CN103175510A - Smart laser profiler automatic in leveling and direction adjustment - Google Patents
Smart laser profiler automatic in leveling and direction adjustment Download PDFInfo
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- CN103175510A CN103175510A CN2013100801274A CN201310080127A CN103175510A CN 103175510 A CN103175510 A CN 103175510A CN 2013100801274 A CN2013100801274 A CN 2013100801274A CN 201310080127 A CN201310080127 A CN 201310080127A CN 103175510 A CN103175510 A CN 103175510A
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Abstract
The invention belongs to the technical field of geometric dimension measurement and specifically relates to a smart laser profiler automatic in leveling and direction adjustment. The smart laser profiler automatic in leveling and direction adjustment comprises an electric revolving stage, a wireless communication module, first and second speed reducing step motors, a bearing block with a bearing, a three-dimensional electronic compass and a laser distance measuring sensor. The smart laser profiler realizes automatic leveling and direction adjustment by means of direction indication of the three-dimensional electronic compass and thereby well solving the problems in the prior art. The laser profiler is capable of measuring the form of the section of a tunnel in real time in tunnel construction to determine back break, and also capable of performing long-term monitoring on the tunnel section form after the completion of tunnel construction; the laser profiler is high in accuracy, simple and convenient to operate, and convenient for reuse after dismounting; and the laser profiler is capable of well performing self-leveling and direction correction for base dislocation and torsion caused by geological changes during tunnel monitoring, and further realizes remote control.
Description
Technical field
The invention belongs to the physical dimension field of measuring technique, be specifically related to a kind of High Precision Automatic leveling tuning Intelligent Laser profiler, be particularly useful for the tunnel, the detection of face type and monitoring and the safe early warning of the arch such as bridge transversal section.
Background technology
Along with the fast development of high ferro, City Underground Transportation and bridge construction, during constructing tunnel, owe to dig and cross to dig the installation that all can affect tunnel duct piece, if again repair the tunnel face after the section of jurisdiction installs, can bring extra human cost and construction costs cost.Mounted tunnel duct piece because appearance such as effect of stress, geology change are loosening, fall under can coming off seriously the time, affects traffic safety in the tunnel along with the elongated meeting of service time.Based on this, the tunnel face type monitoring after the tunnel cross section type detection in the constructing tunnel process and tunnelling are completed becomes very urgent and of far-reaching significance.
Switzerland Amberg company took the lead in releasing laser cross section instrument in 1986, this profiler full accuracy ± 5mm, domesticly developed domestic laser cross section instrument in 1987 by Specialty Design research institute of the Ministry of Railways, this profiler precision is lower, only have 2.5 ‰, calendar year 2001, Beijing University of Technology developed a kind of drift section detector in conjunction with laser ranging technique and digital angle measurement technique, in 2002, powerful mechanical company limited of iron tunnel group releases a driven by servomotor of utilizing, utilize the simple type laser cross section instrument of bubble method level-off, 2010, Tongji University proposes a kind of vehicle-mounted profiler of fan-shaped combination that is comprised of nine laser range finders, theoretical error ± 2.733mm.
Summary of the invention
The object of the present invention is to provide a kind of High Precision Automatic leveling tuning Intelligent Laser profiler, this laser cross section instrument has well solved laser cross section instrument in the past by artificial fine setting and can not intelligent leveling have measured the problem of attitude, can carry out that tunnel cross-section face type detects again can long term monitoring, and can realize Long-distance Control.
A kind of automatic leveling tuning Intelligent Laser profiler provided by the invention is characterized in that it comprises electric rotary table, wireless communication module, the first decelerating step motor, spring coupling is with the bearing seat of bearing, the second decelerating step motor, three-dimensional electronic compass, and laser range sensor;
Electric rotary table and wireless communication module are fixed on the first connecting bottom board; The first decelerating step motor and all being fixed on the second web joint with the bearing seat of bearing, the second web joint is fixed on electric rotary table; The second decelerating step motor is fixed on the first supporting plate, and the first supporting plate links together by bearing seat and the first decelerating step motor, and three-dimensional electronic compass and laser range sensor are arranged on the second supporting plate;
The axle head of the second supporting plate and the second decelerating step motor links together, the first decelerating step motor, the second decelerating step motor and laser range sensor all are connected by serial port data line with wireless communication module, and wireless communication module is used for wireless receiving and the transmission of steering order and measurement data.
