Self-leveling device and self-adjusting method for vibration monitor in ancient tower

Abstract

The invention relates to the field of vibration monitoring, in particular to a self-leveling device and a self-adjusting method for a vibration monitor in an ancient pagoda, the self-leveling device comprises a mounting platform for fixing the vibration monitor, the mounting platform is arranged above a base, and the base forms three-point support for the mounting platform through three groups of lifting adjusting mechanisms capable of generating telescopic actions; the base is provided with three sets of guide grooves used for installing the lifting adjusting mechanisms, the lifting adjusting mechanisms are driven by the power source to advance in the length direction of the guide grooves, and the groove length direction of two sets of guide grooves is perpendicular to the groove length direction of the other set of guide grooves. The lifting adjusting mechanisms are hinged to the mounting platform in a matched mode, and the horizontal hinge axes of the lifting adjusting mechanisms are perpendicular to the groove length direction of the guide grooves where the lifting adjusting mechanisms are located. According to the telescopic rod type leveling platform, the effect similar to a universal joint can be achieved without the universal joint, the telescopic rod type leveling platform can achieve the multi-degree-of-freedom leveling effect, stability is high, and automatic leveling is conducted in the whole leveling process through feedback control.

Description

[0001] This application claims priority to “A self-leveling device and self-adjustment method for a vibration monitor in an ancient tower” with application number 202510255824.1 filed on March 5, 2025, and the original receiving agency is China. Technical Field

[0002] The invention relates to the field of vibration monitoring, and in particular to a self-leveling device and a self-adjusting method for a vibration monitor used in an ancient pagoda. Background Art

[0003] Ancient pagodas, as historical and cultural heritage, are ancient, and their construction materials and craftsmanship differ significantly from those of modern buildings. Therefore, their structural stability and seismic resistance may be relatively weak. To promptly detect structural vibrations from natural factors such as wind, rain, and earthquakes, and thereby assess their structural safety and stability, vibration monitors are installed within the pagodas. If abnormal vibrations are detected, immediate reinforcement and repair measures can be taken to prevent collapse or serious damage.

[0004] In order to ensure the normal operation of the vibration monitor in the ancient pagoda, it needs to be installed on a leveling platform to ensure that it is always in a horizontal state to ensure the accuracy of the measurement. The currently available leveling platform, as described in the publication number "CN118789519A", supports a platform for fixing the vibration monitor through multiple sets of telescopic rods. The telescopic rods and the platform are connected by universal joints. The telescopic movement of the multiple sets of telescopic rods drives the platform to produce multi-degree-of-freedom position adjustment to achieve a leveling effect. However, the current telescopic rod + universal joint type leveling platform has the following disadvantages: 1. Although the universal joint allows the angle between the connecting parts to be adjusted within a certain range, it is difficult to ensure that the instantaneous angular velocity of the output shaft and the input shaft is consistent while limiting the axial size. This inconsistency in angular velocity may cause vibration and component wear, especially when the inter-axis angle is large, the transmission torque is large or the input angular velocity is high, the problems of vibration and wear may be more serious. 2. There may be a small gap or looseness in the universal joint during the connection process, which may affect the accuracy and stability of the horizontal adjustment platform. Especially in application scenarios such as ancient towers that require high precision and high stability, this impact may be more obvious, so the existing leveling platform needs to be improved urgently. Summary of the Invention

[0005] To avoid and overcome the technical problems of the prior art, the present invention provides a self-leveling device and self-adjusting method for a vibration monitor in an ancient pagoda. This device achieves a universal joint-like effect without the need for a universal joint, enabling a telescopic rod-type leveling platform to achieve multi-degree-of-freedom leveling and high stability.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A self-leveling device for a vibration monitor in an ancient pagoda comprises a mounting platform for fixing the vibration monitor, wherein the mounting platform is arranged above a base, and the base forms a three-point support for the mounting platform through three groups of lifting and adjusting mechanisms that can generate telescopic movements; three groups of guide grooves for installing the lifting and adjusting mechanisms are provided on the base, and each lifting and adjusting mechanism is driven by a power source to move along the length direction of the guide groove, wherein the groove length direction of two groups of guide grooves is perpendicular to the groove length direction of the other group of guide grooves; each lifting and adjusting mechanism is hingedly coordinated with the mounting platform, and the horizontal hinge axis of each lifting and adjusting mechanism is perpendicular to the groove length direction of the guide groove in which it is located.

