted to Internet protocol (Internet Protocol, IP) data or IP data is converted into serial data and are passed through wireless
The wireless terminal device that communication network is transmitted.It should be noted that the connection type of the second route and tertiary circuit passes through
Serial ports connection, the serial ports can be using RS485 standard.4th route is then attached by the way of cordless communication network.
Further, host computer 21, which is also used for range information and inclined direction information, indicates the spatial position of upright bar.
When laser ranging module 211, Angle Measurement Module 211, laser target installation site are fixed, and in Angle Measurement Module 211
First axle X and laser are fixed at preset first angle α, and the second axis Y and laser in Angle Measurement Module 211 are at second angle
β is fixed, then the range information measured and inclined direction information, which can be used, uniquely indicates the spatial position of upright bar, the shape of coordinate
Formula can be (range information, inclined direction information) or (range information, the first tilt component, the second tilt component).Further
, the inclination of any direction occurs with upright bar for measurement plane, and the inclined direction of upright bar can be measured by Angle Measurement Module 211
Information, so that being not limited to a side using spatial position represented by the range information and inclined direction information measured
To further increasing the accuracy of positioning.
Embodiment three
Fig. 3 is a kind of flow chart for formwork monitoring method that the embodiment of the present invention three provides.The present embodiment is applicable to really
The case where determining the spatial position of upright bar in formwork, this method can be applied to the host computer in formwork monitoring system, referring to Fig. 3,
This method specifically comprises the following steps:
S310, Xiang Zhimo monitoring device send Monitoring instruction.
In the present embodiment, Monitoring instruction is used to control the survey that formwork monitoring device carries out range information and inclined direction information
Amount.Specifically, when host computer sends Monitoring instruction to formwork monitoring device, laser ranging module in formwork monitoring device according to
Monitoring instruction measures the range information of laser target and upright bar, and to data transmission unit transmission range in the form of serial data
Information；Angle Measurement Module in formwork monitoring device measures the inclined direction information of upright bar according to Monitoring instruction, and with serial ports
The form of data sends inclined direction information to data transmission unit.
S320, range information and inclined direction information that data transmission unit is sent are received.
In the present embodiment, range information and inclined direction of the data transmission unit for that serial data will be used to characterize are believed
Breath, is converted to the range information and inclined direction information using IP data characterization, and send in the form of cordless communication network
Host computer.
S330, the spatial position that upright bar is indicated using range information and inclined direction information.
In the present embodiment, host computer, which is also used for range information and inclined direction information, indicates the spatial position of upright bar.
When laser ranging module, Angle Measurement Module, laser target installation site are fixed, and the first axle in Angle Measurement Module and swash
Light is fixed at preset first angle, and the second axis and laser in Angle Measurement Module are fixed at second angle, then can be used
The range information and inclined direction information that measure uniquely indicate the spatial position of upright bar, and the form of coordinate can be (distance letter
Breath, inclined direction information) or (range information, the first tilt component, the second tilt component).Further, measurement plane is with vertical
The inclination of any direction occurs for bar, the inclined direction information of upright bar can be measured by Angle Measurement Module, so that using measuring
Range information and inclined direction information represented by spatial position, be not limited to a direction and further increase positioning
Accuracy.
The technical solution of the present embodiment, by sending Monitoring instruction to formwork monitoring device, swashing in formwork monitoring device
Ligh-ranging module measures the range information of laser target and upright bar according to Monitoring instruction, believes to data transmission unit transmission range
Angle Measurement Module in breath, formwork monitoring device measures the inclined direction information of upright bar according to Monitoring instruction, transmits to data
Unit sends inclined direction information；Receive the range information and inclined direction information that data transmission unit is sent；Believed using distance
Breath and inclined direction information indicate the spatial position of upright bar, solve and are determined brought by upright bar displacement using one-dimensional monitoring method
Not unique problem is positioned, also solves using high cost problem brought by robot measurement positioning upright bar, realizes in formwork
Upright bar positioning in space it is unique, increase the accuracy of positioning, and bring and position technology effect at low cost, that interference is small
Fruit.
Example IV
Fig. 4 is a kind of flow chart for formwork monitoring method that the embodiment of the present invention four provides.
