CN110398222B - Leveling angle and erecting angle measuring method, device and system - Google Patents
Leveling angle and erecting angle measuring method, device and system Download PDFInfo
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- CN110398222B CN110398222B CN201910771823.7A CN201910771823A CN110398222B CN 110398222 B CN110398222 B CN 110398222B CN 201910771823 A CN201910771823 A CN 201910771823A CN 110398222 B CN110398222 B CN 110398222B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention provides a leveling angle and erecting angle measuring method, device and system, wherein the method comprises the following steps: a double-shaft horizontal sensor and a vertical rotation angle sensor are arranged; acquiring the acquisition information of the double-shaft horizontal sensor, wherein the acquisition information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information; carrying out X-axis horizontal adjustment according to the X-axis information to enable the X-axis horizontal adjustment result to meet preset conditions; acquiring the acquisition information of a erecting rotation angle sensor, and acquiring a rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor; and summing the rotation angle used during erecting and Y-axis information to obtain a calculated value of the erecting absolute angle.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a method, a device and a system for measuring a leveling angle and a erecting angle.
Background
The traditional leveling and erecting functions are realized mainly by three sensors, one level measuring instrument is arranged on a back beam and is used for measuring the left and right levelness to realize leveling; one is a rotary encoder arranged on the vertical rotating shaft and used for measuring the relative vertical angle; one is a horizontal measuring instrument (about plus or minus 3 degrees) arranged on a vertical arm, and the absolute angle of the vertical is measured. When the vertical arm is used, after the vertical arm reaches 88 degrees, the judgment value is converted into a level meter on the vertical arm by a rotary encoder, and the judgment of the absolute vertical angle is realized.
Therefore, the traditional leveling and erecting measurement method has the following defects: firstly, the number of sensors is large, the price is high, and secondly, only about 90 absolute vertical angles can be measured.
Disclosure of Invention
The present invention aims to provide a leveling angle and erecting angle measurement method, apparatus and system that overcomes or at least partially solves the above mentioned problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
one aspect of the present invention provides a leveling angle and erecting angle measuring method, including: a double-shaft horizontal sensor and a vertical rotation angle sensor are arranged; acquiring the acquisition information of the double-shaft horizontal sensor, wherein the acquisition information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information; carrying out X-axis horizontal adjustment according to the X-axis information to enable the X-axis horizontal adjustment result to meet preset conditions; acquiring the acquisition information of a erecting rotation angle sensor, and acquiring a rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor; and summing the rotation angle used during erecting and Y-axis information to obtain a calculated value of the erecting absolute angle.
Before acquiring the acquisition information of the dual-axis level sensor, the method further comprises the following steps: and calibrating the Y axis of the double-axis horizontal sensor by using a standard instrument.
After the Y-axis calibration is carried out on the double-axis horizontal sensor by using a standard instrument, and before the acquisition information of the vertical rotation angle sensor is acquired, the method further comprises the following steps: the calibration values of the vertical rotation angle sensor are measured using standard measuring equipment.
Wherein, the calibration value of the vertical rotation angle sensor measured by using the standard measuring equipment comprises: and (3) erecting the slewing arm to an absolute 90 degrees by using standard measuring equipment, and subtracting the current Y axis of the biaxial level meter from the absolute 90 degrees to obtain a calibration value of the erecting slewing angle sensor.
In another aspect, the present invention provides a leveling angle and erecting angle measuring device, including: the acquisition module is used for acquiring the acquisition information of the double-shaft level sensor, wherein the acquisition information of the double-shaft level sensor comprises: x-axis information and Y-axis information; the adjusting module is used for carrying out X-axis horizontal adjustment according to the X-axis information so that the X-axis horizontal adjustment result meets a preset condition; the acquisition module is also used for acquiring the acquisition information of the erecting rotation angle sensor and obtaining the rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor; and the calculation module is used for summing the rotation angle used in erecting and the Y-axis information to obtain a calculation value of the erecting absolute angle.
Wherein, the device still includes: a calibration module; and the calibration module is used for calibrating the Y axis of the double-axis horizontal sensor by using a standard instrument before the acquisition module acquires the acquisition information of the double-axis horizontal sensor.
The calibration module is further used for measuring the calibration value of the vertical rotation angle sensor by using standard measuring equipment before the acquisition module acquires the acquisition information of the vertical rotation angle sensor after the calibration of the Y axis of the double-axis horizontal sensor is performed by using a standard instrument.
