An angle positioning method and device based on the geomagnetic field

Abstract

This invention discloses an angle positioning method and device based on the geomagnetic field, belonging to the field of engineering surveying and quality control. The angle positioning method includes the following steps: S1: Establish a global coordinate system; S2: Establish a local spherical coordinate system for the construction site using magnetic and gravitational fields; S3: Perform zero-point correction on the local spherical coordinate system of the construction site; S4: Calculate the relationship between the global coordinate system and the local spherical coordinate system; S5: Numerically correct the actual measured angle of the local spherical coordinate system. The positioning device of this invention allows workers to hold a handle for close-range direction indication, or the handle can be fixed to a specific location at the site using a fixing claw. In this case, a laser can be emitted from a second laser emitter to indicate the direction, or a thin line can be tied to the second laser emitter on the handle and pulled taut to indicate the direction. This not only makes operation convenient, reduces the workload of measurement, and is not limited by the site during measurement, but also improves measurement accuracy by using laser and a taut thin line to indicate the direction.

Description

Technical Field

[0001] This invention belongs to the field of engineering surveying and quality control, and specifically relates to an angle positioning method and device based on the geomagnetic field. Background Technology

[0002] In building construction and highway engineering, angle positioning is often involved, such as measuring the verticality of buildings, measuring and correcting the slope angle of roadbeds or cuts in highway construction, and measuring the drilling angle in blasting operations.

[0003] Currently, optical or electronic theodolites are generally used for angle measurement in construction projects requiring such measurements. However, optical theodolites have two main drawbacks. First, they are inconvenient to use when the workload is heavy and the site is limited, such as for angle positioning in tunnel blasting drilling. Tunnel drilling typically uses manual pneumatic drills, sometimes with rock drilling rigs. The tunnel face is narrow, and the number of holes is large, making theodolite angle measurement impractical. Second, training frontline workers is difficult; specialized surveyors are required. For angle measurements involving multiple work areas and simple measurement tasks, this method is inefficient and costly. Therefore, a flexible and convenient angle measurement method and device are needed, which also facilitates quality acceptance by technical personnel. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an angle positioning method and device based on the geomagnetic field. This method allows workers to hold a handle and indicate direction at close range, or the handle can be fixed to a specific location at the site using a fixing claw. In this case, a second laser emitter can be used to emit a laser to indicate direction, or a thin line can be tied to the second laser emitter on the handle and pulled taut to indicate direction. This method is not only convenient to operate and suitable for beginners, but also requires minimal measurement work and is not limited by location. Furthermore, the use of laser and taut thin line to indicate direction improves measurement accuracy.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An angle positioning method based on the geomagnetic field, the angle positioning method comprising the following steps:

[0007] S1: Establish a global coordinate system.

[0008] S2: Use magnetic and gravitational fields to establish a local spherical coordinate system for the construction site.

[0009] S3: Perform zero-point correction on the local spherical coordinate system of the construction site.

[0010] S4: Calculate the relationship between the global coordinate system and the local spherical coordinate system.

[0011] S5: Numerical correction of the actual measured angle in the local spherical coordinate system.

[0012] The azimuth angle of the local spherical coordinate system in S1 is established by the geomagnetic field, and the elevation angle of the local spherical coordinate system is established by the gravitational field.

[0013] Furthermore, the zero-point correction is measured using a theodolite.

[0014] The positioning device used in the above-mentioned angle positioning method includes a first degree-of-freedom frame, a second degree-of-freedom frame, a third degree-of-freedom frame, a permanent magnet, and two coordinate rings. The first degree-of-freedom frame and the second degree-of-freedom frame are both circular rings, the third degree-of-freedom frame is a semi-circular ring, and the two coordinate rings are an α-angle coordinate ring and an θ-angle coordinate ring, respectively.

[0015] The positioning device includes two first bearings, two second bearings, two third bearings, a fourth bearing, and two fixed shafts, with a counterweight fixed on the fourth bearing.

[0016] The third and fourth bearings are both perpendicular to the axis of the second bearing. The third degree-of-freedom frame is connected to the second degree-of-freedom frame through the first bearing. The second degree-of-freedom frame is connected to the first degree-of-freedom frame through the second bearing. The first degree-of-freedom frame is connected to the θ coordinate ring through the third bearing. The axes of the first and second bearings are perpendicular. The permanent magnet is long and narrow. The θ coordinate ring is connected to the permanent magnet through the fourth bearing. The two ends of the permanent magnet are fixedly connected to the α coordinate ring through two fixed shafts.

