CN107390228B - A kind of three-dimensional positioning device and method of oval calotte building - Google Patents
A kind of three-dimensional positioning device and method of oval calotte building Download PDFInfo
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- CN107390228B CN107390228B CN201710563022.2A CN201710563022A CN107390228B CN 107390228 B CN107390228 B CN 107390228B CN 201710563022 A CN201710563022 A CN 201710563022A CN 107390228 B CN107390228 B CN 107390228B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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Abstract
The invention discloses the three-dimensional positioning device and method of a kind of oval calotte building, device includes curved surface, laser, horizontal and vertical laser beam emitting device array, remote control apparatus where oval calotte building, axis；Horizontal and vertical laser beam emitting device array is made of n laser beam emitting device；Laser beam emitting device is made of laser emitter, signal control module, data processing module, signal projector or signal receiver, vertical and horizontal rotation control module；The device can be accurately positioned the axis of curved-surface building, thus real-time control construction precision, method is simple, and construction efficiency is high；It is also possible to which multiple key points to building position, to realize the three-dimensional reconstruction of building.
Description
Technical field
The invention belongs to optical locating techniques fields, and in particular to a kind of laser three-D positioning dress of oval calotte building
It sets and method.
Background technique
Since the exterior contour of oval calotte building is beautiful, and stress performance is good, currently, chemical plant, large-scale meeting
Exhibition center and theater have the configuration design using oval calotte.The sectional dimension of concrete component, displacement in curved-surface building object
Deviation, the control of verticality are more difficult than normal concrete Structural Engineering many, therefore complicated construction technique, construction quality are more difficult
Control.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of three-dimensional positioning devices of oval calotte building
And method.
Technical solution used by the device of the invention is: a kind of three-dimensional positioning device of oval calotte building,
It is characterized by comprising laser beam emitting device, remote control apparatus, mobile machine arms；
Several laser beam emitting devices form lateral laser beam emitting device array, and several laser beam emitting device compositions are longitudinal
Laser beam emitting device array；The mobile machine arm is two, and the two sides of oval calotte building are arranged in direction mutual vertically,
It is fixedly installed the lateral laser beam emitting device array and longitudinal laser beam emitting device array respectively thereon；
The remote control apparatus is used to control the angle of laser beam emitting device transmitting laser, so that it is guaranteed that oval calotte is built
Every bit can be determined by the intersection point of two beam laser on curved surface where the axis built.
Technical solution used by method of the invention is: a kind of laser three-D localization method of oval calotte building,
Characterized by comprising the following steps:
Step 1: for oval calotte building (1), exterior contour is ellipse:
Oval calotte is put into three-dimensional system of coordinate, the center for the elliptic curve that coordinate origin is made of oval calotte
Point；Lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5) are separately positioned on y-axis and x-axis two sides, horizontal
Laser beam emitting device B in laser beam emitting device array (4)1With the Laser emission in longitudinal laser beam emitting device array (5)
Device A1The distance between be l；A1The angle of the laser and y-axis launched is α1, B1The angle of the laser and x-axis launched is
β1；
Take z0=0 plane is studied, and in this plane, the intersection point of two beam laser is P (x0,y0, 0), A1The length of P
Degree is l1, B1The length of P is l2, focal length l, long axis a；Solving equations (1) and (2):
l1+l2=2a (1)；
:
Step 2: when P point moves in the first quartile of coordinate system, according to the α determined in step 11With β1Relationship, draw
Produce β1With α1The curve of variation；
Step 3: remote control apparatus (18) passes through laser beam emitting device A1In signal receiver (10) and A1In longitudinal direction
Rotation control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device A1Issue laser
The drift angle α of light beam1α is changed to from 0 degree0, α0<180°；By the β in step 21With α1Quantitative relationship, β can be obtained1Size, this
Process is realized by data processing module (8)；Then, by laser beam emitting device A1In signal projector (9) by calculated β1's
Size is sent to remote control apparatus (18), and remote control apparatus (18) passes through B1In signal receiver (10) and B1In it is vertical
It is communicated to rotation control module (11) and lateral rotation control module (17), and then controls laser beam emitting device B1It issues and swashs
Light beam angle β1Size；
Step 4: laser beam emitting device A1With laser beam emitting device B1The drift angle for emitting light beam is respectively α1And β1When, they
Intersection point be P；With α1Continuous variation, the track of P point is also constantly changing, these tracing points is being connected, obtaining ellipse
Round surface builds the axis of (1)；
Step 5: setting laser beam emitting device A2The light beam of transmitting and the angle of y-axis are α2, the angle with z-axis is γ2；Laser
Emitter B2The light beam of transmitting and the angle of x-axis are β2, the angle with z-axis is λ2；Work as z0When ≠ 0, by P (x0,y0,z0) point exist
Projection obtains P ' (x in xoy plane0,y0,0)；It is assumed that A2The length of P ' is x1, B2The length of P ' is x2；
It can be obtained by the cosine law:
Wherein, d indicates two neighboring laser hair in lateral laser beam emitting device array and longitudinal laser beam emitting device array
The distance between injection device；l1Indicate A1The length of P.
