CN107101578B - A kind of underground measuring point coordinate measurement method - Google Patents
A kind of underground measuring point coordinate measurement method Download PDFInfo
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- CN107101578B CN107101578B CN201710283079.7A CN201710283079A CN107101578B CN 107101578 B CN107101578 B CN 107101578B CN 201710283079 A CN201710283079 A CN 201710283079A CN 107101578 B CN107101578 B CN 107101578B
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- 238000009434 installation Methods 0.000 claims description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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Abstract
The present invention provides a kind of underground measuring point coordinate measurement method comprising following steps: based on the tunnel distribution situation between control point and target measuring point, obtaining survey station number and control point coordinates parameter；According to control point coordinates parameter, it is based on survey station coordinate derivation algorithm, the three-dimensional coordinate of each survey station is obtained, to obtain the three-dimensional coordinate of target measuring point.The present invention provides a kind of easy to carry, easy to operate and measurement accurately underground measuring point coordinate measurement methods, to solve the problems such as measuring instrument existing during measurement of coordinates under existing well is complicated for operation, portability is poor and measurement inaccuracy.
Description
Technical field
The present invention relates to underground prospecting technique fields, more particularly, to a kind of underground measuring point coordinate measurement method.
Background technique
It is planning and designing, exploration construction, production and the operation management and mine in mine in mine construction and mining process
The mapping operations of progress such as are scrapped in mountain, are an important rings for mine construction and production period.Since mining survey work relates to
And ground and underground, to be not only mining production construction service, also information is provided for safety in production, so that leader is to safety life
Production makes a policy.
Mining survey master instrument to be used has total station, theodolite, level and gyroscope etc. at present.Wherein with whole station
Instrument use is most extensive.Total station, be it is a kind of integrate light, mechanical, electrical high-tech measuring device, have angle measurement, distance
The functions such as (oblique distance, flat away from, height difference) measurement, three-dimensional coordinate survey, traverse survey and setting out survey.
Such as, total station measures in underground and sits calibration method process are as follows: 1) sets up instrument, centering, leveling；2) input is surveyed
The instrument of website is high and coordinate, completion survey station input；3) the prism mirror height and coordinate for inputting backsight point, measure backsight point, obtain
Initial orientation；4) viewpoint prism mirror is high before inputting, and aims at measurement and obtains target measuring point coordinate.
And the instrument of surveying and mapping of this profession of total station, it generally requires that in-site measurement mistake could be completed by the training of profession
Journey；Total station is not only expensive but also figure is heavy, it has not been convenient to carry, bring difficult in mine to survey crew；
Total station needs to be arranged before measuring the parameters such as prism constant, atmospheric correction value or temperature, atmospheric pressure value, and operating process is complicated；
Instrument height is then by the manual ranging tool measurement such as steel ruler, and measurement error is larger.
It for the above technical issues, is to disclose in 201510121265.1 based on rotation in Chinese Patent Application No.
The patent of invention of the boom-type roadheader pose measuring method of fan laser discloses a kind of using based on rotation fan laser survey
The fan laser transmitting terminal of the system is mounted on boom-type roadheader fuselage by the spatial point 3 D Coordinate Measuring System at angle
On, fan laser receiving end (including 3 not conllinear fan laser receivers) is fixedly mounted on via boom-type roadheader
The coal road rear excavated, fan laser receiver are measured relative to the coordinate value of geodetic coordinates in space system by other measurement methods.
Coordinate value of the fan laser receiver relative to transmitting terminal is measured by fan laser transmitting terminal, then is converted by corresponding coordinate,
Calculate the D coordinates value for fixing (not conllinear) on boom-type roadheader at 3 points relative to geodetic coordinates in space system.
Above-mentioned patent, although solving big, the complicated for operation problem of the brought measurement error of conventionally employed manual measurement,
But volume is more huge, and when development machine is in cutting course, the judder of fuselage and wags the tail, and may make laser
Receiving end can not receive the fan laser of laser emitter sending, and detection is caused to fail.Therefore need it is a kind of it is economical, portable,
Underground measuring point coordinate measurement method easy to operate.
