CN110160499B

CN110160499B - Inclination monitoring device and method

Info

Publication number: CN110160499B
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 Chaoyue Intelligent Technology Co ltd
Current assignee: Xi'an Chaoyue Intelligent Technology Co ltd
Priority date: 2019-06-21
Filing date: 2019-06-21
Publication date: 2024-05-28
Anticipated expiration: 2039-06-21
Also published as: CN110160499A

Abstract

The invention discloses an inclination monitoring device and method, the device comprises a frame and a laser detection device, the frame comprises a tripod, a movable sleeve mechanism and a bearing case, the laser detection device comprises a first laser ranging sensor, a second laser ranging sensor and a third laser ranging sensor, an electronic circuit board is arranged in the bearing case, and a microprocessor, an inclination sensor and a power module are integrated on the electronic circuit board; the method comprises the following steps: 1. installing a monitoring device and establishing a space coordinate system; 2. detecting the inclination angle of an object to be detected; 3. obtaining an error in the inclination angle of the object to be detected; 4. compensating the inclination state of the object to be detected. The invention has reasonable design, accurate and convenient detection, time and labor saving, low cost, and can acquire the inclination angles of buildings, structures and slopes, realize real-time monitoring, and thus, the invention provides forecast in time and is convenient for taking control measures.

Description

Inclination monitoring device and method

Technical Field

The invention belongs to the technical field of geotechnical engineering test, and particularly relates to an inclination monitoring device and method.

Background

The deformation of the projects such as buildings, structures, slopes and the like can cause huge loss to life and property of people, and seriously disturb the normal living order of people. Therefore, tilt deformation is very important in engineering measurement. If the engineering inclination deformation of buildings, structures, slopes and the like is effectively monitored before the accident occurs, prediction, prevention and control can be provided, so that the safety of lives and properties of people is ensured. The current monitoring method for engineering inclination deformation of buildings, structures, slopes and the like comprises the following steps:

Firstly, adopting a theodolite casting method, arranging an observation mark at the bottom of a foundation of an object to be measured, then using a precise angle measuring instrument (a theodolite or a total station) to cast a vertical axis upwards, setting an observation mark on the top of the object to be measured and positioned on the vertical axis, and judging the inclination state of the object to be measured by detecting that the connection of the two observation marks deviates from the cast vertical axis;

and secondly, according to the horizontal angle measurement method, observation marks are required to be respectively arranged at the top center and the bottom center of the object to be measured, and two ground observation piers are arranged to obtain the relative displacement value of the top center of the object to be measured relative to the bottom center so as to judge the inclination state of the object to be measured. However, the theodolite casting method and the horizontal angle measuring method need to be manually used for measurement, so that the labor intensity is high; in addition, real-time detection and pre-judgment of the object to be detected cannot be realized. The inclination monitoring device and method are reasonable in design, accurate and convenient to detect, time-saving, labor-saving and low in cost, and the inclination angles of buildings, structures and slopes are acquired, so that real-time monitoring is realized, forecast is provided in time, and prevention and treatment measures are convenient to take.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the inclination monitoring device which is reasonable in design, accurate and convenient to detect, time-saving, labor-saving, low in cost, capable of acquiring the inclination angles of buildings, structures and slopes and realizing real-time monitoring, so that forecast is provided in time, prevention and treatment measures are convenient to take, and high in practicability.

In order to solve the technical problems, the invention adopts the following technical scheme: an inclination monitoring device, characterized in that: the laser detection device comprises a frame and a laser detection device arranged on the frame, wherein the frame comprises a triangular bracket, a movable sleeve mechanism arranged at the top of the triangular bracket and a bearing case arranged at the top of the movable sleeve mechanism, the laser detection device comprises a first laser ranging sensor, a second laser ranging sensor and a third laser ranging sensor which are arranged on one side surface of the bearing case, the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are distributed in an equilateral triangle, and a connecting line of the transmitting centers of the first laser ranging sensor and the second laser ranging sensor is parallel to the bottom edge of one side surface of the bearing case;

The electronic circuit board is arranged in the bearing case, the microprocessor and the inclination sensor are integrated on the electronic circuit board, the display screen, the alarm and the working state indicator lamp are arranged on the bearing case, and the first laser ranging sensor, the second laser ranging sensor, the third laser ranging sensor, the inclination sensor, the alarm, the working state indicator lamp and the display screen are all connected with the microprocessor.

The above-mentioned tilt monitoring device, its characterized in that: the triangular bracket comprises supporting leg fixing seats and a plurality of supporting legs which are uniformly arranged on the periphery of the supporting leg fixing seats, the number of the supporting legs is not less than 3, the supporting leg fixing seats comprise cylinder seats and a plurality of U-shaped mounting seats which are uniformly arranged on the periphery of the cylinder seats, mounting shafts for supporting leg mounting are arranged in the U-shaped mounting seats, and one ends of the supporting legs are sleeved on the mounting shafts through hoops.

The above-mentioned tilt monitoring device, its characterized in that: the movable sleeve mechanism comprises a large sleeve, a small sleeve which is arranged in the large sleeve and can be adjusted up and down, and a lock nut which locks the small sleeve and the large sleeve, wherein the bottom of the large sleeve is arranged at the top of the triangular bracket, the top of the small sleeve is provided with a bearing tray, and the bearing case is arranged on the bearing tray.

The above-mentioned tilt monitoring device, its characterized in that: the inclination angle sensor is an LCA326T double-shaft inclination angle sensor, and the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are all laser ranging sensors with the model of SW-LDS 50A.

Meanwhile, the invention also discloses a tilt monitoring method with simple steps and reasonable design, which is characterized by comprising the following steps:

step one, monitoring device installation and establishment of a space coordinate system:

Step 101, mounting a test target on the outer surface of an object to be tested, and placing a deformation monitoring device in front of the test target, so that the height of the bottom of a bearing chassis in the deformation monitoring device from the ground is the same as the height of the bottom of the test target from the ground; the test target is fixed at 1/3 to 1/2 of the height of the object to be tested, the object to be tested is a building, a structure or a slope, a graduated scale is arranged on the test target, the test target is a rectangular target, and the long side of the test target is parallel to one side of the bottom of the object to be tested;

102, adjusting the triangular bracket, detecting the inclination angle between the bottom of the bearing chassis and the ground by using an inclination angle sensor, and sending the detected inclination angle between the bottom of the bearing chassis and the ground to a microprocessor until the inclination angle between the bottom of the bearing chassis and the ground is equal to zero, so that laser beams emitted by the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are parallel to the ground; the line of the emission centers of the first laser ranging sensor and the second laser ranging sensor is parallel to the ground, and the projection line of the long side of the test target on the plane of the emission centers of the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor is parallel to the line of the emission centers of the first laser ranging sensor and the second laser ranging sensor;

Step 103, taking the vertex of the lower left corner in the test target as an origin o, taking a straight line passing through the origin o and along the long side of the test target as a Y axis, taking a straight line passing through the origin o and vertical to the ground as a Z axis, taking a straight line passing through the origin o and vertical to a YOZ plane formed by the Y axis and the Z axis as an X axis, and establishing a space rectangular coordinate system; the forward direction of the X axis faces the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor;

Step two, detecting the inclination angle of the object to be detected:

Step 201, judging the initial inclination of the object to be tested:

2011, projecting a laser beam emitted by a first laser ranging sensor on a test target to form an A irradiation point, projecting a laser beam emitted by a second laser ranging sensor on the test target to form a B irradiation point, projecting a laser beam emitted by a third laser ranging sensor on the test target to form a C irradiation point, acquiring a distance from the first laser ranging sensor to the A irradiation point and marking the distance from the second laser ranging sensor to the B irradiation point as a, acquiring a distance from the third laser ranging sensor to the C irradiation point and marking the distance from the third laser ranging sensor to the C irradiation point as C, and acquiring coordinates A (x _a,y_a,z_a) of the A irradiation point, coordinates B (x _b,y_b,z_b) of the B irradiation point and coordinates C (x _c,y_c,z_c) of the C irradiation point in a space rectangular coordinate system;

Step 2012, judging whether a=b=c is true by adopting a microprocessor, and when a=b=c is true, indicating that the object to be detected has no initial inclination, and x _a＝x_b＝x_c =0;

when a=b=c is not satisfied, indicating that the object to be measured has initial inclination;

Step 202, obtaining the inclination angle of an object to be measured:

step 2021, when the object to be measured has no initial inclination, measuring the inclination angle of the object to be measured, which specifically includes the following steps:

In step 20211, the laser beam re-emitted by the first laser ranging sensor is projected on the test target to form an a 'irradiation point, the laser beam re-emitted by the second laser ranging sensor is projected on the test target to form a B' irradiation point, the laser beam re-emitted by the third laser ranging sensor is projected on the test target to form a C 'irradiation point, the first laser ranging sensor acquires the distance from the first laser ranging sensor to the a' irradiation point and marks a 'thereon, the second laser ranging sensor acquires the distance from the second laser ranging sensor to the B' irradiation point and marks B 'thereon, the third laser ranging sensor acquires the distance from the third laser ranging sensor to the C' irradiation point and marks C 'thereon, and acquires coordinates a' (a-a ', y _a,z_a) of the a' irradiation point, coordinates B '(B-B', y _b,z_b) of the B 'irradiation point, and coordinates C' (C-C ', y _c,z_c) of the C' irradiation point;

Step 20212, using a microprocessor to obtain a vector based on the coordinates A ' (a-a ', y _a,z_a) of the A ' irradiation point, the coordinates B ' (B-B ', y _b,z_b) of the B ' irradiation point, and the coordinates C ' (C-C ', y _c,z_c) of the C ' irradiation point Sum vector

Step 20213, obtaining z _b＝z_a according to the connection line of the emission centers of the first laser ranging sensor and the second laser ranging sensor being parallel to the ground, and a=b=c, and recording the side length of the equilateral triangle formed by the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor as l, simplifying the vectorSum vectorObtainingSum vector

Step 20214, using a microprocessor according toObtaining the normal vector/>, of the planes of the A ' irradiation point, the B ' irradiation point and the C ' irradiation point

Step 20215, using a microprocessor to calculate the formulaAnd input an initial normal vectorObtaining the inclination angle of the object to be measuredWherein the value range of the inclination angle theta of the object to be measured is 0-90 degrees;

Step 2022, when the object to be measured has an initial inclination, measuring an inclination angle of the object to be measured, which specifically includes the following steps:

Step 20221, obtaining vectors by using a microprocessor according to the coordinates A (x _a,y_a,z_a) of the A irradiation point, the coordinates B (x _b,y_b,z_b) of the B irradiation point and the coordinates C (x _c,y_c,z_c) of the C irradiation point Sum vector

Step 20222, using a microprocessor according toObtaining the normal vector/>, of the plane where the A irradiation point, the B irradiation point and the C irradiation point are located

Step 20223, repeating steps 20211 to 20214 to obtain normal vectors of the planes of the A ', B ' and C ' irradiation points

Step 20224, according to the formulaAnd input an initial normal vectorObtaining the inclination angle theta of the object to be measured;

step 203, obtaining a left-right torsion angle when the object to be measured is inclined:

Step 2031, when the object to be measured has no initial inclination, measuring the angle of left-right torsion when the object to be measured is inclined, and the specific process is as follows:

Step 20311, projecting the A 'irradiation point and the B' irradiation point onto an XOY plane composed of the X axis and the Y axis to obtain an A 'irradiation point and a B' irradiation point, and acquiring coordinates A '(a-a', Y _a, 0) of the A 'irradiation point and coordinates B' (B-B ', Y _b, 0) of the B' irradiation point;

step 20312, obtaining, by the microprocessor, the coordinates A '(a-a', y _a, 0) of the A 'irradiation point and the coordinates B' (B-B ', y _b, 0) of the B' irradiation point

Step 20313, adopting a microprocessor to calculate the formulaAnd inputting a normal vector/>, of an XOZ plane consisting of an X axis and a Z axisObtaining a left-right torsion angle alpha of an object to be measured when the object to be measured is inclined; wherein the value range of the angle alpha of left-right torsion when the object to be measured is inclined is 0-90 degrees;

Step 20314, judging by a microprocessor that when a '< b' is established, the object to be measured is inclined and is twisted anticlockwise by an angle alpha; when a '> b' is established, the object to be measured is clockwise twisted by an angle alpha when being inclined; when a '=b', the left-right torsion angle is equal to zero when the object to be measured is inclined;

step 2032, when the object to be measured has initial inclination, measuring the angle of left and right torsion when the object to be measured is inclined, and the specific process is as follows:

Step 20321, projecting the A and B irradiation points onto the XOY plane to obtain a "irradiation point and B" irradiation point, and acquiring coordinates a "(x _a,y_a, 0) of the a" irradiation point and coordinates B "(x _b,y_b, 0) of the B" irradiation point;

Step 20322, obtaining vectors by using a microprocessor based on the coordinates a "(x _a,y_a, 0) of the a 'irradiation point and the coordinates b" (x _b,y_b, 0) of the b' irradiation point

Step 20323, repeat step 20311 and step 20312 to obtain a vector

Step 20324, adopting a microprocessor to make the data according to the formulaAnd inputting a normal vector/>, of an XOZ plane consisting of an X axis and a Z axisObtaining a left-right torsion angle alpha of an object to be measured when the object to be measured is inclined;

Step 204, acquiring a front-back torsion angle when the object to be measured is inclined:

Step 2041, when the object to be measured has no initial inclination, measuring the angle of front-back torsion when the object to be measured is inclined, and the specific process is as follows:

the microprocessor is adopted to calculate the formula And inputs the normal vector/>, of an XOY plane consisting of the X axis and the Y axisObtaining an angle beta of front-back torsion of an object to be measured when the object to be measured is inclined; when beta is more than 0, the object to be measured tilts forwards; when beta is less than 0, the object to be measured is inclined backwards; the front side of the object to be measured is close to the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor;

step 2042, when the object to be measured has initial inclination, measuring the left-right torsion angle when the object to be measured is inclined, and the specific process is as follows:

the microprocessor is adopted to calculate the formula And inputs the normal vector/>, of an XOY plane consisting of the X axis and the Y axisObtaining an angle beta of front-back torsion of an object to be measured when the object to be measured is inclined;

Step three, obtaining errors in the inclination angle of the object to be measured:

Step 301, adopting a microprocessor to fully differentiate the inclination angle theta of the object to be detected to obtain And adopts a microprocessor to make the data according to the formulaObtaining a medium error m _θ of the inclination angle of the object to be detected; wherein m _l represents the middle error of the side length l of the equilateral triangle formed by the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor, m _a′ represents the middle error of the ranging of the first laser ranging sensor, m _b′ represents the middle error of the ranging of the second laser ranging sensor, and m _c′ represents the middle error of the ranging of the third laser ranging sensor;

step 302, adopting a microprocessor to fully differentiate the left-right torsion angle alpha when the object to be measured is inclined, thereby obtaining And adopts a microprocessor to make the data according to the formulaObtaining a middle error m _α of the left-right torsion angle of the object to be measured when the object to be measured is inclined;

Step 303, adopting a microprocessor to fully differentiate the angle beta of front and back torsion when the object to be measured is inclined, thereby obtaining And adopts a microprocessor to make the data according to the formulaObtaining a middle error m _β of the front-back torsion angle of the object to be measured when the object to be measured is inclined;

fourth, compensating the inclination state of the object to be detected:

Step 401, obtaining a larger compensation inclination angle theta 'of the object to be measured by adopting a microprocessor according to a formula theta' =theta+m _θ;

Step 402, obtaining a larger compensation angle alpha 'of left-right torsion when the object to be measured is inclined by adopting a microprocessor according to a formula alpha' =alpha+m _α;

Step 403, obtaining a larger compensation angle beta 'of front-back torsion when the object to be measured is inclined by adopting a microprocessor according to a formula beta' =beta+m _β;

6. the method according to claim 5, wherein: after the inclination state of the object to be detected is acquired in the fourth step, the specific process of acquiring the inclination change rate is as follows:

Step I, sequencing the obtained larger compensation inclination angles of the object to be measured at each measuring moment according to time sequence by adopting a microprocessor, recording the larger compensation inclination angle of the object to be measured at the ith measuring moment as theta' (i), and then according to the time sequence Obtaining the change rate of the inclination angle of the object to be measured; i is a positive integer, and i > 1; the value range of the measurement time T is 24-48 hours;

Step II, adopting a microprocessor, sequencing the obtained larger compensating angles of left and right torsion of the object to be measured at each measuring moment according to time sequence, and recording the larger compensating angles of left and right torsion of the object to be measured at the ith measuring moment as alpha '(i), and then according to the alpha' (i) Obtaining the left-right torsion angle change rate of the object to be measured;

Step III, sequencing the obtained compensating angles of front and back torsion of the object to be measured at each measuring moment according to time sequence by adopting a microprocessor, and recording the compensating angle of front and back torsion of the object to be measured at the ith measuring moment as beta' (i) according to time sequence, and then Obtaining the angle change rate beta _s of the front-back torsion of the object to be measured;

Step IV, judging whether theta _s＞θ_y、α_s＞α_y and beta _s＞β_y are met or not by adopting a microprocessor,

When theta _s＞θ_y is met, indicating that the inclination rate of the object to be detected is larger than the inclination rate threshold value, and controlling an alarm to alarm by a microprocessor to remind;

When alpha _s＞α_y is met, indicating that the left-right inclination rate of the object to be detected is larger than a left-right inclination rate threshold value, and waiting for a microprocessor to control an alarm to alarm;

When beta _s＞β_y is established, the front-back inclination rate of the object to be measured is larger than the front-back inclination rate threshold value, and the microprocessor is controlled to alarm for reminding.

8. The method according to claim 5, wherein: the value range of the tilting speed threshold value theta _y is 0.02-0.1, the value range of the left tilting speed threshold value alpha _y and the right tilting speed threshold value alpha _y is 0.02-0.1, and the value range of the front tilting speed threshold value beta _y is 0.02-0.1.

9. The method according to claim 5, wherein: in step 301, the value range of the middle error m _l of the side length l of the equilateral triangle formed by the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor is 0.005 m-0.01 m;

the acquisition of the middle error m _a′ of the ranging of the first laser ranging sensor is as follows:

A1, projecting a laser beam emitted by a first laser ranging sensor to a reference target, transmitting the detected distance between the first laser ranging sensor and the reference target to a microprocessor, and recording a first distance measured value measured by the first laser ranging sensor at the jth time as L ₁ (j);

step A2, manually measuring the distance between the first laser ranging sensor and the reference target to obtain a first distance true value and marking the first distance true value as Z ₁;

Step A3, according to the formula Obtaining a medium error m _a′ of the ranging of the first laser ranging sensor;

The second laser ranging sensor acquires the middle error m _b′ of ranging as follows:

step B1, a laser beam emitted by a second laser ranging sensor is projected to a reference target, the detected distance between the second laser ranging sensor and the reference target is sent to a microprocessor, and a second distance measured value measured by the j-th time of the second laser ranging sensor is recorded as L ₂ (j);

step B2, manually measuring the distance between the second laser ranging sensor and the reference target to obtain a second distance true value and marking the second distance true value as Z ₂;

Step B3, according to the formula Obtaining a medium error m _b′ of the ranging of the second laser ranging sensor;

the acquisition of the medium error m _c′ of the ranging of the third laser ranging sensor is as follows:

step C1, a laser beam emitted by a third laser ranging sensor is projected to a reference target, the detected distance between the third laser ranging sensor and the reference target is sent to a microprocessor, and a third distance measured value measured by the j-th time of the third laser ranging sensor is recorded as L ₃ (j);

Step C2, manually measuring the distance between the third laser ranging sensor and the reference target to obtain a third distance true value and marking the third distance true value as Z ₃;

Step C3, according to the formula Obtaining a medium error m _c′ of the ranging of the third laser ranging sensor; wherein N represents the total number of measurement, j and N are positive integers, the value range of j is 1-N, and the value of N is 50-100.

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

1. The adopted inclination detector has the advantages of simple structure, reasonable design, simplicity and convenience in installation and layout and lower input cost.

2. The adopted inclination detector comprises a tripod, a movable sleeve mechanism and a bearing chassis, wherein the tripod is used for supporting and fixing the bearing chassis and is convenient for adjusting the inclination angle of the bottom of the bearing chassis so as to enable laser energy emitted by a laser detection device on the bearing chassis to be horizontally projected onto a building, a structure or a slope to be detected; the movable sleeve mechanism is arranged for adjusting the height of the bearing case, so that the movable sleeve mechanism is suitable for detecting the inclination states of buildings, structures or slopes with different heights; the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are arranged in the bearing case, so that the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are protected conveniently, damage of the laser ranging sensor caused by the external environment is avoided, the service life is prolonged, and long-term real-time detection is effectively adapted.

3. The first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are arranged in the adopted laser detection device, the distances between the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are respectively measured at three different positions of the object to be detected, and the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are all located on the same plane, so that the inclination state of the building, the structure or the slope to be detected is obtained.

4. The inclination detector is provided with the inclination sensor so as to detect the inclination angle of the bottom of the bearing case, so that the bottom of the bearing case is horizontally distributed with the ground, the laser projected by the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor are horizontally parallel with the ground, and an accurate reference is provided for the detection of the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor.

5. The method for tilting the object to be tested is simple in steps, convenient to implement and simple and convenient to operate, firstly, the monitoring device is installed, the space coordinate system is built, then the tilting angle of the object to be tested is detected, then the error in the tilting angle of the object to be tested is obtained, the tilting angle of the object to be tested is compensated by utilizing the error in the tilting angle of the object to be tested, the larger compensation angle of left and right torsion when the object to be tested is tilted and the larger compensation angle of front and rear torsion when the object to be tested is tilted are obtained, the accuracy of obtaining the tilting angle is improved, the real-time monitoring of the object to be tested is realized, the forecast is timely proposed, and prevention and treatment measures are convenient to take.