It can be obtained by sine:
That is:
Similarly, it can obtain:
At this point,
Step 6: when the subpoint P ' of P point is moved in the first quartile of coordinate system, α being found out according to step 52、β2、γ2
And λ2Value；
Different coordinate points (α2,β2) be plotted in respectively with α2And β2To obtain β in the coordinate system of x-axis and y-axis2With α2
The curve of variation；Similarly obtain γ2With α2The curve of variation, λ2With α2The curve of variation；
Step 7: remote control apparatus (18) passes through laser beam emitting device A2In signal receiver (10) and A2In longitudinal direction
Rotation control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device A2Issue laser
The drift angle α of light beam2α is changed to from 0 degree0, α0<180°；By the β in step 62With α2、γ2With α2、λ2With α2Quantitative relationship, obtain
β2、γ2And λ2Size, this process by data processing module (8) realize；Then, by laser beam emitting device A2In signal hair
Emitter (9) is by calculated β2、γ2And λ2Size be sent to remote control apparatus (18), remote control apparatus (18) passes through A2
And B2In signal receiver (10) and A2And B2In longitudinally rotate control module (11) and lateral rotation control module (17) into
Row communication, and then control laser beam emitting device A2Issue laser beam angle γ2Size and laser beam emitting device B2Issue laser
Beam angle β2And λ2Size；
Step 8: laser beam emitting device A2The light beam and laser beam emitting device B of transmitting2The light beam intersection point of transmitting is P, with α2
Continuous variation, the track of P point also constantly changing, these tracing points connected, and obtains oval calotte building in z=z0
Axis in plane；
Step 9: oval calotte is determined by lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5)
Curved surface where building axis line.
The invention has the advantages that
1: the axis of curved-surface building can be accurately positioned, thus real-time control construction precision, method is simple, construction
It is high-efficient；
2: multiple key points of building can be positioned, to realize the three-dimensional reconstruction of building.
Detailed description of the invention
Fig. 1 and Fig. 2 is the method schematic of the embodiment of the present invention；
Fig. 3 and Fig. 4 is the laser beam emitting device of the embodiment of the present invention；
Fig. 5 is the detail of construction of the roller bearing of the embodiment of the present invention；
Fig. 6 is the remote control apparatus figure of the embodiment of the present invention；
Fig. 7 and Fig. 8 is the laser beam emitting device array of the embodiment of the present invention；
Fig. 9 is the β of the embodiment of the present invention1With α1The curve graph of variation；
Figure 10 is the β of the embodiment of the present invention2With α2The curve graph of variation；
Figure 11 is the γ of the embodiment of the present invention2With α2The curve graph of variation；
Figure 12 is the λ of the embodiment of the present invention2With α2The curve graph of variation.