[0008] As a further solution of the present invention: the power source includes a walking wheel that moves along the length direction of the guide groove, and the lifting and adjusting mechanism includes a telescopic rod, which is coaxially rotated with the walking wheel through a fixed clamp, and the telescopic rod is driven by the walking wheel to move along the guide groove; a locking mechanism is provided in the guide groove to stop the walking wheel from rotating.

[0009] As a further solution of the present invention: a limiting groove is provided at one end of the fixed clamp facing the traveling wheel, and the locking mechanism is a locking rack arranged along the length direction of the guide groove. The locking rack passes through the limiting groove of the fixed clamp and can generate a vertical lifting action in the limiting groove; the traveling wheel is a gear structure, and the locking rack engages with the traveling wheel after being lifted and lowered to limit the traveling wheel from moving along the guide groove.

[0010] As a further solution of the present invention: vertically arranged lifting racks are provided at both ends of the locking rack, two groups of lockers for clamping the locking rack are provided in the guide groove, and a driving gear is installed on the locker. The driving gear and the lifting rack form a gear rack cooperation to drive the locking rack to rise and fall.

[0011] As a further solution of the present invention: a rack guide rail is provided at the bottom of the guide groove along the groove length direction, and the running wheel moves along the rack guide rail in a gear and rack-pinion matching manner.

[0012] As a further solution of the present invention: the mounting platform is hingedly connected to the rod end of the telescopic rod through the clamping plate seat at its bottom, and the clamping plate of the clamping plate seat can clamp the hinged end of the telescopic rod to limit the relative rotation between the telescopic rod and the mounting platform.

[0013] As a further solution of the present invention, the hinge points of each telescopic rod and the mounting platform are distributed in an equilateral triangle shape.

[0014] As a further scheme of the present application: the telescopic rod is provided with a laser range finder for monitoring the telescopic amount of the telescopic rod; the mounting platform is provided with a laser level for leveling; the mounting platform is provided with a fixed clamping base and a movable clamping base in sliding cooperation with the mounting platform, the vibration monitor is in abutting cooperation with the fixed clamping base, and the movable clamping base is fixed after sliding along the mounting platform to clamp and position the vibration monitor.

[0015] As a further scheme of the present application: when the vibration monitor is horizontally calibrated, the method specifically comprises the following steps:

[0016] S1, the mounting platform is horizontally calibrated by the laser level, and when the mounting platform is deflected, S2 is entered;

[0017] S2, the deflection angle of the mounting platform is collected by the laser level;

[0018] S3, the deflection angle of the mounting platform is taken as a variable, and the elongation amounts of the three telescopic rods are calculated according to the data calculation module;

[0019] S4, the walking wheel is unlocked by the locking mechanism, travels along the guide groove to the set position, and is locked again;

[0020] The telescopic rod is synchronously adjusted in length by hydraulic pressure while the walking wheel is walking, and whether the telescopic rod reaches the set length is measured by the laser range finder;

[0021] The clamping plate seat is unlocked relative to the telescopic rod, and the relative rotation between the clamping plate seat and the telescopic rod is continued until the telescopic rod and the mounting platform reach the set angle, the telescopic rod is clamped and fixed by the clamping plate seat, and the angle locking is realized;

[0022] Each telescopic rod is locked after reaching the set elongation amount;

[0023] S5, the deflection angle of the mounting platform is horizontally calibrated again by the laser level;

[0024] When the mounting platform is not in the horizontal state, return to step S1;

[0025] When the mounting platform is in the horizontal state, the vibration monitor is started, and the vibration data is monitored. A self-adjusting method of a vibration monitor self-leveling device in an ancient tower comprises the following steps:

