CN113847872B - 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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- CN113847872B CN113847872B CN202010599182.4A CN202010599182A CN113847872B CN 113847872 B CN113847872 B CN 113847872B CN 202010599182 A CN202010599182 A CN 202010599182A CN 113847872 B CN113847872 B CN 113847872B
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- 239000011159 matrix material Substances 0.000 claims description 10
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- 230000005693 optoelectronics Effects 0.000 claims description 4
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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 a discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface; a laser transmitter comprising a base and three laser rangefinders disposed on the base; transmitting three non-collinear lasers to the target surface through three laser rangefinders; collecting position information of three laser points of the three laser beams 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 displacement of discrete single points 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 discrete single points due to 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 is low in efficiency and difficult to realize real-time monitoring, 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 is mainly by means of image processing techniques, digital photogrammetry techniques.
Because of the automatic monitoring method based on the image processing technology and the digital photogrammetry technology, high-definition image data needs to be sampled, the size of a measured object in civil engineering is large, the illumination environment is poor due to the restriction of site environment, construction interference and the like, the sampling environment is complex, and the original image with high resolution is difficult to acquire, so that the final measurement accuracy is influenced.
Compared with the image processing technology and the photogrammetry technology, the full-automatic total station has high measurement precision and high automation degree, but has higher cost. The laser scanner is used for measuring and deforming the laser, so that the measurement result is stable and reliable, the laser scanner can scan and acquire full-section data, and the accuracy is high during static scanning; however, the laser scanner is high in price, when the measurement purpose is to measure displacement deformation of a specified discrete single point with high precision, the laser scanner is difficult to position the specified measuring point, and the processed redundant data is large in quantity, so that real-time monitoring is not facilitated. The laser range finder has low price, high distance accuracy of measuring single measuring point, can only be used for measuring the distance of a target, can not obtain the three-dimensional coordinates of the measuring point, and can obtain the displacement of the measuring point. And after the measuring point is shifted, the difficulty of automatically tracking and aiming the measuring point again is high.
Therefore, for monitoring deformation displacement of discrete single points, a deformation monitoring method with high automation degree, low cost, high precision and small interference from field operation environment is needed.
Disclosure of Invention
The invention aims to provide a discrete single-point displacement static monitoring device and method based on laser ranging, which can monitor deformation displacement of discrete single points in real time.
In order to achieve the above-mentioned object, the present invention provides a discrete single-point displacement static monitoring device based on laser ranging, comprising:
a receiving device comprising a target surface;
The first end part of the connecting rod is fixedly connected with a discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with a target surface;
A laser transmitter comprising a base and three laser rangefinders disposed on the base; measuring the distance value between the base and the target surface by using laser emitted by the laser range finder to the target surface; the three laser beams emitted by the three laser rangefinders are not collinear; collecting position information of three laser points of the three laser beams falling on a target surface through the receiving device;
And the signal processing system is in signal connection with the laser range finders and the receiving device, and calculates and obtains the displacement of the discrete single point according to the position information of the three laser points collected by the receiving device and the distance values measured by the three laser range finders respectively 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 material, and is stuck 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 transmitter, images of the three laser points on the calibration paper are acquired 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 rangefinders are respectively a first laser rangefinder to a third laser rangefinder, and the method comprises the following steps:
s1, establishing an observation coordinate system based on a laser emitter;
S2, establishing a target surface coordinate system based on the target surface; collecting coordinates (x p,yp, 0) of the second end part of the connecting rod in a target surface coordinate system;
S3, 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 to third laser points in the observation coordinate system and the target surface coordinate system;
S4, acquiring coordinates (X P,YP,ZP) of the second end part of the connecting rod in an observation coordinate system according to the rotation matrix and the translation vector;
s5, repeating the steps S2-S4 at intervals to obtain coordinates (X' P,Y′P,Z′P) of the second end part of the connecting rod in an observation coordinate system; calculating the displacement of discrete single points
The step S1 specifically includes:
And determining an O-XY plane of an observation coordinate system according to three intersection points of three laser beams emitted by the three laser range finders, wherein the O-XYZ plane is perpendicular to the O-XY plane and points to the target surface in the +Z axis direction, and establishing the observation coordinate system O-XYZ based on the laser transmitters.