In conclusion, the intelligent monitoring system has the advantages of reasonable design, accurate and convenient detection, time and labor saving, low cost, and realization of real-time monitoring by acquiring the inclination angles of buildings, structures and slopes, thereby providing forecast in time, facilitating taking prevention and control measures, and having strong practicability.

The technical scheme of the invention is further described in detail through the drawings and the embodiments.

Drawings

Fig. 1 is a schematic structural view of a tilt monitoring apparatus according to the present invention.

Fig. 2 is a schematic block diagram of a tilt monitoring apparatus according to the present invention.

FIG. 3 is a flow chart of the tilt monitoring method of the present invention.

Reference numerals illustrate:

1-a cylinder seat; 2-U-shaped mounting seats; 2-1, mounting a shaft;

3-a carrying case; 4-an inclination sensor; 5-a carrying tray;

6-1, fixing the sleeve; 6-2-adjusting the sleeve; 7, locking the nut;

9-supporting legs; 10-hoops; 11-a first laser ranging sensor;

12-a second laser ranging sensor; 13-a third laser ranging sensor;

15-a display screen; 16-an alarm;

17-a microprocessor; 18-working state indicator lamp.

Detailed Description

The inclination monitoring device comprises a rack and a laser detection device arranged on the rack, wherein the rack comprises an A-frame, a movable sleeve mechanism arranged on the top of the A-frame and a bearing case 3 arranged on the top of the movable sleeve mechanism, the laser detection device comprises a first laser ranging sensor 11, a second laser ranging sensor 12 and a third laser ranging sensor 13 which are arranged on one side surface of the bearing case 3, the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are arranged in an equilateral triangle, and a connecting line of the transmitting centers of the first laser ranging sensor 11 and the second laser ranging sensor 12 is parallel to the bottom edge of one side surface of the bearing case 3;

An electronic circuit board is arranged in the bearing case 3, a microprocessor 17 and an inclination sensor 4 are integrated on the electronic circuit board, a display screen 15, an alarm 16 and a working state indicator 18 are arranged on the bearing case 3, and the first laser ranging sensor 11, the second laser ranging sensor 12, the third laser ranging sensor 13, the inclination sensor 4, the alarm 16, the working state indicator 18 and the display screen 15 are all connected with the microprocessor 17.

In this embodiment, the tripod includes landing leg fixing base and a plurality of landing leg 9 of evenly installing in landing leg fixing base week side, the quantity of landing leg 9 is not less than 3, the landing leg fixing base includes cylinder seat 8-1 and a plurality of evenly install the U-shaped mount pad 8-2 of cylinder seat 8-1 week side, be provided with the installation axle 2-1 that supplies landing leg 9 to install in the U-shaped mount pad 8-2, the one end of landing leg 9 passes through staple bolt 9-1 suit on installation axle 2-1.

In this embodiment, the movable sleeve mechanism includes a large sleeve 6-1, a small sleeve 6-2 installed in the large sleeve 6-1 and capable of being adjusted up and down, and a locking nut 7 for locking the small sleeve 6-2 and the large sleeve 6-1, the bottom of the large sleeve 6-1 is installed at the top of the tripod, a bearing tray 5 is provided at the top of the small sleeve 6-2, and the bearing case 3 is installed on the bearing tray 5.

In this embodiment, the tilt sensor 4 is an LCA326T biaxial tilt sensor, and the first, second and third laser ranging sensors 11, 12 and 13 are all laser ranging sensors of the type SW-LDS 50A.

As shown in fig. 3, a tilt monitoring method includes the steps of:

Step 101, attaching a test target to the outer surface of an object to be tested, and placing a deformation monitoring device in front of the test target, so that the height of the bottom of a bearing chassis 3 in the deformation monitoring device from the ground is the same as the height of the bottom of the test target from the ground; the test target is fixed at 1/3 to 1/2 of the height of the object to be tested, the object to be tested is a building, a structure or a slope, a graduated scale is arranged on the test target, the test target is a rectangular target, and the long side of the test target is parallel to one side of the bottom of the object to be tested;

Step 102, adjusting the tripod, detecting the inclination angle between the bottom of the carrying case 3 and the ground by the inclination sensor 4, and sending the detected inclination angle between the bottom of the carrying case 3 and the ground to the microprocessor 17 until the inclination angle between the bottom of the carrying case 3 and the ground is equal to zero, so that the laser beams emitted by the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are all parallel to the ground; the connecting line of the emission centers of the first laser ranging sensor 11 and the second laser ranging sensor 12 is parallel to the ground, and the projection line of the long side of the test target on the plane where the emission centers of the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are located is parallel to the connecting line of the emission centers of the first laser ranging sensor 11 and the second laser ranging sensor 12;

step 103, taking the vertex of the lower left corner in the test target as an origin o, taking a straight line passing through the origin o and along the long side of the test target as a Y axis, taking a straight line passing through the origin o and vertical to the ground as a Z axis, taking a straight line passing through the origin o and vertical to a YOZ plane formed by the Y axis and the Z axis as an X axis, and establishing a space rectangular coordinate system; wherein the forward direction of the X-axis is towards the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13;

Step two, detecting the inclination angle of the object to be detected:

Step 201, judging the initial inclination of the object to be tested:

In step 2011, the laser beam emitted by the first laser ranging sensor 11 is projected on the test target to form an A irradiation point, the laser beam emitted by the second laser ranging sensor 12 is projected on the test target to form a B irradiation point, the laser beam emitted by the third laser ranging sensor 13 is projected on the test target to form a C irradiation point, the first laser ranging sensor 11 acquires the distance from the first laser ranging sensor 11 to the A irradiation point and marks a, the second laser ranging sensor 12 acquires the distance from the second laser ranging sensor 12 to the B irradiation point and marks B, the third laser ranging sensor 13 acquires the distance from the third laser ranging sensor 13 to the C irradiation point and marks C, and acquires the coordinates A (x _a,y_a,z_a) of the A irradiation point, the coordinates B (x _b,y_b,z_b) of the B irradiation point and the coordinates C (x _c,y_c,z_c) of the C irradiation point in a space rectangular coordinate system;

step 2012, judging whether a=b=c is true by adopting the microprocessor 17, and when a=b=c is true, indicating that the object to be detected has no initial inclination, and x _a＝x_b＝x_c =0;

Step 202, obtaining the inclination angle of an object to be measured:

In step 20211, the laser beam emitted again by the first laser ranging sensor 11 is projected onto the test target to form an a 'irradiation point, the laser beam emitted again by the second laser ranging sensor 12 is projected onto the test target to form a B' irradiation point, the laser beam emitted again by the third laser ranging sensor 13 is projected onto the test target to form a C 'irradiation point, the first laser ranging sensor 11 acquires the distance from the first laser ranging sensor 11 to the a' irradiation point and is denoted as a ', the second laser ranging sensor 12 acquires the distance from the second laser ranging sensor 12 to the B' irradiation point and is denoted as B ', the third laser ranging sensor 13 acquires the distance from the third laser ranging sensor 13 to the C' irradiation point and is denoted as C ', and acquires coordinates a' (a-a ', y _a,z_a) of the a' irradiation point, coordinates B '(B-B', y _b,z_b) of the B 'irradiation point and coordinates C' (C-C ', y _c,z_c) of the C' irradiation point;

step 20212, using the microprocessor 17 to obtain the vector based on the coordinates A ' (a-a ', y _a,z_a) of the A ' irradiation point, the coordinates B ' (B-B ', y _b,z_b) of the B ' irradiation point, and the coordinates C ' (C-C ', y _c,z_c) of the C ' irradiation point Sum vector

