CN113847872A - Discrete single-point displacement static monitoring device and method based on laser ranging - Google Patents
Discrete single-point displacement static monitoring device and method based on laser ranging Download PDFInfo
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Abstract
The invention provides a discrete single-point displacement static monitoring device based on laser ranging, which comprises: a receiving device comprising a target surface; 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; the laser transmitter comprises a base and three laser range finders arranged on the base; emitting three laser beams which are not collinear to the target surface through three laser range finders; collecting the position information of three laser points of the three beams of laser falling on the target surface through a receiving device; and the signal processing system is in signal connection with the laser range finder and the receiving device, and calculates the displacement of the discrete single point according to the position information of the three laser points through a built-in algorithm. The invention also provides a discrete single-point displacement static monitoring method based on laser ranging. The invention has simple structure and high cost performance, can effectively monitor the displacement of the discrete single point caused by deformation in real time, and has accurate and reliable measurement result.
Description
Technical Field
The invention relates to the field of civil engineering measurement, in particular to a discrete single-point displacement static monitoring device and method 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, high in distance precision of a single measuring point, and only capable of being used for measuring the distance of a target, and the three-dimensional coordinates of the measuring point cannot be obtained, so that the displacement of the measuring point can be obtained. And after the measuring point is displaced, the difficulty of automatically tracking the aiming measuring point is higher.
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 statically monitoring the displacement of a discrete single point based on laser ranging, which can monitor the deformation displacement of the discrete single point in real time.
In order to achieve the above object, the present invention provides a static monitoring device for discrete single-point displacement based on laser ranging, comprising:
a receiving device comprising a target surface;
the end part of the first end of the connecting rod is fixedly connected with the discrete single point to be measured, and the end part of the second end of the connecting rod is fixedly connected with the target surface;
the laser transmitter comprises a base and three laser range finders arranged on the base; measuring the distance value between the base and the target surface through laser emitted to the target surface by the laser range finder; the three laser beams emitted by the three laser range finders are not collinear; collecting the position information of three laser points of the three beams of laser falling on a target surface through the receiving device;
and the signal processing system is in signal connection with the laser range finder and the receiving device, and calculates the displacement of the discrete single point according to the position information of the three laser points acquired by the receiving device and the distance values respectively measured by the three laser range finders through a built-in algorithm.
Preferably, the receiving device is a photoelectric two-dimensional position sensor, and the target surface is a photosensitive surface of the photoelectric two-dimensional position sensor.
Preferably, the target surface is made of transparent materials and is pasted with calibration paper; the receiving device also comprises an industrial camera fixedly connected with the target surface; the target surface is arranged between the industrial camera and the laser emitter, the images of the three laser points on the calibration paper are collected through the industrial camera, and the signal processing system obtains the position information of the three laser points on the target surface according to the received images.
The invention also provides a discrete single-point displacement static monitoring method based on laser ranging, which is realized by adopting the discrete single-point displacement static monitoring device based on laser ranging, wherein the three laser ranging instruments are respectively a first laser ranging instrument, a second laser ranging instrument, a third laser ranging instrument, and the method comprises the following steps:
s1, establishing an observation coordinate system based on the laser transmitter;
s2, establishing a target surface coordinate system based on the target surface; collecting the coordinates (x) of the second end of the connecting rod in the target surface coordinate systemp,yp，0)；
S3, the laser emitted by the first to third laser range finders falls on the target surface to form first to third laser points respectively; the signal processor generates a rotation matrix and a translation phasor from the target surface coordinate system to the observation coordinate system according to the coordinates of the first laser point, the second laser point, the third laser point and the fourth laser point in the observation coordinate system and the target surface coordinate system;
s4, obtaining the coordinate (X) of the second end of the connecting rod in the observation coordinate system according to the rotation matrix and the translation vectorP,YP,ZP)；
S5, repeating the steps S2-S4 at intervals of set time to obtain the coordinates (X ') of the second end of the connecting rod in the observation coordinate system'P,Y′P,Z′P) (ii) a Calculating the displacement of discrete single point
Step S1 specifically includes:
determining an O-XY plane of an observation coordinate system according to three intersection points of three beams of laser emitted by three laser range finders falling on a base of a laser emitter, and establishing the observation coordinate system O-XYZ based on the laser emitter by taking the direction perpendicular to the O-XY plane and pointing to a target surface as a + Z-axis direction.
The step S2 of establishing the target surface coordinate system based on the target surface includes:
taking the plane of the target surface as an o-xy surface of the target surface coordinate system, and taking the direction which is perpendicular to the target surface and points to the laser emitter as a + z-axis direction; and establishing a target surface coordinate system o-xyz based on the target surface.