Summary of the invention
The present invention provides a kind of easy to carry, easy to operate and measurement accurately underground measuring point coordinate measurement method, with solution
Certainly measuring instrument existing during measurement of coordinates under existing well is complicated for operation, portability is poor and measurement inaccuracy etc. is asked
Topic.
According to an aspect of the present invention, a kind of underground measuring point coordinate measurement method is provided, which is characterized in that it include with
Lower step:
S1. based on the tunnel distribution situation between control point and target measuring point, survey station number and control point coordinates ginseng are obtained
Number；
S2. according to control point coordinates parameter, it is based on survey station coordinate derivation algorithm, obtains the three-dimensional coordinate of each survey station,
To obtain the three-dimensional coordinate of target measuring point.
On the basis of above scheme preferably, the step S2 the following steps are included:
S21. rangefinder is set up respectively at two nearest survey stations of two control points of distance, measurement obtains two surveys respectively
It stands the distance between two control points and inclination angle；
S22. it is based on survey station coordinate derivation algorithm, obtains two survey station coordinates；
S23. the two survey station coordinates that will acquire execute S21 as new control point, the three-dimensional until obtaining target measuring point
Coordinate.
On the basis of above scheme preferably, the step S21 includes:
Rangefinder is set up respectively at two nearest survey stations of two control points of distance, based on the rangefinder up time at survey station
Needle observe 2 control points, first observe to be control point 1, after observe to be control point 2, obtain one of survey station and two
The distance between a control point isWithThe inclination angle that measurement obtains between one of survey station and two control points isWithMeasurement obtains the distance between another survey station and two control pointsWithMeasurement obtain another survey station with
Inclination angle between two control points is respectivelyWith
On the basis of above scheme preferably, the survey station coordinate derivation algorithm the following steps are included:
S221. two control points are projected respectively to the survey station institute nearest apart from its control point in a horizontal plane, is obtained
Subpoint A and B；
S222. using subpoint A as the center of circle,Justify for radius work；Using B as the center of circle,For radius
Work is justified, then one of the intersection point (C and D) of two circles is survey station 1, obtains A point coordinate, B point coordinate；
S223. the connection center of circle A, B and C, D intersect at E, and E, C make horizontal line excessively respectively and vertical line intersects at F, based on straight
Line slope and Pythagorean theorem obtain intersection point C, D coordinate；
S224. the product based on vector calculates, and determines that intersection point C or intersection point D is survey station 1, to obtain survey station coordinate.
On the basis of above scheme preferably, step S22 further includes after obtaining two survey station coordinates, for fixing rangefinder
Tripod on vertical respectively 1 target of installation, to replace the spatial position of survey station.
On the basis of above scheme preferably, the rangefinder is laser range finder.
On the basis of above scheme preferably, the rangefinder is infrared detecting set.
On the basis of above scheme preferably, the rangefinder is ultrasonic range finder.
The application proposes a kind of underground measuring point coordinate measurement method, has following advantages:
1) it is measured using laser range finder, it is light portable since laser range finder appearance is mini, mitigate underground significantly
The carrying of survey crew is born a heavy burden；
2) in use, being only used in 2 control point coordinates of input on industrial plate, target survey can be obtained by inversely counter push away
The three-dimensional coordinate of point, it is accurate that measurement facilitates；
3) in entire measurement process, without artificial mapping, therefore the professional standards of survey crew are reduced without display to measurement
The skill requirement of personnel；
4) measurement finishes, and measure field can directly settle accounts and read the three-dimensional coordinate of target measuring point, and measurement is accurately and rapidly；
5) there is great promotional value, the present invention can replace total station survey underground measuring point coordinate, easy to operate, pole
It is easy to get started.
Detailed description of the invention
Fig. 1 is a kind of flow chart of underground measuring point coordinate measurement method of the invention；
Fig. 2 is the detail flowchart of step S2 in Fig. 1 of the invention；
Fig. 3 is a kind of procedure chart of underground measuring point coordinate measurement method of the invention；
Fig. 4 is survey station calculating coordinate floor projection schematic diagram of the invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Refering to Figure 1, the present invention provides a kind of underground measuring point coordinate measurement methods comprising following steps:
S1. it is made an on-the-spot survey by underground site, 2 control points for selecting distance objective measuring point nearest, and obtains out two controls
The coordinate parameters of point, then counting the tunnel turning number between control point and target measuring point is N, is laid in each corner
Two survey stations, then survey station number is 2N；
S2. according to control point coordinates parameter, with stadia surveying obtain each survey station to the distance at 2 known control points and
Inclination angle, by survey station coordinate derivation algorithm, reverse-direction derivation obtains the three-dimensional coordinate of each survey station, to obtain target measuring point
Three-dimensional coordinate.