[0026] S1, when the mounting platform is in an initial horizontal state, the mounting points of the three groups of vertically arranged telescopic rods on the base are A, B and C points respectively; the connecting line of the A, B and C points forms an equilateral triangle, and the center point of the equilateral triangle is taken as the origin of the coordinate system to build a space rectangular coordinate system; the hinge axes of the telescopic rods corresponding to the B and C points are parallel to each other; in the initial horizontal state, the coordinates of the A, B and C points are:

[0027] A: (0, l1, H);

[0028] B: (l2, -l1, H);

[0029] C: (-l2, -l1, H);

[0030] Wherein, l1 represents the half of the height value of the equilateral triangle after connecting A, B, C points;

[0031] L2 represents the half of the side length of the equilateral triangle after connecting A, B, C points;

[0032] H represents the original length of each telescopic rod in the initial state;

[0033] S2, after the deflection of the mounting platform, the deflection of the mounting platform is decomposed into the rotation around the x-axis and the y-axis in the space rectangular coordinate system; wherein the rotation angle of the mounting platform around the x-axis is α, the rotation angle of the mounting platform around the x-axis is β, and the mounting platform after deflection satisfies the following constraint condition:

[0034]

[0035] Wherein, △H A ' represents the elongation of the telescopic rod corresponding to point A after the leveling of the mounting platform;

[0036] △H B ' represents the elongation of the telescopic rod corresponding to point B after the leveling of the mounting platform;

[0037] △H C ' represents the elongation of the telescopic rod corresponding to point C after the leveling of the mounting platform;

[0038] S3, selecting a target function, solving △H A ', △H B ', △H C ' in step S2, calculating the minimum telescopic amount of each telescopic rod when the mounting platform recovers to the horizontal state.

[0039] Compared with the prior art, the beneficial effects of the present application are:

[0040] 1. The present invention employs three sets of telescopic rods, allowing them to travel along guide grooves defined in specific directions and defining their articulation axes. The movement and extension of the three telescopic rods along the guide grooves drive the leveling platform to produce multi-degree-of-freedom deflection, achieving a leveling effect. The hinged ends of the telescopic rods and the mounting platform produce a "quasi-" universal joint-like effect without the use of universal joints. This rigid support significantly improves the stability of the mounting platform, making it suitable for complex testing environments that are confined and difficult to operate. This invention eliminates the need for unstable structures such as universal joints or ball joints, nor does it require the clearances required for universal joints or ball joints, significantly enhancing the rigidity and stability of the adjustment process.

[0041] 2. The present invention drives the telescopic rod to move by arranging a traveling wheel in the guide groove. In conjunction with the rack and pinion, the locking rack can be driven to produce a lifting action. In the non-working state, the rack of the locking rack engages with the gear of the traveling wheel, thereby locking the traveling wheel. In the working state, the locking rack rises and disengages from the traveling wheel, completing the unlocking of the traveling wheel. To adapt to the gear-type traveling wheel, a rack guide rail is provided at the bottom of the guide groove along the length of the groove. The traveling wheel moves along the rack guide rail in conjunction with the rack and pinion, thereby improving the accuracy of the travel length. The telescopic rod can be locked by the clamping limit of the splint seat, limiting the relative rotation between the telescopic rod and the mounting platform.

[0042] 3. The present invention constructs a constraint formula, thereby selecting an objective function and solving the expansion and contraction amount of each telescopic rod. When the installation platform returns to a horizontal state, the minimum expansion and contraction amount of each telescopic rod is calculated. The entire leveling process is automatically leveled through feedback control. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of the present invention.

[0044] Figure 2 A perspective view of the internal structure of the base.

[0045] Figure 3 It is a structural schematic diagram of the lifting and lowering adjustment mechanism in the present invention.

[0046] Figure 4 for Figure 3 main view.

[0047] Figure 5 Flowchart for leveling a vibration monitor.