Problem based on the prior art existence, when the present system of the intelligent body of laser cross section instrument provided by the invention installs, base does not need the precision regulating level, system can carry out automatic adjusting horizontal for self attitude, and steering order and measurement data all adopt communication to transmit.The automatic leveling tuning refers to that profiler can regularly carry out the self direction adjustment according to Tunnel Design axial direction and the tunnel track face gradient, when profiler is arranged on tunnel wall and carries out the tunnel cross-section long term monitoring, because the geology change causes the bearing torsional deflection, profiler can carry out self-attitude correction according to the change value integrating tunnel trends of design of profiler horizontal azimuth and the angle of gradient, guarantee that laser range sensor scanning section and tunnel move towards the design axis vertical, thereby well guarantee the long-term measuring accuracy of profiler.Instrumental of the present invention is controlled and data transmission all adopts wireless transmission method, to realize Long-distance Control.
Description of drawings
Fig. 1 is the wiring layout of High Precision Automatic leveling tuning Intelligent Laser profiler in the present invention;
Fig. 2 is that in the present invention, High Precision Automatic leveling tuning laser cross section instrument carries out the schematic diagram that tunnel face face type detects;
Fig. 3 is the schematic diagram that in the present invention, High Precision Automatic leveling tuning laser cross section instrument carries out tunnel face face type monitoring;
Fig. 4 is supporting plate (comprising the first supporting plate and the second supporting plate) schematic appearance;
In figure, 1 is the first connecting bottom board, the 2nd, and electric rotary table, the 3rd, wireless communication module, 4 is second web joints, 5 is first decelerating step motor, the 6th, spring coupling, the 7th, with the bearing seat of bearing, 8 is first supporting plates, 9 is second decelerating step motor, and 10 is second supporting plates, the 11st, and three-dimensional electronic compass, the 12nd, laser range sensor, the 13rd, fixing support rack, the 14th, tunnel wall, the 15th, optics tripod.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.Need to prove at this, understand the present invention for the explanation of these embodiments for helping, but do not consist of limitation of the invention.In addition, below in each embodiment of described the present invention involved technical characterictic just can mutually not make up as long as consist of each other conflict.
As Fig. 1,2 and shown in Figure 3, a kind of High Precision Automatic leveling tuning Intelligent Laser profiler provided by the invention, comprise electric rotary table 2, wireless communication module 3, the first decelerating step motor 5, spring coupling 6, bearing seat 7 with bearing, the second decelerating step motor 9, three-dimensional electronic compass 11, laser range sensor 12.
Electric rotary table 2 and wireless communication module 3 are fixed on the first connecting bottom board 1.The first decelerating step motor 5 all is fixed on the second web joint 4 with the bearing seat 7 of bearing, and the second web joint 4 is fixed on electric rotary table 2.The second decelerating step motor 9 is fixed on the first supporting plate 8, and the first supporting plate 8 links together by bearing seat 7 and the first decelerating step motor 5, and three-dimensional electronic compass 11 and laser range sensor 12 are arranged on the second supporting plate 10.
The axle head of the second supporting plate 10 and the second decelerating step motor 9 links together by screw-driving.The first decelerating step motor 5, the second decelerating step motor 9 are connected with laser range sensor and all are connected with wireless communication module 3 by serial port data line 16, and wireless communication module 3 is responsible for wireless receiving and the transmission of steering order and measurement data.
For improving the measuring accuracy of profiler, electric rotary table 2 should use high-accuracy electric rotary table as far as possible.
In order further to improve the measuring accuracy of profiler provided by the invention, should satisfy following positioning requirements: the output shaft axial line of the second decelerating step motor 9 wants mutually vertical with the first decelerating step motor 5 output shaft axial lines.The plane of scanning motion of laser range sensor 12 will guarantee vertically with the second stepper motor 9, and when out of plumb both, the cross section, tunnel of scanning will be ellipse, thereby causes larger measuring error.For guaranteeing that the apparatus installation support has good versatility, profiler is connected with bearing by the first connecting bottom board 1, it can be the optics tripod 15 of commonly using that the mounting hole of back-plane design makes erection support, can be also the common fixing support rack 13 that is fixed on tunnel wall.
