CN110160499A

CN110160499A - A kind of device for monitoring inclination and method

Info

Publication number: CN110160499A
Application number: CN201910541114.XA
Authority: CN
Inventors: 翟越; 高甲艳; 李艳; 侯亚楠; 屈璐; 孟凡东; 李宇白; 刘旭阳
Original assignee: Xi'an Transcend Intelligent Technology Co Ltd
Current assignee: Xi'an Transcend Intelligent Technology Co Ltd
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2019-08-23
Anticipated expiration: 2039-06-21
Also published as: CN110160499B

Abstract

The invention discloses a kind of device for monitoring inclination and methods, the device includes rack and laser detector, rack includes A-frame, moving casing mechanism and carrying cabinet, laser detector includes first laser distance measuring sensor, second laser distance measuring sensor and third laser range sensor, it is provided with electronic circuit board in carrying cabinet, microprocessor, obliquity sensor and power module are integrated on electronic circuit board；Method includes the following steps: the installation of one, monitoring device and the foundation of space coordinates；Two, the detection of determinand tilt angle；Three, in determinand tilt angle error acquisition；Four, the compensation of determinand heeling condition.The present invention has rational design and detection is accurate convenient, time saving, laborsaving, spends small, the tilt angle of acquisition building, structures and side slope, realization real time monitoring, to propose forecast, in time convenient for taking control measure.

Description

A kind of device for monitoring inclination and method

Technical field

The invention belongs to geotechnical engineering the field of test technology, more particularly, to a kind of device for monitoring inclination and method.

Background technique

The deformation of the engineerings such as building, structures and side slope can bring about great losses to people's lives and properties, seriously disturb Disorderly people normal orders of life.Therefore, inclination and distortion is extremely important in engineering survey.If it occurs in accident in we It is preceding that the inclination deformation of the engineerings such as building, structures and side slope is effectively monitored, so that it may forecast and prevention and treatment to be proposed, to protect The safety of witnesses' lives and properties.Have at present to the monitoring method of the engineerings such as building, structures and side slope inclination deformation:

The first, it using theodolite cultellation method, needs to lay an observation monument in object under test foundation bottom, reuses essence Close angle measuring instrument (theodolite or total station) surveys vertical axis to upslide, on the top of object under test and is located in vertical axis One observation monument is set again, deviates to throw by the connection of two observation monuments of detection and surveys vertical axis to judge object under test Heeling condition；

The second, horizontal horn cupping is surveyed, needs that observation monument is respectively set in the top center of object under test and bottom centre, and Two ground observation piers are set, it is to be measured to judge relative to the relative displacement of bottom centre to obtain object under test top center The heeling condition of object.But theodolite cultellation method and the horizontal horn cupping of survey need manually to carry out participation measurement, labor intensity is high；Separately Outside, the real-time detection and anticipation of measuring targets be can not achieve.Nowadays a kind of device for monitoring inclination and method are needed, design is closed It manages and detection is accurate convenient, it is time saving, laborsaving, small, the tilt angle of acquisition building, structures and side slope is spent, realization is real-time Monitoring, to propose forecast, in time convenient for taking control measure.

Summary of the invention

In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of inclination monitoring Device, design is rationally and detection is accurate convenient, and time saving, laborsaving, cost is small, obtains the inclination of building, structures and side slope Angle realizes real time monitoring, so that forecast is proposed in time, it is practical convenient for taking control measure.

In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of device for monitoring inclination, feature exist In: including rack and the laser detector being mounted on the rack, the rack includes A-frame, is mounted on described three Moving casing mechanism at the top of angle support and the carrying cabinet being mounted at the top of the moving casing mechanism, the laser detection dress Set first laser distance measuring sensor, second laser distance measuring sensor and the third laser of the one side including carrying cabinet is arranged in Distance measuring sensor, the first laser distance measuring sensor, second laser distance measuring sensor and third laser range sensor in etc. Side triangle is laid, the one side of the line and carrying cabinet of first laser rangefinder and second laser rangefinder launching centre Bottom edge is parallel；

It is provided with electronic circuit board in the carrying cabinet, microprocessor is integrated on the electronic circuit board and inclination angle passes Sensor is provided with display screen, alarm and working station indicator, the first laser ranging sensing on the carrying cabinet Device, second laser distance measuring sensor, third laser range sensor, obliquity sensor, alarm, working station indicator and aobvious Display screen connects with microprocessor.

A kind of above-mentioned device for monitoring inclination, it is characterised in that: the A-frame include supporting leg fixing seat and it is multiple The even supporting leg for being mounted on supporting leg fixing seat side, the quantity of the supporting leg are not less than 3, and the supporting leg fixing seat includes circle Cylinder seat and multiple clevis mountings for being uniformly mounted on cylinder housing side are provided with for supporting leg in the clevis mounting One end of the installation axle of installation, the supporting leg is set on the mounting shaft by anchor ear.

Above-mentioned a kind of device for monitoring inclination, it is characterised in that: the moving casing mechanism includes big casing, is mounted on greatly In casing and can up and down adjustment small casing and locking nut that small casing and big casing are locked, the bottom of the big casing Portion is mounted on the top of the A-frame, and carrying pallet is provided at the top of the small casing, and the carrying cabinet is mounted on It carries on pallet.

Above-mentioned a kind of device for monitoring inclination, it is characterised in that: the obliquity sensor is LCA326T double-shaft tilt angle sensing Device, first laser distance measuring sensor, second laser distance measuring sensor and third laser range sensor are model SW- The laser range sensor of LDS50A.

Meanwhile a kind of the invention also discloses method and steps simple, the reasonable inclination monitoring method of design, feature exist In, method includes the following steps:

Step 1: monitoring device installation and the foundation of space coordinates:

Test target is mounted on the outer surface of object under test by step 101, and places shape in the front of test target Become monitoring device, make the height carried in deformation monitoring device chassis bottom apart from ground and tests target distance from bottom ground It is highly identical；Wherein, test target is fixed at the 1/3 of object under test height at~1/2, and object under test is building, constructs Object or side slope are provided with graduated scale on the test target, and the test target is rectangle target, the long side of the test target It is parallel with a side of object under test bottom；

Step 102 adjusts the A-frame, and obliquity sensor is to the inclination angle between the bottom and ground of carrying cabinet The tilt angle spent between the bottom and ground for the carrying cabinet for being detected, and being will test is sent to microprocessor, until Carry cabinet bottom and ground between tilt angle be equal to zero so that first laser rangefinder, second laser rangefinder and The laser beam that third laser range finder is issued is parallel to the ground；Wherein, first laser rangefinder and second laser ranging The line of instrument launching centre is parallel to the ground, and the long side of the test target is in first laser rangefinder, second laser rangefinder With third laser range finder launching centre projection line in the plane and first laser rangefinder and second laser rangefinder send out The line for hitting the heart is parallel；

Step 103 crosses origin o and is along the long side straight line of test target to test lower-left angular vertex in target as origin o Y-axis crosses origin o and is vertically Z axis with the straight line on ground, cross origin o and with by straight vertical with the YOZ plane that Z axis forms of Y-axis Line is X-axis, establishes rectangular coordinate system in space；Wherein, the X-axis is positive towards first laser rangefinder, second laser ranging Instrument and third laser range finder；

Step 2: the detection of determinand tilt angle:

The judgement of step 201, object under test initial tilt:

The laser beam that step 2011, first laser rangefinder issue, which is incident upon on test target, forms A point of irradiation, and second The laser beam that laser range finder issues, which is incident upon on test target, forms B point of irradiation, the laser that third laser range finder issues Light beam, which is incident upon on test target, forms C point of irradiation, and first laser rangefinder obtains first laser rangefinder between A point of irradiation Away from and be denoted as a, the spacing that second laser rangefinder obtains second laser rangefinder to B point of irradiation is simultaneously denoted as b, third laser ranging Instrument obtains third laser range finder to the spacing of C point of irradiation and is denoted as c, and obtains the A point of irradiation under rectangular coordinate system in space Coordinate A (x_a,y_a,z_a), the coordinate B (x of B point of irradiation_b,y_b,z_b) and C point of irradiation coordinate C (x_c,y_c,z_c)；

Step 2012 judges whether a=b=c is true using microprocessor, when a=b=c establishment, then illustrates object under test There is no initial tilt, and x_a=x_b=x_c=0；

When a=b=c is invalid, then illustrating object under test, there are initial tilts；

The acquisition of step 202, object under test tilt angle:

Step 2021, when object under test be not present initial tilt when, the tilt angle of measuring targets measures, specifically Process is as follows:

The laser beam that step 20211, first laser rangefinder issue again is incident upon on test target and forms A ' irradiation Point, the laser beam that second laser rangefinder issues again are incident upon on test target and form B ' point of irradiation, third laser ranging The laser beam that instrument issues again, which is incident upon on test target, forms C ' point of irradiation, and first laser rangefinder obtains first laser and surveys Distance meter to A ' point of irradiation spacing and be denoted as a ', second laser rangefinder obtain second laser rangefinder to B ' point of irradiation spacing And it is denoted as b ', third laser range finder obtains third laser range finder to the spacing of C ' point of irradiation and is denoted as c ', and obtains A ' photograph Coordinate A ' (a-a ', the y of exit point_a,z_a), coordinate B ' (b-b ', the y of B ' point of irradiation_b,z_b) and C ' point of irradiation coordinate C ' (c-c ', y_c,z_c)；

Step 20212, using microprocessor according to coordinate A ' (a-a ', the y of A ' point of irradiation_a,z_a), the coordinate of B ' point of irradiation B′(b-b′,y_b,z_b) and C ' point of irradiation coordinate C ' (c-c ', y_c,z_c), obtain vectorAnd vector

It is step 20213, parallel to the ground according to the line of first laser rangefinder and second laser rangefinder launching centre, Obtain z_b=z_a, and a=b=c, and first laser rangefinder, second laser rangefinder, third laser range finder surrounded equilateral The side length of triangle is denoted as l, abbreviation vectorAnd vectorIt obtainsAnd vector

Step 20214, using microprocessor according toObtain A ' point of irradiation, B ' point of irradiation and C ' photograph The normal vector of plane where exit point

Step 20215, using microprocessor according to formulaAnd input initial normal vectorObtain the tilt angle of object under testIts In, the value range of the tilt angle theta of object under test is 0 °~90 °；

Step 2022, when object under test is there are when initial tilt, the tilt angle of measuring targets measures, specific mistake Journey is as follows:

Step 20221, using microprocessor according to the coordinate A (x of A point of irradiation_a,y_a,z_a), the coordinate B (x of B point of irradiation_b, y_b,z_b) and C point of irradiation coordinate C (x_c,y_c,z_c), obtain vectorAnd vector

Step 20222, using microprocessor according toObtain A point of irradiation, B point of irradiation and C point of irradiation The normal vector of place plane

Step 20223 repeats step 20211 to step 20214, obtains A ' point of irradiation, B ' point of irradiation and C ' point of irradiation institute In the normal vector of plane

Step 20224, according to formulaAnd input initial normal vectorObtain the tilt angle theta of object under test；

The acquisition of the angle of torsion when step 203, object under test inclination or so:

Step 2031, when object under test be not present initial tilt when, measuring targets tilt when or so torsion angle into Row measurement, detailed process is as follows:

Step 20311 projects to A ' point of irradiation and B ' point of irradiation on the XOY plane being made of X-axis and Y-axis, obtains A " Point of irradiation and B " point of irradiation, and obtain A " the coordinate A of point of irradiation " (a-a ', y_a, 0) and B " the coordinate B of point of irradiation " (b-b ', y_b, 0)；

Step 20312, using microprocessor according to A " the coordinate A of point of irradiation " (a-a ', y_a, 0) and B " point of irradiation coordinate B″(b-b′,y_b, 0), it obtains

Step 20313, using microprocessor according to formulaAnd it inputs by X-axis and Z axis group At XOZ plane normal vectorThe angle [alpha] reversed when obtaining object under test inclination or so；Wherein, determinand The value range of the angle [alpha] of torsion is 0 °~90 ° when body tilts or so；

Step 20314 judges when a ' <b ' establishment that object under test reverses the angle α when tilting counterclockwise using microprocessor Degree；When a ' > b ' establishment, object under test reverses α angle when tilting clockwise；When a '=b ' establishment, when object under test tilts Left and right windup-degree is equal to zero；

Step 2032, the angle of torsion carries out when object under test is there are when initial tilt, and measuring targets tilt or so Measurement, detailed process is as follows:

Step 20321 projects to A point of irradiation and B point of irradiation on XOY plane, obtains a " point of irradiation and b " point of irradiation, and Obtain a " the coordinate a of point of irradiation " (x_a,y_a, 0) and b " the coordinate b of point of irradiation " (x_b,y_b,0)；

Step 20322, using microprocessor according to a " the coordinate a of point of irradiation " (x_a,y_a, 0) and b " the coordinate b of point of irradiation " (x_b,y_b, 0), obtain vector

Step 20323 repeats step 20311 and step 20312, obtains vector

Step 20324, using microprocessor according to formula And input the normal vector for the XOZ plane being made of X-axis and Z axisIt is reversed when obtaining object under test inclination or so Angle [alpha]；

The acquisition for the angle that front and back is reversed when step 204, object under test inclination:

Step 2041, when object under test be not present initial tilt when, measuring targets tilt when front and back reverse angle into Row measurement, detailed process is as follows:

Using microprocessor according to formulaAnd input the XOY being made of X-axis and Y-axis The normal vector of planeThe angle beta that front and back is reversed when obtaining object under test inclination；Wherein, to be measured as β > 0 Object turns forward；As β < 0, object under test is tilted backwards；Refer on front side of object under test close to first laser rangefinder, the Dual-laser rangefinder and third laser range finder；

Step 2042, the angle of torsion carries out when object under test is there are when initial tilt, and measuring targets tilt or so Measurement, detailed process is as follows:

Using microprocessor according to formulaAnd it inputs by X-axis and Y The normal vector of the XOY plane of axis compositionThe angle beta that front and back is reversed when obtaining object under test inclination；

Step 3: in determinand tilt angle error acquisition:

Step 301, differential of being demanded perfection using the tilt angle theta of microprocessor measuring targets, are obtainedAnd using microprocessor according to formulaObtain the middle error of the tilt angle of object under test m_θ；Wherein, m_lIndicate that first laser rangefinder, second laser rangefinder, third laser range finder surround the side length of equilateral triangle The middle error of l, m_a′Indicate the middle error of first laser rangefinder ranging, m_b′Indicate the middle error of second laser rangefinder ranging, m_c′Indicate the middle error of third laser range finder ranging；

Step 302, the angle [alpha] of torsion is demanded perfection differential when being tilted using microprocessor measuring targets or so, is obtainedAnd using microprocessor according to formulaThe middle error for the angle reversed when obtaining object under test inclination or so m_α；

Step 303, differential of being demanded perfection using the angle beta that front and back when the inclination of microprocessor measuring targets is reversed, are obtainedAnd using microprocessor according to formulaThe angle that front and back is reversed when obtaining object under test inclination The middle error m of degree_β；