[0048] In the picture:

[0049] 1. Mounting platform; 2. Base; 21. Guide groove; 211. Rack guide rail;

[0050] 22. Lock; 221. Drive gear;

[0051] 3, lifting adjustment mechanism; 31, telescopic rod; 32, fixing clamp;

[0052] 33, walking wheel; 34, locking rack; 341, lifting rack;

[0053] 35, laser range finder; 36, clamping plate seat. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0055] Please refer to Figures 1-2 In the embodiments of the present application, a self-leveling device and a self-adjusting method for a vibration monitor in an ancient tower include a base 2 and a mounting platform 1. According to actual requirements, a vibration monitor is fixed on the mounting platform 1 by selecting appropriate parameters. The mounting platform 1 is provided with a fixed clamping seat and a movable clamping seat. When the vibration monitor is installed, one side of the vibration monitor is first close to the fixed clamping seat. The movable clamping seat is driven to slide by an adjusting knob on the mounting platform 1, so as to move towards the fixed clamping seat until the movable clamping seat and the fixed clamping seat clamp the vibration monitor. The specific clamping manner is not limited to the above manner.

[0056] If a wired connection is used, a wire hole is needed to be opened on the mounting platform 1 for the data line to pass through. In order to improve the stability during fixing, the vibration monitor can be fixed on the table top of the mounting platform 1 by a quick-sticking plate or an adhesive. A laser level is installed on the bottom surface of the mounting platform 1, which is used for leveling measurement of a test plane where the vibration monitor is located, to obtain the spatial deflection angles of the xyz three axes and transmit them to a data calculation module for calculation. According to the calculation result, the parameters of a lifting adjustment mechanism 3 below the mounting platform 1 are adjusted, so as to restore the mounting platform 1 to a horizontal state.

[0057] The lifting and adjusting mechanism 3 is provided with three groups, and the lifting and adjusting mechanism 3 includes a telescopic rod 31. Three groups of guide grooves 21 are provided in the base 2 for installing the three groups of telescopic rods 31. When the mounting platform 1 is in the initial horizontal state, each telescopic rod 31 is arranged in the plumb direction, and the end of the telescopic rod 31 is hingedly matched with the bottom end of the mounting platform 1. The three hinge points are distributed in the form of an equilateral triangle, and the center of the triangle corresponds to the center position of the vibration monitor. The mounting platform 1 can be hingedly matched with the rod end of the telescopic rod 31 through a clamping plate seat 36. The clamping plate of the clamping plate seat 36 can clamp the telescopic rod 31 to limit the rotation between the telescopic rod 31 and the mounting platform 1. The above-mentioned anti-rotation method can be replaced by magnetic fixation or pin fixation, etc., which can achieve the locking of the hinged end of the telescopic rod 31. A laser rangefinder 35 is provided on the telescopic rod 31 to monitor the extension and contraction of the telescopic rod 31 itself.

[0058] Among the three groups of guide grooves 21 of the base 2, two groups of guide grooves 21 are arranged in parallel, and the other group of guide grooves 21 is arranged perpendicular to these two groups of guide grooves 21. The groove length of the guide groove 21 is arranged perpendicular to the hinge axis of the telescopic rod 31 in the guide groove 21.

[0059] A U-shaped clamp 32 is provided at one end of the telescopic rod 31 within the guide slot 21. The clamp 32 is used to securely position the travel wheel 33 and rotates along its axis. The travel wheel 33 acts as a power source, driving the telescopic rod 31 along the length of the guide slot 21. The clamp 32 is equipped with a locking mechanism for locking the travel wheel 33. This locking mechanism and the clamping plate 36 work together to achieve bidirectional locking of the telescopic rod 31.

[0060] The locking mechanism on the fixed clamp 32 can be of any structure. In this embodiment, a limit slot is defined on the side of the fixed clamp 32 facing the travel wheel 33. The locking mechanism comprises a locking rack 34 corresponding to the width of the limit slot. The locking rack 34 is arranged parallel to the guide slot 21 and extends through the limit slot. The depth of the limit slot is greater than the thickness of the locking rack 34, allowing the locking rack 34 to slide along the length of the limit slot while also generating a lifting motion within the limit slot.