Wherein, mark school module uses standard measuring equipment to measure the mark school value of erecting gyration angle sensor through following mode: and the calibration module is specifically used for erecting the slewing arm to an absolute 90 degrees by using standard measuring equipment, and subtracting the current Y axis of the biaxial level meter from the absolute 90 degrees to obtain a calibration value of the erecting slewing angle sensor.
In another aspect, the present invention provides a leveling angle and erecting angle measuring system, including: the leveling angle and erecting angle measuring device, the double-shaft level sensor and the erecting rotation angle sensor are arranged on the base; the double-shaft horizontal sensor is used for collecting horizontal sensing information to obtain the collected information of the double-shaft horizontal sensor, wherein the collected information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information; and the erecting rotation angle sensor is used for acquiring erecting rotation angle sensing information to obtain acquisition information of the erecting rotation angle sensor.
Wherein, the double-shaft horizontal sensor is arranged on the back beam, and the vertical rotation angle sensor is arranged on the vertical rotation shaft.
Therefore, the leveling angle and erecting angle measuring method, device and system provided by the invention have the advantages that one sensor is less than that in the traditional method, the direct cost is reduced by 3-5W yuan, the performance higher than that in the traditional method can be realized, the absolute erecting angle of any erecting point can be measured, the system is skillfully simplified, and the cost performance of the system is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a leveling angle and erecting angle measuring system provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a leveling angle and erecting angle measuring device provided by an embodiment of the present invention;
fig. 3 is a flowchart of a leveling angle and a rising angle measuring method according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 is a schematic structural diagram illustrating a leveling angle and rising angle measuring system according to an embodiment of the present invention, and referring to fig. 1, the leveling angle and rising angle measuring system according to an embodiment of the present invention includes:
a leveling angle and erecting angle measuring device, a double-shaft level sensor and an erecting rotation angle sensor;
the double-shaft horizontal sensor is used for collecting horizontal sensing information to obtain the collected information of the double-shaft horizontal sensor, wherein the collected information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information;
and the erecting rotation angle sensor is used for acquiring erecting rotation angle sensing information to obtain acquisition information of the erecting rotation angle sensor.
Specifically, in the embodiment of the invention, only two sensors, namely a double-shaft horizontal sensor and a vertical rotation angle sensor, are arranged, so that the use number of the sensors can be reduced and the construction cost of the system can be saved compared with the existing measuring system.
As an optional implementation mode of the embodiment of the invention, the double-shaft horizontal sensor is arranged on the back beam, and the vertical rotation angle sensor is arranged on the vertical rotation shaft. When in leveling, the double-shaft level sensor measures the left and right levelness (namely X-axis information) to realize the leveling function.
The leveling angle and erecting angle measuring device provided by the embodiment of the present invention, referring to fig. 2, may be further described with reference to fig. 2, and includes:
the acquisition module is used for acquiring the acquisition information of the double-shaft level sensor, wherein the acquisition information of the double-shaft level sensor comprises: x-axis information and Y-axis information;
the adjusting module is used for carrying out X-axis horizontal adjustment according to the X-axis information so that the X-axis horizontal adjustment result meets a preset condition;
the acquisition module is also used for acquiring the acquisition information of the erecting rotation angle sensor and obtaining the rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor;
and the calculation module is used for summing the rotation angle used in erecting and the Y-axis information to obtain a calculation value of the erecting absolute angle.
Specifically, in the embodiment of the present invention, making the X-axis horizontal adjustment result meet the preset condition means: and the X-axis levelness of the double-shaft levelness sensor is used during leveling, so that the leveling function is realized (namely, the horizontal angle is ensured to meet the requirement).
And when erecting, adding the rotation angle and the double-shaft levelness Y-axis value to be used as an erecting absolute angle judgment value.
This makes it possible to increase the absolute angle measurement range.
As an optional implementation manner of the embodiment of the present invention, the leveling angle and erecting angle measuring apparatus further includes: a calibration module; and the calibration module is used for calibrating the Y axis of the double-axis horizontal sensor by using a standard instrument before the acquisition module acquires the acquisition information of the double-axis horizontal sensor.
And the calibration module is further used for measuring the calibration value of the vertical rotation angle sensor by using standard measuring equipment before the acquisition module acquires the acquisition information of the vertical rotation angle sensor after the Y-axis calibration is carried out on the double-axis horizontal sensor by using a standard instrument. Specifically, the calibration module is used for calibrating the vertical rotation angle, and the calibration of the vertical rotation angle is the calibration of the vertical relative angle. Namely, in the invention, three values need to be calibrated, and the three values need to be calibrated and then used, namely, the X-axis, the Y-axis and the vertical rotation angle are calibrated in sequence. In addition, the calibration of the Y axis needs to be performed before the calibration of the vertical rotation angle in the invention, so as to ensure the accuracy of the calibration of the vertical rotation angle.
