CN103175510A - Smart laser profiler automatic in leveling and direction adjustment - Google Patents

Abstract

The invention belongs to the technical field of geometric dimension measurement, and specifically relates to an automatic leveling and adjusting intelligent laser profiler, which includes an electric rotary table, a wireless communication module, first and second deceleration stepping motors, a bearing seat with bearings, a three-dimensional electronic compass, and a laser ranging sensor. The invention performs automatic leveling and direction adjustment by means of the azimuth indication of the three-dimensional electronic compass, and well solves the problems existing in the prior art. The laser profiler can not only measure the tunnel section profile in real time with the tunnel construction, judge whether there is over-excavation, but also carry out long-term monitoring of the tunnel profile after the tunnel construction is completed. It has high precision, simple and convenient operation, and the instrument is easy to disassemble. Repeated use can be used to perform self-leveling and alignment correction for the base dislocation and torsion caused by geological changes during tunnel monitoring, and realize remote control.

Description

An intelligent laser profiler with automatic leveling and direction adjustment

technical field

The invention belongs to the technical field of geometric dimension measurement, and specifically relates to a high-precision automatic leveling and adjusting intelligent laser profiler, which is especially suitable for surface shape detection, monitoring and safety warning of arched cross-sections such as tunnels and bridges.

Background technique

With the rapid development of high-speed rail, urban underground transportation, and bridge construction, during tunnel construction, under-excavation and over-excavation will affect the installation of tunnel segments. If the segments are installed and the tunnel surface is repaired again, additional labor costs will be incurred and project cost. The installed tunnel segments will loosen due to stress, geological changes, etc. over time, and will fall off in severe cases, affecting the safety of driving in the tunnel. Based on this, the tunnel cross-sectional type detection during tunnel construction and the tunnel surface type monitoring after tunnel excavation have become very urgent and far-reaching.

In 1986, the Swiss Amberg Company took the lead in launching the laser profiler. The highest precision of the profiler was ±5mm. In 1987, the domestic laser profiler was developed by the Professional Design and Research Institute of the Ministry of Railways. The accuracy of this profiler is low, only 2.5‰ In 2001, Beijing University of Technology developed a roadway section detector that combined laser ranging technology and digital angle measurement technology. In 2002, China Railway Tunnel Group Qiangli Machinery Co., Ltd. launched a simple machine driven by a servo motor and adjusted by the bubble method. In 2010, Tongji University proposed a fan-shaped combination vehicle-mounted profiler composed of nine laser rangefinders, with a theoretical error of ±2.733mm.

Contents of the invention

The purpose of the present invention is to provide a high-precision automatic leveling and adjusting intelligent laser profiler. This laser profiler solves the problem that the previous laser profiler cannot be intelligently leveled and measured attitude due to manual fine-tuning, and can conduct tunnel section The surface shape detection can be monitored for a long time, and can realize remote control.

The invention provides an intelligent laser profiler for automatic leveling and direction adjustment, which is characterized in that it includes an electric rotary table, a wireless communication module, a first deceleration stepping motor, an elastic coupling, a bearing seat with bearings, a second Deceleration stepper motor, three-dimensional electronic compass, and laser ranging sensor;

The electric rotary table and the wireless communication module are fixed on the first connection base plate; the first deceleration stepping motor and the bearing housing with bearings are all fixed on the second connection plate, and the second connection plate is fixed on the electric rotary table; the second deceleration The stepping motor is fixed on the first pallet, the first pallet is connected with the first deceleration stepping motor through the bearing seat, and the three-dimensional electronic compass and the laser ranging sensor are arranged on the second pallet;

The second supporting plate is connected with the shaft end of the second deceleration stepping motor, the first deceleration stepping motor, the second deceleration stepping motor and the laser distance measuring sensor are all connected with the wireless communication module through the serial port data line, and the wireless communication module It is used for wireless reception and transmission of control instructions and measurement data.

Based on the problems existing in the prior art, the intelligence of the laser profiler provided by the present invention is reflected in the fact that the base does not need to be precisely leveled when the system is installed, and the system can automatically adjust the level according to its own posture, and the control instructions and measurement data all adopt wireless communication. to transfer. Automatic leveling and direction adjustment means that the profiler can regularly adjust its orientation according to the axial direction of the tunnel design and the slope of the tunnel track surface. When the profiler is installed on the tunnel wall for long-term monitoring of the tunnel section, the support will be twisted and deformed due to geological changes. The profiler will perform self-attitude correction according to the changes in the horizontal azimuth and slope angle of the profiler combined with the design direction of the tunnel to ensure that the scanning section of the laser ranging sensor is perpendicular to the design axis of the tunnel direction, thereby ensuring the long-term measurement accuracy of the profiler. In the present invention, both instrument control and data transmission adopt wireless transmission mode to realize remote control.