Step 4: the compensation of determinand heeling condition:

Step 401, using microprocessor according to formula θ '=θ+m_θ, obtain the relatively large compensation tilt angle of object under test θ′；

Step 402, using microprocessor according to formula α '=α+m_α, reversed when obtaining object under test inclination or so larger Offset angle α '；

Step 403, using microprocessor according to formula β '=β+m_β, front and back is reversed larger when obtaining object under test inclination Offset angle β '；

6. according to the method for claim 5, it is characterised in that: after determinand heeling condition obtains in step 4, Obtaining tilt variation rate, detailed process is as follows:

Step I, using microprocessor and by the relatively large compensation tilt angle of the object under test at obtained each measurement moment The relatively large compensation tilt angle for the object under test for being ranked up according to chronological order, and the ith measurement moment being obtained is remembered Make θ ' (i), then basisObtain object under test Angle change rate；I is positive integer, and i > 1；The value range for measuring moment T is for 24 hours~48h；

Step II, using microprocessor and by the object under test at obtained each measurement moment tilt when or so torsion compared with Large compensation angle is ranked up according to chronological order, and when the object under test that the ith measurement moment is obtained tilts or so The larger offset angle of torsion is denoted as α ' (i), then basisObtain the angle of object under test or so torsion Rate of change；

Step III, the compensation that front and back is reversed when being tilted the object under test at obtained each measurement moment using microprocessor Angle is ranked up according to chronological order, and front and back is reversed when the object under test that the ith measurement moment is obtained tilts Offset angle is denoted as β ' (i), then basis Obtain the angle change rate β reversed before and after object under test_s；

Step IV judges θ using microprocessor_s>θ_y、α_s>α_yAnd β_s>β_yIt is whether true,

Work as θ_s>θ_yIt sets up, illustrates that object under test Ramp rates are greater than Ramp rates threshold value, control alarm to microprocessor Warning reminding；

Work as α_s>α_yIt sets up, illustrates that object under test tilts rate greater than the rate-valve value that tilts, to microprocessor control Alarm equipment alarm processed is reminded；

Work as β_s>β_yIt sets up, illustrates that object under test tilts forward and back rate greater than rate-valve value is tilted forward and back, to microprocessor control Alarm equipment alarm processed is reminded.

8. according to the method for claim 5, it is characterised in that: the Ramp rates threshold θ_yValue range be 0.02~0.1, the rate-valve value α that tilts_yValue range be 0.02~0.1, it is described to tilt forward and back rate-valve value β_y's Value range is 0.02~0.1.

9. according to the method for claim 5, it is characterised in that: first laser rangefinder, second laser in step 301 Rangefinder, third laser range finder surround the middle error m of the side length l of equilateral triangle_lValue range be 0.005m~ 0.01m；

The middle error m of first laser rangefinder ranging_a′Acquisition it is as follows:

Step A1, the laser beam that first laser rangefinder issues is projected to benchmark parallel target, the first laser that will test Spacing between rangefinder and benchmark parallel target is sent to microprocessor, and first that first laser rangefinder jth time is measured Distance measure is denoted as L₁(j)；

Step A2, then spacing between manual measurement first laser rangefinder and benchmark parallel target, it is true to obtain first distance Real value is simultaneously denoted as Z₁；

Step A3, according to formulaObtain the middle error m of first laser rangefinder ranging_a′；

The middle error m of second laser rangefinder ranging_b′Acquisition it is as follows:

Step B1, the laser beam that second laser rangefinder issues is projected to benchmark parallel target, the second laser that will test Spacing between rangefinder and benchmark parallel target is sent to microprocessor, and second that second laser rangefinder jth time is measured Distance measure is denoted as L₂(j)；

Step B2, then spacing between manual measurement second laser rangefinder and benchmark parallel target, it is true to obtain second distance Real value is simultaneously denoted as Z₂；

Step B3, according to formulaObtain the middle error m of second laser rangefinder ranging_b′；

The middle error m of third laser range finder ranging_c′Acquisition it is as follows:

Step C1, the laser beam that third laser range finder issues is projected to benchmark parallel target, the third laser that will test Spacing between rangefinder and benchmark parallel target is sent to microprocessor, and the third that third laser range finder jth time is measured Distance measure is denoted as L₃(j)；

Step C2, then spacing between manual measurement third laser range finder and benchmark parallel target, it is true to obtain third distance Real value is simultaneously denoted as Z₃；

Step C3, according to formulaObtain the middle error m of third laser range finder ranging_c′； Wherein, N indicates measurement total degree, and j and N are positive integer, and the value range of j is 1~N, and the value of N is 50~100.

Compared with the prior art, the present invention has the following advantages:

1, used tilt detection instrument simple structure and reasonable design and installation are laid easy, and input cost is lower.

It 2, include that A-frame, moving casing mechanism and carrying cabinet, A-frame are in used tilt detection instrument In order to be supported fixation to carrying cabinet, and convenient for adjusting the tilt angle of carrying chassis bottom, so that on carrying cabinet The laser energy level that laser detector is emitted is projected in building to be measured, structures or side slope；Moving casing machine The setting of structure is the height in order to adjust carrying cabinet, to be adapted to the building of different height, structures or side slope Heeling condition detection；Carry setting first laser distance measuring sensor, second laser distance measuring sensor and third Laser Measuring in cabinet Away from sensor, convenient for being carried out to first laser distance measuring sensor, second laser distance measuring sensor and third laser range sensor Protection, avoids external environment from causing the damage of laser range sensor, to improve service life, effectively adapts to long-term real-time Detection.

3, first laser distance measuring sensor, second laser distance measuring sensor and the are set in used laser detector Three laser range sensors, respectively apart from first laser distance measuring sensor, second laser at three different locations of measuring targets The spacing of distance measuring sensor and third laser range sensor is detected, and first laser distance measuring sensor, second laser are surveyed Be respectively positioned on same plane away from sensor and third laser range sensor, thus obtain building to be measured, structures or The heeling condition of side slope.

4, obliquity sensor is arranged in used tilt detection instrument, be in order to the bottom to carrying cabinet tilt angle into Row detection, so that the bottom and ground of carrying cabinet are in horizontal layout, so that first laser distance measuring sensor, second laser be made to survey The laser projected away from sensor and third laser range sensor and ground are in horizontal parallel, be first laser distance measuring sensor, The detection of second laser distance measuring sensor and third laser range sensor provides accurate benchmark.

5, the heeling condition method and step of determinand of the present invention is simple, it is convenient and easy to operate to realize, is monitoring dress first Installation and the foundation of space coordinates are set, later, determinand tilt angle is examined, is then obtained in determinand tilt angle Error, and determinand tilt angle is compensated using error in determinand tilt angle, obtain the larger benefit of object under test Front and back is reversed larger when the larger offset angle and object under test of torsion tilt when repaying tilt angle, object under test inclination or so Offset angle improves the accuracy of tilt angle acquisition, and realizes the real-time monitoring to determinand, to propose in time pre- Report, convenient for taking control measure.

In conclusion the present invention has rational design and detection is accurate convenient, and it is time saving, laborsaving, spend small, acquisition building, structure The tilt angle of object and side slope is built, realizes real time monitoring, so that forecast is proposed in time, it is practical convenient for taking control measure.

Below by drawings and examples, technical scheme of the present invention will be described in further detail.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of device for monitoring inclination of the present invention.

Fig. 2 is the schematic block circuit diagram of device for monitoring inclination of the present invention.

Fig. 3 is the flow diagram of present invention inclination monitoring method.