In figure, 1 be oval calotte building, 2 be curved surface where axis, 3 be laser, 4 be lateral laser beam emitting device array,
5 it is longitudinal laser beam emitting device array, 6 be laser emitter, 7 be signal control module, 8 be data processing module, 9 is signal
Transmitter, 10 be signal receiver, 11 for longitudinally rotate control module, 12 be telescopic device, 13 be roller bearing, 14 be outer layer ring,
15 it is ball, 16 be inner layer ring, 17 be lateral rotation control module, 18 be remote control apparatus, 19 is mobile machine arm.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
See Fig. 3-Fig. 8, a kind of three-dimensional positioning device of oval calotte building provided by the invention, including ellipse
Curved-surface building 1, laser 3, lateral laser beam emitting device array 4, longitudinal laser beam emitting device array 5, is stretched axis place curved surface 2
Compression apparatus 12, roller bearing 13, remote control apparatus 18, mobile machine arm 19；
Laser beam emitting device array 4 is made of many laser beam emitting devices, laser beam emitting device include laser emitter 6,
Signal control module 7, data processing module 8, signal receiver 10 and/or signal projector 9, telescopic device 12；Telescopic device
12 both ends are configured with roller bearing 13, and roller bearing 13 is made of outer layer ring 14, ball 15 and inner layer ring 16；Horizontal and vertical Laser emission dress
It sets array 4 and 5 to be fixed on above mobile machine arm 19, the distance between every two laser beam emitting device can according to need tune
It is whole；The two sides of oval calotte building 1 are arranged in two mobile machine arms 19, and direction is mutually perpendicular to；Telescopic device 12 is used for
Laser emitter 6 is adjusted as needed to appropriate height；Two laser beam emitting device A1And B1The distance between be l；Laser emission
Device AiAnd BiThe light beam launched is respectively α with the angle of y-axis and x-axis directioniAnd βi；The angle of they and z-axis is respectively γi
And λi；Remote control apparatus 18 can be to angle αi、βi、γiAnd λiIt is adjusted in real time；Every bit where axis on curved surface 2
It can be determined by the intersection point of two beam laser.
See Fig. 1 and Fig. 2, a kind of laser three-D localization method of oval calotte building provided by the invention, including with
Lower step:
Step 1: for oval calotte building (1), exterior contour is ellipse:
Oval calotte is put into three-dimensional system of coordinate, the center for the elliptic curve that coordinate origin is made of oval calotte
Point；Lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5) are separately positioned on y-axis and x-axis two sides, horizontal
Laser beam emitting device B in laser beam emitting device array (4)1With the Laser emission in longitudinal laser beam emitting device array (5)
Device A1The distance between be l；A1The angle of the laser and y-axis launched is α1, B1The angle of the laser and x-axis launched is
β1；
Take z0=0 plane is studied, and in this plane, the intersection point of two beam laser is P (x0,y0, 0), A1The length of P
Degree is l1, B1The length of P is l2, focal length l, long axis a；Solving equations (1) and (2):
l1+l2=2a (1)；
:
Step 2: when P point moves in the first quartile of coordinate system, according to the α determined in step 11With β1Relationship, draw
Produce β1With α1The curve of variation；Such as (a=5, b=3) shown in Fig. 9；
Step 3: remote control apparatus (18) passes through laser beam emitting device A1In signal receiver (10) and A1In longitudinal direction
Rotation control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device A1Issue laser
The drift angle α of light beam1α is changed to from 0 degree0, α0<180°；By the β in step 21With α1Quantitative relationship, β can be obtained1Size, this
Process is realized by data processing module (8)；Then, by laser beam emitting device A1In signal projector (9) by calculated β1's
Size is sent to remote control apparatus (18), and remote control apparatus (18) passes through B1In signal receiver (10) and B1In it is vertical
It is communicated to rotation control module (11) and lateral rotation control module (17), and then controls laser beam emitting device B1It issues and swashs
Light beam angle β1Size；
Step 4: laser beam emitting device A1With laser beam emitting device B1The drift angle for emitting light beam is respectively α1And β1When, they
Intersection point be P；With α1Continuous variation, the track of P point is also constantly changing, these tracing points is being connected, obtaining ellipse
Round surface builds the axis of (1)；
Step 5: setting laser beam emitting device A2The light beam of transmitting and the angle of y-axis are α2, the angle with z-axis is γ2；Laser
Emitter B2The light beam of transmitting and the angle of x-axis are β2, the angle with z-axis is λ2；Work as z0When ≠ 0, by P (x0,y0,z0) point exist
Projection obtains P ' (x in xoy plane0,y0,0)；It is assumed that A2The length of P ' is x1, B2The length of P ' is x2；
It can be obtained by the cosine law:
Wherein, d indicates two neighboring laser in lateral laser beam emitting device array 4 and longitudinal laser beam emitting device array 5
The distance between emitter；l1Indicate A1The length of P.