Description of drawings

Fig. 1 is the assembly diagram of the high-precision automatic leveling and adjusting intelligent laser profiler in the present invention;

Fig. 2 is a schematic diagram of a high-precision automatic leveling and adjusting laser profiler for tunnel surface detection in the present invention;

Fig. 3 is a schematic diagram of the tunnel surface profile monitoring performed by the high-precision automatic leveling and adjusting laser profiler in the present invention;

Fig. 4 is a schematic view of the appearance of the pallet (including the first pallet and the second pallet);

In the figure, 1 is the first connection base plate, 2 is the electric rotary table, 3 is the wireless communication module, 4 is the second connection plate, 5 is the first deceleration stepping motor, 6 is the elastic coupling, 7 is the bearing Bearing seat, 8 is the first pallet, 9 is the second deceleration stepper motor, 10 is the second pallet, 11 is the three-dimensional electronic compass, 12 is the laser ranging sensor, 13 is the fixed support frame, 14 is the tunnel wall, 15 is an optical tripod.

Detailed ways

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

As shown in Figures 1, 2 and 3, a high-precision automatic leveling and adjusting intelligent laser profiler provided by the present invention includes an electric rotary table 2, a wireless communication module 3, a first deceleration stepping motor 5, an elastic coupling Shaft device 6, bearing housing 7 with bearing, second deceleration stepper motor 9, three-dimensional electronic compass 11, laser ranging sensor 12.

The electric rotary table 2 and the wireless communication module 3 are fixed on the first connection base plate 1 . The first deceleration stepping motor 5 and the bearing housing 7 with bearings are all fixed on the second connecting plate 4 , and the second connecting plate 4 is fixed on the electric rotary table 2 . The second deceleration stepper motor 9 is fixed on the first pallet 8, the first pallet 8 is connected with the first deceleration stepper motor 5 through the bearing seat 7, and the three-dimensional electronic compass 11 and the laser ranging sensor 12 are all arranged on the on the second pallet 10.

The second supporting plate 10 and the shaft end of the second deceleration stepping motor 9 are connected together by screwing. The first deceleration stepper motor 5, the second deceleration stepper motor 9 and the laser ranging sensor 12 are all connected to the wireless communication module 3 through the serial port data line 16, and the wireless communication module 3 is responsible for the wireless reception and transmission of control instructions and measurement data.

In order to improve the measurement accuracy of the profiler, the electric rotary table 2 should use a high-precision electric rotary table as much as possible.

In order to further improve the measurement accuracy of the profiler provided by the present invention, the following positioning requirements should be met: the axis of the output shaft of the second deceleration stepper motor 9 and the axis of the output shaft of the first deceleration stepper motor 5 should be perpendicular to each other. The scanning plane of the laser ranging sensor 12 must be perpendicular to the second stepper motor 9. When the two are not perpendicular, the scanned tunnel section will be elliptical, resulting in a large measurement error. In order to ensure that the instrument mounting bracket has good versatility, the profiler is connected to the support through the first connecting base plate 1. The mounting holes designed on the base plate allow the mounting support to be a commonly used optical tripod 15, or a common fixture fixed on the tunnel wall. Support frame 13.

In order to further improve the measurement accuracy of the profiler provided by the present invention, the following positioning requirements should also be met: the arrangement of the three-dimensional electronic compass 11 and the laser ranging sensor 12 will make the center of gravity of the two fall on the output of the second deceleration stepping motor 9 On the central line of the shaft, the rotation uniformity of the second deceleration stepping motor 9 is improved.

The working process of the profiler provided by the invention is:

The first step of posture adjustment:

After the instrument is installed, the wireless communication module 3 reads the heading angle α, the slope angle β and the roll angle γ of the three-dimensional electronic compass 11 after receiving the instruction, and first sends a pulse signal based on the value of α to drive the electric rotary table 2 to reduce the second deceleration step. The axis of the motor 9 is adjusted to be coaxial with the tunnel design and construction axis, and then the value of β sends a pulse signal to drive the first deceleration stepper motor 5 to adjust the axis of the second deceleration stepper motor 9 to be parallel to the actual slope of the tunnel. So far, the aforementioned adjustments have ensured that the scanning section of the laser ranging sensor is perpendicular to the axis of the tunnel, and the attitude of the measuring instrument has been adjusted.

The second step of circumferential scanning measurement:

The pulse signal is sent to drive the deceleration stepping motor 2 to rotate in the circumferential direction, so that the γ angle rotates through a certain angle each time, and the circumferential scanning measurement of the tunnel section is realized. The measurement data of the laser ranging sensor 12 is transmitted to the wireless communication module 3 through the serial port data line, and the wireless communication module 3 sends the measurement data out.

