CN113847873A - Discrete single-point displacement dynamic monitoring device and method based on laser ranging - Google Patents
Discrete single-point displacement dynamic monitoring device and method based on laser ranging Download PDFInfo
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Abstract
The invention provides a discrete single-point displacement dynamic monitoring device based on laser ranging, which comprises: the receiving target comprises a target surface made of light absorption materials, and the target surface is provided with a light reflection ring capable of diffusely reflecting incident light; the first end part of the connecting rod is fixedly connected with the discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface and is positioned at the circle center of the reflecting ring; the laser transmitter comprises a base and two laser range finders arranged on the base mounting surface, and two beams of laser emitted by the two laser range finders are parallel; the driving mechanism is used for driving the base to translate and rotate; and the signal processing system is in signal connection with the laser range finder and the driving mechanism, and calculates the displacement of the discrete single point according to the distance value measured by the laser range finder, the translation distance of the base and the rotation angle through a built-in algorithm. The invention also provides a discrete single-point displacement dynamic monitoring method based on laser ranging. The invention can effectively monitor the displacement generated by discrete single points in real time.
Description
Technical Field
The invention relates to the field of civil engineering measurement, in particular to a device and a method for dynamically monitoring discrete single-point displacement based on laser ranging.
Background
In the field of traditional civil engineering, deformation of tunnels, bridges, foundation pits and the like is generally monitored manually. Because the manual deformation measurement efficiency is low and the real-time monitoring is difficult to realize, some automatic monitoring methods exist in the prior art. At present, the automatic monitoring method of deformation is mainly based on two major categories of laser measurement technology and image measurement technology, wherein the former mainly uses a full-automatic total station, a laser range finder and a laser scanner; the latter mainly relies on image processing techniques, digital photogrammetry techniques.
Because the automatic monitoring method based on the image processing technology and the digital photogrammetry technology needs to sample high-definition image data, the size of a measured object in civil engineering is large, the illumination environment is poor due to field environment restriction, construction interference and the like, the sampling environment is complex, and the high-resolution original image is difficult to collect, so that the final measurement precision is influenced.
Compared with an image processing technology and a photogrammetry technology, the full-automatic total station has high measurement precision, high automation degree and higher cost. The measurement result of the laser measurement deformation by the laser scanner is stable and reliable, the laser scanner can scan and obtain full-section data, and the precision is high during static scanning; however, the laser scanner is not only expensive, but also difficult to locate the designated measuring point when the displacement deformation of the designated discrete single point is measured with high precision, and the amount of redundant data processed is large, which is not beneficial to real-time monitoring. The laser distance measuring instrument is low in price, the distance measuring precision of a single measuring point is high, the three-dimensional coordinates of the measuring point cannot be obtained, and the difficulty of automatically tracking the sighting measuring point again after the measuring point is displaced is large.
Therefore, a deformation monitoring method with high automation degree, low cost, high precision and small interference from the field operation environment is needed for monitoring the deformation displacement of the discrete single point.
Disclosure of Invention
The invention aims to provide a device and a method for dynamically monitoring discrete single-point displacement based on laser ranging, which can monitor the deformation displacement of discrete single points in real time.
In order to achieve the above object, the present invention provides a dynamic monitoring device for discrete single-point displacement based on laser ranging, comprising:
the receiving target comprises a target surface made of light absorption materials, and the target surface is provided with a light reflection ring capable of diffusely reflecting incident light;
the first end part of the connecting rod is fixedly connected with the discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface and is positioned at the circle center of the reflecting ring;
the laser transmitter comprises a base and two laser range finders arranged on a base mounting surface; measuring the distance value between the base and the target surface through the laser which is emitted by the laser range finder and falls on the reflecting ring; two beams of laser emitted by the two laser range finders are parallel;
the driving mechanism is used for driving the base to translate and rotate, so that laser emitted by the laser emitter falls on the reflecting ring, and the position of the laser spot falling on the reflecting ring is changed;
and the signal processing system is in signal connection with the laser range finder and the driving mechanism, obtains the position information of the laser point falling on the reflective ring according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base through a built-in algorithm, and calculates the displacement of the discrete single point according to the position information.