Description of symbols:

1-cylinder housing；2-clevis mountings；2-1-installation axle；

3-carrying cabinets；4-obliquity sensors；5-carrying pallets；

6-1-fixed sleeving；6-2-adjusting sleeve pipe；7-locking nuts；

9-supporting legs；10-anchor ears；11-first laser distance measuring sensors；

12-second laser distance measuring sensors；13-third laser range sensors；

15-display screens；16-alarms；

17-microprocessors；18-working station indicators.

Specific embodiment

A kind of device for monitoring inclination as depicted in figs. 1 and 2, including rack and the laser detection being mounted on the rack Device, the rack include A-frame, the moving casing mechanism being mounted at the top of the A-frame and are mounted on the work Carrying cabinet 3 at the top of dynamic casing mechanism, the laser detector include being arranged in the first of the one side for carrying cabinet 3 to swash Ligh-ranging sensor 11, second laser distance measuring sensor 12 and third laser range sensor 13, the first laser ranging pass Sensor 11, second laser distance measuring sensor 12 and the laying in equilateral triangle of third laser range sensor 13, first laser are surveyed The line of 12 launching centre of distance meter 11 and second laser rangefinder is parallel with the carrying bottom edge of one side of cabinet 3；

It is provided with electronic circuit board in the carrying cabinet 3, microprocessor 17 is integrated on the electronic circuit board and is inclined Angle transducer 4 is provided with display screen 15, alarm 16 and working station indicator 18 on the carrying cabinet 3, and described first swashs Ligh-ranging sensor 11, second laser distance measuring sensor 12, third laser range sensor 13, obliquity sensor 4, alarm 16, working station indicator 18 and display screen 15 connect with microprocessor 17.

In the present embodiment, the A-frame includes supporting leg fixing seat and multiple is uniformly mounted on supporting leg fixing seat week The quantity of the supporting leg 9 of side, the supporting leg 9 is not less than 3, and the supporting leg fixing seat includes cylinder housing 8-1 and multiple uniform peaces The peace installed for supporting leg 9 is provided in the clevis mounting 8-2, the clevis mounting 8-2 of the side cylinder housing 8-1 Axis 2-1 is filled, one end of the supporting leg 9 is sleeved on installation axle 2-1 by anchor ear 9-1.

In the present embodiment, the moving casing mechanism includes big casing 6-1, is mounted in big casing 6-1 and can go up downward The small casing 6-2 of section and the locking nut 7 that small casing 6-2 and big casing 6-1 are locked, the bottom of the big casing 6-1 It is mounted on the top of the A-frame, carrying pallet 5 is provided at the top of the small casing 6-2, the carrying cabinet 3 is installed On carrying pallet 5.

In the present embodiment, the obliquity sensor 4 is LCA326T double-shaft tilt angle sensor, first laser distance measuring sensor 11, second laser distance measuring sensor 12 and third laser range sensor 13 are that the laser ranging of model SW-LDS50A passes Sensor.

As shown in figure 3, a kind of inclination monitoring method, comprising the following steps:

Step 1: monitoring device installation and the foundation of space coordinates:

Test target is mounted on the outer surface of object under test by step 101, and places shape in the front of test target Become monitoring device, makes the height for carrying 3 distance from bottom ground of cabinet in deformation monitoring device and test target distance from bottom ground Height it is identical；Wherein, test target is fixed at the 1/3 of object under test height at~1/2, and object under test is building, structure Object or side slope are built, graduated scale is provided on the test target, the test target is rectangle target, the length of the test target Side is parallel with a side of object under test bottom；

Step 102 adjusts the A-frame, the inclination between the bottom and ground of 4 pairs of obliquity sensor carrying cabinets 3 Angle is detected, and the tilt angle between the bottom and ground for the carrying cabinet 3 that will test is sent to microprocessor 17, Until the tilt angle between the bottom and ground of carrying cabinet 3 is equal to zero, so that first laser rangefinder 11, second laser are surveyed The laser beam that distance meter 12 and third laser range finder 13 are issued is parallel to the ground；Wherein, 11 He of first laser rangefinder The line of 12 launching centre of second laser rangefinder is parallel to the ground, and the long side of the test target is in first laser rangefinder 11,13 launching centre of second laser rangefinder 12 and third laser range finder projection line in the plane and first laser ranging Instrument 11 is parallel with the line of 12 launching centre of second laser rangefinder；

Step 103 crosses origin o and is along the long side straight line of test target to test lower-left angular vertex in target as origin o Y-axis crosses origin o and is vertically Z axis with the straight line on ground, cross origin o and with by straight vertical with the YOZ plane that Z axis forms of Y-axis Line is X-axis, establishes rectangular coordinate system in space；Wherein, the positive of the X-axis is surveyed towards first laser rangefinder 11, second laser Distance meter 12 and third laser range finder 13；

Step 2: the detection of determinand tilt angle:

The judgement of step 201, object under test initial tilt:

The laser beam that step 2011, first laser rangefinder 11 issue is incident upon on test target and forms A point of irradiation, the The laser beam that dual-laser rangefinder 12 issues, which is incident upon on test target, forms B point of irradiation, and third laser range finder 13 issues Laser beam be incident upon test target on formed C point of irradiation, first laser rangefinder 11 obtain first laser rangefinder 11 arrive A The spacing of point of irradiation is simultaneously denoted as a, and second laser rangefinder 12 obtains second laser rangefinder 12 to the spacing of B point of irradiation and is denoted as B, third laser range finder 13 obtain third laser range finder 13 to the spacing of C point of irradiation and are denoted as c, and obtain in space right-angle Coordinate A (the x of A point of irradiation under coordinate system_a,y_a,z_a), the coordinate B (x of B point of irradiation_b,y_b,z_b) and C point of irradiation coordinate C (x_c,y_c, z_c)；

Step 2012 judges whether a=b=c is true using microprocessor 17, when a=b=c establishment, then illustrates determinand Initial tilt, and x is not present in body_a=x_b=x_c=0；

The acquisition of step 202, object under test tilt angle:

The laser beam that step 20211, first laser rangefinder 11 issue again is incident upon on test target and forms A ' photograph Exit point, the laser beam that second laser rangefinder 12 issues again are incident upon on test target and form B ' point of irradiation, third laser The laser beam that rangefinder 13 issues again, which is incident upon on test target, forms C ' point of irradiation, and first laser rangefinder 11 obtains the The spacing of one laser range finder, 11 to A ' point of irradiation is simultaneously denoted as a ', and second laser rangefinder 12 obtains second laser rangefinder 12 and arrives The spacing of B ' point of irradiation is simultaneously denoted as b ', and third laser range finder 13 obtains third laser range finder 13 and arrives the spacing of C ' point of irradiation simultaneously It is denoted as c ', and obtains coordinate A ' (a-a ', the y of A ' point of irradiation_a,z_a), coordinate B ' (b-b ', the y of B ' point of irradiation_b,z_b) and C ' irradiation Coordinate C ' (c-c ', the y of point_c,z_c)；

Step 20212, using microprocessor 17 according to coordinate A ' (a-a ', the y of A ' point of irradiation_a,z_a), the seat of B ' point of irradiation Mark B ' (b-b ', y_b,z_b) and C ' point of irradiation coordinate C ' (c-c ', y_c,z_c), obtain vectorAnd vector

Step 20213, the line according to 12 launching centre of first laser rangefinder 11 and second laser rangefinder and ground In parallel, z is obtained_b=z_a, and a=b=c, and by first laser rangefinder 11, second laser rangefinder 12, third laser range finder 13 side lengths for surrounding equilateral triangle are denoted as l, abbreviation vectorAnd vectorIt obtainsAnd vector