[0061] To achieve the lifting and lowering of the locking rack 34, a locking device 22 is provided in the guide groove 21. The locking device 22 is arranged on both sides of the locking rack 34, clamping the locking rack 34 to prevent the locking rack 34 from moving along the length direction of the guide groove 21. A rotatable driving gear 221 is provided at one end of the locking device 22 facing the locking rack 34. Lifting racks 341 are provided at both ends of the locking rack 34 in the vertical direction. The driving gear 221 and the lifting rack 341 form a gear rack, thereby driving the locking rack 34 to rise and fall when rotating. The rack of the locking rack 34 is arranged toward the running wheel 33, which is configured as a gear structure. In the non-working state, the rack of the locking rack 34 engages with the gear of the running wheel 33, thereby locking the running wheel 33. In the working state, the locking rack 34 rises and disengages from the running wheel 33, completing the unlocking of the running wheel 33. In order to adapt to the gear-type running wheel 33, a rack guide rail 211 is opened at the bottom of the guide groove 21 along the groove length direction, and the running wheel 33 moves along the rack guide rail 211 in a gear and rack matching manner.

[0062] When calibrating the vibration monitor horizontally, the specific steps include:

[0063] S1. Use a laser level to calibrate the installation platform 1. When the installation platform 1 deflects, enter S2.

[0064] S2. Collect the deflection angle of the installation platform 1 using a laser level;

[0065] S3. Using the deflection angle of the mounting platform 1 as a variable, the data calculation module calculates the elongation of the three sets of telescopic rods 31;

[0066] S4: After the travel wheel 33 is unlocked by the locking mechanism, it moves along the guide groove 21 to the set position and is then locked;

[0067] While the traveling wheels 33 are moving, the telescopic rod 31 is hydraulically extended and retracted to adjust its length, and a laser rangefinder 35 is used to measure whether the telescopic rod 31 has reached the set length;

[0068] After the clamping plate seat 36 unlocks the telescopic rod 31, it rotates relative to the telescopic rod 31 until the telescopic rod 31 and the mounting platform 1 reach a set angle. The clamping plate seat 36 then clamps and fixes the telescopic rod 31 to achieve angle locking.

[0069] Each telescopic rod 31 is locked after reaching the set extension;

[0070] S5. Perform secondary horizontal calibration on the deflection angle of the installation platform 1 using a laser level;

[0071] When the installation platform 1 is not in a horizontal state, return to step S1;

[0072] When the installation platform 1 is in a horizontal state, the vibration monitor is started to monitor the vibration data.

[0073] The leveling method of the self-leveling device comprises the following steps:

[0074] S1. When the mounting platform 1 is initially horizontal, the three sets of vertically arranged telescopic rods 31 are mounted on the base 2 at points A, B, and C, respectively. Lines connecting points A, B, and C form an equilateral triangle. A spatial rectangular coordinate system is constructed with the center point of the equilateral triangle as the origin. The hinge axes of the telescopic rods 31 corresponding to points B and C are parallel to each other. In the initial horizontal state, the coordinates of points A, B, and C are:

[0075] A: (0, l1, H);

[0076] B: (l2, -l1, H);

[0077] C: (-l2, -l1, H);

[0078] Among them, l1 represents half of the height of the equilateral triangle formed by the line connecting points A, B, and C;

[0079] l2 represents half the length of the side of the equilateral triangle formed by the line connecting points A, B, and C;

[0080] H represents the original length of each telescopic rod 31 in the initial state;

[0081] S2. After the installation platform 1 is deflected, the deflection of the installation platform 1 is decomposed into rotations around the x-axis and the y-axis in the spatial rectangular coordinate system; the rotation angle of the installation platform 1 around the x-axis is α, and the rotation angle of the installation platform 1 around the x-axis is β; because the rotation around the z-axis is an in-plane rotation, the installation platform 1 remains horizontal after the rotation and does not affect the vibration monitoring results. Therefore, it is not considered in the simplified calculation, and only the out-of-plane deflection is considered.