Preferably, the driving mechanism is a single-shaft sliding table; the single-shaft sliding table comprises a sliding block and a sliding rod; the sliding block is fixedly connected with the base, and the base is positioned between the laser range finder and the sliding block; the slide bar is arranged in a penetrating mode, the slide block can move in a horizontal motion along the length direction of the slide bar and can rotate around the central shaft of the slide bar.
Preferably, the device for dynamically monitoring discrete single-point displacement based on laser ranging further comprises: the single-shaft electronic inclinometer is fixedly arranged on the base installation surface and used for measuring the included angle between the base installation surface and the horizontal plane and sending the included angle to the signal processing system.
Preferably, the two laser beams can be projected simultaneously within a range formed by the inner ring of the reflective ring.
The invention also provides a discrete single-point displacement dynamic monitoring method based on laser ranging, which is realized by adopting the discrete single-point displacement dynamic monitoring device based on laser ranging, and the two laser ranging instruments are respectively a first laser ranging instrument and a second laser ranging instrument, and the method is characterized by comprising the following steps:
s1, recording the initial state of the sliding block, and establishing an initial coordinate system based on the initial state of the sliding block;
s2, emitting first and second lasers by the first and second laser range finders; the driving sliding block moves horizontally along the sliding rod and rotates around the central shaft of the sliding rod, and when the first laser and the second laser are projected on the reflecting ring to form a first laser point and a second laser point, the driving sliding block is stopped; according to the translation distance L of the slide block relative to the initial state of the slide block1Angle value measured by uniaxial electronic inclinometer
Distance value l measured by first and second laser range finders1、l2Generating initial coordinates A ═ x (x) of the first and second laser points in the initial coordinate system1,y1,z1)、B＝(x2,y2,z2)；
S3, continuing to drive the sliding block to translate along the sliding rod and rotate around the central shaft of the sliding rod, and stopping driving the sliding block when the first laser and the second laser are projected on the reflective ring again to generate a third laser point and a fourth laser point; according to the translation distance L of the sliding block relative to the initial state of the sliding block2Angle value measured by uniaxial electronic inclinometer
Distance value l measured by first and second laser range finders3、l4Generating initial coordinates C ═ x (x) of the third and fourth laser points in the initial coordinate system3,y3,z3)、D＝(x4,y4,z4)；
S4, calculating the coordinate (X) of the circle center of the reflective ring under the initial coordinate system according to the four initial coordinates A, B, C, DP,YP,ZP)；
S5, repeating the steps S2 to S4 after a set time interval, and obtaining the coordinates (X ') of the circle center of the light reflecting ring under the initial coordinate system'P,Y′P,Z′P) (ii) a Calculating the displacement of discrete single point
Step S1 specifically includes:
s11, recording the initial state of the slide block, including the initial position of the slide block on the slide bar and the angle value measured by the uniaxial electronic inclinometer
S12, establishing an initial coordinate system O-XYZ by taking the plane where the current base mounting surface is as the O-XY plane of the initial coordinate system and the direction which is perpendicular to the base mounting surface and points to the target surface as the + Z-axis direction.
