A measurement system and method for rigid body parameters

Abstract

The present invention relates to a measurement system for rigid body parameters, characterized in that it comprises: a measurement device arranged on a rigid body, a total station arranged at a fixed position, and an LED lamp arranged above a plumb line at the exact center of the total station; the measurement device comprises a camera, the camera is used to measure azimuth and pitch angle, and the measurement device and the total station are connected to a computer. The present invention also relates to a measurement method for rigid body parameters, and various parameters of a rigid body can be effectively measured by the measurement device and the total station. The measurement device in the present invention is small in size and easy to install. The present invention can effectively measure the attitude angle, horizontal deviation and vertical deviation of the measured rigid body in a vibrating state during operation, and provide accurate guidance data for rigid body construction.

Description

Technical Field

[0001] The invention relates to the technical field of engineering construction, and in particular to a measurement system and method for rigid body parameters. Background Art

[0002] The shield machine is a commonly used excavation equipment for tunneling. It has the characteristics of safety and stability. However, the internal measurement channel of the shield machine is narrow, and both the installation and use of the measuring equipment are subject to considerable restrictions. When constructing in certain strata, the vibration of the shield machine has also become a major problem for measurement.

[0003] The currently commonly used traditional laser target measurement method is inconvenient to use because the laser target is large and the available space in front of the shield machine is limited, resulting in fewer available installation points for the laser target. Traditional laser targets have certain requirements for the laser incident angle, and when encountering a shield machine with a narrow measurement channel, the measurement often fails. On-site measurement engineers can only shorten the station change distance and move stations frequently. When encountering harder strata, the shield machine will vibrate during the excavation process, and traditional laser targets cannot work at this time.

[0004] In view of this, it is an urgent problem for industry insiders to provide a real-time and accurate guidance system for shield machine construction within a reasonable cost, which is small in size and easy to install, has a large measuring range and can work in a vibrating environment, and provides accurate guidance data for shield machine construction. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a system and method for measuring rigid body parameters. The measuring device is small in size and easy to install, and the measuring method can accurately measure the attitude angle, plane deviation and vertical deviation of the rigid body.

[0006] The technical solution adopted by the present invention to solve its technical problem is: to provide a measurement system for rigid body parameters, including: a measuring device arranged on the rigid body, a total station arranged at a fixed position, and an LED light arranged above the plumb line at the center of the total station; the measuring device includes a camera, the camera is used to measure azimuth and pitch angle, and the measuring device and the total station are connected to a computer.

[0007] The measuring device further comprises a prism, and the prism is used to measure horizontal deviation and vertical deviation.

[0008] The measuring device further comprises an inclinometer, and the inclinometer is used to measure the rolling angle.

[0009] The axis of the inclinometer is parallel to the housing axis of the measuring device.

[0010] The camera is calibrated.

[0011] The present invention also provides a method for measuring rigid body parameters, comprising: using the above-mentioned measuring device, wherein the measuring device is used to measure the azimuth angle and the pitch angle of the rigid body, specifically:

[0012] Step (1): Use the total station to measure the azimuth angle A from the center of the total station to the line connecting the measuring device. c and pitch angle P c ;

[0013] Step (2): Use the camera LED light to measure the first azimuth angle A between the center of the total station, the line connecting the measuring device and the CCD plane normal vector of the camera. j1 and the first pitch angle P j1 ;

[0014] Step (3): Obtaining a second azimuth angle A between the CCD plane normal vector of the camera and the housing axis of the measuring device through the calibrated camera j2 and the second pitch angle P j2 ;

[0015] Step (4): Measure the third-party angle A between the axis of the measuring device and the measured rigid body. j3 and the third pitch angle P j3 ;

[0016] Step (5): Calculate the azimuth angle A and pitch angle P of the axis of the rigid body being measured. The formulas are:

[0017] A=A c +A j1 +A j2 +A j3

[0018] P=P c +P j1 +P j2 +P j3

[0019] The measuring device is also used to measure the rolling angle of the rigid body;

[0020] The step (4) further comprises: measuring a fixed difference between the rolling angle of the measuring device and the measured rigid body by the inclinometer;

[0021] The step (5) further includes a step (6): reading the roll angle and the pitch angle of the inclinometer, wherein the pitch angle of the inclinometer is used for double checking, and the roll angle of the rigid body to be measured is obtained by subtracting the fixed difference between the roll angle of the measuring device and the roll angle of the rigid body to be measured in the step (4) from the roll angle of the inclinometer.