[0017] The radii of the third degree-of-freedom frame, the second degree-of-freedom frame, the first degree-of-freedom frame, the θ-angle coordinate ring, and the α-angle coordinate ring decrease sequentially. The α-angle coordinate ring is fitted inside the θ-angle coordinate ring. The α-angle coordinate ring and the θ-angle coordinate ring are perpendicularly distributed. The α-angle coordinate ring can rotate relative to the θ-angle coordinate ring around the fourth bearing.

[0018] Furthermore, the surfaces of both the α-angle coordinate ring and the θ-angle coordinate ring are marked with scales for indicating coordinates, and the θ-angle coordinate ring is provided with a scale window.

[0019] Furthermore, the scale range on the α-angle coordinate ring is 0° to 360°, and the scale range on the θ-angle coordinate ring is 0° to 180°.

[0020] Furthermore, the permanent magnet is installed at the exact center of the α-angle coordinate ring relative to the fixed axis, and the α-angle coordinate ring and the θ-angle coordinate ring are axially symmetrical with respect to the fixed axis.

[0021] Furthermore, the positioning device also includes a handle, which is fixedly connected to the third degree of freedom frame and is perpendicular to the axis of the first bearing.

[0022] Furthermore, a first laser emitting end and a second laser emitting end are respectively installed at both ends of the handle. The first laser emitting end points to the coordinate ring, and the second laser emitting end points outward.

[0023] When the laser spot of the first laser emitter hits a mark on the scale of the θ coordinate ring, the direction of the second laser emitter is the spatial angular coordinate of that mark.

[0024] Furthermore, the positioning device also includes a fixing claw for securing the handle.

[0025] The beneficial effects of this invention are:

[0026] 1. The positioning device of the present invention can be used by workers to indicate the direction at close range by holding the handle, or the handle can be fixed to a specific position in the place of use by fixing the handle. At this time, the direction can be indicated by emitting a laser from the second laser emitting end, or a thin line can be tied to the second laser emitting end on the handle and pulled straight to indicate the direction. It is not only easy to operate and suitable for beginners, but also has a small workload and is not limited by the site during measurement. Moreover, the direction indication by laser and the straightened thin line can improve the measurement accuracy.

[0027] 2. After the actual measurement angle is calibrated, the positioning device of the present invention rotates the θ-angle coordinate ring through the rotating shaft so that the θ-angle coordinate ring is aligned with the actual measurement angle on the α-angle coordinate ring. After precise adjustment through the scale window, the laser from the first laser emitting end is made to hit the actual measurement coordinate on the θ-angle coordinate ring. Then the handle points to the correct angular direction. Therefore, the positioning device can simultaneously measure the azimuth α and elevation θ, thus improving the measurement efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a front view of the stacked structure of the positioning device of the present invention;

[0030] Figure 2 This is a top view of the stacked structure of the positioning device of the present invention;

[0031] Figure 3 This is a perspective view of the positioning device of the present invention in its open state;

[0032] Figure 4 This is a partial structural schematic diagram in spherical coordinate system of the positioning device of the present invention;

[0033] Figure 5This is a partial perspective view of the positioning device of the present invention;

[0034] Figure 6 This is a schematic diagram of the α-angle coordinate ring structure of the present invention;

[0035] Figure 7 This is a partial perspective view of the positioning device of the present invention;

[0036] Figure 8 This is a partial perspective view of the positioning device of the present invention;

[0037] Figure 9 The positioning method uses a program diagram;

[0038] Figure 10 Example diagram of slope layout. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] An angle positioning method based on the geomagnetic field includes the following steps:

[0041] S1: Establish a global coordinate system;

[0042] S2: A local spherical coordinate system for the construction site is established using magnetic and gravitational fields;

[0043] S3: Perform zero-point calibration on the local spherical coordinate system of the construction site. Zero-point calibration can be performed using a theodolite. The purpose of zero-point calibration on the local spherical coordinate system of the construction site is to eliminate changes in the geomagnetic field itself and the interference factors.

[0044] S4: Calculate the relationship between the global coordinate system and the local spherical coordinate system;

[0045] S5: Numerical correction of the actual measured angle in the local spherical coordinate system.

[0046] The azimuth angle of the local spherical coordinate system in S2 is established by the geomagnetic field, and the elevation angle of the local spherical coordinate system is established by the gravitational field.

[0047] The positioning device used in the above-mentioned angle positioning method includes a first degree-of-freedom frame 3, a second degree-of-freedom frame 4, a third degree-of-freedom frame 5, a permanent magnet 7, and two coordinate rings, as shown below. Figure 1-8As shown, the first degree of freedom frame 3 and the second degree of freedom frame 4 are both circular rings, the third degree of freedom frame 5 is a semi-circular ring, and the two coordinate rings are α-angle coordinate ring 1 and θ-angle coordinate ring 2, respectively.