Step S2 is to generate the initial coordinates a of the first and second laser points in the initial coordinate system (x ═ x)1,y1,z1)、B＝(x2,y2,z2) The method specifically comprises the following steps:
s21, establishing a first current coordinate system O '-X' Y 'Z', wherein the current plane of the base mounting surface is the O '-X' Y 'plane of the first current coordinate system, and the + Z' axis direction is the direction which is perpendicular to the base mounting surface and points to the target surface;
s22, the signal processor generates the coordinates of the first and second laser points in the first current coordinate system O '-X' Y 'Z': a '═ x'1,y′1,l1)，B′＝(x′2,y′2,l2) Wherein (x'1,y′1)、(x′2,y′2) Coordinates of the first laser point and the second laser point in an O ' -X ' Y ' plane;
s23, converting A ', B' into O-XYZ under the initial coordinate system by the signal processor to generate corresponding initial coordinates A, B, wherein:
A＝(x1,y1,z1)＝R1 -1·(0,0,l1)-T1，B＝(x2,y2,z2)＝R1 -1·(c,0,l2)-T1；
R1、T1is a rotation matrix and a translation phasor from the first current coordinate system to the initial coordinate system,
step S3 is to generate the initial coordinates C ═ x (x) of the third and fourth laser points in the initial coordinate system3,y3,z3)、D＝(x4,y4,z4) The method specifically comprises the following steps:
s31, establishing a second current coordinate system O '-X' Y 'Z', wherein the plane where the current base installation surface is located is the O '-X' Y 'plane of the second current coordinate system, and the direction of the + Z' axis is the direction which is perpendicular to the base installation surface and points to the target surface;
s32, the signal processor generates the coordinates of the third and fourth laser points in the second current coordinate system O '-X' Y 'Z': c ═ x'3,y′3,l3)，D′＝(x′4,y′4,l4) Wherein (x'3,y′3)、(x′4,y′4) Coordinates of the third and fourth laser points in the O ' -X ' Y ' plane;
s33, converting C 'and D' into initial coordinate system O-XYZ by the signal processor to generate corresponding initial coordinates C, D, wherein
C＝(x3,y3,z3)＝R2 -1·(0,0,l3)-T2，D＝(x4,y4,z4)＝R2 -1·(c,0,l4)-T2；
R2、T2Is the rotation matrix and the translation phasor from the second current coordinate system to the initial coordinate system,
step S4 specifically includes:
s41, calculating the coordinates of the center of a circle of a circumscribed circle of the triangle under the initial coordinate system from any three of the four initial coordinates A, B, C, D as three vertexes of the triangle; repeating step S41 until all combinations of optionally three of the four initial coordinates A, B, C, D are exhausted;
s42, averaging the circle center coordinates obtained in the step S41 to obtain the coordinates (X) of the circle center of the light-reflecting ring in the initial coordinate systemP,YP,ZP)。
Compared with the prior art, the invention has the beneficial effects that:
the discrete single-point displacement dynamic monitoring device based on the laser ranging is simple in structure and high in cost performance; the dynamic monitoring method for the displacement of the discrete single point based on the laser ranging is convenient to operate, accurate in measuring result and capable of effectively monitoring the displacement of the discrete single point due to deformation in real time.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
FIG. 1 is a top view of a laser transmitter and a single axis slide of the present invention according to a first embodiment;
FIG. 2 is a side view of a laser transmitter and a single axis slide of the present invention according to a first embodiment;
FIG. 3 is a schematic diagram illustrating a connection relationship between a connecting rod, a target surface and a discrete single point according to the first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a discrete single-point displacement dynamic monitoring apparatus according to a first embodiment of the present invention;
in the figure: 31. a slide bar; 32. a slider; 33. a first laser range finder; 34. a second laser rangefinder; 35. a single axis electronic inclinometer; 36. a base; 37. a target surface; 371. a light reflecting ring; 39. a connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The invention provides a discrete single point displacement dynamic monitoring device based on laser ranging, as shown in fig. 3, comprising: receiving target, connecting rod 39, laser transmitter, signal processing system (not shown), single axis slide, single axis electronic inclinometer 35.
As shown in fig. 3 and 4, the receiving target includes a target surface 37 made of a light absorbing material, and the target surface 37 is provided with a reflective ring 371 capable of diffusely reflecting incident light.
The first end of the connecting rod 39 is fixedly connected to the discrete single point to be measured (point Q in fig. 3), and the second end thereof is fixedly connected to the target surface 37 and located at the center of the reflective ring 371 (point P in fig. 3).