Step S3 specifically includes:
s31, driving the first to third laser range finders of the laser emitter to emit laser;
s32, the signal processor obtains the shape of the target surface where the first to the third laser fall according to the distance values measured by the first to the third laser range findersCoordinates (X) of the first to third laser points in the observation coordinate system O-XYZ1,Y1,Z1)，(X2,Y2,Z2)，(X3,Y3,Z3) (ii) a Wherein (X)1,Y1)，(X2,Y2)，(X3,Y3) Coordinates of the first to third lasers emitted by the first to third laser range finders falling on the O-XY plane, respectively1、l2、l3Respectively measuring distance values of the first laser distance measuring instrument, the second laser distance measuring instrument and the third laser distance measuring instrument;
s33, the signal processor obtains the coordinates (x) of the first to the third laser points in the target surface coordinate system o-xyz through the receiving device1,y1，0),(x2,y2，0),(x3,y3，0)；
S34, the signal processor generates a rotation matrix R and a translation quantity S from the target surface coordinate system to the observation coordinate system according to the coordinates of the first to third laser points in the observation coordinate system and the target surface coordinate system; where R is a 3X 3 dimensional matrix and S contains three elements.
Coordinates (X) of the second end portion of the link in the observation coordinate system in step S4P,YP,ZP) Satisfies the following conditions: (X)P,YP,ZP)T＝R·(xp,yp,0)T+S。
Compared with the prior art, the invention has the beneficial effects that:
the device and the method for statically monitoring the displacement of the discrete single point based on the laser ranging can be effectively applied to deformation detection of tunnels, bridges, foundation pits and the like. The discrete single-point displacement static monitoring device based on the laser ranging is simple in structure and high in cost performance; the laser ranging-based static monitoring method for the discrete single-point displacement is convenient to operate, accurate in measuring result, high in automation degree, small in interference of field operation environment and good in use value.
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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 front view of a laser transmitter according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a discrete single-point displacement static monitoring apparatus according to a first embodiment of the present invention;
in the figure: 11. a first laser range finder; 12. a second laser rangefinder; 13. a third laser range finder; 15. laser; 16. a base; 17. a target surface; 19. a connecting rod; 28. an industrial camera.
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 laser ranging-based discrete single-point displacement static monitoring device, as shown in fig. 2, comprising: receiver, link 19, laser transmitter, signal processing system (not shown).
The receiving means comprise a target surface 17. In this embodiment, the receiving device is a photoelectric two-dimensional position sensor, the target surface 17 is a photosensitive surface of the photoelectric two-dimensional position sensor, and the target surface 17 is a square. A photoelectric position sensor is a photoelectric device that is sensitive to the position of a light spot on a photosensitive surface and outputs a signal corresponding to the position of the light spot on the photosensitive surface.
The connecting rod 19 is made of rigid material, and has a first end (point Q in fig. 2) fixedly connected to the discrete single point to be measured, and a second end (point P in fig. 2) fixedly connected to the target surface 17.
The laser transmitter comprises a base 16 and three laser range finders (a first laser range finder 11, a second laser range finder 12 and a third laser range finder 13 respectively) arranged on the base 16. Three laser beams 15 which are not collinear are emitted to the target surface 17 by three laser range finders. The photoelectric position sensor generates corresponding position information from the three laser spots (A, B, C three spots in fig. 2) on the photosensitive surface of the three laser beams 15.
In this embodiment, the base 16 includes a plane as a mounting surface for the three laser range finders, any one of the laser beams 15 may not be perpendicular to the mounting surface, and an included angle between any one of the laser beams 15 and the mounting surface and an included angle between any two of the laser beams 15 may be obtained through measurement. It is easy to think that the angle between any two lasers 15 must be such that three lasers 15 can be projected simultaneously onto the target surface 17. To simplify the measurement process, in this embodiment, the three laser beams 15 are parallel to each other and perpendicular to the mounting surface. As shown in fig. 1, three projection points of the three laser beams 15 on the installation surface are located at three vertexes of an isosceles right triangle, and the length of the waist of the isosceles right triangle is measured to be c meters. The manufacturing error of the included angle of any two beams of laser 15 is less than delta (rad), the maximum distance measurement of the laser range finder is L meters, the allowable displacement of a discrete single point is delta, and the side length of the target surface 17 is not less than delta + c + delta L.
And the signal processing system is in signal connection with the laser range finder and the receiving device, and calculates the displacement of the discrete single point according to the position information of the three laser points sent by the photoelectric position sensor and the three distance values measured by the three laser range finders through a built-in algorithm.