The present embodiment on the basis of the above embodiments, increases formwork and pours the upright bar displacement monitoring in application scenarios.Tool
Body, formwork is made of template and upright bar, and upright bar is used to support template, can be used for casting concrete in the template.Entire branch
Mould is used to assist the molding of concrete, and after concrete formation, removes the formwork.Further, when pouring coagulation scholar, if
The structural instability of formwork is easy to happen the displacement of upright bar, so as to cause the concrete modification poured, or even props up
The problem of mould collapses.As a result, in the present embodiment, upright bar displacement will be monitored, the above problem is prevented in casting process
Occur.
Referring to Fig. 4, which specifically comprises the following steps:
S410, Xiang Zhimo monitoring device send Monitoring instruction.
In the present embodiment, Monitoring instruction is used to control the survey that formwork monitoring device carries out range information and inclined direction information
Amount.Specifically, when host computer sends Monitoring instruction to formwork monitoring device, laser ranging module in formwork monitoring device according to
Monitoring instruction measures the range information of laser target and upright bar, and to data transmission unit transmission range in the form of serial data
Information；Angle Measurement Module in formwork monitoring device measures the inclined direction information of upright bar according to Monitoring instruction, and with serial ports
The form of data sends inclined direction information to data transmission unit.
S420, range information and inclined direction information that data transmission unit is sent are received.
In the present embodiment, range information and inclined direction of the data transmission unit for that serial data will be used to characterize are believed
Breath, is converted to the range information and inclined direction information using IP data characterization, and send in the form of cordless communication network
Host computer.
S430, the spatial position that upright bar is indicated using range information and inclined direction information.
It should be noted that the sending method of Monitoring instruction includes two kinds in step S410-S430:
1, when not pouring, host computer only sends a Monitoring instruction to formwork monitoring device, according to the distance of acquisition
Information and inclined direction information indicate first spatial position of the upright bar when not pouring；First spatial position indicates upright bar not
Spatial position when shifting.Further, which can store in database, with upright bar to be calculated
It is used when space displacement.
2, when pouring, host computer sends Monitoring instruction to formwork monitoring device according to predeterminated frequency, which can
To be set as once per second, to realize the range information and inclined direction information that obtain upright bar in real time.Further, host computer can
To use the range information and inclined direction information of the acquisition, second space position of the upright bar when pouring is indicated；Second sky
Between position, indicate spatial position of the upright bar when pouring.Further, which can store in database,
To be used when the space displacement of upright bar to be calculated.
S440, first spatial position of the upright bar when not pouring is obtained.
In the present embodiment, first spatial position of the upright bar when not pouring is read from database.
S450, second space position of the upright bar during pouring is obtained.
In this implementation, host computer can receive the range information and inclined direction information that data transmission unit is sent, and
Behind the second space position for indicating upright bar using range information and inclined direction information, second sky can be directly used or updated
Between position.Further, second space position can also be stored in database profession.
S460, the first difference of the first spatial position and second space position on range information is calculated, by the first difference
Displacement as upright bar relative laser target.
Illustratively, the range information of the first spatial position is D1, the range information of second space position is D2, then first
Difference DELTA D can be indicated with following equation: Δ D=D2-D1。
S470, the first spatial position and second space position are calculated in the second difference of inclined direction information.
In the present embodiment, the first axis component about first axle X is can be used, about the second axis Y's in inclined direction information
Second axis component is indicated.Further, the inclined direction information in the first spatial position is denoted as (X1, Y1), by the second sky
Between inclined direction information in position be denoted as (X2, Y2), then the second difference (Δ X, Δ Y), wherein Δ X is the first tilt component,
It can be indicated with following equation: Δ X=X2-X1；Δ Y is the second tilt component, can be indicated with following equation: Δ Y=Y2-Y1。
S480, measurement plane of the upright bar during pouring, where corresponding Angle Measurement Module is determined using the second difference.
Further, the first tilt component Δ X, the second axis of first axle can be read from the second difference (Δ X, Δ Y)
The second tilt component Δ Y, wherein plane determined by first axle and the second axis is that the measurement where Angle Measurement Module is flat
Face.
S490, the projection by displacement in measurement plane, the space displacement occurred during pouring as upright bar.