The laser transmitter comprises a base 36 and two laser range finders (a first laser range finder 33 and a second laser range finder 34 respectively) arranged on a base mounting surface; in this embodiment, to facilitate measurement and calculation, the laser range finder is perpendicular to the base mounting surface. The first laser range finder 33 and the second laser range finder 34 emit two parallel laser beams (first laser beam and second laser beam, respectively) toward the target surface 37, and the two laser beams can be projected simultaneously within a range surrounded by the inner ring of the reflection ring 371. Preferably, the initial positions of the two laser spots projected on the target surface 27 by the two lasers are located within the range surrounded by the inner ring of the reflective ring 371. The distance between the two beams of laser is c meters.
As shown in fig. 1 and 2, the single-shaft sliding table includes a sliding block 32 and a sliding rod 31. The sliding block 32 is fixedly connected with a base 36, and the base 36 is positioned between the laser range finder and the sliding block 32; the slide rod 31 penetrates through the slide block 32, and the slide block 32 can translate along the length direction of the slide rod 31 and can rotate around the central shaft of the slide rod 31. The position of the laser spot on the target surface 37 is changed by driving the slide 32 to translate and rotate. In this embodiment, when the sliding block 32 on the sliding rod 21 translates, the sliding table reads the translation distance of the sliding block 32 and generates a corresponding digital signal to be sent to the signal processing system. Mature products such as screw rod sliding tables exist in the prior art. In the embodiment of the present invention, the two laser beams are projected through the reflective ring 371 by driving the sliding table, the intensity of the ranging signal of the laser range finder gives a difference signal when passing through the reflective ring 371, and the intensity of the laser ranging signal can be analyzed and extracted and calculated by software, so as to obtain the ranging result when the two laser beams are projected on the reflective ring 371 (this is the prior art).
As shown in fig. 1 and 2, the uniaxial electronic inclinometer 35 is fixedly arranged on the base 36, and in the embodiment of the present invention, when the mounting surface of the base is horizontal, the measurement value of the uniaxial electronic inclinometer is initial zero degree. The included angle between the installation surface of the base 36 and the horizontal plane is measured by the single-shaft electronic inclinometer 35 in the process that the sliding block 32 rotates around the central shaft of the sliding rod 31, and the included angle is sent to the signal processing system.
The signal processing system is in signal connection with the laser range finder and the single-axis electronic inclinometer 35, obtains the position information of the laser point falling on the reflection ring 371 through a built-in algorithm according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base 36, and calculates the displacement of the discrete single point according to the position information.
The invention also provides a discrete single-point displacement dynamic monitoring method based on laser ranging, which is realized by adopting the discrete single-point displacement dynamic monitoring device based on laser ranging and comprises the following steps:
s1, recording the initial state of the slide block 32 (including the initial position of the slide block 32 on the slide rod 31 and the angle value measured by the uniaxial electronic inclinometer 35)
) (ii) a Establishing an initial coordinate system based on the initial state of the sliding block; and the plane of the base mounting surface is an O-XY plane of the initial coordinate system. As shown in fig. 1, in the present embodiment, the intersection point of the first laser beam on the base mounting surface is taken as the O point of the initial coordinate system, the connection line between the two intersection points of the two laser beams on the base mounting surface is taken as the X axis of the O-XY plane, and the + Z axis direction is the direction perpendicular to the base mounting surface and pointing to the target surface 37;
s2, the first laser range finder 33 and the second laser range finder 34 emit first and second lasers; the driving slide block 32 translates along the slide bar 31 and rotates around the central axis of the slide bar, and when the first laser and the second laser are both projected on the reflective ring 371 to form a first laser point and a second laser point (positions shown as points a and B in fig. 3), the driving slide block 32 is stopped; according to the translational distance L of the slide 32 relative to the initial state of the slide1Angle value measured by uniaxial electronic inclinometer
Distance value l measured by first and second laser range finders1、l2Generating initial coordinates A ═ x (x) of the first and second laser points in the initial coordinate system1,y1,z1)、B＝(x2,y2,z2)；