Further, the calibration module measures the calibration value of the vertical rotation angle sensor by using standard measuring equipment as follows: and the calibration module is specifically used for erecting the slewing arm to an absolute 90 degrees by using standard measuring equipment, and subtracting the current Y axis of the biaxial level meter from the absolute 90 degrees to obtain a calibration value of the erecting slewing angle sensor.
Therefore, a standard instrument can be used for calibrating the Y axis of the double-axis level gauge, then the standard measuring equipment is used for erecting the slewing arm to an absolute 90 degrees, and at the moment, the current Y axis of the double-axis level gauge is subtracted from the absolute 90 degrees, namely the calibration value of the vertical slewing angle sensor is obtained. Through this kind of mode, can mark the school to erecting gyration angle to improve the accuracy nature of the calculated value of erecting absolute angle.
Therefore, by the leveling angle and erecting angle measuring system and device, compared with the traditional method, one sensor is omitted, the direct cost is reduced by 3-5W yuan, the performance higher than that of the traditional method can be realized, the absolute erecting angle of any erecting point can be measured, the system is ingeniously simplified, and the cost performance of the system is improved.
Meanwhile, the calibration of the sensor is flexible and simple.
Fig. 3 shows a flowchart of a leveling angle and vertical angle measuring method provided in an embodiment of the present invention, and the leveling angle and vertical angle measuring method provided in an embodiment of the present invention is applied to the leveling angle and vertical angle measuring system and device, and only briefly described herein, but not for the best of all, please refer to the relevant descriptions of the leveling angle and vertical angle measuring system and device, which are not described herein again, see fig. 3, and the leveling angle and vertical angle measuring method provided in an embodiment of the present invention includes:
s1, setting a double-shaft horizontal sensor and a vertical rotation angle sensor;
s2, acquiring the acquisition information of the double-shaft horizontal sensor, wherein the acquisition information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information;
s3, carrying out X-axis horizontal adjustment according to the X-axis information to enable the X-axis horizontal adjustment result to meet preset conditions;
s4, acquiring the acquisition information of the erecting rotation angle sensor, and acquiring the rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor;
and S5, summing the rotation angle used in erecting and the Y-axis information to obtain a calculated value of the erecting absolute angle.
As an optional implementation manner of the embodiment of the present invention, before acquiring the collected information of the biaxial level sensor, the leveling angle and the erecting angle measurement method provided by the embodiment of the present invention further includes: and calibrating the Y axis of the double-axis horizontal sensor by using a standard instrument.
As an optional implementation manner of the embodiment of the present invention, after performing Y-axis calibration on a dual-axis horizontal sensor by using a standard instrument, and before acquiring acquisition information of a vertical rotation angle sensor, the leveling angle and vertical angle measurement method provided by the embodiment of the present invention further includes: the calibration values of the vertical rotation angle sensor are measured using standard measuring equipment.
As an alternative implementation of the embodiment of the present invention, the measuring the calibration value of the vertical rotation angle sensor by using a standard measuring device comprises: and (3) erecting the slewing arm to an absolute 90 degrees by using standard measuring equipment, and subtracting the current Y axis of the biaxial level meter from the absolute 90 degrees to obtain a calibration value of the erecting slewing angle sensor.
Therefore, by the leveling angle and erecting angle measuring method, compared with the traditional method, one sensor is used less, the direct cost is reduced by 3-5W yuan, and higher performance can be realized compared with the traditional method, namely, the absolute erecting angle of any erecting point can be measured, the system is ingeniously simplified, and the cost performance of the system is improved.
Meanwhile, the calibration of the sensor is flexible and simple.
Hereinafter, a specific leveling angle and erecting angle measuring method is provided, but the present invention is not limited thereto:
the embodiment of the invention only adopts two sensors, namely a double-shaft levelness sensor and a vertical rotation angle sensor, a double-shaft level meter is arranged on the back beam, and the left levelness and the right levelness are measured according to the sensors during leveling, namely the X-axis levelness of the double-shaft levelness sensor is used during leveling, so that the leveling function is realized. When erecting, the rotation angle is added with the Y-axis value of the double-axis levelness to be used as an absolute erecting angle judgment value, namely, a relative erecting rotation angle sensor is arranged on the erecting rotation shaft, and when erecting, the Y-axis of the double-axis gradienter is added with the relative rotation angle measured by the erecting rotation angle sensor to realize the measurement and calculation of the absolute erecting angle.