For the technical solution that present invention be described in more detail, please continue to refer to shown in Fig. 2, step S2 packet of the invention
Include following steps:
S21. rangefinder is set up respectively at two nearest survey stations of two control points of distance, measurement obtains two surveys respectively
It stands the distance between two control points and inclination angle；
S22. it is based on survey station coordinate derivation algorithm, obtains two survey station coordinates；
S23. the two survey station coordinates that will acquire execute S21 as new control point, the three-dimensional until obtaining target measuring point
Coordinate.
It, below will be in terms of control point 1 and control point 2 for the process for the acquisition survey station three-dimensional coordinate that the present invention will be described in detail
The three-dimensional coordinate for calculating acquisition survey station 1, which is used as, to be illustrated.Referring specifically to shown in Fig. 2, Fig. 3 and Fig. 4.
1 coordinate of control point is set as (X1,Y1,Z1) and 2 coordinate of control point be (X2,Y2,Z2).Two control points of distance most
Rangefinder is set up respectively at close two survey stations (survey station 1 and survey station 2), is seen clockwise based on the rangefinder at survey station 1 and survey station 2
Examine 2 control points, first observe to be control point 1, after observe to be control point 2, obtain survey station 1 and control point with rangefinder
Space length between 1 isIt is with inclination angleObtaining the space length between survey station 1 and control point 2 with rangefinder isIt is with inclination angleObtaining the space length between survey station 2 and control point 1 with rangefinder isIt is with inclination angleWith
The space length that rangefinder obtains between survey station 2 and control point 2 isIt is with inclination angle
The first step, it is horizontal where control point 1 and control point 2 are projected respectively to the survey station 1 nearest apart from its control point
In face, subpoint A and B are obtained；
Second step, using subpoint A as the center of circle, withJustify for radius work；Using B as the center of circle,Justify for radius work, then one of the intersection point (C and D) of two circles is survey station 1, obtains A point coordinateB point coordinate is
Third step, connects the center of circle A, B and intersection point C, D intersect at E, and E, C make horizontal line excessively respectively and vertical line intersects at F,
ThenThe slope K of ABAB=(Y1-Y2)/(X1-X2), the slope K of CDCD=-1/KAB。
In right angled triangle ACE, CE2=r1 2-AE2；In right angled triangle BCE, according to Pythagorean theorem, CE2=r2 2-
BE2=r2 2-(AB-AE)2=r2 2-AB2+2AB*AE-AE2, then
According to the slope of straight line AB, based on the coordinate of A point, the transverse and longitudinal coordinate for obtaining the upper E point of straight line AB is xE=X1-
(X1-X2)AE/AB,yE=Y1-(Y1-Y2)AE/AB。
According to Pythagorean theorem, in triangle ACE and triangle CEF, the square distance for obtaining CE is as follows:
CE2=AC2-AE2=r1 2-(X1-xE)2-(Y1-yE)2=EF2+CF2=EF2+(EF*KCD)2；
It is obtained by above-mentioned formulaThe coordinate of old friend's point C, D are respectively as follows: xC=xE+ EF, yC=yE+
CF, xD=xE- EF, yD=yE- CF, zC=zD=ZA=ZB。
Due to calculating the coordinate of two intersection points of C, D, determine specifically intersection point C or intersection point D for the present invention to screen
Survey station 1, the present invention using vector product calculate, screened.
It is calculated according to control point 2 behind first control point 1WithPositive negativity, ifFor negative value,
Then C point is survey station 1, ifFor negative value, then D point is survey station 1.