In this embodiment, in step S2, the initial coordinates a of the first and second laser points in the initial coordinate system are generated as (x)1,y1,z1)、B＝(x2,y2,z2) The method specifically comprises the following steps:
s21, establishing a first current coordinate system O '-X' Y 'Z', wherein the current plane of the base mounting surface is the O '-X' Y 'plane of the first current coordinate system, and the + Z' axis direction is the direction which is perpendicular to the base mounting surface and points to the target surface 37; taking the intersection point of the first laser on the base mounting surface as an O ' point of a first current coordinate system, and taking the connecting line of the two intersection points of the two beams of laser on the base mounting surface as an X ' axis of an O ' -X ' Y ' plane;
s22, the signal processor generates the coordinates of the first and second laser points in the first current coordinate system O '-X' Y 'Z': a' ═ 0,0, l1)，B′＝(c,0,l2) (ii) a Wherein (0,0) and (c,0) are coordinates of the first and second laser points in the O ' -X ' Y ' plane;
s23, converting A ', B' into O-XYZ under the initial coordinate system by the signal processor to generate corresponding initial coordinates A, B, wherein:
A＝(x1,y1,z1)＝R1 -1·(0,0,l1)-T1，B＝(x2,y2,z2)＝R1 -1·(c,0,l2)-T1；
R1、T1is a rotation matrix and a translation phasor from the first current coordinate system to the initial coordinate system,
s3, continuing to drive the slider 32 to translate along the slide bar 31 and rotate around the central axis of the slide bar, and stopping driving the slider 32 when the first and second lasers are projected again on the reflective ring to generate the third and fourth laser points (positions indicated by points C and D in fig. 3); according to the translational distance L of the slider 32 relative to the initial state of the slider2Angle value measured by uniaxial electronic inclinometer
Distance value l measured by first and second laser range finders3、l4Generating initial coordinates C ═ x (x) of the third and fourth laser points in the initial coordinate system3,y3,z3)、D＝(x4,y4,z4)；
In this embodiment, step S3 generates the initial coordinates C of the third and fourth laser points in the initial coordinate system (x ═ x)3,y3,z3)、D＝(x4,y4,z4) The method specifically comprises the following steps:
s31, establishing a second current coordinate system O ' -X ' Y ' Z ', wherein the plane where the base installation surface is located at present is the O ' -X ' Y ' plane of the second current coordinate system, the intersection point of the first laser on the base installation surface is used as an O ' point of the second current coordinate system, the connecting line of the two intersection points of the two laser beams on the base installation surface is used as the X ' axis of the O ' -X ' Y ' plane, and the + Z ' axis direction is a direction which is perpendicular to the base installation surface and points to the target surface 37;
s32, the signal processor generates the coordinates of the third and fourth laser points in the second current coordinate system O '-X' Y 'Z': c ═ 0,0, l3)，D′＝(c,0,l4)；
S33, converting C 'and D' into initial coordinate system O-XYZ by the signal processor to generate corresponding initial coordinates C, D, wherein
C＝(x3,y3,z3)＝R2 -1·(0,0,l3)-T2，D＝(x4,y4,z4)＝R2 -1·(c,0,l4)-T2；
R2、T2Is the rotation matrix and the translation phasor from the second current coordinate system to the initial coordinate system,
s4, calculating the coordinate (X) of the center of the light-reflecting ring 371 under the initial coordinate system according to the four initial coordinates A, B, C, DP,YP,ZP)；
Step S4 includes:
s41, calculating the coordinates of the center of a circle of a circumscribed circle of the triangle under the initial coordinate system from any three of the four initial coordinates A, B, C, D as three vertexes of the triangle; repeating the step S41 until all combinations of the three initial coordinates are selected; readily known, all in all
Combining to obtain circle center coordinates (X)P1,YP1,ZP1)、(XP2,YP2,ZP2)、(XP3,YP3,ZP3)、(XP4,YP4,ZP4)；
S42, averaging the coordinates of the circumscribed circle obtained in step S41 with the center of the circle in the initial coordinate system to obtain the coordinates of the center of the light-reflecting ring 371 in the initial coordinate system
S5, repeating the steps S2-S4 at set intervals to obtain the coordinate (X ') of the circle center of the light-reflecting ring 371 under the initial coordinate system'P，Y′P，Z′P) (ii) a Displacement of discrete single points
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a discrete single point displacement dynamic monitoring device based on laser rangefinder which characterized in that contains:
the receiving target comprises a target surface made of light absorption materials, and the target surface is provided with a light reflection ring capable of diffusely reflecting incident light;
the first end part of the connecting rod is fixedly connected with the discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface and is positioned at the circle center of the reflecting ring;