It can be obtained by sine:
That is:
Similarly, it can obtain:
At this point,
Step 6: when the subpoint P ' of P point is moved in the first quartile of coordinate system, α being found out according to step 52、β2、γ2
And λ2Value；
Different coordinate points (α2,β2) be plotted in respectively with α2And β2For in the coordinate system of x-axis and y-axis, so that it may draw
β out2With α2The curve of variation, such as (z shown in Figure 100=2, d=3)；γ can similarly be drawn out2With α2The curve of variation, λ2
With α2The curve of variation, such as shown in Figure 11 and Figure 12；
Step 7: remote control apparatus (18) passes through laser beam emitting device A2In signal receiver (10) and A2In longitudinal direction
Rotation control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device A2Issue laser
The drift angle α of light beam2α is changed to from 0 degree0, α0<180°；By the β in step 62With α2、γ2With α2、λ2With α2Quantitative relationship, obtain
β2、γ2And λ2Size, this process by data processing module (8) realize；Then, by laser beam emitting device A2In signal hair
Emitter (9) is by calculated β2、γ2And λ2Size be sent to remote control apparatus (18), remote control apparatus (18) passes through A2
And B2In signal receiver (10) and A2And B2In longitudinally rotate control module (11) and lateral rotation control module (17) into
Row communication, and then control laser beam emitting device A2Issue laser beam angle γ2Size and laser beam emitting device B2Issue laser
Beam angle β2And λ2Size；
Step 8: laser beam emitting device A2The light beam and laser beam emitting device B of transmitting2The light beam intersection point of transmitting is P, with α2
Continuous variation, the track of P point also constantly changing, these tracing points connected, and obtains oval calotte building in z=z0
Axis in plane；
Step 9: oval calotte is determined by lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5)
Curved surface where building axis line, and then can be carried out accurately constructing.
Curved surface 2, laser 3, lateral laser hair where although this specification has more used oval calotte building 1, axis
Injection device array 4, longitudinal laser beam emitting device array 5, laser emitter 6, signal control module 7, data processing module 8, letter
Number transmitter 9, signal receiver 10, longitudinally rotate control module 11, telescopic device 12, roller bearing 13, outer layer ring 14, ball 15,
The terms such as inner layer ring 16, lateral rotation control module 17, remote control apparatus 18, mobile machine arm 19, but use is not precluded
A possibility that other terms.The use of these items is only for more easily describing essence of the invention, it is construed as
Any additional limitation is disagreed with spirit of that invention.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (3)
1. a kind of laser three-D localization method of oval calotte building positions dress using the laser three-D of oval calotte building
It sets；Described device includes laser beam emitting device, remote control apparatus (18), mobile machine arm (19)；
Several laser beam emitting devices form lateral laser beam emitting device array (4), and several laser beam emitting device compositions are longitudinal
Laser beam emitting device array (5)；The mobile machine arm (19) is two, and oval calotte building is arranged in direction mutual vertically
(1) two sides are fixedly installed the lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array respectively thereon
(5)；
The remote control apparatus (18) is used to control the angle of laser beam emitting device transmitting laser (3), so that it is guaranteed that oval bent
Every bit can be determined by the intersection point of two beam laser on curved surface (2) where the axis of face building (1)；
It is characterized in that, the described method comprises the following steps:
Step 1: for oval calotte building (1), exterior contour is ellipse:
Oval calotte is put into three-dimensional system of coordinate, the central point for the elliptic curve that coordinate origin is made of oval calotte；
Lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5) are separately positioned on y-axis and x-axis two sides, laterally swash
Laser beam emitting device B in light emitting devices array (4)1With the laser beam emitting device A in longitudinal laser beam emitting device array (5)1
The distance between be l；A1The angle of the laser and y-axis launched is α1, B1The angle of the laser and x-axis launched is β1；
Take z0=0 plane is studied, and in this plane, the intersection point of two beam laser is P (x0,y0, 0), A1The length of P is