Step 20214, using 17 basis of microprocessorObtain A ' point of irradiation, B ' point of irradiation and C ' The normal vector of plane where point of irradiation

Step 20215, using microprocessor 17 according to formulaAnd input initial normal vectorObtain the tilt angle of object under testIts In, the value range of the tilt angle theta of object under test is 0 °~90 °；

Step 20221, using microprocessor 17 according to the coordinate A (x of A point of irradiation_a,y_a,z_a), the coordinate B of B point of irradiation (x_b,y_b,z_b) and C point of irradiation coordinate C (x_c,y_c,z_c), obtain vectorAnd vector

Step 20222, using 17 basis of microprocessorObtain A point of irradiation, B point of irradiation and C irradiation The normal vector of plane where point

Step 20312, using microprocessor 17 according to A " the coordinate A of point of irradiation " (a-a ', y_a, 0) and B " point of irradiation seat Mark B " (b-b ', y_b, 0), it obtains

Step 20313, using microprocessor 17 according to formulaAnd it inputs by X-axis and Z axis The normal vector of the XOZ plane of compositionThe angle [alpha] reversed when obtaining object under test inclination or so；Wherein, to be measured The value range for the angle [alpha] reversed when object tilt or so is 0 °~90 °；

Step 20314 judges when a ' <b ' establishment that object under test reverses the angle α when tilting counterclockwise using microprocessor 17 Degree；When a ' > b ' establishment, object under test reverses α angle when tilting clockwise；When a '=b ' establishment, when object under test tilts Left and right windup-degree is equal to zero；

Step 20322, using microprocessor 17 according to a " the coordinate a of point of irradiation " (x_a,y_a, 0) and b " point of irradiation coordinate b″(x_b,y_b, 0), obtain vector

Step 20323 repeats step 20311 and step 20312, obtains vector

Step 20324, using microprocessor 17 according to formulaAnd input the normal vector for the XOZ plane being made of X-axis and Z axisThe angle [alpha] reversed when obtaining object under test inclination or so；

Using microprocessor 17 according to formulaAnd it inputs and is made of X-axis and Y-axis The normal vector of XOY planeThe angle beta that front and back is reversed when obtaining object under test inclination；Wherein, as β > 0, to Object is surveyed to turn forward；As β < 0, object under test is tilted backwards；Refer on front side of object under test close to first laser rangefinder 11, second laser rangefinder 12 and third laser range finder 13；

Using microprocessor 17 according to formulaAnd input by X-axis and The normal vector of the XOY plane of Y-axis compositionThe angle beta that front and back is reversed when obtaining object under test inclination；

Step 3: in determinand tilt angle error acquisition:

Step 301, differential of being demanded perfection using the tilt angle theta of 17 measuring targets of microprocessor, are obtainedAnd using microprocessor 17 according to formulaObtain the middle error of the tilt angle of object under test m_θ；Wherein, m_lIndicate that first laser rangefinder 11, second laser rangefinder 12, third laser range finder 13 surround equilateral triangle Side length l middle error, m_a′Indicate the middle error of 11 ranging of first laser rangefinder, m_b′Indicate that second laser rangefinder 12 is surveyed Away from middle error, m_c′Indicate the middle error of 13 ranging of third laser range finder；

Step 302, the angle [alpha] of torsion is demanded perfection differential when being tilted using 17 measuring targets of microprocessor or so, is obtainedAnd using microprocessor 17 according to formulaThe middle error for the angle reversed when obtaining object under test inclination or so m_α；

Step 303, differential of being demanded perfection using the angle beta that front and back when the inclination of 17 measuring targets of microprocessor is reversed, are obtainedAnd using microprocessor 17 according to formulaThe angle that front and back is reversed when obtaining object under test inclination Middle error m_β；

Step 4: the compensation of determinand heeling condition:

Step 401, using microprocessor 17 according to formula θ '=θ+m_θ, obtain the relatively large compensation tilt angle of object under test θ′；

Step 402, using microprocessor 17 according to formula α '=α+m_α, obtain object under test inclination when or so torsion compared with Large compensation angle [alpha] '；

Step 403, using microprocessor 17 according to formula β '=β+m_β, obtain object under test inclination when front and back reverse compared with Large compensation angle beta '；

In the present embodiment, after determinand heeling condition obtains in step 4, tilt variation rate detailed process is obtained such as Under:

Step I, using microprocessor 17 and by the relatively large compensation inclination angle of the object under test at obtained each measurement moment Spend the relatively large compensation tilt angle for the object under test for being ranked up according to chronological order, and the ith measurement moment being obtained It is denoted as θ ' (i), then basisObtain determinand The angle change rate of body；I is positive integer, and i > 1；The value range for measuring moment T is for 24 hours~48h；

Step II, using microprocessor 17 and by the object under test at obtained each measurement moment tilt when or so torsion Larger offset angle is ranked up according to chronological order, and when object under test that the ith measurement moment is obtained tilts is left The larger offset angle of right torsion is denoted as α ' (i), then basisObtain the angle of object under test or so torsion Rate of change；

Step III, the benefit that front and back is reversed when being tilted the object under test at obtained each measurement moment using microprocessor 17 Front and back is reversed when the object under test repaid angle to be ranked up according to chronological order, and the ith measurement moment is obtained tilts Offset angle be denoted as β ' (i), then basis Obtain the angle change rate β reversed before and after object under test_s；

Step IV judges θ using microprocessor 17_s>θ_y、α_s>α_yAnd β_s>β_yIt is whether true,

Work as θ_s>θ_yIt sets up, illustrates that object under test Ramp rates are greater than Ramp rates threshold value, control and alarm to microprocessor 17 16 warning reminding of device；

Work as α_s>α_yIt sets up, illustrates that object under test tilts rate greater than the rate-valve value that tilts, to microprocessor 17 Control 16 warning reminding of alarm；

Work as β_s>β_yIt sets up, illustrates that object under test tilts forward and back rate greater than rate-valve value is tilted forward and back, to microprocessor 17 Control 16 warning reminding of alarm.

In the present embodiment, the Ramp rates threshold θ_yValue range be 0.02~0.1, the rate threshold that tilts Value α_yValue range be 0.02~0.1, it is described to tilt forward and back rate-valve value β_yValue range be 0.02~0.1.

In the present embodiment, first laser rangefinder 11, second laser rangefinder 12, third laser range finder in step 301 13 surround the middle error m of the side length l of equilateral triangle_lValue range be 0.005m~0.01m；

The middle error m of 11 ranging of first laser rangefinder_a′Acquisition it is as follows:

Step A1, the laser beam that first laser rangefinder 11 issues is projected to benchmark parallel target, and will test first swashs Spacing between optar 11 and benchmark parallel target is sent to microprocessor 17, and first laser rangefinder 11 jth time is measured To first distance measured value be denoted as L₁(j)；

Step A2, then spacing between manual measurement first laser rangefinder 11 and benchmark parallel target, obtains first distance True value is simultaneously denoted as Z₁；

Step A3, according to formulaObtain the middle error of 11 ranging of first laser rangefinder m_a′；

The middle error m of 12 ranging of second laser rangefinder_b′Acquisition it is as follows:

Step B1, the laser beam that second laser rangefinder 12 issues is projected to benchmark parallel target, and will test second swashs Spacing between optar 12 and benchmark parallel target is sent to microprocessor 17, and second laser rangefinder 12 jth time is measured To second distance measured value be denoted as L₂(j)；

Step B2, then spacing between manual measurement second laser rangefinder 12 and benchmark parallel target, obtains second distance True value is simultaneously denoted as Z₂；

Step B3, according to formulaObtain the middle error of 12 ranging of second laser rangefinder m_b′；

The middle error m of 13 ranging of third laser range finder_c′Acquisition it is as follows:

Step C1, the laser beam that third laser range finder 13 issues is projected to benchmark parallel target, and the third that will test swashs Spacing between optar 13 and benchmark parallel target is sent to microprocessor 17, and third laser range finder 13 jth time is measured To third distance measure be denoted as L₃(j)；

Step C2, then spacing between manual measurement third laser range finder 13 and benchmark parallel target, obtains third distance True value is simultaneously denoted as Z₃；

Step C3, according to formulaObtain the middle error of 13 ranging of third laser range finder m_c′；Wherein, N indicates measurement total degree, and j and N are positive integer, and the value range of j is 1~N, and the value of N is 50~100.