The establishing a target surface coordinate system based on the target surface in the step S2 specifically includes:
Taking the plane of the target surface as an o-xy plane of the target surface coordinate system, and taking the direction which is perpendicular to the target surface and points to the laser transmitter as the +z axis direction; a target plane coordinate system o-xyz based on the target plane is established.
The step S3 specifically includes:
s31, driving first to third laser range finders of a laser transmitter to transmit laser;
S32, a signal processor obtains coordinates (X1,Y1,Z1),(X2,Y2,Z2),(X3,Y3,Z3); of first to third laser points formed by falling on a target surface in an observation coordinate system O-XYZ according to distance values measured by the first to third laser distance measuring instruments, wherein (X 1,Y1),(X2,Y2),(X3,Y3) is the coordinates of the first to third laser points emitted by the first to third laser distance measuring instruments in the O-XY plane respectively, and l 1、l2、l3 is the distance values measured by the first to third laser distance measuring instruments respectively;
s33, a signal processor acquires the coordinates (x 1,y1,0),(x2,y2,0),(x3,y3, 0) of the first to third laser points in a target surface coordinate system o-xyz through a receiving device;
s34, the signal processor generates a rotation matrix R and a translation 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 a3 x 3 dimensional matrix and S comprises three elements.
In step S4, the coordinates (X P,YP,ZP) of the second end portion of the connecting rod in the observation coordinate system satisfy: (X P,YP,ZP)T＝R·(xp,yp,0)T +S.
Compared with the prior art, the invention has the beneficial effects that:
The discrete single-point displacement static monitoring device and method based on 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 laser ranging has a simple structure and high cost performance; the discrete single-point displacement static monitoring method based on laser ranging is convenient to operate, accurate in measurement result, high in automation degree, small in interference from field operation environment and high in use value.
Drawings
For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
FIG. 1 is a front view of a laser transmitter of the present invention in a first embodiment;
FIG. 2 is a schematic structural diagram of a static monitoring device for discrete single point displacement according to the present invention in a first embodiment;
in the figure: 11. a first laser rangefinder; 12. a second laser rangefinder; 13. a third laser rangefinder; 15. laser; 16. a base; 17. a target surface; 19. a connecting rod; 28. industrial cameras.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The invention provides a discrete single-point displacement static monitoring device based on laser ranging, as shown in fig. 2, comprising: receiving means, a link 19, a laser transmitter, a signal processing system (not shown in the figures).
The receiving means comprise a target surface 17. In this embodiment, the receiving device is an optoelectronic two-dimensional position sensor, the target surface 17 is a photosensitive surface of the optoelectronic two-dimensional position sensor, and the target surface 17 is square. The photo position sensor is a photo device sensitive to the position of a light spot on a photosensitive surface, which outputs a signal corresponding to the position of the light spot on the photosensitive surface.
The connecting rod 19 is made of rigid material, a first end (point Q in fig. 2) of the connecting rod is fixedly connected with a discrete single point to be measured, and a second end (point P in fig. 2) of the connecting rod is fixedly connected with the target surface 17.
The laser transmitter comprises a base 16 and three laser rangefinders (a first laser rangefinder 11, a second laser rangefinder 12 and a third laser rangefinder 13 respectively) arranged on the base 16. Three laser beams 15 which are not collinear are emitted to the target surface 17 through three laser rangefinders. The photoelectric position sensor generates corresponding position information according to three laser points (A, B, C points in fig. 2) of the three laser beams 15 falling on the photosensitive surface thereof.