In addition, before the measurement and calculation of the absolute vertical angle, the calibration of the sensor is carried out, namely, a standard instrument is used, the calibration of the Y axis of the double-axis level meter is firstly carried out, then, the rotating arm is erected to an absolute 90 degree by using a standard measuring device, and at the moment, the current Y axis of the double-axis level meter is subtracted from the absolute 90 degree, so that the calibration value of the rotating angle sensor is obtained.
Therefore, by the leveling angle and erecting angle measuring method, compared with the traditional method, one sensor is used less, the direct cost is reduced by 3-5W yuan, and higher performance can be realized compared with the traditional method, namely, the absolute erecting angle of any erecting point can be measured, the system is ingeniously simplified, and the cost performance of the system is improved.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A leveling angle and erecting angle measuring method is characterized by comprising the following steps:
a double-shaft horizontal sensor and a vertical rotation angle sensor are arranged;
acquiring the acquisition information of the dual-axis level sensor, wherein the acquisition information of the dual-axis level sensor comprises: x-axis information and Y-axis information;
carrying out X-axis horizontal adjustment according to the X-axis information to enable an X-axis horizontal adjustment result to meet a preset condition;
acquiring the acquisition information of the erecting rotation angle sensor, and acquiring a rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor;
and summing the rotation angle used during erecting and the Y-axis information to obtain a calculated value of the erecting absolute angle.
2. The method of claim 1, further comprising, prior to acquiring the acquisition information of the dual-axis level sensor:
and calibrating the Y axis of the double-axis horizontal sensor by using a standard instrument.
3. The method of claim 2, wherein after calibrating the two-axis horizontal sensor with a standard instrument in the Y-axis direction, and before acquiring the acquisition information of the vertical rotation angle sensor, the method further comprises:
and measuring the calibration value of the vertical rotation angle sensor by using standard measuring equipment.
4. The method of claim 3, wherein measuring the calibration value of the tilt angle sensor using standard measurement equipment comprises:
and (3) erecting the slewing arm to an absolute 90 degrees by using the standard measuring equipment, and subtracting the current Y axis of the biaxial level meter from the absolute 90 degrees to obtain a calibration value of the erecting slewing angle sensor.
5. A leveling angle and erecting angle measuring device, comprising:
the acquisition module is used for acquiring the acquisition information of the double-shaft horizontal sensor, wherein the acquisition information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information;
the adjusting module is used for carrying out X-axis horizontal adjustment according to the X-axis information so that an X-axis horizontal adjustment result meets a preset condition;
the acquisition module is also used for acquiring the acquisition information of the erecting rotation angle sensor and acquiring the rotation angle used in erecting according to the acquisition information of the erecting rotation angle sensor;
and the calculation module is used for summing the rotation angle used in the erecting process and the Y-axis information to obtain a calculation value of the erecting absolute angle.
6. The apparatus of claim 5, further comprising: a calibration module;
and the calibration module is used for calibrating the Y axis of the double-axis horizontal sensor by using a standard instrument before the acquisition module acquires the acquisition information of the double-axis horizontal sensor.
7. The apparatus of claim 6, wherein the calibration module is further configured to measure the calibration value of the tilt angle sensor using a standard measuring device after the two-axis horizontal sensor is calibrated in the Y-axis direction by using a standard instrument and before the acquisition module acquires the collected information of the tilt angle sensor.
8. The apparatus of claim 7, wherein the calibration module measures the calibration value of the tilt angle sensor using standard measurement equipment by:
the calibration module is specifically used for erecting the revolving arm to an absolute 90 degrees by using the standard measuring equipment, and subtracting the current Y axis of the biaxial level from the absolute 90 degrees to obtain a calibration value of the erecting and revolving angle sensor.
9. A leveling angle and erecting angle measurement system, comprising: a two-axis level sensor, a vertical pivot angle sensor, and the leveling angle and vertical angle measuring device of any one of claims 5-8;
the double-shaft horizontal sensor is used for collecting horizontal sensing information to obtain the collected information of the double-shaft horizontal sensor, wherein the collected information of the double-shaft horizontal sensor comprises: x-axis information and Y-axis information;
and the erecting rotation angle sensor is used for collecting erecting rotation angle sensing information to obtain the collecting information of the erecting rotation angle sensor.
10. The system of claim 9, wherein the dual-axis horizontal sensor is mounted on the back beam and the tilt angle sensor is mounted on the tilt pivot.
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