In order further to improve the measuring accuracy of profiler provided by the invention, also should satisfy following positioning requirements: the layout of three-dimensional electronic compass 11 and laser range sensor 12 will make center of gravity both drop on the output shaft axial line of the second decelerating step motor 9, improves the rotation homogeneity of the second decelerating step motor 9.
The course of work of profiler provided by the invention is:
The levelling of first step attitude:
After apparatus installation is complete, read course angle α and angle of gradient β and the roll angle γ of three-dimensional electronic compass 11 after wireless communication module 3 reception instructions, at first by the value transmitted signal driver electric rotary table 2 of α, the axis of the second decelerating step motor 9 and Tunnel Design construction axis are transferred to coaxially, then transfer to the axis of the second decelerating step motor 9 actual domatic parallel with the tunnel by value transmitted signal driver the first decelerating step motor 5 of β.So far, guaranteed that by aforementioned adjusting laser range sensor surface sweeping cross section is vertical with tunnel axis, the attitude regulation of measuring instrument is complete.
The second step circumferential scanning is measured:
Transmitted signal driver decelerating step motor 2 rotates in a circumferential direction, and makes the γ angle turn over certain angle at every turn, realizes that the circumferential scanning of tunnel cross-section is measured.The measurement data of laser range sensor 12 transfers to wireless communication module 3 by serial port data line, and wireless communication module 3 sends measurement data again.
When carrying out the measurement of tunnel cross section out break, whole measuring system is arranged on optics tripod 15, the optical triangulation frame is placed on tunnel center line orbital plane, as shown in Figure 2, laser cross section instrument is placed on optics tripod 15, the optics tripod is positioned on the tunnel center line, pushes ahead successively with constructing tunnel, thereby realizes measuring in real time with constructing tunnel.The self-leveling tuning function of measuring system can guarantee that the optics tripod does not need accurate leveling, after measuring a section, mobile optical tripod to next section can continue to measure, save greatly Measuring Time, improved work efficiency, reduced the impact of measuring constructing tunnel.
When carrying out tunnel cross section face type long term monitoring, its purpose is mainly monitoring tunnel deformation, and the prevention tunnel duct piece comes off because the geology change causes, and dropping to affects traffic safety on track.When carrying out long term monitoring, measuring system is fixed on above the fixing support rack 13 of tunnel wall, and so that tunnel cross-section is carried out long term monitoring, measurement data transfers to the pulpit by wireless transmission method.As shown in Figure 3, laser cross section instrument is as on fixing support rack 13, and fixed support is arranged on tunnel wall by screw, when the tunnel wall change causes fixed support deformation, the self-leveling adjustment of laser cross section instrument meeting in the present invention, thus long-term measuring accuracy guaranteed.The main error influence factor of carrying out the monitoring of tunnel cross-section face type is that the geology change causes the bearing torsional deflection of being fixed in tunnel wall, and the measuring system in the present invention can be carried out self-leveling tuning for the bearing torsion, has guaranteed greatly long-term measuring accuracy.The traditional monitoring method is regularly to send the workman to enter in the tunnel to measure, and tunnel cross-section long term monitoring function of the present invention has saved long human input, and measuring system regularly is sent to outside the hole operation room by wireless transmission method with section face type information can complete the monitoring task.
In a word, the present invention carries out the automatic leveling tuning by the temporald eixis of three-dimensional electronic compass, can measure in real time tunnel cross-section face type with constructing tunnel, judged whether out break, can carry out tunnel face type long term monitoring again after constructing tunnel is complete, well solved in the past laser cross section instrument by artificial fine setting and at any time automatic leveling measure attitude, only be used for that tunnel cross-section detects and problem that can not long term monitoring.Has precision high, simple to operation, energy one key automatic leveling tuning during installation, instrument is convenient to reuse after dismounting, can well change for geology the pedestal dislocation and the torsion that cause when monitoring in the tunnel and carry out self-leveling tuning correction, thereby guarantee long-term measuring accuracy, steering order and measurement data are transmitted by wireless communication module, realize Long-distance Control.