The above are the coordinates of survey station 1 to calculate process, when needing to obtain the three-dimensional coordinate of survey station 2, it is only necessary in the first step
When, control point 1 and control point 2 are projected respectively to survey station 2 institute nearest apart from its control point in a horizontal plane, projection is obtained
Point；Above-mentioned second step is brought into third step, to resolve the three-dimensional coordinate for obtaining survey station 2.
After calculating obtains the three-dimensional coordinate of survey station 1 and survey station 2, as new control point, calculate new apart from this
Nearest two survey stations in control point three-dimensional coordinate, repeatedly after, until obtaining target measuring point.
It further, below will be to obtain survey station 2N's and survey station 2N-1 for the technical solution that the present invention will be described in detail
Three-dimensional coordinate is illustrated for example, please continue to refer to shown in Fig. 3.When horizontal with tripod at survey station 2n-1 (2≤n≤N)
Laser range finder is set up, observes sequencing of the measuring point 2n-3 and measuring point 2n-2 as measurement clockwise.Assuming that first measuring point 2n-3
Measuring point 2n-2 is clockwise afterwards, and laser range finder first aims at measurement measuring point 2n-3 and obtains space lengthThe inclination angle andMeasurement measuring point 2n-2 is aimed at afterwards to obtainWithWith tripod level frame at survey station 2n (2≤n < N)
If laser range finder, laser range finder first aims at measurement measuring point 2n-3 and obtains space lengthThe inclination angle andIt aims at and surveys afterwards
Measuring point 2n-2 is obtainedWithSince the three-dimensional coordinate of measuring point 2n-3 and measuring point 2n-2 are known parameters, therefore according to survey
Point 2n-3 (x2n-3,y2n-3,z2n-3) and measuring point 2n-2 (x2n-2,y2n-2,z2n-2), calculate the coordinate point of survey station 2n-1 and survey station 2n
It Wei not (x2n-1,y2n-1,z2n-1) and (x2n,y2n,z2n)(2≤n≤N)。
After two survey station coordinates of every acquisition, vertical on the tripod for fixing rangefinder 1 target can be respectively installed,
To replace the spatial position of survey station.In use, the position of the tripod remains unchanged, due to having horizontal bubble on tripod,
It can guarantee tripod bubble level by vernier knob, it is consistent with rangefinder centre-height using the centre-height of target, to protect
Demonstrate,prove the spatial position that target center is survey station.
It will be explained in detail the process that the present invention obtains target measuring point T according to survey station 2N-1 and survey station 2N below, please refer to Fig. 3
It is shown.
Judge the survey station 2N-1 (x at n-th tunnel turning2N-1,y2N-1,z2N-1), survey station 2N (x2N,y2N,z2N) and target survey
The clockwise relationship of point T, if survey station 2N-1, survey station 2N and target measuring point T are clock-wise order.
With laser range finder run-home measuring point T at survey station 2N-1, space length is obtainedThe inclination angle andIt is equivalent to from target measuring point T and aims at survey station 2N-1, obtain space lengthThe inclination angle andSoWith laser range finder run-home measuring point T at survey station 2N, space length is obtainedThe inclination angle andIt is equivalent to from target measuring point T and aims at survey station 2N, obtain space lengthThe inclination angle andSoRelevant parameter is substituted into calculating process, resolving obtains the space coordinate of target measuring point T
(xT,yT,zT)。
As the preferred technical solution of the present invention, the rangefinder that the present invention uses is laser range finder, the laser ranging
Model Leica S910, the ranging range of the laser range finder are 300m, and range accuracy reaches 1mm, 0.1 ° of angle precision, surveys
Amount data can pass through bluetooth or wireless transmission.
Preferably, which can also be infrared detecting set or ultrasonic range finder.
The application proposes a kind of underground measuring point coordinate measurement method, has following advantages:
1) it is measured using laser range finder, it is light portable since laser range finder appearance is mini, mitigate underground significantly
The carrying of survey crew is born a heavy burden；
2) in use, being only used in 2 control point coordinates of input on industrial plate, target survey can be obtained by inversely counter push away
The three-dimensional coordinate of point, it is accurate that measurement facilitates；
3) it in entire measurement process, is surveyed and drawn without artificial, therefore the professional standards no requirement (NR) to survey crew, it reduces to measurement
The skill requirement of personnel；
4) measurement finishes, and measure field directly calculation and can read the three-dimensional coordinate of target measuring point, and measurement is accurately and rapidly；
5) there is great promotional value, the present invention can replace total station survey underground measuring point coordinate, easy to operate, pole
It is easy to get started.