the laser transmitter comprises a base and two laser range finders arranged on a base mounting surface; measuring the distance value between the base and the target surface through the laser which is emitted by the laser range finder and falls on the reflecting ring; two beams of laser emitted by the two laser range finders are parallel;
the driving mechanism is used for driving the base to translate and rotate, so that laser emitted by the laser emitter falls on the reflecting ring, and the position of the laser spot falling on the reflecting ring is changed;
and the signal processing system is in signal connection with the laser range finder and the driving mechanism, obtains the position information of the laser point falling on the reflective ring according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base through a built-in algorithm, and calculates the displacement of the discrete single point according to the position information.
2. The laser ranging-based discrete single point displacement dynamic monitoring device as claimed in claim 1, wherein the driving mechanism is a single-shaft sliding table; the single-shaft sliding table comprises a sliding block and a sliding rod; the sliding block is fixedly connected with the base, and the base is positioned between the laser range finder and the sliding block; the slide bar is arranged in a penetrating mode, the slide block can move in a horizontal motion along the length direction of the slide bar and can rotate around the central shaft of the slide bar.
3. The dynamic monitoring device of discrete single point displacement based on laser ranging of claim 1, further comprising: the single-shaft electronic inclinometer is fixedly arranged on the base installation surface and used for measuring the included angle between the base installation surface and the horizontal plane and sending the included angle to the signal processing system.
4. The device for dynamically monitoring the displacement of discrete single points based on laser ranging as claimed in claim 1, wherein the two laser beams can be projected simultaneously within a range formed by the inner ring of the reflective ring.
5. A dynamic monitoring method of discrete single-point displacement based on laser ranging is realized by the dynamic monitoring device of discrete single-point displacement based on laser ranging as claimed in any one of claims 1 to 4, and the two laser ranging instruments are respectively a first laser ranging instrument and a second laser ranging instrument, and the method is characterized by comprising the following steps:
s1, recording the initial state of the sliding block, and establishing an initial coordinate system based on the initial state of the sliding block;
s2, emitting first and second lasers by the first and second laser range finders; the driving sliding block moves horizontally along the sliding rod and rotates around the central shaft of the sliding rod, and when the first laser and the second laser are projected on the reflecting ring to form a first laser point and a second laser point, the driving sliding block is stopped; according to the translation distance L of the slide block relative to the initial state of the slide block1Angle value measured by uniaxial electronic inclinometer
Distance value l measured by first and second laser range finders1、l2Generating initial coordinates A ═ x (x) of the first and second laser points in the initial coordinate system1,y1,z1)、B＝(x2,y2,z2)；
S3, continuing to drive the sliding block to translate along the sliding rod and rotate around the central shaft of the sliding rod, and stopping driving the sliding block when the first laser and the second laser are projected on the reflective ring again to generate a third laser point and a fourth laser point; according to the translation distance L of the sliding block relative to the initial state of the sliding block2Angle value measured by uniaxial electronic inclinometer
Distance value l measured by first and second laser range finders3、l4Generating initial coordinates C ═ x (x) of the third and fourth laser points in the initial coordinate system3,y3,z3)、D＝(x4,y4,z4)；
S4, calculating the coordinate (X) of the circle center of the reflective ring under the initial coordinate system according to the four initial coordinates A, B, C, DP,YP,ZP)；
S5, repeating the steps S2 to S4 after a set time interval, and obtaining the coordinates (X ') of the circle center of the light reflecting ring under the initial coordinate system'P,Y′P,Z′P) (ii) a Calculating the displacement of discrete single point
6. The method of claim 5, wherein the step S1 specifically includes:
s11, recording the initial state of the slide block, including the initial position of the slide block on the slide bar and the angle value measured by the uniaxial electronic inclinometer
S12, establishing an initial coordinate system O-XYZ by taking the plane where the current base mounting surface is as the O-XY plane of the initial coordinate system and the direction which is perpendicular to the base mounting surface and points to the target surface as the + Z-axis direction.