Those skilled in the art will readily understand; the above is only preferred embodiment of the present invention; not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. automatic leveling tuning Intelligent Laser profiler, it is characterized in that, it comprises electric rotary table (2), wireless communication module (3), the first decelerating step motor (5), spring coupling (6), bearing seat (7) with bearing, the second decelerating step motor (9), three-dimensional electronic compass (11), and laser range sensor (12);
Electric rotary table (2) and wireless communication module (3) are fixed on the first connecting bottom board (1); The first decelerating step motor (5) and all being fixed on the second web joint (4) with the bearing seat (7) of bearing, the second web joint (4) is fixed on electric rotary table (2); The second decelerating step motor (9) is fixed on the first supporting plate (8), the first supporting plate (8) links together by bearing seat (7) and the first decelerating step motor (5), and three-dimensional electronic compass (11) and laser range sensor (12) are arranged on the second supporting plate (10);
The second supporting plate (10) links together with the axle head of the second decelerating step motor (9), the first decelerating step motor (5), the second decelerating step motor (9) are connected 12 with laser range sensor) all be connected by serial port data line (16) with wireless communication module (3), wireless communication module (3) is used for wireless receiving and the transmission of steering order and measurement data.
2. automatic leveling tuning Intelligent Laser profiler according to claim 1, is characterized in that, carries out the automatic leveling tuning by the temporald eixis of three-dimensional electronic compass.
3. automatic leveling tuning Intelligent Laser profiler according to claim 1, is characterized in that, the output shaft axial line of the second decelerating step motor (9) wants mutually vertical with the first decelerating step motor (5) output shaft axial line.
4. according to claim 1,2 or 3 described automatic leveling tuning Intelligent Laser profilers, is characterized in that, the plane of scanning motion of laser range sensor (12) is vertical with the second stepper motor (9).
5. according to claim 1,2 or 3 described automatic leveling tuning Intelligent Laser profilers, it is characterized in that, the layout of three-dimensional electronic compass (11) and laser range sensor (12) makes center of gravity both drop on the output shaft axial line of the second decelerating step motor (9).
6. automatic leveling tuning Intelligent Laser profiler according to claim 4, it is characterized in that, the layout of three-dimensional electronic compass (11) and laser range sensor (12) makes center of gravity both drop on the output shaft axial line of the second decelerating step motor (9).
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| CN201310080127.4A CN103175510B (en) | 2013-03-13 | 2013-03-13 | Smart laser profiler automatic in leveling and direction adjustment |
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| CN201310080127.4A CN103175510B (en) | 2013-03-13 | 2013-03-13 | Smart laser profiler automatic in leveling and direction adjustment |
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| CN103175510A true CN103175510A (en) | 2013-06-26 |
| CN103175510B CN103175510B (en) | 2015-06-03 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792261A (en) * | 2015-04-10 | 2015-07-22 | 清华大学 | Three-dimensional space fine measuring system for underground cavities |
| CN105004732A (en) * | 2015-07-16 | 2015-10-28 | 武汉长盛工程检测技术开发有限公司 | Tunnel crack rapid detection device and method |
| CN105004270A (en) * | 2015-08-05 | 2015-10-28 | 云南省公路科学技术研究院 | Tunnel lining section laser detector |
| CN105841626A (en) * | 2016-03-29 | 2016-08-10 | 华北科技学院 | Underworkings deformation monitoring device and method |
| CN106500590A (en) * | 2016-12-15 | 2017-03-15 | 宁夏共享模具有限公司 | A kind of laser interferometer interferoscope adjusts platform |