Finally, the present processes are only preferable embodiment, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (5)
1. a kind of underground measuring point coordinate measurement method, which is characterized in that itself the following steps are included:
S1. based on the tunnel distribution situation between control point and target measuring point, survey station number and control point coordinates parameter are obtained；
S2. according to control point coordinates parameter, it is based on survey station coordinate derivation algorithm, obtains the three-dimensional coordinate of each survey station, with
To the three-dimensional coordinate of target measuring point；
Step S2 the following steps are included:
S21. set up rangefinder respectively at two nearest survey stations of two control points of distance, respectively measurement obtain two survey stations with
The distance between two control points and inclination angle；
S22. it is based on survey station coordinate derivation algorithm, obtains two survey station coordinates；
S23. the two survey station coordinates that will acquire execute S21 as new control point, sit until obtaining the three-dimensional of target measuring point
Mark；
Step S21 includes:
Rangefinder is set up respectively at two nearest survey stations of two control points of distance, is seen clockwise based on the rangefinder at survey station
Examine 2 control points, first observe to be control point 1, after observe to be control point 2, obtain one of survey station and two control
Making the distance between point isWithThe inclination angle that measurement obtains between one of survey station and two control points isWith
Measurement obtains the distance between another survey station and two control pointsWithMeasurement obtains another survey station and two
Inclination angle between control point is respectivelyWith
The survey station coordinate derivation algorithm the following steps are included:
S221. two control points are projected respectively to the survey station institute nearest apart from its control point in a horizontal plane, obtains projection
Point A and B；
S222. using subpoint A as the center of circle,Justify for radius work；Using B as the center of circle,Justify for radius work,
Then one of the intersection point (C and D) of two circles is survey station 1, obtains A point coordinate, B point coordinate；
S223. the connection center of circle A, B and C, D intersect at E, and E, C make horizontal line excessively respectively and vertical line intersects at F, oblique based on straight line
Rate and Pythagorean theorem obtain intersection point C, D coordinate；
S224. the product based on vector calculates, and determines that intersection point C or intersection point D is survey station 1, to obtain survey station coordinate.
2. a kind of underground measuring point coordinate measurement method as described in claim 1, which is characterized in that step S22 further includes obtaining
After two survey station coordinates, vertical respectively 1 target of installation on the tripod for fixing rangefinder, to replace the space of survey station
Position.
3. a kind of underground measuring point coordinate measurement method as described in claim 1, which is characterized in that the rangefinder is Laser Measuring
Distance meter.
4. a kind of underground measuring point coordinate measurement method as described in claim 1, which is characterized in that the rangefinder is the survey
Distance meter is infrared detecting set.
5. a kind of underground measuring point coordinate measurement method as described in claim 1, which is characterized in that the rangefinder is ultrasonic wave
Rangefinder.
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| CN108868742B (en) * | 2018-06-08 | 2022-03-29 | 中国石油天然气股份有限公司 | Method, device and storage medium for determining source of pipe type underground falling object |
| CN111102946B (en) * | 2019-12-18 | 2021-11-23 | 湖北省电力勘测设计院有限公司 | Tunnel deformation monitoring method based on ultrasonic waves |
| CN111927557B (en) * | 2020-09-16 | 2021-01-12 | 北京龙软科技股份有限公司 | Automatic measuring method and network system for measuring robot of mine fully mechanized coal mining face |
| CN114485616B (en) * | 2022-01-05 | 2023-10-17 | 中国煤炭科工集团太原研究院有限公司 | Automatic positioning method and system under mine based on total station |
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Denomination of invention: A Method for Measuring the Coordinates of Underground Measurement Points Effective date of registration: 20230323 Granted publication date: 20190702 Pledgee: Agricultural Bank of China Limited Changsha Lushan Sub branch Pledgor: CHANGSHA DIGITAL MINE CO.,LTD. Registration number: Y2023430000010 |
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