[0022] The measuring device is also used to measure the horizontal deviation and vertical deviation of the rigid body;

[0023] The step (1) further includes: measuring the coordinates (X, Y, Z) of the prism by means of the total station;

[0024] The step (4) further includes: measuring the relative position relationship between the axis of the rigid body to be measured and the prism;

[0025] The step (5) further includes a step (6): according to the coordinates (X, Y, Z) of the prism measured in the step (1), calculating the horizontal deviation ΔH and the vertical deviation ΔV of any given position of the measured rigid body, the formulas are:

[0026]

[0027] ΔV=Z+L*tan(P)-Z D

[0028] Where ΔX is the deviation from true north at a given location and ΔX = X + L*cos(A) - X D , ΔY is the deviation from the given position due east and ΔY=Y+L*sin(A)-Y D , L is the distance from the given position to the prism, (X D ,Y D ,Z D )Design coordinates of a given position.

[0029] Beneficial Effects

[0030] Due to the adoption of the above-mentioned technical scheme, the present invention has the following advantages and positive effects compared with the prior art: the measuring device in the present invention is small in size and is simple, practical and easy to install, which solves the problem that the traditional laser target is large in size and difficult to install; the measuring device in the present invention has a large measurement angle range and can measure the rigid body (shield machine) in a vibrating state, which solves the problem that the traditional laser target has a small allowable range of laser incident angle and high requirements for the measurement channel; the present invention can effectively measure the attitude angle, horizontal deviation and vertical deviation of the measured rigid body in a vibrating state during operation, provide accurate guidance data for rigid body construction, speed up the progress of engineering construction, and indirectly ensure the safety of engineering construction, providing a new idea for engineering construction measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of an actual measurement process of an embodiment of the present invention;

[0032] Figure 2 is a cross-sectional view of the structure of a measuring device according to an embodiment of the present invention;

[0033] Figure 3It is a schematic diagram of the measurement principle of measuring the first azimuth angle by photographing LED lights with a camera in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0035] The embodiment of the present invention relates to a measurement system of rigid body parameters, such as Figure 1 As shown, it is a schematic diagram of the actual measurement process of an embodiment of the present invention, including: a measuring device 3 arranged on a rigid body 4 (shield machine), and the measuring device 3 is located at the tail of the rigid body 4, a total station 1 arranged at a fixed position, and the total station 1 is located on the tunnel wall on the rear side of the rigid body 4, and an LED lamp 2 arranged above the plumb line at the center of the total station 1, and the measuring device 3 and the total station 1 are connected to a computer.

[0036] Furthermore, if Figure 2 As shown, it is a cross-sectional view of the structure of the measuring device of an embodiment of the present invention, the measuring device 3 also includes a prism 6, the prism 6 is used to measure the horizontal deviation and the vertical deviation, the measuring device 3 also includes an inclinometer 7, the inclinometer 7 is used to measure the roll angle, the camera 5 and the inclinometer 7 are placed inside the measuring device 3, the prism 6 is installed at an external preset position relative to the measuring device 3, the camera 5 is calibrated, the axis of the inclinometer 7 is parallel to the axis of the shell of the measuring device 3, and the measuring device 3 can adjust the camera 5, prism 6 and inclinometer 7 according to actual measurement requirements.

[0037] The present invention is further described below through four specific embodiments:

[0038] Embodiment 1: The adopted measuring device 3 is provided with a camera 5, and the measuring device 3 is used to measure the azimuth angle and the pitch angle of the rigid body 4, specifically:

[0039] Step (1): Use the total station 1 to measure the azimuth angle A of the line connecting the center of the total station 1 to the measuring device 3. c and pitch angle P c ;

[0040] Step (2): Use the camera 5 to take a photo with the LED light 2 to measure the first azimuth angle A between the center of the total station 1 and the line connecting the measuring device 3 and the CCD (camera sensor) plane normal vector of the camera 5. j1 and the first pitch angle Pj1 ;

[0041] like Figure 3 , which is a schematic diagram of the measurement principle of measuring the first azimuth angle by photographing the LED light with a camera in an embodiment of the present invention, wherein 2 represents the LED light, 51 represents the principal point of the image, 52 represents the photo, 53 represents the camera axis, 54 represents the camera focus, and 55 represents the LED light imaging. Figure 3 It can be clearly seen that the first azimuth angle A j1 .

[0042] Step (3): Since the camera 5 has been calibrated, the second azimuth angle A between the CCD plane normal vector of the camera 5 and the shell axis of the measuring device 3 can be measured. j2 and the second pitch angle P j2 ;

[0043] Step (4): Measure the third-party azimuth angle A of the axis between the measuring device 3 and the measured rigid body 4 j3 and the third pitch angle P j3 ;

[0044] Step (5): Calculate the azimuth angle A and pitch angle P of the four axes of the rigid body under test. The formulas are:

[0045] A=A c +A j1 +A j2 +A j3

[0046] P=P c +P j1 +P j2 +P j3

[0047] Embodiment 2: The adopted measuring device 3 is provided with a camera 5 and an inclinometer 7, and the measuring device 3 is used to measure the attitude angle of the rigid body 4, specifically:

[0048] Step (1): Use the total station 1 to measure the azimuth angle A of the line connecting the center of the total station 1 to the measuring device 3. c and pitch angle P c ;

[0049] Step (2): Use the camera 5 to take a photo with the LED light 2 to measure the first azimuth angle A between the center of the total station 1 and the line connecting the measuring device 3 and the CCD plane normal vector of the camera 5. j1 and the first pitch angle P j1 ;

[0050] Step (3): Since the camera 5 has been calibrated, the second azimuth angle A between the CCD plane normal vector of the camera 5 and the shell axis of the measuring device 3 can be measured. j2 and the second pitch angle P j2 ;

[0051] Step (4): Measure the third-party azimuth angle A of the axis between the measuring device 3 and the measured rigid body 4 j3 , the third pitch angle P j3 , and a fixed difference between the rolling angles of the measuring device 3 and the measured rigid body 4;

[0052] Step (5): Calculate the azimuth angle A and pitch angle P of the four axes of the rigid body under test. The formulas are:

[0053] A=A c +A j1 +A j2 +A j3

[0054] P=P c +P j1 +P j2 +P j3

[0055] Step (6): Read the roll angle and pitch angle of the inclinometer 7. The pitch angle of the inclinometer 7 is used for double verification. The roll angle of the rigid body 4 to be measured is obtained by subtracting the fixed difference between the roll angles of the measuring device 3 and the rigid body 4 to be measured in step (4) from the roll angle of the inclinometer 7.

[0056] Embodiment 3: A measuring device 3 is provided with a camera 5 and a prism 6, and the measuring device 3 is used to measure the azimuth angle, pitch angle, horizontal deviation and vertical deviation of the rigid body 4, specifically:

[0057] Step (1): Use the total station 1 to measure the azimuth angle A of the line connecting the center of the total station 1 to the measuring device 3. c and pitch angle P c , and measure the coordinates (X, Y, Z) of the prism 6 by the total station 1;

[0058] Step (2): Use the camera 5 to take a photo with the LED light 2 to measure the first azimuth angle A between the center of the total station 1 and the line connecting the measuring device 3 and the CCD plane normal vector of the camera 5. j1 and the first pitch angle P j1 ;

[0059] Step (3): Since the camera 5 has been calibrated, the second azimuth angle A between the CCD plane normal vector of the camera 5 and the shell axis of the measuring device 3 can be measured.j2 and the second pitch angle P j2 ;

[0060] Step (4): Measure the third-party azimuth angle A of the axis between the measuring device 3 and the measured rigid body 4 j3 , the third pitch angle P j3 , and the relative position relationship between the axis of the rigid body 4 under test and the prism 6;

[0061] Step (5): Calculate the azimuth angle A and pitch angle P of the four axes of the rigid body under test. The formulas are:

[0062] A=A c +A j1 +A j2 +A j3

[0063] P=P c +P j1 +P j2 +P j3

[0064] Step (6): According to the coordinates (X, Y, Z) of the prism 6 measured in step (1), and the azimuth angle A and the pitch angle P of the axis of the measured rigid body 4, the horizontal deviation ΔH and the vertical deviation ΔV of any given position of the measured rigid body 4 are calculated, and the formulas are:

[0065]

[0066] ΔV=Z+L*tan(P)-Z D

[0067] Where ΔX is the deviation from true north at a given location and ΔX = X + L*cos(A) - X D , ΔY is the deviation from the given position due east and ΔY=Y+L*sin(A)-Y D , L is the distance from the given position to the prism 6, (X D ,Y D ,Z D )Design coordinates of a given position.

[0068] Embodiment 4: The adopted measuring device 3 is provided with a camera 5, an inclinometer 7 and a prism 6, and the measuring device 3 is used to measure the attitude angle, horizontal deviation and vertical deviation of the rigid body 4, specifically:

[0069] Step (1): Use the total station 1 to measure the azimuth angle A of the line connecting the center of the total station 1 to the measuring device 3. c and pitch angle P c , and measure the coordinates (X, Y, Z) of the prism 6 by the total station 1;

[0070] Step (2): Use the camera 5 to take a photo with the LED light 2 to measure the first azimuth angle A between the center of the total station 1 and the line connecting the measuring device 3 and the CCD plane normal vector of the camera 5. j1 and the first pitch angle P j1 ;

[0071] Step (3): Since the camera 5 has been calibrated, the second azimuth angle A between the CCD plane normal vector of the camera 5 and the shell axis of the measuring device 3 can be measured. j2 and the second pitch angle P j2 ;

[0072] Step (4): Measure the third-party azimuth angle A of the axis between the measuring device 3 and the measured rigid body 4 j3 , the third pitch angle P j3 , a fixed difference between the rolling angle of the measuring device 3 and the measured rigid body 4, and a relative position relationship between the axis of the measured rigid body 4 and the prism 6;