In this embodiment, the base 16 includes a plane as the mounting surface of the three laser rangefinders, any one of the laser beams 15 may not be perpendicular to the mounting surface, and the included angle between any one of the laser beams 15 and the mounting surface and the included angle between any two of the laser beams 15 may be measured. It is conceivable 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, three lasers 15 are parallel to each other and are all perpendicular to the mounting surface. As shown in fig. 1, three projection points of the three laser beams 15 on the mounting surface fall on three vertexes of an isosceles right triangle, and the waist length of the isosceles right triangle is measured to be c meters. The included angle making error of any two laser beams 15 is smaller than delta (rad), the maximum distance measurement of the laser distance meter is L meters, the allowable displacement of discrete single points is delta, and the side length of the target surface 17 is not smaller than (delta+c+delta.L).
And the signal processing system is in signal connection with the laser range finders and the receiving device, and calculates displacement of discrete single points according to the position information of three laser points sent by the photoelectric position sensor and three distance values measured by the three laser range finders through a built-in algorithm.
The invention discloses 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, 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 the O-XY plane of the observation coordinate system; the three laser beams 15 are 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 the right-angle vertex of the isosceles right triangle (namely the 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 respectively two right-angle sides of the isosceles right triangle; the +z axis direction is a direction perpendicular to the O-XY plane and directed toward the target surface 17.
S2, establishing a target surface coordinate system o-xyz, wherein a plane where the target surface 17 is located is taken as an o-xy plane of the target surface coordinate system, and the direction perpendicular to the target surface 17 and pointing to the base 16 is in 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 taken as the x-axis and the y-axis of the o-xy plane;
And acquiring coordinates (x p,yp, 0) of the second end part of the connecting rod in a target surface coordinate system. Wherein (x p,yp) is the o-xy plane coordinate of the second end of the connecting rod in the target plane coordinate system, which can be obtained by pre-measurement.
S3, driving the first laser distance measuring instrument 11 to the third laser distance measuring instrument 13 to emit corresponding first to third lasers, and obtaining coordinates (0, l 1)、(c,0,l2) and (0, c, l 3).l1、l2、l3) of first to third laser points (A, B, C in FIG. 2) of the first to third lasers falling on the target surface 17 in the observation coordinate system O-XYZ according to the distance values measured by the first laser distance measuring instrument 11 to the third laser distance measuring instrument 13 to the target surface 17;
The signal processor acquires the coordinates A (x 1,y1,0),B(x2,y2,0),C(x3,y3, 0) of the first to third laser points in the target surface coordinate system o-xyz through the position information sent by the photoelectric two-dimensional position sensor;
the signal processor generates a rotation matrix R and a translation amount 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 3x3 dimensional matrix and S comprises three elements.
S4, calculating by the signal processor to obtain a coordinate (X P,YP,ZP) of the second end part of the connecting rod in an observation coordinate system, wherein the coordinate (X P,YP,ZP)T＝R·(xp,yp,0)T +S;
s5, repeating the steps S2-S4 at intervals of a set time to obtain coordinates (X' P,Y′P,Z′P) of the second end part of the connecting rod in an observation coordinate system; 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, the target surface is made of transparent acrylic material or transparent film, and the target surface is attached with calibration paper. The target surface is disposed between the industrial camera and the laser transmitter. Preferably, the industrial camera imaging plane 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 position information of the three laser points on the target surface by a signal processing system according to the coordinates of the three laser points on the calibration paper in the received images. The other is the same as in the first embodiment.
The discrete single-point displacement static monitoring device and method based on 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 degree of automation, small interference by the field operation environment and good use value.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. Laser ranging-based discrete single-point displacement static monitoring device is characterized by comprising:
a receiving device comprising a target surface;
The first end part of the connecting rod is fixedly connected with a discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with a target surface;
A laser transmitter comprising a base and three laser rangefinders disposed on the base; measuring the distance value between the base and the target surface by using laser emitted by the laser range finder to the target surface; the three laser beams emitted by the three laser rangefinders are not collinear; collecting position information of three laser points of the three laser beams falling on a target surface through the receiving device;
And the signal processing system is in signal connection with the laser range finders and the receiving device, and calculates and obtains the displacement of the discrete single point according to the position information of the three laser points collected by the receiving device and the distance values measured by the three laser range finders respectively through a built-in algorithm.