In the present embodiment, D referring to Fig.1 obtains first angle α and second angle β, wherein first angle α be first axle with
The angle of laser, second angle β are the angle of the second axis and laser, and angle formed by first axle and the second axis is first angle α
The sum of with second angle β, should the value of sum be 90 °；Calculate first and the value of first angle α and the first tilt component Δ X；Calculate the
One and value the first cosine value；By the first product of the first cosine value and displacement D, as sky of the displacement D in first axle
Between be displaced DX.That is space displacement DX of the displacement D in first axle can be used and be used following formula: DX=Δ Dcos (α+Δ X)；
Correspondingly, calculating second and the value of second angle β and the second tilt component Δ Y；Calculate the second cosine value of second and value；By
Second product of two cosine values and displacement D, as space displacement D of the displacement D on the second axisY, i.e. displacement D is second
Space displacement D on axisYIt can use and use following formula: DY=Δ Dcos (α+Δ Y).
In one embodiment, when first angle α and second angle β are 45 °, displacement D is 10 millimeters, the first inclination point
Δ X and the second tilt component Δ Y is when being 0 ° for amount, then DXAnd DYIt is equal to 10 millimeters.It further, can also be in host computer
D is worked as in settingXAnd DYAny of be more than or equal to preset offset value when, issue alert notice.Illustratively, if the default bias
Value is 10 millimeters, then in DXAnd DYWhen being equal to 10 millimeters, alert notice is issued, upright bar occurs with prompting and is displaced excessive situation.
The technical solution of the present embodiment, by sending Monitoring instruction to formwork monitoring device, swashing in formwork monitoring device
Ligh-ranging module measures the range information of laser target and upright bar according to Monitoring instruction, believes to data transmission unit transmission range
Angle Measurement Module in breath, formwork monitoring device measures the inclined direction information of upright bar according to Monitoring instruction, transmits to data
Unit sends inclined direction information；Receive the range information and inclined direction information that data transmission unit is sent；Believed using distance
Breath and inclined direction information indicate the spatial position of upright bar, obtain first spatial position of the upright bar when not pouring；Obtain upright bar
Second space position during pouring；It is first poor on range information to calculate the first spatial position and second space position
Value, using the first difference as the displacement of upright bar relative laser target；The first spatial position and second space position is calculated to tilt
Second difference of directional information；Survey of the upright bar during pouring, where corresponding Angle Measurement Module is determined using the second difference
Measure plane；Projection by displacement in measurement plane is solved as the space displacement that upright bar occurs during pouring using one-dimensional
Monitoring method determines the not unique problem of positioning brought by upright bar displacement, also solves and positions upright bar institute using robot measurement
The high cost problem of bring realizes that the positioning of upright bar in space in formwork is unique, increases the accuracy of positioning, and bring
Position technical effect at low cost, that interference is small.Further, it can also be indicated by using range information and inclined direction information
The spatial position of upright bar, processing obtains the upright bar displacement that upright bar occurs in casting process, and excessive situation is displaced to upright bar
Alert notice in advance is carried out, guarantees the safety in formwork use process.Moreover, because with upright bar any side occurs for measurement plane
To inclination, the inclined direction information of upright bar can be measured by Angle Measurement Module so that using the range information that measures and
Spatial position represented by inclined direction information is not limited to a direction and further increases the accuracy of positioning, institute
The upright bar displacement of any direction can be measured.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Method provided by any embodiment of the invention can be performed in the said goods, has the corresponding functional module of execution method
And beneficial effect.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of formwork monitoring device characterized by comprising laser ranging module, Angle Measurement Module, laser target；
The laser ranging module is fixed on the upright bar of formwork, and the laser that the laser ranging module is emitted is perpendicular to described vertical
Bar；
The laser target and the laser ranging module are horizontally disposed, so that the laser ranging module is being received from described
After the laser of laser target reflection, the range information of the laser target Yu the upright bar is measured；
Measurement plane where the Angle Measurement Module is vertically arranged with the upright bar, so that the measurement plane is with described vertical
After any direction inclination occurs for bar, the inclined direction information of the upright bar is measured.
2. formwork monitoring device according to claim 1, which is characterized in that further include: it is used to support the laser target
Telescopic rod；Along the extending direction of the telescopic rod, the terrain clearance of the telescopic rod is adjusted, so that the laser target and institute
It states laser ranging module and is in the same horizontal position.