In the present embodiment, it should be noted thatIndicate partial derivative of the tilt angle theta to side length l of object under test, Indicate partial derivative of the tilt angle theta to spacing a ' of object under test,Indicate the tilt angle theta of object under test to spacing b's ' Partial derivative,Indicate partial derivative of the tilt angle theta to spacing c ' of object under test.

In the present embodiment, it should be noted thatThe angle [alpha] of torsion is to side length l's when expression object under test inclination or so Partial derivative,The angle [alpha] of torsion is to the partial derivative of spacing a ' when indicating object under test inclination or so,Indicate object under test Partial derivative of the angle [alpha] reversed when inclination or so to spacing b '.

In the present embodiment, it should be noted thatIndicate the angle beta of front and back torsion when object under test inclination to side length l's Partial derivative,Indicate partial derivative of the angle beta to spacing a ' of front and back torsion when object under test inclination,Indicate object under test The angle beta that front and back is reversed when inclination to the partial derivative of spacing b ',Indicate the angle beta pair that front and back is reversed when object under test inclination The partial derivative of spacing c '.

In the present embodiment, when reality connects, the first laser distance measuring sensor 11,12 and of second laser distance measuring sensor The output end of third laser range sensor 13 can pass through RS485 communication module or RS232 communication module and microprocessor 17 Connect,

In the present embodiment, the microprocessor 17 is STM32F103VET6 microcontroller.

In the present embodiment, setting test target and benchmark parallel target are simply easily set, and materials are convenient, low in cost, can be solely Vertical reflector, can also be the sprayed on material plate with reflection laser function, realize first laser distance measuring sensor 11, second laser 13 ranging of distance measuring sensor 12 and third laser range sensor.

In the present embodiment, before test, benchmark parallel target is set, is to obtain first laser rangefinder 11, second laser The middle error of the ranging of distance measuring sensor 12 and third laser range sensor 13.

In the present embodiment, in the present embodiment, in the present embodiment, alarm 16 is set, is in order to when microprocessor 17 judges When object under test run-off the straight, microprocessor 17 exports high level, triode Q2 conducting, and buzzer LS1 obtains high level, buzzing Device LS1 warning reminding, to propose forecast, in time convenient for taking control measure.

In the present embodiment, working station indicator 18 is set, when being for microprocessor 17 and the work of other modules, Microprocessor 17 exports high level, and triode Q3 conducting, Light-emitting diode LED 4 is bright to be used to indicate, device for monitoring inclination power supply shape State is good, it is ensured that device for monitoring inclination works normally.

In the present embodiment, the setting of A-frame is and to hold to be supported fixation to carrying cabinet 3 convenient for adjusting The tilt angle of 3 bottom of carrier aircraft case so that carrying cabinet on laser detector transmitting laser energy level be projected to it is to be measured Building, in structures or side slope.

In the present embodiment, the purpose of clevis mounting 2 is set in supporting leg fixing seat, is for the installation of installation axle 2-1, just It is sleeved on installation axle 2-1 in one end of supporting leg 9 by anchor ear 10, so as to pass through anchor ear after regulating the tilt angle of supporting leg 9 10 are fixed, easy to adjust.

In the present embodiment, the setting of moving casing mechanism is the height in order to adjust carrying cabinet 3, to be adapted to not The inclined monitoring of level building, structures or side slope.

In the present embodiment, when it is implemented, the moving casing mechanism is replaced by electric telescopic rod, activity can be also lengthened The length of casing mechanism, to adapt to object under test higher.

In the present embodiment, setting carrying cabinet 3, be in order to carrying cabinet in be arranged first laser distance measuring sensor 11, Second laser distance measuring sensor 12 and third laser range sensor 13, convenient for swashing to first laser distance measuring sensor 11, second Ligh-ranging sensor 12 and third laser range sensor 13 are protected, and external environment is avoided to cause laser range sensor Damage, to improve service life, effectively adapts to long-term real-time detection.

In the present embodiment, setting first laser distance measuring sensor 11, second laser distance measuring sensor 12 and third Laser Measuring Away from sensor 13, be in order to at three different locations of determinand respectively apart from first laser distance measuring sensor 11, second laser The spacing of distance measuring sensor 12 and third laser range sensor 13 is detected, and first laser distance measuring sensor 11, second Laser range sensor 12 and third laser range sensor 13 are respectively positioned on same plane, thus obtain building to be measured, The heeling condition of structures or side slope.

In the present embodiment, obliquity sensor 4 is set, be in order to which the tilt angle of bottom to carrying cabinet 3 detects, So that carrying cabinet 3 bottom and ground at horizontal layout, thus make first laser distance measuring sensor 11, second laser ranging pass The laser and ground of sensor 12 and the projection of third laser range sensor 13 are first laser distance measuring sensor at horizontal parallel 11, the detection of second laser distance measuring sensor 12 and third laser range sensor 13 provides accurate benchmark.

The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention In the protection scope of art scheme.

Claims

1. a kind of device for monitoring inclination, it is characterised in that: including rack and the laser detector being mounted on the rack, institute Rack is stated to include A-frame, the moving casing mechanism being mounted at the top of the A-frame and be mounted on the moving casing machine Carrying cabinet (3) at the top of structure, the laser detector include that setting is surveyed in the first laser of the one side of carrying cabinet (3) Away from sensor (11), second laser distance measuring sensor (12) and third laser range sensor (13), the first laser ranging Sensor (11), second laser distance measuring sensor (12) and third laser range sensor (13) laying in equilateral triangle, the The bottom edge of the line of one laser range finder (11) and second laser rangefinder (12) launching centre and the one side of carrying cabinet (3) In parallel；

It is provided with electronic circuit board in the carrying cabinet (3), microprocessor (17) is integrated on the electronic circuit board and is inclined Angle transducer (4) is provided with display screen (15), alarm (16) and working station indicator (18) on the carrying cabinet (3), The first laser distance measuring sensor (11), second laser distance measuring sensor (12), third laser range sensor (13), inclination angle Sensor (4), alarm (16), working station indicator (18) and display screen (15) connect with microprocessor (17).

2. a kind of device for monitoring inclination described in accordance with the claim 1, it is characterised in that: the A-frame includes that supporting leg is fixed Seat and multiple supporting legs (9) for being uniformly mounted on supporting leg fixing seat side, the quantity of the supporting leg (9) are described not less than 3 Supporting leg fixing seat includes cylinder housing (8-1) and multiple clevis mountings for being uniformly mounted on cylinder housing (8-1) side (8-2), the interior installation axle (2-1) being provided with for supporting leg (9) installation of the clevis mounting (8-2), one end of the supporting leg (9) It is sleeved on installation axle (2-1) by anchor ear (9-1).