7. The method for dynamically monitoring the displacement of discrete single points based on laser ranging as claimed in claim 5, wherein the step S2 is executed to generate initial coordinates a ═ x (x) of the first and second laser points in the initial coordinate system1,y1,z1)、B＝(x2,y2,z2) The method specifically comprises the following steps:
s21, establishing a first current coordinate system O '-X' Y 'Z', wherein the current plane of the base mounting surface is the O '-X' Y 'plane of the first current coordinate system, and the + Z' axis direction is the direction which is perpendicular to the base mounting surface and points to the target surface;
s22, the signal processor generates the coordinates of the first and second laser points in the first current coordinate system O '-X' Y 'Z': a '═ x'1,y′1,l1)，B′＝(x′2,y′2,l2) Wherein (x'1,y′1)、(x′2,y′2) Coordinates of the first laser point and the second laser point in an O ' -X ' Y ' plane;
s23, converting A ', B' into O-XYZ under the initial coordinate system by the signal processor to generate corresponding initial coordinates A, B, wherein:
A＝(x1,y1,z1)＝R1 -1·(0,0,l1)-T1，B＝(x2,y2,z2)＝R1 -1·(c,0,l2)-T1；
R1、T1is a rotation matrix and a translation phasor from the first current coordinate system to the initial coordinate system,
8. the method for dynamically monitoring the displacement of discrete single points based on laser ranging as claimed in claim 5, wherein the step S3 is to generate initial coordinates C ═ x (x) of the third and fourth laser points in the initial coordinate system3,y3,z3)、D＝(x4,y4,z4) The method specifically comprises the following steps:
s31, establishing a second current coordinate system O '-X' Y 'Z', wherein the plane where the current base installation surface is located is the O '-X' Y 'plane of the second current coordinate system, and the direction of the + Z' axis is the direction which is perpendicular to the base installation surface and points to the target surface;
s32, the signal processor generates the coordinates of the third and fourth laser points in the second current coordinate system O '-X' Y 'Z': c ═ x'3,y′3,l3)，D′＝(x′4,y′4,l4) Wherein (x'3,y′3)、(x′4,y′4) Coordinates of the third and fourth laser points in the O ' -X ' Y ' plane;
s33, converting C 'and D' into initial coordinate system O-XYZ by the signal processor to generate corresponding initial coordinates C, D, wherein
C＝(x3,y3,z3)＝R2 -1·(0,0,l3)-T2，D＝(x4,y4,z4)＝R2 -1·(c,0,l4)-T2；
R2、T2Is the rotation matrix and the translation phasor from the second current coordinate system to the initial coordinate system,
9. the method of claim 5, wherein the step S4 specifically includes:
s41, calculating the coordinates of the center of a circle of a circumscribed circle of the triangle under the initial coordinate system from any three of the four initial coordinates A, B, C, D as three vertexes of the triangle; repeating step S41 until all combinations of optionally three of the four initial coordinates A, B, C, D are exhausted;
s42, averaging the circle center coordinates obtained in the step S41 to obtain the coordinates (X) of the circle center of the light-reflecting ring in the initial coordinate systemP,YP,ZP)。
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