| CN106679631A (en) * | 2017-02-22 | 2017-05-17 | 中国地震局地壳应力研究所 | Remote direction adjusting device of borehole inclinometer for measuring borehole crustal inclination |
| CN107677243A (en) * | 2017-11-20 | 2018-02-09 | 北京市市政工程研究院 | Laser tunnel cross-section detector |
| CN107702693A (en) * | 2017-10-19 | 2018-02-16 | 伟志股份公司 | A kind of geological section measurement apparatus and measuring method |
| CN110430538A (en) * | 2019-07-31 | 2019-11-08 | 中铁四局集团第五工程有限公司 | Tunnel produces bommand driving cabin |
| CN111752308A (en) * | 2019-03-26 | 2020-10-09 | 上海京海工程技术有限公司 | Method for correcting moving scanning posture in circular shield tunnel |
| CN112324503A (en) * | 2020-10-30 | 2021-02-05 | 郭玉红 | Scribing robot suitable for tunnel excavation section |
| CN112585326A (en) * | 2018-06-01 | 2021-03-30 | 阿基菲克斯股份公司 (独股) | Method and system for automatically leveling a suspended ceiling, floating floor, pipe or cable tray |
| CN112710279A (en) * | 2020-12-20 | 2021-04-27 | 中国科学院武汉岩土力学研究所 | Geological full-section three-dimensional scanning imaging device for underground cavern |
| CN112945134A (en) * | 2020-12-10 | 2021-06-11 | 兰州大学 | A intelligent scanner for cave monitoring |
| WO2021248756A1 (en) * | 2020-06-10 | 2021-12-16 | 广东海洋大学 | Bridge deck height monitoring device and method based on laser ranging |
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| JP2005024492A (en) * | 2003-07-02 | 2005-01-27 | Taisei Corp | Measuring method for displacement of inside shape of tunnel |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104792261B (en) * | 2015-04-10 | 2018-05-29 | 清华大学 | The fine measuring system of underground chamber three dimensions |
| CN104792261A (en) * | 2015-04-10 | 2015-07-22 | 清华大学 | Three-dimensional space fine measuring system for underground cavities |
| CN105004732A (en) * | 2015-07-16 | 2015-10-28 | 武汉长盛工程检测技术开发有限公司 | Tunnel crack rapid detection device and method |
| CN105004270A (en) * | 2015-08-05 | 2015-10-28 | 云南省公路科学技术研究院 | Tunnel lining section laser detector |
| CN105841626A (en) * | 2016-03-29 | 2016-08-10 | 华北科技学院 | Underworkings deformation monitoring device and method |
| CN106500590A (en) * | 2016-12-15 | 2017-03-15 | 宁夏共享模具有限公司 | A kind of laser interferometer interferoscope adjusts platform |
| CN106679631A (en) * | 2017-02-22 | 2017-05-17 | 中国地震局地壳应力研究所 | Remote direction adjusting device of borehole inclinometer for measuring borehole crustal inclination |
| CN107702693B (en) * | 2017-10-19 | 2020-06-02 | 伟志股份公司 | Geological section measuring device and method |
| CN107702693A (en) * | 2017-10-19 | 2018-02-16 | 伟志股份公司 | A kind of geological section measurement apparatus and measuring method |
| CN107677243A (en) * | 2017-11-20 | 2018-02-09 | 北京市市政工程研究院 | Laser tunnel cross-section detector |
| CN107677243B (en) * | 2017-11-20 | 2024-03-26 | 北京市市政工程研究院 | Laser tunnel section detector |
| CN112585326A (en) * | 2018-06-01 | 2021-03-30 | 阿基菲克斯股份公司 (独股) | Method and system for automatically leveling a suspended ceiling, floating floor, pipe or cable tray |
| CN111752308A (en) * | 2019-03-26 | 2020-10-09 | 上海京海工程技术有限公司 | Method for correcting moving scanning posture in circular shield tunnel |
| CN111752308B (en) * | 2019-03-26 | 2022-09-20 | 上海京海工程技术有限公司 | Method for correcting moving scanning posture in circular shield tunnel |
| CN110430538A (en) * | 2019-07-31 | 2019-11-08 | 中铁四局集团第五工程有限公司 | Tunnel produces bommand driving cabin |
| CN110430538B (en) * | 2019-07-31 | 2021-02-09 | 中铁四局集团第五工程有限公司 | Tunnel production command cockpit |
| WO2021248756A1 (en) * | 2020-06-10 | 2021-12-16 | 广东海洋大学 | Bridge deck height monitoring device and method based on laser ranging |
| CN112324503A (en) * | 2020-10-30 | 2021-02-05 | 郭玉红 | Scribing robot suitable for tunnel excavation section |
| CN112945134A (en) * | 2020-12-10 | 2021-06-11 | 兰州大学 | A intelligent scanner for cave monitoring |
| CN112710279A (en) * | 2020-12-20 | 2021-04-27 | 中国科学院武汉岩土力学研究所 | Geological full-section three-dimensional scanning imaging device for underground cavern |
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