3. a kind of device for monitoring inclination described in accordance with the claim 1, it is characterised in that: the moving casing mechanism includes big set Pipe (6-1), be mounted in big casing (6-1) and can up and down adjustment small casing (6-2) and to small casing (6-2) and big casing The bottom of the locking nut (7) that (6-1) is locked, the big casing (6-1) is mounted on the top of the A-frame, described Carrying pallet (5) is provided at the top of small casing (6-2), the carrying cabinet (3) is mounted in carrying pallet (5).

4. a kind of device for monitoring inclination described in accordance with the claim 1, it is characterised in that: the obliquity sensor (4) is LCA326T double-shaft tilt angle sensor, first laser distance measuring sensor (11), second laser distance measuring sensor (12) and third laser Distance measuring sensor (13) is the laser range sensor of model SW-LDS50A.

5. a kind of method detected using heeling condition of the device as described in claim 1 to determinand, which is characterized in that Method includes the following steps:

Step 1: monitoring device installation and the foundation of space coordinates:

Test target is mounted on the outer surface of object under test by step 101, and places deformation prison in the front of test target Device is surveyed, the height for carrying cabinet (3) distance from bottom ground in deformation monitoring device is made and tests target distance from bottom ground It is highly identical；Wherein, test target is fixed at the 1/3 of object under test height at~1/2, and object under test is building, constructs Object or side slope are provided with graduated scale on the test target, and the test target is rectangle target, the long side of the test target It is parallel with a side of object under test bottom；

Step 102 adjusts the A-frame, and obliquity sensor (4) is to the inclination between the bottom and ground of carrying cabinet (3) Angle is detected, and the tilt angle between the bottom and ground for the carrying cabinet (3) that will test is sent to microprocessor (17), until the tilt angle between the bottom and ground of carrying cabinet (3) is equal to zero, so that first laser rangefinder (11), The laser beam that second laser rangefinder (12) and third laser range finder (13) are issued is parallel to the ground；Wherein, first The line of laser range finder (11) and second laser rangefinder (12) launching centre is parallel to the ground, the long side of the test target First laser rangefinder (11), second laser rangefinder (12) and third laser range finder (13) launching centre institute in the plane Projection line it is parallel with the line of first laser rangefinder (11) and second laser rangefinder (12) launching centre；

Step 103 crosses origin o and is Y-axis along the long side straight line of test target to test lower-left angular vertex in target as origin o, It crosses origin o and is vertically Z axis with the straight line on ground, cross origin o and be with by the Y-axis straight line vertical with the YOZ plane that Z axis forms X-axis establishes rectangular coordinate system in space；Wherein, the X-axis is positive towards first laser rangefinder (11), second laser ranging Instrument (12) and third laser range finder (13)；

Step 2: the detection of determinand tilt angle:

The judgement of step 201, object under test initial tilt:

The laser beam that step 2011, first laser rangefinder (11) issue, which is incident upon on test target, forms A point of irradiation, and second The laser beam that laser range finder (12) issues, which is incident upon on test target, forms B point of irradiation, third laser range finder (13) hair Laser beam out, which is incident upon on test target, forms C point of irradiation, and first laser rangefinder (11) obtains first laser rangefinder (11) to the spacing of A point of irradiation and it is denoted as a, second laser rangefinder (12) obtains second laser rangefinder (12) and arrives B point of irradiation Spacing and be denoted as b, third laser range finder (13) obtain third laser range finder (13) to C point of irradiation spacing simultaneously be denoted as c, And obtain the coordinate A (x of the A point of irradiation under rectangular coordinate system in space_a,y_a,z_a), the coordinate B (x of B point of irradiation_b,y_b,z_b) and C photograph Coordinate C (the x of exit point_c,y_c,z_c)；

Step 2012 judges whether a=b=c is true using microprocessor (17), when a=b=c establishment, then illustrates object under test There is no initial tilt, and x_a=x_b=x_c=0；

The acquisition of step 202, object under test tilt angle:

Step 2021, when object under test be not present initial tilt when, the tilt angle of measuring targets measures, detailed process It is as follows:

The laser beam that step 20211, first laser rangefinder (11) issue again is incident upon on test target and forms A ' irradiation Point, the laser beam that second laser rangefinder (12) issues again are incident upon on test target and form B ' point of irradiation, third laser The laser beam that rangefinder (13) issues again is incident upon on test target and forms C ' point of irradiation, and first laser rangefinder (11) obtains First laser rangefinder (11) is taken to the spacing of A ' point of irradiation and is denoted as a ', second laser rangefinder (12) obtains second laser and surveys Distance meter (12) to B ' point of irradiation spacing and be denoted as b ', third laser range finder (13) obtain third laser range finder (13) arrive C ' The spacing of point of irradiation is simultaneously denoted as c ', and obtains coordinate A ' (a-a ', the y of A ' point of irradiation_a,z_a), the coordinate B ' of B ' point of irradiation (b-b ', y_b,z_b) and C ' point of irradiation coordinate C ' (c-c ', y_c,z_c)；

Step 20212, using microprocessor (17) according to coordinate A ' (a-a ', the y of A ' point of irradiation_a,z_a), the coordinate of B ' point of irradiation B′(b-b′,y_b,z_b) and C ' point of irradiation coordinate C ' (c-c ', y_c,z_c), obtain vectorAnd vector

Step 20213, line and ground according to first laser rangefinder (11) and second laser rangefinder (12) launching centre In parallel, z is obtained_b=z_a, and a=b=c, and by first laser rangefinder (11), second laser rangefinder (12), third Laser Measuring The side length that distance meter (13) surrounds equilateral triangle is denoted as l, abbreviation vectorAnd vectorIt obtainsAnd vector

Step 20214, using microprocessor (17) basisObtain A ' point of irradiation, B ' point of irradiation and C ' photograph The normal vector of plane where exit point

Step 20215, using microprocessor (17) according to formulaAnd input initial normal vectorObtain the tilt angle of object under test Wherein, the value range of the tilt angle theta of object under test is 0 °~90 °；

Step 2022, when object under test is there are when initial tilt, the tilt angle of measuring targets measures, and detailed process is such as Under:

Step 20221, using microprocessor (17) according to the coordinate A (x of A point of irradiation_a,y_a,z_a), the coordinate B (x of B point of irradiation_b, y_b,z_b) and C point of irradiation coordinate C (x_c,y_c,z_c), obtain vectorAnd vector

Step 20222, using microprocessor (17) basisObtain A point of irradiation, B point of irradiation and C point of irradiation institute In the normal vector of plane

Step 20223 repeats step 20211 to step 20214, obtains putting down where A ' point of irradiation, B ' point of irradiation and C ' point of irradiation The normal vector in face

Step 2031, when object under test be not present initial tilt when, measuring targets tilt when or so torsion angle surveyed Amount, detailed process is as follows:

Step 20311 projects to A ' point of irradiation and B ' point of irradiation on the XOY plane being made of X-axis and Y-axis, obtains A " irradiation Point and B " point of irradiation, and obtain A " the coordinate A of point of irradiation " (a-a ', y_a, 0) and B " the coordinate B of point of irradiation " (b-b ', y_b,0)；

Step 20312, using microprocessor (17) according to A " the coordinate A of point of irradiation " (a-a ', y_a, 0) and B " point of irradiation coordinate B″(b-b′,y_b, 0), it obtains

Step 20313, using microprocessor (17) according to formulaAnd it inputs by X-axis and Z axis group At XOZ plane normal vectorThe angle [alpha] reversed when obtaining object under test inclination or so；Wherein, determinand The value range of the angle [alpha] of torsion is 0 °~90 ° when body tilts or so；