l1, B1The length of P is l2, focal length l, long axis a；Solving equations (1) and (2):
l1+l2=2a (1)；
:
Step 2: when P point moves in the first quartile of coordinate system, according to the α determined in step 11With β1Relationship, draw out
β1With α1The curve of variation；
Step 3: remote control apparatus (18) passes through laser beam emitting device A1In signal receiver (10) and A1In longitudinally rotate
Control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device A1Issue laser beam
Drift angle α1α is changed to from 0 degree0, α0180 ° of <；By the β in step 21With α1Quantitative relationship, β can be obtained1Size, this mistake
Journey is realized by data processing module (8)；Then, by laser beam emitting device A1In signal projector (9) by calculated β1It is big
Small to be sent to remote control apparatus (18), remote control apparatus (18) passes through B1In signal receiver (10) and B1In longitudinal direction
Rotation control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device B1Issue laser
Beam angle β1Size；
Step 4: laser beam emitting device A1With laser beam emitting device B1The drift angle for emitting light beam is respectively α1And β1When, their intersection point
For P；With α1Continuous variation, the track of P point is also constantly changing, these tracing points is connected, oval calotte is obtained
Build the axis of (1)；
Step 5: setting laser beam emitting device A2The light beam of transmitting and the angle of y-axis are α2, the angle with z-axis is γ2；Laser emission
Device B2The light beam of transmitting and the angle of x-axis are β2, the angle with z-axis is λ2；Work as z0When ≠ 0, by P (x0,y0,z0) put in xoy
Projection obtains P ' (x in plane0,y0,0)；It is assumed that A2The length of P ' is x1, B2The length of P ' is x2；
It can be obtained by the cosine law:
Wherein, d indicates two neighboring laser in lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5)
The distance between emitter；l1Indicate A1The length of P；
It can be obtained by sine:
That is:
Similarly, it can obtain:
At this point,
Step 6: when the subpoint P ' of P point is moved in the first quartile of coordinate system, α being found out according to step 52、β2、γ2And λ2
Value；
Different coordinate points (α2,β2) be plotted in respectively with α2And β2To obtain β in the coordinate system of x-axis and y-axis2With α2Variation
Curve；Similarly obtain γ2With α2The curve of variation, λ2With α2The curve of variation；
Step 7: remote control apparatus (18) passes through laser beam emitting device A2In signal receiver (10) and A2In longitudinally rotate
Control module (11) and lateral rotation control module (17) are communicated, and then control laser beam emitting device A2Issue laser beam
Drift angle α2α is changed to from 0 degree0, α0180 ° of <；By the β in step 62With α2、γ2With α2、λ2With α2Quantitative relationship, obtain β2、
γ2And λ2Size, this process by data processing module (8) realize；Then, by laser beam emitting device A2In signal transmitting
Device (9) is by calculated β2、γ2And λ2Size be sent to remote control apparatus (18), remote control apparatus (18) passes through A2With
B2In signal receiver (10) and A2And B2In longitudinally rotate control module (11) and lateral rotation control module (17) carry out
Communication, and then control laser beam emitting device A2Issue laser beam angle γ2Size and laser beam emitting device B2Issue laser light
Beam angle β2And λ2Size；
Step 8: laser beam emitting device A2The light beam and laser beam emitting device B of transmitting2The light beam intersection point of transmitting is P, with α2No
Disconnected variation, the track of P point are also constantly changing, these tracing points are being connected, and obtain oval calotte building in z=z0Plane
Interior axis；
Step 9: determining that oval calotte is built by lateral laser beam emitting device array (4) and longitudinal laser beam emitting device array (5)
Curved surface where axis.
2. according to the method described in claim 1, it is characterized by: the laser beam emitting device includes laser emitter (6), letter
Number control module (7), signal receiver (10), signal projector (9), longitudinally rotates control module at data processing module (8)
(11) and lateral rotation control module (17)；
The laser beam emitting device is also configured with telescopic device (12), for adjusting laser emitter (6) as needed to suitably
Highly.
3. according to the method described in claim 2, it is characterized by: the telescopic device (12) both ends be configured with roller bearing (13),
Roller bearing (13) is made of outer layer ring (14), ball (15) and inner layer ring (16).
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