[0073] Step (5): Calculate the azimuth angle A and pitch angle P of the four axes of the rigid body under test. The formulas are:

[0074] A=A c +A j1 +A j2 +A j3

[0075] P=P c +P j1 +P j2 +P j3

[0076] Step (6): reading the roll angle and pitch angle of the inclinometer 7, wherein the pitch angle of the inclinometer 7 is used for double checking, and the roll angle of the rigid body 4 to be measured is obtained by subtracting the fixed difference between the roll angles of the measuring device 3 and the rigid body 4 to be measured in step (4) from the roll angle of the inclinometer 7;

[0077] According to the coordinates (X, Y, Z) of the prism 6 measured in step (1), and the azimuth angle A and the pitch angle P of the axis of the measured rigid body 4, the horizontal deviation ΔH and the vertical deviation ΔV of any given position of the measured rigid body 4 are calculated, and the formulas are:

[0078]

[0079] ΔV=Z+L*tan(P)-Z D

[0080] Where ΔX is the deviation from true north at a given location and ΔX = X + L*cos(A) - X D , ΔY is the deviation from the given position due east and ΔY=Y+L*sin(A)-Y D , L is the distance from the given position to the prism 6, (X D ,Y D ,Z D )Design coordinates of a given position.

[0081] It can be seen that the measurement system provided by the present invention can perform various parameter measurements according to actual engineering conditions. The measuring device is small in size and has been installed, which is easy to operate. The measurement method provided by the present invention can effectively measure the attitude angle, horizontal deviation, and vertical deviation of the measured rigid body under vibration during operation, provide accurate guidance data for rigid body construction, and has good practicality.

Claims

1. A method for measuring rigid body parameters, characterized in that: include: A measuring system is used, which includes: a measuring device arranged on a rigid body, a total station arranged at a fixed position, and an LED light arranged above a plumb line at the exact center of the total station; the measuring device includes a camera, which is used to measure azimuth and elevation, the measuring device and the total station are connected to a computer, and the measuring method is specifically as follows: Step (1): Use the total station to measure the azimuth angle A from the center of the total station to the line connecting the measuring device. c and pitch angle P c ; Step (2): Use the camera LED light to measure the first azimuth angle A between the center of the total station, the line connecting the measuring device and the CCD plane normal vector of the camera. j1 and the first pitch angle P j1 ; Step (3): Obtaining a second azimuth angle A between the CCD plane normal vector of the camera and the housing axis of the measuring device through the calibrated camera j2 and the second pitch angle P j2 ; Step (4): Measure the third-party angle A between the axis of the measuring device and the measured rigid body. j3 and the third pitch angle P j3 ; Step (5): Calculate the azimuth angle A and pitch angle P of the axis of the rigid body being measured. The formulas are: A=A c +A j1 +A j2 +A j3 P=P c +P j1 +P j2 +P j3 。 2. The method for measuring rigid body parameters according to claim 1, characterized in that: The measuring device further comprises a prism, and the prism is used to measure horizontal deviation and vertical deviation.

3. The method for measuring rigid body parameters according to claim 2, characterized in that: The step (1) further includes: measuring the coordinates (X, Y, Z) of the prism by means of the total station; The step (4) further includes: measuring the relative position relationship between the axis of the rigid body to be measured and the prism; The step (5) further includes a step (6): according to the coordinates (X, Y, Z) of the prism measured in the step (1), calculating the horizontal deviation ΔH and the vertical deviation ΔV of any given position of the measured rigid body, the formulas are: ΔV=Z+L*tan(P)-Z D Where ΔX is the deviation from true north at a given location and ΔX = X + L*cos(A) - X D , ΔY is the deviation from the given position due east and ΔY=Y+L*sin(A)-Y D , L is the distance from the given position to the prism, (X D ,Y D ,Z D )Design coordinates of a given position.

4. The method for measuring rigid body parameters according to claim 1, characterized in that: The measuring device further comprises an inclinometer, and the inclinometer is used to measure the rolling angle.

5. The method for measuring rigid body parameters according to claim 4, characterized in that: The axis of the inclinometer is parallel to the housing axis of the measuring device.

6. The method for measuring rigid body parameters according to claim 5, characterized in that: The step (4) further comprises: measuring a fixed difference between the rolling angle of the measuring device and the measured rigid body by the inclinometer; The step (5) further includes a step (6): reading the roll angle and the pitch angle of the inclinometer, wherein the pitch angle of the inclinometer is used for double checking, and the roll angle of the rigid body to be measured is obtained by subtracting the fixed difference between the roll angle of the measuring device and the roll angle of the rigid body to be measured in the step (4) from the roll angle of the inclinometer.

Images