Step 20314 judges when a ' < b ' establishment that object under test reverses the angle α when tilting counterclockwise using microprocessor (17) Degree；When a ' > b ' establishment, object under test reverses α angle when tilting clockwise；When a '=b ' establishment, when object under test tilts Left and right windup-degree is equal to zero；

Step 2032, the angle of torsion measures when object under test is there are when initial tilt, and measuring targets tilt or so, Detailed process is as follows:

Step 20322, using microprocessor (17) according to a " the coordinate a of point of irradiation " (x_a,y_a, 0) and b " the coordinate b of point of irradiation " (x_b,y_b, 0), obtain vector

Step 20323 repeats step 20311 and step 20312, obtains vector

Step 20324, using microprocessor (17) according to formula And input the normal vector for the XOZ plane being made of X-axis and Z axisIt is reversed when obtaining object under test inclination or so Angle [alpha]；

Step 2041, when object under test be not present initial tilt when, measuring targets tilt when front and back reverse angle surveyed Amount, detailed process is as follows:

Using microprocessor (17) according to formulaAnd input the XOY being made of X-axis and Y-axis The normal vector of planeThe angle beta that front and back is reversed when obtaining object under test inclination；Wherein, to be measured as β > 0 Object turns forward；As β < 0, object under test is tilted backwards；Refer on front side of object under test close to first laser rangefinder (11), second laser rangefinder (12) and third laser range finder (13)；

Step 2042, the angle of torsion measures when object under test is there are when initial tilt, and measuring targets tilt or so, Detailed process is as follows:

Using microprocessor (17) according to formulaAnd it inputs by X-axis and Y The normal vector of the XOY plane of axis compositionThe angle beta that front and back is reversed when obtaining object under test inclination；

Step 3: in determinand tilt angle error acquisition:

Step 301, differential of being demanded perfection using the tilt angle theta of microprocessor (17) measuring targets, are obtainedAnd using microprocessor (17) according to formulaObtain the middle error of the tilt angle of object under test m_θ；Wherein, m_lIt is equilateral to indicate that first laser rangefinder (11), second laser rangefinder (12), third laser range finder (13) surround The middle error of the side length l of triangle, m_a′Indicate the middle error of first laser rangefinder (11) ranging, m_b′Indicate that second laser is surveyed The middle error of distance meter (12) ranging, m_c′Indicate the middle error of third laser range finder (13) ranging；

Step 302, the angle [alpha] of torsion is demanded perfection differential when being tilted using microprocessor (17) measuring targets or so, is obtainedAnd using microprocessor (17) according to formulaThe middle error for the angle reversed when obtaining object under test inclination or so m_α；

Step 303, differential of being demanded perfection using the angle beta that front and back when the inclination of microprocessor (17) measuring targets is reversed, are obtainedAnd using microprocessor (17) according to formulaThe angle that front and back is reversed when obtaining object under test inclination Middle error m_β；

Step 4: the compensation of determinand heeling condition:

Step 401, using microprocessor (17) according to formula θ '=θ+m_θ, obtain the relatively large compensation tilt angle theta of object under test '；

Step 402, using microprocessor (17) according to formula α '=α+m_α, reversed when obtaining object under test inclination or so larger Offset angle α '；

Step 403, using microprocessor (17) according to formula β '=β+m_β, front and back is reversed larger when obtaining object under test inclination Offset angle β '.

6. according to the method for claim 5, it is characterised in that: after determinand heeling condition obtains in step 4, obtain Detailed process is as follows for tilt variation rate:

Step I, using microprocessor (17) and by the relatively large compensation tilt angle of the object under test at obtained each measurement moment The relatively large compensation tilt angle for the object under test for being ranked up according to chronological order, and the ith measurement moment being obtained is remembered Make θ ' (i), then basisObtain object under test Angle change rate；I is positive integer, and i > 1；The value range for measuring moment T is for 24 hours~48h；

Step II, using microprocessor (17) and by the object under test at obtained each measurement moment tilt when or so torsion compared with Large compensation angle is ranked up according to chronological order, and when the object under test that the ith measurement moment is obtained tilts or so The larger offset angle of torsion is denoted as α ' (i), then basisObtain the angle of object under test or so torsion Rate of change；

Step III, the compensation that front and back is reversed when being tilted the object under test at obtained each measurement moment using microprocessor (17) Angle is ranked up according to chronological order, and front and back is reversed when the object under test that the ith measurement moment is obtained tilts Offset angle is denoted as β ' (i), then basis Obtain the angle change rate β reversed before and after object under test_s；

Step IV judges θ using microprocessor (17)_s> θ_y、α_s> α_yAnd β_s> β_yIt is whether true,

Work as θ_s> θ_yIt sets up, illustrates that object under test Ramp rates are greater than Ramp rates threshold value, control alarm to microprocessor (17) (16) warning reminding；

Work as α_s> α_yIt sets up, illustrates that object under test tilts rate greater than the rate-valve value that tilts, controlled to microprocessor (17) Alarm (16) warning reminding processed；

Work as β_s> β_yIt sets up, illustrates that object under test tilts forward and back rate greater than rate-valve value is tilted forward and back, controlled to microprocessor (17) Alarm (16) warning reminding processed.

7. according to the method for claim 5, it is characterised in that: the Ramp rates threshold θ_yValue range be 0.02~ 0.1, the rate-valve value α that tilts_yValue range be 0.02~0.1, it is described to tilt forward and back rate-valve value β_yValue model Enclose is 0.02~0.1.

8. according to the method for claim 5, it is characterised in that: first laser rangefinder (11), second laser in step 301 Rangefinder (12), third laser range finder (13) surround the middle error m of the side length l of equilateral triangle_lValue range be 0.005m~0.01m；

The middle error m of first laser rangefinder (11) ranging_a′Acquisition it is as follows:

Step A1, the laser beam that first laser rangefinder (11) issues is projected to benchmark parallel target, the first laser that will test Spacing between rangefinder (11) and benchmark parallel target is sent to microprocessor (17), and first laser rangefinder (11) jth is secondary The first distance measured value measured is denoted as L₁(j)；

Step A2, then spacing between manual measurement first laser rangefinder (11) and benchmark parallel target, it is true to obtain first distance Real value is simultaneously denoted as Z₁；

Step A3, according to formulaObtain the middle error m of first laser rangefinder (11) ranging_a′；

The middle error m of second laser rangefinder (12) ranging_b′Acquisition it is as follows:

Step B1, the laser beam that second laser rangefinder (12) issues is projected to benchmark parallel target, the second laser that will test Spacing between rangefinder (12) and benchmark parallel target is sent to microprocessor (17), and second laser rangefinder (12) jth is secondary The second distance measured value measured is denoted as L₂(j)；

Step B2, then spacing between manual measurement second laser rangefinder (12) and benchmark parallel target, it is true to obtain second distance Real value is simultaneously denoted as Z₂；

Step B3, according to formulaObtain the middle error m of second laser rangefinder (12) ranging_b′；

The middle error m of third laser range finder (13) ranging_c′Acquisition it is as follows:

Step C1, the laser beam that third laser range finder (13) issues is projected to benchmark parallel target, the third laser that will test Spacing between rangefinder (13) and benchmark parallel target is sent to microprocessor (17), and third laser range finder (13) jth is secondary The third distance measure measured is denoted as L₃(j)；

Step C2, then spacing between manual measurement third laser range finder (13) and benchmark parallel target, obtains third distance very Real value is simultaneously denoted as Z₃；

Step C3, according to formulaObtain the middle error m of third laser range finder (13) ranging_c′； Wherein, N indicates measurement total degree, and j and N are positive integer, and the value range of j is 1~N, and the value of N is 50~100.