Step 20213, obtaining z _b＝z_a according to the connection line between the emission centers of the first laser ranging sensor 11 and the second laser ranging sensor 12 being parallel to the ground, and a=b=c, and marking the side lengths of the equilateral triangle formed by the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 as l, simplifying the vectorSum vectorObtainingSum vector

Step 20214, using microprocessor 17 according toObtaining the normal vector/>, of the planes of the A ' irradiation point, the B ' irradiation point and the C ' irradiation point

Step 20215, using microprocessor 17 to calculate the formulaAnd input an initial normal vectorObtaining the inclination angle/>, of the object to be measuredWherein the value range of the inclination angle theta of the object to be measured is 0-90 degrees;

Step 20221, obtaining vectors by using the microprocessor 17 according to the coordinates A (x _a,y_a,z_a) of the A irradiation point, the coordinates B (x _b,y_b,z_b) of the B irradiation point, and the coordinates C (x _c,y_c,z_c) of the C irradiation point Sum vector

Step 20222, using microprocessor 17 according toObtaining the normal vector/>, of the plane where the A irradiation point, the B irradiation point and the C irradiation point are located

Step 20312, obtaining, by the microprocessor 17, the coordinates A '(a-a', y _a, 0) of the A 'irradiation point and the coordinates B' (B-B ', y _b, 0) of the B' irradiation point

Step 20313, using microprocessor 17 to calculate the formulaAnd inputting a normal vector/>, of an XOZ plane consisting of an X axis and a Z axisObtaining a left-right torsion angle alpha of an object to be measured when the object to be measured is inclined; wherein the value range of the angle alpha of left-right torsion when the object to be measured is inclined is 0-90 degrees;

step 20314, judging by using the microprocessor 17 that when a '< b' is established, the object to be measured is inclined and is twisted anticlockwise by an angle alpha; when a '> b' is established, the object to be measured is clockwise twisted by an angle alpha when being inclined; when a '=b', the left-right torsion angle is equal to zero when the object to be measured is inclined;

Step 20322, obtaining a vector by using the microprocessor 17 based on the coordinates a "(x _a,y_a, 0) of the a" irradiation point and the coordinates b "(x _b,y_b, 0) of the b" irradiation point

Step 20323, repeat step 20311 and step 20312 to obtain a vector

Step 20324, using microprocessor 17 to calculate the formulaAnd inputting a normal vector of an XOZ plane consisting of an X axis and a Z axisObtaining a left-right torsion angle alpha of an object to be measured when the object to be measured is inclined;

Using a microprocessor 17 according to the formula And inputs the normal vector/>, of an XOY plane consisting of the X axis and the Y axisObtaining an angle beta of front-back torsion of an object to be measured when the object to be measured is inclined; when beta is more than 0, the object to be measured tilts forwards; when beta is less than 0, the object to be measured is inclined backwards; the front side of the object to be measured is near the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13;

Using a microprocessor 17 according to the formula And inputs the normal vector/>, of an XOY plane consisting of the X axis and the Y axisObtaining an angle beta of front-back torsion of an object to be measured when the object to be measured is inclined;

Step 301, adopting the microprocessor 17 to fully differentiate the inclination angle θ of the object to be detected to obtain And employs a microprocessor 17 according to the formulaObtaining a medium error m _θ of the inclination angle of the object to be detected; wherein m _l represents the middle error of the side length l of the equilateral triangle formed by the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13, m _a′ represents the middle error of the ranging of the first laser ranging sensor 11, m _b′ represents the middle error of the ranging of the second laser ranging sensor 12, and m _c′ represents the middle error of the ranging of the third laser ranging sensor 13; /(I)

Step 302, adopting the microprocessor 17 to fully differentiate the left-right torsion angle alpha when the object to be detected is inclined, thereby obtainingAnd employs a microprocessor 17 according to the formulaObtaining a middle error m _α of the left-right torsion angle of the object to be measured when the object to be measured is inclined;

Step 303, adopting the microprocessor 17 to fully differentiate the angle beta of the front-back torsion when the object to be measured is inclined, thereby obtaining And employs a microprocessor 17 according to the formulaObtaining a middle error m _β of the front-back torsion angle of the object to be measured when the object to be measured is inclined;

fourth, compensating the inclination state of the object to be detected:

Step 401, obtaining a larger compensation inclination angle θ 'of the object to be measured by adopting the microprocessor 17 according to the formula θ' =θ+m _θ;

step 402, obtaining a larger compensation angle α 'of left-right torsion when the object to be measured is inclined by adopting the microprocessor 17 according to the formula α' =α+m _α;

Step 403, obtaining a larger compensation angle β 'of front-back torsion when the object to be measured is inclined by adopting the microprocessor 17 according to the formula β' =β+m _β;

In this embodiment, after the inclination state of the object to be measured in the fourth step is obtained, the specific process of obtaining the inclination change rate is as follows:

Step I, adopting a microprocessor 17, sequencing the obtained larger compensation inclination angles of the object to be measured at each measuring moment according to time sequence, recording the larger compensation inclination angle of the object to be measured at the ith measuring moment as theta' (i), and then according to the sequence Obtaining the change rate of the inclination angle of the object to be measured; i is a positive integer, and i > 1; the value range of the measurement time T is 24-48 hours;

Step II, using the microprocessor 17 to sort the obtained larger compensating angles of left and right torsion of the object to be measured at each measuring moment according to time sequence, and marking the larger compensating angles of left and right torsion of the object to be measured at the ith measuring moment as alpha' (i), and then according to the following steps Obtaining the left-right torsion angle change rate of the object to be measured;

Step III, the microprocessor 17 is adopted to sort the obtained compensating angles of front and back torsion of the object to be measured at each measuring moment according to time sequence, and the compensating angle of front and back torsion of the object to be measured at the ith measuring moment is recorded as beta' (i), and then according to the following steps Obtaining the angle change rate beta _s of the front-back torsion of the object to be measured; /(I)

Step IV, adopting the microprocessor 17 to judge whether theta _s＞θ_y、α_s＞α_y and beta _s＞β_y are established,

When theta _s＞θ_y is met, indicating that the inclination rate of the object to be detected is larger than the inclination rate threshold, and waiting for the microprocessor 17 to control the alarm 16 to alarm and remind;

When alpha _s＞α_y is met, the left-right inclination rate of the object to be measured is larger than the left-right inclination rate threshold, and the microprocessor 17 is controlled to alarm and remind the alarm 16;

When beta _s＞β_y is established, the forward and backward tilting speed of the object to be measured is larger than the forward and backward tilting speed threshold, and the microprocessor 17 is controlled to alarm by the alarm 16 for reminding.

In this embodiment, the value range of the tilt rate threshold θ _y is 0.02-0.1, the value range of the left and right tilt rate threshold α _y is 0.02-0.1, and the value range of the front and rear tilt rate threshold β _y is 0.02-0.1.