A discrete single point displacement static monitoring method based on laser ranging is realized by adopting the discrete single point displacement static monitoring device based on laser ranging, and comprises the following steps:
s1, establishing an observation coordinate system O-XYZ; as shown in fig. 1, the mounting surface of the base 16 is an O-XY plane of the observation coordinate system; the three beams of laser 15 are all perpendicular to the mounting surface, three projection points on the mounting surface fall on three vertexes of an isosceles right triangle, the waist length of the isosceles right triangle is c meters, the point O is a right-angle vertex of the isosceles right triangle (namely a projection point of the first laser emitted by the first laser range finder 11 on the mounting surface), and the X axis and the Y axis are two right-angle sides of the isosceles right triangle respectively; the + Z direction is perpendicular to the O-XY plane and is directed toward the target surface 17.
S2, establishing a target surface coordinate system o-xyz, taking the plane of the target surface 17 as the o-xy surface of the target surface coordinate system, and taking the direction perpendicular to the target surface 17 and pointing to the base 16 as the + z-axis direction;
as shown in fig. 2, the target surface 17 is square, the o point of the target surface coordinate system is a vertex of the target surface 17, and two side lengths intersecting the vertex are used as the x axis and the y axis of the o-xy surface;
collecting the coordinates (x) of the second end of the connecting rod in the target surface coordinate systemp,yp,0). Wherein (x)p,yp) The coordinates of the second end of the connecting rod in the o-xy plane of the target surface coordinate system can be obtained by pre-measurement.
S3, driving the first laser range finder 11 to the third laser range finder 13 to emit the corresponding first to third laser beams, and the signal processor obtaining the coordinates (0,0, l) of the first to third laser spots (A, B, C three points in FIG. 2) of the first to third laser beams falling on the target surface 17 in the observation coordinate system O-XYZ according to the distance values measured by the first laser range finder 11 to the third laser range finder 131)、(c,0，l2) And (0, c, l)3)。l1、l2、l3The distances to the target surface 17 measured by the first laser range finder 11 to the third laser range finder 13, respectively;
the signal processor obtains the coordinate A (x) of the first to the third laser points in the target surface coordinate system o-xyz through the position information sent by the photoelectric two-dimensional position sensor1,y1，0),B(x2,y2，0),C(x3,y3，0)；
The signal processor generates a rotation matrix R and a translation phase quantity S from the target surface coordinate system to the observation coordinate system according to the coordinates of the first to third laser points in the observation coordinate system and the target surface coordinate system (the prior art); where R is a 3X 3 dimensional matrix and S contains three elements.
S4, the signal processor calculates and obtains the end part of the second end of the connecting rodCoordinates (X) in the observation coordinate systemP,YP,ZP) Satisfy (X)P,YP,ZP)T＝R·(xp,yp,0)T+S；
S5, repeating the steps S2-S4 at a set interval to obtain the coordinates (X ') of the second end of the connecting rod in the observation coordinate system'P,Y′P,Z′P) (ii) a Calculating the displacement of the discrete single point generated at the set time
Example two
In the second embodiment, the receiving device of the static monitoring device of the present invention further includes an industrial camera 28 fixedly disposed thereon, the target surface is made of transparent acrylic material or transparent film, and the target surface is adhered with calibration paper. The target surface is disposed between the industrial camera and the laser emitter. Preferably, the imaging plane of the industrial camera is substantially parallel to the target surface. And acquiring images of the three laser points on the target surface by an industrial camera, and acquiring the position information of the three laser points on the target surface by a signal processing system according to the received coordinates of the three laser points on the calibration paper in the images. The rest is the same as the first embodiment.
The device and the method for statically monitoring the displacement of the discrete single point based on the laser ranging can be effectively applied to deformation detection of tunnels, bridges, foundation pits and the like. The device has simple structure and high cost performance; the method has the advantages of convenient operation, accurate measurement result, high automation degree, small interference by field operation environment and good use value.
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 (8)
1. The utility model provides a static monitoring devices of discrete single-point displacement based on laser rangefinder which characterized in that contains:
a receiving device comprising a target surface;
the end part of the first end of the connecting rod is fixedly connected with the discrete single point to be measured, and the end part of the second end of the connecting rod is fixedly connected with the target surface;
the laser transmitter comprises a base and three laser range finders arranged on the base; measuring the distance value between the base and the target surface through laser emitted to the target surface by the laser range finder; the three laser beams emitted by the three laser range finders are not collinear; collecting the position information of three laser points of the three beams of laser falling on a target surface through the receiving device;
and the signal processing system is in signal connection with the laser range finder and the receiving device, and calculates the displacement of the discrete single point according to the position information of the three laser points acquired by the receiving device and the distance values respectively measured by the three laser range finders through a built-in algorithm.