When performing tunnel cross-section over- and under-excavation measurements, the entire measurement system is installed on the optical tripod 15, and the optical tripod is placed on the track surface of the tunnel centerline. As shown in Figure 2, the laser profiler is placed on the optical tripod 15, and the optical tripod The tripod is located on the center line of the tunnel and advances sequentially with the tunnel construction, so as to realize real-time measurement with the tunnel construction. The self-leveling and direction adjustment function of the measurement system can ensure that the optical tripod does not need to be precisely leveled. After measuring a section, the optical tripod can be moved to the next section to continue the measurement, which greatly saves measurement time and improves work efficiency. To measure the impact on tunnel construction.

When conducting long-term monitoring of the tunnel cross-section profile, the main purpose is to monitor tunnel deformation and prevent tunnel segments from falling off due to geological changes and falling onto the track to affect driving safety. For long-term monitoring, the measurement system is fixed on the fixed support frame 13 of the tunnel wall to monitor the tunnel section for a long time, and the measurement data is transmitted to the control room through wireless transmission. As shown in Figure 3, the laser profiler is placed on the fixed support frame 13, and the fixed bracket is installed on the tunnel wall through screws. When the tunnel wall changes and the fixed bracket is deformed, the laser profiler in the present invention will be self-leveling and adjusted. This ensures long-term measurement accuracy. The main error-influencing factor in monitoring the tunnel profile is the torsional deformation of the support fixed to the tunnel wall caused by geological changes, and the measurement system in the present invention can perform self-leveling and direction adjustment according to the torsion of the support, which greatly guarantees long-term stability. measurement accuracy. The traditional monitoring method is to regularly send workers into the tunnel for measurement, but the long-term monitoring function of the tunnel section of the present invention saves a long time of manpower investment, and the measurement system regularly sends the section information to the operating room outside the tunnel through wireless transmission. Monitoring tasks can be completed.

In a word, the present invention uses the azimuth indication of the three-dimensional electronic compass to automatically level and adjust the direction. It can not only measure the tunnel section profile in real time during the tunnel construction, judge whether there is over-excavation, but also perform long-term monitoring of the tunnel profile after the tunnel construction is completed. , which solves the problem that the previous laser profiler cannot be automatically leveled and measured at any time by manual fine-tuning, and it is only used for tunnel section detection and cannot be monitored for a long time. It has high precision, simple and convenient operation, and can be automatically leveled and adjusted with one button during installation. The instrument is easy to be disassembled and reused. During tunnel monitoring, it can perform self-leveling and adjustment for base dislocation and torsion caused by geological changes. Direction correction, so as to ensure long-term measurement accuracy, control instructions and measurement data are transmitted through the wireless communication module to achieve remote control.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.

Claims (6)

1. A self-leveling and direction-adjusting intelligent laser profiler is characterized in that it includes an electric rotary table (2), a wireless communication module (3), a first deceleration stepping motor (5), and an elastic coupling (6 ), a bearing housing (7) with bearings, a second deceleration stepper motor (9), a three-dimensional electronic compass (11), and a laser ranging sensor (12); The electric rotary table (2) and the wireless communication module (3) are fixed on the first connection base plate (1); the first deceleration stepper motor (5) and the bearing seat (7) with bearings are all fixed on the second connection plate ( 4), the second connecting plate (4) is fixed on the electric rotary table (2); the second deceleration stepper motor (9) is fixed on the first pallet (8), and the first pallet (8) passes through the bearing The seat (7) is connected together with the first deceleration stepping motor (5), and the three-dimensional electronic compass (11) and the laser distance measuring sensor (12) are all arranged on the second pallet (10); The second supporting plate (10) is connected together with the shaft end of the second deceleration stepper motor (9), the first deceleration stepper motor (5), the second deceleration stepper motor (9) and the laser distance sensor (12 ) are connected with the wireless communication module (3) through the serial port data line (16), and the wireless communication module (3) is used for wireless receiving and sending of control instructions and measurement data. 2. The automatic leveling and orientation intelligent laser profiler according to claim 1, characterized in that the automatic leveling and orientation is performed by means of the azimuth indication of the three-dimensional electronic compass. 3. The self-leveling and direction-adjusting intelligent laser profiler according to claim 1, characterized in that the axis of the output shaft of the second deceleration stepping motor (9) is aligned with the output shaft of the first deceleration stepping motor (5). The axes should be perpendicular to each other. 4. The automatic leveling and orientation intelligent laser profiler according to claim 1, 2 or 3, characterized in that the scanning plane of the laser ranging sensor (12) is perpendicular to the second stepping motor (9). 5. The automatic leveling and orientation intelligent laser profiler according to claim 1, 2 or 3, characterized in that the arrangement of the three-dimensional electronic compass (11) and the laser distance measuring sensor (12) makes the center of gravity of the two fall on On the axis of the output shaft of the second deceleration stepper motor (9). 6. The automatic leveling and direction intelligent laser profiler according to claim 4, characterized in that the arrangement of the three-dimensional electronic compass (11) and the laser ranging sensor (12) makes the center of gravity of the two fall on the second deceleration step On the axis of the output shaft of the motor (9).

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