2. The laser ranging-based discrete single point displacement static monitoring device according to claim 1, wherein the receiving device is an optoelectronic two-dimensional position sensor, and the target surface is a photosensitive surface of the optoelectronic two-dimensional position sensor.
3. The laser ranging-based discrete single-point displacement static monitoring device according to claim 1, wherein 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 transmitter, images of the three laser points on the calibration paper are acquired 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 laser ranging-based discrete single-point displacement static monitoring method implemented by the laser ranging-based discrete single-point displacement static monitoring device according to any one of claims 1 to 3, wherein the three laser rangefinders are respectively a first laser rangefinder to a third laser rangefinder, and the method is characterized by comprising the following steps:
s1, establishing an observation coordinate system based on a laser emitter;
S2, establishing a target surface coordinate system based on the target surface; collecting coordinates (x p,yp, 0) of the second end part of the connecting rod in a target surface coordinate system;
S3, 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 to third laser points in the observation coordinate system and the target surface coordinate system;
S4, acquiring coordinates (X P,YP,ZP) of the second end part of the connecting rod in an observation coordinate system according to the rotation matrix and the translation vector;
s5, repeating the steps S2-S4 at intervals to obtain coordinates (X' P,Y′P,Z′P) of the second end part of the connecting rod in an observation coordinate system; calculating the displacement of discrete single points
5. The static monitoring method for discrete single point displacement based on laser ranging according to claim 4, wherein step S1 specifically comprises:
And determining an O-XY plane of an observation coordinate system according to three intersection points of three laser beams emitted by the three laser range finders, wherein the O-XYZ plane is perpendicular to the O-XY plane and points to the target surface in the +Z axis direction, and establishing the observation coordinate system O-XYZ based on the laser transmitters.
6. The method for static monitoring of discrete single point displacement based on laser ranging as claimed in claim 4, wherein said establishing a target plane coordinate system based on target plane in step S2 specifically comprises:
Taking the plane of the target surface as an o-xy plane of the target surface coordinate system, and taking the direction which is perpendicular to the target surface and points to the laser transmitter as the +z axis direction; a target plane coordinate system o-xyz based on the target plane is established.
7. The static monitoring method for discrete single point displacement based on laser ranging according to claim 4, wherein step S3 specifically comprises:
s31, driving first to third laser range finders of a laser transmitter to transmit laser;
S32, a signal processor obtains coordinates (X1,Y1,Z1),(X2,Y2,Z2),(X3,Y3,Z3); of first to third laser points formed by falling on a target surface in an observation coordinate system O-XYZ according to distance values measured by the first to third laser distance measuring instruments, wherein (X 1,Y1),(X2,Y2),(X3,Y3) is the coordinates of the first to third laser points emitted by the first to third laser distance measuring instruments in the O-XY plane respectively, and l 1、l2、l3 is the distance values measured by the first to third laser distance measuring instruments respectively;
s33, a signal processor acquires the coordinates (x 1,y1,0),(x2,y2,0),(x3,y3, 0) of the first to third laser points in a target surface coordinate system o-xyz through a receiving device;
s34, the signal processor generates a rotation matrix R and a translation 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 a3 x 3 dimensional matrix and S comprises three elements.
8. The static monitoring method for discrete single point displacement based on laser ranging according to claim 7, wherein the coordinates (X P,YP,ZP) of the second end of the connecting rod in the observation coordinate system in step S4 satisfy:
(XP,YP,ZP)T＝R·(xp,yp,0)T+S。
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| CN108596117B (en) * | 2018-04-28 | 2021-03-02 | 河北工业大学 | A scene monitoring method based on two-dimensional laser rangefinder array |
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| CN209779713U (en) * | 2019-01-22 | 2019-12-13 | 浙江华东工程安全技术有限公司 | foundation pit engineering enclosure wall horizontal displacement monitoring device based on laser ranging technology |
| CN113847873A (en) * | 2020-06-28 | 2021-12-28 | 中铁上海工程局集团有限公司 | Discrete single-point displacement dynamic monitoring device and method based on laser ranging |
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