3. formwork monitoring device according to claim 1, which is characterized in that include by reflector plate or anti-in the laser target
Penetrate the effective reflection area domain of prism composition；
The laser target is located in pre-determined distance at a distance from the laser ranging module, when the angle occurs for the upright bar
When inclination in the angle range of measurement module, the laser that the laser ranging module is emitted falls within the laser target
In effective reflection area domain, the laser reflection is returned the laser ranging module by the laser target.
4. formwork monitoring device according to claim 1, which is characterized in that the Angle Measurement Module include first axle and
Plane determined by second axis, the first axle and second axis is the measurement plane；
Wherein, the first axle and the laser at preset first angle, second axis and the laser at second angle,
Angle formed by the first axle and second axis is the sum of the first angle and the second angle.
5. formwork monitoring device according to claim 4, which is characterized in that the Angle Measurement Module includes that twin shaft accelerates
Spend sensor.
6. -5 any formwork monitoring device according to claim 1, which is characterized in that the laser ranging module and described
Angle Measurement Module is integrated in laser range finder.
7. a kind of formwork monitors system characterized by comprising data transmission unit, host computer and any institute of claim 1-6
The formwork monitoring device stated；
The host computer is connect with the formwork monitoring device, is constituted to the formwork monitoring device and is sent the first of Monitoring instruction
Route, laser ranging module in the formwork monitoring device measure the laser target and described vertical according to the Monitoring instruction
Angle Measurement Module in the range information of bar, the formwork monitoring device measures inclining for the upright bar according to the Monitoring instruction
Tilted direction information；
The data transmission unit is connect with the laser ranging module in the formwork monitoring device, to constitute from the Laser Measuring
The second route of the range information is received away from module；
The data transmission unit is also connect with the Angle Measurement Module in the formwork monitoring device, to constitute from the angle
Measurement module receives the tertiary circuit of the inclined direction information；
The host computer is connect with the data transmission unit, receives the range information to constitute from the data transmission unit
With the 4th route of the inclined direction information；
The host computer, which is also used for the range information and the inclined direction information, indicates the spatial position of the upright bar.
8. a kind of formwork monitoring method, which is characterized in that be applied to formwork as claimed in claim 7 and monitor system, the method
Include:
Monitoring instruction is sent to formwork monitoring device, the laser ranging module in the formwork monitoring device refers to according to the monitoring
The range information for measuring the laser target Yu the upright bar is enabled, sends the range information, the branch to data transmission unit
Angle Measurement Module in mould monitoring device measures the inclined direction information of the upright bar according to the Monitoring instruction, to the number
The inclined direction information is sent according to transmission unit；
Receive the range information and the inclined direction information that the data transmission unit is sent；
The spatial position of the upright bar is indicated using the range information and the inclined direction information.
9. according to the method described in claim 8, it is characterized in that, using the range information and the inclined direction described
Information indicates after the spatial position of the upright bar, further includes:
Obtain first spatial position of the upright bar when not pouring；
Obtain second space position of the upright bar during pouring；
The first difference of first spatial position and second space position on range information is calculated, first difference is made
For the displacement of the relatively described laser target of the upright bar；
First spatial position and second space position are calculated in the second difference of the inclined direction information；
Determine that measurement of the upright bar during pouring, where the corresponding Angle Measurement Module is flat using second difference
Face；
Projection by the displacement in the measurement plane, the space displacement occurred during pouring as the upright bar.
10. according to the method described in claim 9, it is characterized in that,
It is described to determine survey of the upright bar during pouring, where the corresponding Angle Measurement Module using second difference
Measure plane, comprising:
The first tilt component, the second tilt component of the second axis of first axle are read from second difference, wherein described the
Plane determined by one axis and second axis is the measurement plane where the Angle Measurement Module；
Projection by the displacement in the measurement plane, the space displacement occurred during pouring as the upright bar, comprising:
Obtain first angle and second angle, wherein the first angle is the angle of the first axle and the laser, described
Second angle is the angle of second axis and the laser, and angle formed by the first axle and second axis is described the
The sum of one angle and the second angle；
Calculate first and value of the first angle Yu first tilt component；
Calculate the first cosine value of described first He value；
By the first product of first cosine value and the displacement, as space bit of the displacement in the first axle
It moves；
Calculate second and value of the second angle Yu second tilt component；
Calculate the second cosine value of described second He value；
By the second product of second cosine value and the displacement, as the space bit of the displacement on second axis
It moves.
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