In this embodiment, in step 301, the value range of the middle error m _l of the side length l of the equilateral triangle formed by the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 is 0.005 m-0.01 m;

The acquisition of the medium error m _a′ of the ranging by the first laser ranging sensor 11 is as follows:

A1, projecting a laser beam emitted by a first laser ranging sensor 11 to a reference target, transmitting a detected distance between the first laser ranging sensor 11 and the reference target to a microprocessor 17, and recording a first distance measured value measured by the first laser ranging sensor 11 for the jth time as L ₁ (j);

Step A2, manually measuring the distance between the first laser ranging sensor 11 and the reference target to obtain a first distance true value and marking the first distance true value as Z ₁;

Step A3, according to the formula Obtaining a medium error m _a′ of the ranging of the first laser ranging sensor 11;

The mid-error m _b′ of the second laser ranging sensor 12 ranging is obtained as follows:

Step B1, the laser beam emitted by the second laser ranging sensor 12 is projected to a reference target, the detected distance between the second laser ranging sensor 12 and the reference target is sent to the microprocessor 17, and the j-th measured second distance measured value of the second laser ranging sensor 12 is recorded as L ₂ (j);

Step B2, manually measuring the distance between the second laser ranging sensor 12 and the reference target to obtain a second distance true value and marking the second distance true value as Z ₂;

Step B3, according to the formula Obtaining a medium error m _b′ of the ranging of the second laser ranging sensor 12;

The intermediate error m _c′ of the ranging by the third laser ranging sensor 13 is obtained as follows:

Step C1, the laser beam emitted by the third laser ranging sensor 13 is projected to a reference target, the detected distance between the third laser ranging sensor 13 and the reference target is sent to the microprocessor 17, and the j-th measured third distance measured value of the third laser ranging sensor 13 is recorded as L ₃ (j);

Step C2, manually measuring the distance between the third laser ranging sensor 13 and the reference target to obtain a third distance true value and marking the third distance true value as Z ₃;

Step C3, according to the formula Obtaining a medium error m _c′ measured by a third laser ranging sensor 13; wherein N represents the total number of measurement, j and N are positive integers, the value range of j is 1-N, and the value of N is 50-100.

In this embodiment, it should be noted that,Represents the partial derivative of the inclination angle theta of the object to be measured to the length l,Representing the partial derivative of the inclination angle theta of the object to be measured with respect to the distance a'Representing the partial derivative of the inclination angle theta of the object to be measured with respect to the distance b'Representing the partial derivative of the inclination angle theta of the object to be measured with respect to the spacing c'.

In this embodiment, it should be noted that,Representing the partial derivative of angle alpha of left and right torsion to length l when the object to be measured is inclined,Representing the partial derivative of the angle alpha of left-right torsion with respect to the distance a' when the object to be measured is tilted,The partial derivative of the angle alpha of the left-right torsion with respect to the distance b' when the object to be measured is tilted is shown.

In this embodiment, it should be noted that,Representing the partial derivative of angle beta of front-back torsion to length l when the object to be measured is inclined,Representing the partial derivative of angle beta of front-back torsion with respect to spacing a' when the object to be measured is tilted,Representing the partial derivative of angle beta of front-back torsion with respect to spacing b' when the object to be measured is tilted,The partial derivative of the angle beta of the front-back twist with respect to the distance c' when the object to be measured is tilted is shown.

In this embodiment, during actual connection, the output ends of the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 may be connected to the microprocessor 17 through an RS485 communication module or an RS232 communication module,

In this embodiment, the microprocessor 17 is an STM32F103VET6 microcontroller.

In this embodiment, the test target and the reference target are set, which is simple and easy to set, the materials are available, the cost is low, and the device can be an independent reflector, or a spraying material plate with the function of reflecting laser, so as to realize the ranging of the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13.

In the present embodiment, the reference target is set before the test in order to acquire the medium errors of the ranging of the first, second, and third laser ranging sensors 11, 12, and 13.

In this embodiment, the alarm 16 is provided, so that when the microprocessor 17 determines that the object to be measured is inclined, the microprocessor 17 outputs a high level, the triode Q2 is turned on, the buzzer LS1 obtains the high level, and the buzzer LS1 alarms to remind, thereby providing a forecast in time, and facilitating taking of prevention measures.

In this embodiment, the working state indicator 18 is set, so that when the microprocessor 17 and other modules work, the microprocessor 17 outputs a high level, the triode Q3 is turned on, the light emitting diode LED4 is turned on for indicating, the power supply state of the tilt monitoring device is good, and the tilt monitoring device is ensured to work normally.

In this embodiment, the tripod is configured to support and fix the bearing chassis 3, and facilitate adjusting an inclination angle of a bottom of the bearing chassis 3, so that laser energy emitted by the laser detection device on the bearing chassis is horizontally projected onto a building, a structure or a slope to be detected.

In this embodiment, the purpose of setting up U-shaped mount pad 2 in the landing leg fixing base is for the installation of installation axle 2-1, and the one end of landing leg 9 of being convenient for passes through staple bolt 10 suit on installation axle 2-1 to make after adjusting the inclination of landing leg 9, fix through staple bolt 10, it is convenient to adjust.

In this embodiment, the movable sleeve mechanism is provided to adjust the height of the carrying case 3, so as to be suitable for monitoring the inclination of buildings, structures or slopes with different heights.

In this embodiment, in implementation, the movable sleeve mechanism may be replaced by an electric telescopic rod, and the length of the movable sleeve mechanism may be further lengthened to adapt to a higher object to be measured.

In this embodiment, the carrying case 3 is set, so that the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are set in the carrying case, so that the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are protected conveniently, damage to the laser ranging sensors caused by external environments is avoided, the service life is prolonged, and long-term real-time detection is effectively adapted.

In this embodiment, the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are provided to detect the distances between the three different positions of the object to be detected and the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13, and the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are all located on the same plane, so as to obtain the inclination state of the building, the structure or the slope to be detected.

In this embodiment, the tilt sensor 4 is provided to detect the tilt angle of the bottom of the carrying case 3, so that the bottom of the carrying case 3 is horizontally arranged with the ground, and the laser beams projected by the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13 are horizontally parallel with the ground, so as to provide an accurate reference for the detection of the first laser ranging sensor 11, the second laser ranging sensor 12 and the third laser ranging sensor 13.

The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. The method for detecting the inclination state of an object to be detected by utilizing an inclination monitoring device comprises a rack and a laser detection device arranged on the rack, wherein the rack comprises a triangular bracket, a movable sleeve mechanism arranged at the top of the triangular bracket and a bearing case (3) arranged at the top of the movable sleeve mechanism, the laser detection device comprises a first laser ranging sensor (11), a second laser ranging sensor (12) and a third laser ranging sensor (13) which are arranged on one side surface of the bearing case (3), the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13) are distributed in an equilateral triangle, and the connecting lines of the emission centers of the first laser ranging sensor (11) and the second laser ranging sensor (12) are parallel to the bottom edge of one side surface of the bearing case (3);

An electronic circuit board is arranged in the bearing case (3), a microprocessor (17) and an inclination sensor (4) are integrated on the electronic circuit board, a display screen (15), an alarm (16) and a working state indicator lamp (18) are arranged on the bearing case (3), and the first laser ranging sensor (11), the second laser ranging sensor (12), the third laser ranging sensor (13), the inclination sensor (4), the alarm (16), the working state indicator lamp (18) and the display screen (15) are all connected with the microprocessor (17); characterized in that the method comprises the following steps:

Step 101, mounting a test target on the outer surface of an object to be tested, and placing a deformation monitoring device in front of the test target, so that the height of the bottom of a bearing chassis (3) in the deformation monitoring device from the ground is the same as the height of the bottom of the test target from the ground; the test target is fixed at 1/3 to 1/2 of the height of the object to be tested, the object to be tested is a building, a structure or a slope, a graduated scale is arranged on the test target, the test target is a rectangular target, and the long side of the test target is parallel to one side of the bottom of the object to be tested;

102, adjusting the tripod, detecting the inclination angle between the bottom of the bearing chassis (3) and the ground by the inclination angle sensor (4), and sending the detected inclination angle between the bottom of the bearing chassis (3) and the ground to the microprocessor (17) until the inclination angle between the bottom of the bearing chassis (3) and the ground is equal to zero, so that laser beams emitted by the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13) are parallel to the ground; the connecting line of the emission centers of the first laser ranging sensor (11) and the second laser ranging sensor (12) is parallel to the ground, and the projection line of the long side of the test target on the plane where the emission centers of the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13) are positioned is parallel to the connecting line of the emission centers of the first laser ranging sensor (11) and the second laser ranging sensor (12);

step 103, taking the vertex of the lower left corner in the test target as an origin o, taking a straight line passing through the origin o and along the long side of the test target as a Y axis, taking a straight line passing through the origin o and vertical to the ground as a Z axis, taking a straight line passing through the origin o and vertical to a YOZ plane formed by the Y axis and the Z axis as an X axis, and establishing a space rectangular coordinate system; wherein the positive direction of the X axis faces the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13);

Step two, detecting the inclination angle of the object to be detected:

Step 201, judging the initial inclination of the object to be tested:

a step 2011 of projecting laser beams emitted by a first laser ranging sensor (11) on a test target to form an A irradiation point, projecting laser beams emitted by a second laser ranging sensor (12) on the test target to form a B irradiation point, projecting laser beams emitted by a third laser ranging sensor (13) on the test target to form a C irradiation point, acquiring the distance from the first laser ranging sensor (11) to the A irradiation point by the first laser ranging sensor (11) and recording a distance from the second laser ranging sensor (12) to the B irradiation point by the second laser ranging sensor (12) and recording B, acquiring the distance from the third laser ranging sensor (13) to the C irradiation point by the third laser ranging sensor (13) and recording C, and acquiring coordinates A (x _a,y_a,z_a) of the A irradiation point, coordinates B (x _b,y_b,z_b) of the B irradiation point and coordinates C (x _c,y_c,z_c) of the C irradiation point under a space rectangular coordinate system;

Step 2012, judging whether a=b=c is satisfied by adopting a microprocessor (17), and when a=b=c is satisfied, indicating that the object to be detected has no initial inclination, and x _a＝x_b＝x_c =0;

Step 202, obtaining the inclination angle of an object to be measured:

20211, projecting the laser beam which is re-emitted by the first laser ranging sensor (11) on the test target to form an A ' irradiation point, projecting the laser beam which is re-emitted by the second laser ranging sensor (12) on the test target to form a B ' irradiation point, projecting the laser beam which is re-emitted by the third laser ranging sensor (13) on the test target to form a C ' irradiation point, acquiring the distance from the first laser ranging sensor (11) to the A ' irradiation point and marking a ' by the first laser ranging sensor (11), acquiring the distance from the second laser ranging sensor (12) to the B ' irradiation point and marking B ' by the second laser ranging sensor (12), acquiring the distance from the third laser ranging sensor (13) to the C ' irradiation point and marking C ' by the third laser ranging sensor (13), and acquiring coordinates A ' (a-a ', y _a,z_a), coordinates B ' (B-B ', y _b,z_b) of the B ' irradiation point and coordinates C ' (C-C ', y _c,z_c) of the C ' irradiation point;

Step 20212, using a microprocessor (17) to obtain a vector based on the coordinates A ' (a-a ', y _a,z_a) of the A ' irradiation point, the coordinates B ' (B-B ', y _b,z_b) of the B ' irradiation point, and the coordinates C ' (C-C ', y _c,z_c) of the C ' irradiation point Sum vector

Step 20213, obtaining z _b＝z_a according to the connection line of the emission centers of the first laser ranging sensor (11) and the second laser ranging sensor (12) being parallel to the ground, and a=b=c, and marking the side lengths of the equilateral triangle formed by the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13) as l, simplifying the vectorSum vectorObtainSum vector

Step 20214, using microprocessor (17) according toObtaining the normal vector/>, of the planes of the A ' irradiation point, the B ' irradiation point and the C ' irradiation point

Step 20215, using microprocessor (17) to calculate the formulaAnd input an initial normal vectorObtaining the inclination angle/>, of the object to be measuredWherein the value range of the inclination angle theta of the object to be measured is 0-90 degrees;

Step 20221, obtaining vectors by using a microprocessor (17) according to the coordinates A (x _a,y_a,z_a) of the A irradiation point, the coordinates B (x _b,y_b,z_b) of the B irradiation point and the coordinates C (x _c,y_c,z_c) of the C irradiation point Sum vector

Step 20222, using microprocessor (17) according toObtaining the normal vector/>, of the plane where the A irradiation point, the B irradiation point and the C irradiation point are located

Step 20312, obtaining, with the microprocessor (17), the coordinates A '(a-a', y _a, 0) of the A 'irradiation point and the coordinates B' (B-B ', y _b, 0) of the B' irradiation point

Step 20313, using a microprocessor (17) according to the formulaAnd inputting a normal vector/>, of an XOZ plane consisting of an X axis and a Z axisObtaining a left-right torsion angle alpha of an object to be measured when the object to be measured is inclined; wherein the value range of the angle alpha of left-right torsion when the object to be measured is inclined is 0-90 degrees;

Step 20314, judging that when a '< b' is established, the object to be measured is inclined and is rotated anticlockwise by an angle alpha by adopting a microprocessor (17); when a '> b' is established, the object to be measured is clockwise twisted by an angle alpha when being inclined; when a '=b', the left-right torsion angle is equal to zero when the object to be measured is inclined;

Step 20322, obtaining a vector by using the microprocessor (17) based on the coordinates a "(x _a,y_a, 0) of the a 'irradiation point and the coordinates b" (x _b,y_b, 0) of the b' irradiation point

Step 20323, repeat step 20311 and step 20312 to obtain a vector

Step 20324, using a microprocessor (17) to calculate the formulaAnd inputting a normal vector/>, of an XOZ plane consisting of an X axis and a Z axisObtaining a left-right torsion angle alpha of an object to be measured when the object to be measured is inclined;

using a microprocessor (17) according to the formula And inputs the normal vector/>, of an XOY plane consisting of the X axis and the Y axisObtaining an angle beta of front-back torsion of an object to be measured when the object to be measured is inclined; when beta is more than 0, the object to be measured tilts forwards; when beta is less than 0, the object to be measured is inclined backwards; the front side of the object to be measured is close to the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13);

using a microprocessor (17) according to the formula And inputs the normal vector/>, of an XOY plane consisting of the X axis and the Y axisObtaining an angle beta of front-back torsion of an object to be measured when the object to be measured is inclined;