[0048] The positioning device includes two first bearings 12, two second bearings 11, two third bearings 10, a fourth bearing 8, and two fixed shafts 13. A counterweight 9 is fixed on the fourth bearing 8.

[0049] The third bearing 10 and the fourth bearing 8 are both perpendicular to the axis of the second bearing 11. The permanent magnet 7 is long and narrow. The θ-angle coordinate ring 2 is connected to the permanent magnet 7 through the fourth bearing 8. The two ends of the permanent magnet 7 are fixedly connected to the α-angle coordinate ring 1 through two fixed shafts 13, so that the θ-angle coordinate ring 2 and the α-angle coordinate ring 1 form a relatively rotatable whole.

[0050] The radii of the third degree-of-freedom frame 5, the second degree-of-freedom frame 4, the first degree-of-freedom frame 3, the θ-angle coordinate ring 2, and the α-angle coordinate ring 1 decrease sequentially. The α-angle coordinate ring 1 is fitted inside the θ-angle coordinate ring 2. The α-angle coordinate ring 1 and the θ-angle coordinate ring 2 are perpendicularly distributed. The α-angle coordinate ring 1 can rotate relative to the θ-angle coordinate ring 2 around the fourth bearing 8 to complete the setting of the measured α angle. The θ-angle coordinate ring 2 is provided with a scale window 14.

[0051] Both the α-angle coordinate ring 1 and the θ-angle coordinate ring 2 are marked with scales 15 for indicating coordinates. The scale 15 on the α-angle coordinate ring 1, which intersects with the θ-angle coordinate ring 2, can be read through the scale window 14. The scale 15 on the α-angle coordinate ring 1 ranges from 0° to 360°, and the scale 15 on the θ-angle coordinate ring 2 ranges from 0° to 180°. The scale 15 is distinguished by numbers and colors. The hundreds line of the scale 15 is thickened in red, the tens line of the scale 15 is red, and the units line of the scale 15 is yellow. The length of the line of the scale 15 extends one full circle of the corresponding coordinate ring for easy reading.

[0052] The permanent magnet 7 is installed at the center of the α-angle coordinate ring 1, and the α-angle coordinate ring 1 and the θ-angle coordinate ring 2 are axially symmetrical with respect to the fixed shaft 13.

[0053] The positioning device also includes a handle 6, which is fixedly connected to the third degree-of-freedom frame 5. The handle 6 is perpendicular to the axis of the first bearing 12. The third degree-of-freedom frame 5 is connected to the second degree-of-freedom frame 4 through the first bearing 12. The second degree-of-freedom frame 4 is connected to the first degree-of-freedom frame 3 through the second bearing 11. The first degree-of-freedom frame 3 is connected to the θ-angle coordinate ring 2 through the third bearing 10. The axes of the first bearing 12 and the second bearing 11 are perpendicular. Therefore, the handle 6 has three degrees of freedom in rotational directions relative to the local spherical coordinate system and its coordinate mechanism.

[0054] The handle 6 has a first laser emitter 16 and a second laser emitter 17 installed at its two ends, respectively. The first laser emitter 16 points towards the coordinate ring, and the second laser emitter 17 points outward. When the laser point of the first laser emitter 16 hits the scale 15 on the θ coordinate ring 2, the direction of the second laser emitter 17 is the spatial angular coordinate of that scale.

[0055] The positioning device also includes a fixing claw 18 for fixing the handle 6, which, in use, such as Figure 10 As shown, the direction can be indicated by the worker holding the handle 6 at close range, or the handle 6 can be fixed to a specific position in the usage site by the fixing claw 18. In this case, the direction can be indicated by emitting a laser with the second laser emitting end 17, or a thin line can be tied to the second laser emitting end 17 on the handle 6 and pulled straight to indicate the direction. For example, when laying out the cross section of the roadbed, the handle 6 can be fixed to the upper part of the slope surface 19 with the fixing claw 18, and a thin line can be tied to the second laser emitting end 17 on the handle 6 and pulled to the bottom of the slope. The correct slope angle can be determined by using this positioning device.

[0056] When using, such as Figure 9 As shown, the 0 coordinate position of the azimuth angle α is established by the permanent magnet 7 (corresponding to the magnetic field in S1), and the 0 coordinate position of the elevation angle θ is established by the weight 9 (corresponding to the gravitational field in S1).

[0057] The azimuth angle α is corrected digitally, not mechanically, to reduce the complexity of the mechanism and thus improve accuracy. The 0-degree position of the azimuth angle α is marked on the position corresponding to the fixed axis 13, which is on the same line as the axis of the permanent magnet 7. After the global spherical coordinate system is established at the construction site, a local spherical coordinate system is established using this positioning device, and the relationship between the global coordinate system and the local spherical coordinate system is calculated to numerically correct the actual measured angle of the local spherical coordinate system.