2. The laser ranging-based discrete single-point displacement static monitoring device as claimed in claim 1, wherein the receiving device is an electro-optical two-dimensional position sensor, and the target surface is a photosensitive surface of the electro-optical two-dimensional position sensor.
3. The laser ranging-based discrete single-point displacement static monitoring device as claimed in claim 1, wherein the target surface is made of transparent material and is pasted with calibration paper; the receiving device also comprises an industrial camera fixedly connected with the target surface; the target surface is arranged between the industrial camera and the laser emitter, the images of the three laser points on the calibration paper are collected through the industrial camera, and the signal processing system obtains the position information of the three laser points on the target surface according to the received images.
4. A static monitoring method of discrete single-point displacement based on laser ranging is realized by adopting the static monitoring device of discrete single-point displacement based on laser ranging as claimed in any one of claims 1 to 3, wherein the three laser ranging instruments are respectively a first laser ranging instrument to a third laser ranging instrument, and the method is characterized by comprising the following steps:
s1, establishing an observation coordinate system based on the laser transmitter;
s2, establishing a target surface coordinate system based on the target surface; collecting the coordinates (x) of the second end of the connecting rod in the target surface coordinate systemp,yp，0)；
S3, the laser emitted by the first to third laser range finders falls on the target surface to form first to third laser points respectively; the signal processor generates a rotation matrix and a translation phasor from the target surface coordinate system to the observation coordinate system according to the coordinates of the first laser point, the second laser point, the third laser point and the fourth laser point in the observation coordinate system and the target surface coordinate system;
s4, obtaining the coordinate (X) of the second end of the connecting rod in the observation coordinate system according to the rotation matrix and the translation vectorP,YP,ZP)；
S5, repeating the steps S2-S4 at intervals of set time to obtain the coordinates (X ') of the second end of the connecting rod in the observation coordinate system'P,Y′P,Z′P) (ii) a Calculating the displacement of discrete single point
5. The method of claim 4, wherein the step S1 specifically includes:
determining an O-XY plane of an observation coordinate system according to three intersection points of three beams of laser emitted by three laser range finders falling on a base of a laser emitter, and establishing the observation coordinate system O-XYZ based on the laser emitter by taking the direction perpendicular to the O-XY plane and pointing to a target surface as a + Z-axis direction.
6. The method of claim 4, wherein the step S2 of establishing a target surface coordinate system based on the target surface comprises:
taking the plane of the target surface as an o-xy surface of the target surface coordinate system, and taking the direction which is perpendicular to the target surface and points to the laser emitter as a + z-axis direction; and establishing a target surface coordinate system o-xyz based on the target surface.
7. The method of claim 4, wherein the step S3 specifically includes:
s31, driving the first to third laser range finders of the laser emitter to emit laser;
s32, the signal processor obtains the coordinates (X) of the first to third laser points formed by the first to third lasers on the target surface in the observation coordinate system O-XYZ according to the distance values measured by the first to third laser distance measuring instruments1,Y1,Z1)，(X2,Y2,Z2)，(X3,Y3,Z3) (ii) a Wherein (X)1,Y1)，(X2,Y2)，(X3,Y3) Coordinates of the first to third lasers emitted by the first to third laser range finders falling on the O-XY plane, respectively1、l2、l3Respectively measuring distance values of the first laser distance measuring instrument, the second laser distance measuring instrument and the third laser distance measuring instrument;
s33, the signal processor obtains the coordinates (x) of the first to the third laser points in the target surface coordinate system o-xyz through the receiving device1,y1，0),(x2,y2，0),(x3,y3，0)；
S34, the signal processor generates a rotation matrix R and a translation quantity S from the target surface coordinate system to the observation coordinate system according to the coordinates of the first to third laser points in the observation coordinate system and the target surface coordinate system; where R is a 3X 3 dimensional matrix and S contains three elements.
8. The laser ranging-based static monitoring method for discrete single point displacement as claimed in claim 7, wherein the coordinates (X) of the second end portion of the connecting rod in the observation coordinate system in the step S4P,YP,ZP) Satisfies the following conditions:
(XP,YP,ZP)T＝R·(xp,yp,0)T+S。
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| 王鹤;李泽明;: "激光测距仪与相机信息融合过程中位姿标定方法", 红外与激光工程, no. 04, 25 April 2020 (2020-04-25) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358415A (en) * | 2023-06-01 | 2023-06-30 | 通达电磁能股份有限公司 | Vibration isolator and space multidimensional information measurement method |
| CN116358415B (en) * | 2023-06-01 | 2023-08-15 | 通达电磁能股份有限公司 | Vibration isolator and space multidimensional information measurement method |
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