Step 301, adopting a microprocessor (17) to fully differentiate the inclination angle theta of the object to be detected to obtain And employs a microprocessor (17) according to the formulaObtaining a medium error m _θ of the inclination angle of the object to be detected; wherein m _l represents the middle error of the side length l of the equilateral triangle formed by the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13), m _a′ represents the middle error of the ranging of the first laser ranging sensor (11), m _b′ represents the middle error of the ranging of the second laser ranging sensor (12), and m _c′ represents the middle error of the ranging of the third laser ranging sensor (13);

Step 302, adopting a microprocessor (17) to fully differentiate the left-right torsion angle alpha when the object to be detected is inclined, thereby obtaining And employs a microprocessor (17) according to the formulaObtaining a middle error m _α of the left-right torsion angle of the object to be measured when the object to be measured is inclined;

Step 303, adopting a microprocessor (17) to fully differentiate the angle beta of the front and back torsion when the object to be detected is inclined, thereby obtaining And employs a microprocessor (17) according to the formulaObtaining a middle error m _β of the front-back torsion angle of the object to be measured when the object to be measured is inclined;

fourth, compensating the inclination state of the object to be detected:

Step 401, obtaining a larger compensation inclination angle theta 'of the object to be measured by adopting a microprocessor (17) according to a formula theta' =theta+m _θ;

Step 402, obtaining a larger compensating angle alpha 'of left-right torsion when the object to be measured is inclined by adopting a microprocessor (17) according to a formula alpha' =alpha+m _α;

step 403, using a microprocessor (17) to obtain a larger compensation angle β 'for front-back torsion when the object to be measured is tilted according to the formula β' =β+m _β.

2. A method according to claim 1, characterized in that: the triangular bracket comprises a supporting leg fixing seat and a plurality of supporting legs (9) which are uniformly arranged on the periphery of the supporting leg fixing seat, the number of the supporting legs (9) is not less than 3, the supporting leg fixing seat comprises a cylinder seat (8-1) and a plurality of U-shaped mounting seats (8-2) which are uniformly arranged on the periphery of the cylinder seat (8-1), mounting shafts (2-1) for the supporting legs (9) to be mounted are arranged in the U-shaped mounting seats (8-2), and one ends of the supporting legs (9) are sleeved on the mounting shafts (2-1) through anchor clamps (9-1).

3. A method according to claim 1, characterized in that: the movable sleeve mechanism comprises a large sleeve (6-1), a small sleeve (6-2) which is arranged in the large sleeve (6-1) and can be adjusted up and down, and a lock nut (7) which locks the small sleeve (6-2) and the large sleeve (6-1), wherein the bottom of the large sleeve (6-1) is arranged at the top of the triangular bracket, a bearing tray (5) is arranged at the top of the small sleeve (6-2), and the bearing case (3) is arranged on the bearing tray (5).

4. A method according to claim 1, characterized in that: the inclination angle sensor (4) is an LCA326T double-shaft inclination angle sensor, and the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13) are all laser ranging sensors with the model of SW-LDS 50A.

5. A method according to claim 1, characterized in that: after the inclination state of the object to be detected is acquired in the fourth step, the specific process of acquiring the inclination change rate is as follows:

Step I, sequencing the obtained larger compensation inclination angles of the object to be measured at each measuring moment according to time sequence by adopting a microprocessor (17), recording the larger compensation inclination angle of the object to be measured at the ith measuring moment as theta' (i), and then according to the sequence Obtaining the change rate of the inclination angle of the object to be measured; i is a positive integer, and i > 1; the value range of the measurement time T is 24-48 hours;

Step II, adopting a microprocessor (17) to sort the obtained larger compensating angles of left and right torsion of the object to be measured at each measuring moment according to time sequence, and marking the larger compensating angles of left and right torsion of the object to be measured at the ith measuring moment as alpha' (i), and then according to the following steps Obtaining the left-right torsion angle change rate of the object to be measured;

Step III, sequencing the obtained compensating angles of front and back torsion of the object to be measured at each measuring moment according to time sequence by adopting a microprocessor (17), and recording the compensating angle of front and back torsion of the object to be measured at the ith measuring moment as beta' (i), and then according to the sequence Obtaining the angle change rate beta _s of the front-back torsion of the object to be measured;

Step IV, judging whether theta _s＞θ_y、α_s＞α_y and beta _s＞β_y are met or not by adopting a microprocessor (17),

When theta _s＞θ_y is met, indicating that the inclination rate of the object to be detected is larger than an inclination rate threshold value, and controlling an alarm (16) to alarm and remind by a microprocessor (17);

when alpha _s＞α_y is met, the left-right inclination rate of the object to be measured is larger than a left-right inclination rate threshold value, and the microprocessor (17) controls the alarm (16) to alarm and remind;

When beta _s＞β_y is established, the forward and backward tilting speed of the object to be measured is larger than the forward and backward tilting speed threshold, and the microprocessor (17) controls the alarm (16) to alarm and remind.

6. The method according to claim 5, wherein: the value range of the tilting speed threshold value theta _y is 0.02-0.1, the value range of the left tilting speed threshold value alpha _y and the right tilting speed threshold value alpha _y is 0.02-0.1, and the value range of the front tilting speed threshold value beta _y is 0.02-0.1.

7. A method according to claim 1, characterized in that: in step 301, the value range of the middle error m _l of the side length l of the equilateral triangle formed by the first laser ranging sensor (11), the second laser ranging sensor (12) and the third laser ranging sensor (13) is 0.005 m-0.01 m;

The acquisition of the medium error m _a′ of the ranging of the first laser ranging sensor (11) is as follows:

A1, projecting a laser beam emitted by a first laser ranging sensor (11) to a reference target, transmitting the detected distance between the first laser ranging sensor (11) and the reference target to a microprocessor (17), and recording a first distance measured value measured by the first laser ranging sensor (11) for the jth time as L ₁ (j);

Step A2, manually measuring the distance between the first laser ranging sensor (11) and the reference target to obtain a first distance true value and marking the first distance true value as Z ₁;

Step A3, according to the formula Obtaining a medium error m _a′ of the ranging of the first laser ranging sensor (11);

The medium error m _b′ of the ranging of the second laser ranging sensor (12) is obtained as follows:

Step B1, a laser beam emitted by a second laser ranging sensor (12) is projected to a reference target, the detected distance between the second laser ranging sensor (12) and the reference target is sent to a microprocessor (17), and a second distance measured value measured by the j-th time of the second laser ranging sensor (12) is recorded as L ₂ (j);

Step B2, manually measuring the distance between the second laser ranging sensor (12) and the reference target to obtain a second distance true value and marking the second distance true value as Z ₂;

Step B3, according to the formula Obtaining a medium error m _b′ of the ranging of the second laser ranging sensor (12);

The medium error m _c′ of the ranging of the third laser ranging sensor (13) is obtained as follows:

step C1, a laser beam emitted by a third laser ranging sensor (13) is projected to a reference target, the detected distance between the third laser ranging sensor (13) and the reference target is sent to a microprocessor (17), and a third distance measured value measured by the jth time of the third laser ranging sensor (13) is recorded as L ₃ (j);

Step C2, manually measuring the distance between the third laser ranging sensor (13) and the reference target to obtain a third distance true value and marking the third distance true value as Z ₃;

Step C3, according to the formula Obtaining a medium error m _c′ of the ranging of the third laser ranging sensor (13); wherein N represents the total number of measurement, j and N are positive integers, the value range of j is 1-N, and the value of N is 50-100.