[0058] After the actual measurement angle is calibrated, the θ-angle coordinate ring 2 is rotated by rotating the fourth bearing 8 so that the θ-angle coordinate ring 2 is aligned with the actual measurement angle on the α-angle coordinate ring 1. The scale window 14 is used for precise adjustment. Then, the laser from the first laser emitting end 16 is made to hit the actual measurement coordinate of the θ-angle coordinate ring 2, so that the handle 6 points to the correct angle direction.

[0059] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A geomagnetic field-based angular positioning method, characterized by, The angle positioning method comprises the following steps: S1: establishing a global coordinate system; S2: using a magnetic field and a gravity field to establish a local spherical coordinate system of a construction site; S3: 0-point correction of the local spherical coordinate system of the construction site; The 0-point correction is measured by a theodolite; the positioning device comprises a first degree of freedom frame (3), a second degree of freedom frame (4), a third degree of freedom frame (5), a permanent magnet (7) and two coordinate rings, the first degree of freedom frame (3) and the second degree of freedom frame (4) are both circular rings, the third degree of freedom frame (5) is a semi-circular ring, and the two coordinate rings are an alpha angle coordinate ring (1) and a theta angle coordinate ring (2) respectively; The positioning device comprises two first bearings (12), two second bearings (11) and two third bearings (10), a fourth bearing (8) and two fixed shafts (13), and the fourth bearing (8) is fixed with a weight (9); The third bearing (10) and the fourth bearing (8) are both perpendicular to the axis of the second bearing (11), the third degree of freedom frame (5) is connected with the second degree of freedom frame (4) through the first bearing (12), the second degree of freedom frame (4) is connected with the first degree of freedom frame (3) through the second bearing (11), the first degree of freedom frame (3) is connected with the theta angle coordinate ring (2) through the third bearing (10), the axis of the first bearing (12) is perpendicular to the axis of the second bearing (11), the permanent magnet (7) is long-strip-shaped, the theta angle coordinate ring (2) is connected with the permanent magnet (7) through the fourth bearing (8), and the two ends of the permanent magnet (7) are fixedly connected to the alpha angle coordinate ring (1) through the two fixed shafts (13); The radii of the third degree of freedom frame (5), the second degree of freedom frame (4), the first degree of freedom frame (3), the theta angle coordinate ring (2) and the alpha angle coordinate ring (1) decrease in sequence, the alpha angle coordinate ring (1) is sleeved in the theta angle coordinate ring (2), the alpha angle coordinate ring (1) and the theta angle coordinate ring (2) are vertically distributed, and the alpha angle coordinate ring (1) can rotate relative to the theta angle coordinate ring (2) around the fourth bearing (8); S4: calculating the relationship between the global coordinate system and the local spherical coordinate system; S5: numerically correcting the actual measurement angle of the local spherical coordinate system; The azimuth angle of the local spherical coordinate system in S1 is established by a geomagnetic field, and the elevation angle of the local spherical coordinate system is established by a gravity field.

2. The geomagnetic field-based angle positioning method according to claim 1, characterized in that, The surfaces of the alpha angle coordinate ring (1) and the theta angle coordinate ring (2) are both marked with scales (15) for indicating coordinates, and the theta angle coordinate ring (2) is provided with a scale window (14).

3. A positioning device for use in an angular positioning method according to claim 2, characterized in that The range of the scale (15) on the alpha angle coordinate ring (1) is 0°~360°, and the range of the scale (15) on the theta angle coordinate ring (2) is 0°~180°.

4. The positioning device for use in the angular positioning method according to claim 3, characterized in that, The installation position of the permanent magnet (7) relative to the fixed shaft (13) is the center of the alpha angle coordinate ring (1), and the alpha angle coordinate ring (1) and the theta angle coordinate ring (2) are axially symmetrical relative to the fixed shaft (13).

5. The positioning device for use in the angular positioning method according to claim 4, characterized in that, The positioning device further comprises a handle (6), which is fixedly connected to the third degree of freedom frame (5) and perpendicular to the axis of the first bearing (12).

6. The positioning device for use in the angular positioning method according to claim 5, characterized in that Two ends of the handle (6) are respectively provided with a first laser emitting end (16) and a second laser emitting end (17), the first laser emitting end (16) is directed to the coordinate ring, and the second laser emitting end (17) is directed to the outside. When the laser point of the first laser emitting end (16) is on the scale (15) on the θ angle coordinate ring (2), the direction of the second laser emitting end (17) is the spatial angle coordinate of the scale.

7. The positioning device for use in the angular positioning method according to claim 6, characterized in that, The positioning device further comprises a fixing claw (18) for fixing the handle (6).

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