[0082] After deflection α° around the x-axis, the coordinates of each point are:

[0083] A:(0,l1cosα,h A );

[0084] B:(l2,-l1cosα,h B );

[0085] C: (-l2, -l1cosα, h C );

[0086] Among them, h A represents the length of the telescopic rod 31 corresponding to point A after deflection α° around the x-axis;

[0087] h Brepresents the length of the telescopic rod 31 corresponding to point B after deflection α° around the x-axis;

[0088] h C represents the length of the telescopic rod 31 corresponding to point C after deflection α° around the x-axis;

[0089] At this point, each parameter satisfies the constraints:

[0090]

[0091] h B =h C ;

[0092] On this basis, after deflecting β° around the y-axis, the coordinates of each point are;

[0093] A:(0,l1cosα,h A ');

[0094] B:(l2cosβ,-l1cosα,h B ');

[0095] C: (-l2cosβ, -l1cosα, h C ');

[0096] Among them, h A ' represents the length of the telescopic rod 31 corresponding to point A after deflection β° around the y-axis;

[0097] h B represents the length of the telescopic rod 31 corresponding to point B after further deflection β° around the y-axis;

[0098] h C represents the length of the telescopic rod 31 corresponding to point C after further deflection β° around the y-axis;

[0099] At this point, each parameter satisfies the constraints:

[0100]

[0101] The vertical coordinate h of the midpoint between point B and point C BC for:

[0102] h BC =(h C '+h B ') / 2;

[0103] The spatial rectangular coordinate system is projected along the yz direction, and there is a geometric relationship:

[0104]

[0105] After simplification, we get: h C '-hB '=2l2sinβ;h C '+h B '-2h A '=4l1sinα;

[0106] Then the final lengths of the telescopic rods 31 are H A 、H B 、H C ;

[0107] H A =H+△H A ';

[0108] H B =H+△H B ';

[0109] H C =H+△H C ';

[0110] Then the final longitudinal coordinates of points A, B, and C after deflection are h A '、h B '、h C 'have:

[0111] h A '=cosβ(H+△H A ');

[0112] h B '=cosα(H+△H B ');

[0113] h C '=cosα(H+△H C ');

[0114] Among them, △H A ' represents the extension of the telescopic rod 31 corresponding to point A after the installation platform 1 is leveled; ΔH B ' represents the extension of the telescopic rod 31 corresponding to point B after the installation platform 1 is leveled; ΔH C 'Indicates the extension of the telescopic rod 31 corresponding to point C after the installation platform 1 is leveled;

[0115] Further simplifying the constraints yields:

[0116]

[0117] Based on the above constraints, other corresponding adjustment parameters can be obtained as follows:

[0118] Δl A '=tanα·h A '(along the negative direction of the x-axis);

[0119] Δl A 'Represents the movement length of the walking wheel 33 of the telescopic rod 31 corresponding to point A along the rack guide rail 211;

[0120] Δl B '=tanα·h B '(along the negative direction of the y axis);

[0121] Δl B 'Represents the movement length of the walking wheel 33 of the telescopic rod 31 corresponding to point B along the rack guide rail 211;

[0122] Δl C '=Δl B '=(along the negative direction of the y axis);

[0123] Δl C 'Represents the movement length of the walking wheel 33 of the telescopic rod 31 corresponding to point C along the rack guide rail 211;

[0124] Δθ A '=90°-β;

[0125] Δθ B '=Δθ C '=90°-α;

[0126] Δθ A ' represents the rotation angle of the fixed clamp 32 on the telescopic rod 31 corresponding to point A;

[0127] Δθ B ' represents the rotation angle of the fixed clamp 32 on the telescopic rod 31 corresponding to point B;

[0128] Δθ C ' represents the rotation angle of the fixed clamp 32 on the telescopic rod 31 corresponding to point C;

[0129]

[0130] Indicates the deflection angle between the telescopic rod 31 and the mounting platform 1 corresponding to point A;

[0131] represents the deflection angle between the telescopic rod 31 and the mounting platform 1 corresponding to point B;

[0132] represents the deflection angle between the telescopic rod 31 and the mounting platform 1 corresponding to point C;

[0133] S3. Select the objective function and calculate the △H of the variable in the equation of step S2. A '、△H B '、△H C'Solve, calculate the minimum extension amount of each telescopic rod 31 when the installation platform 1 returns to a horizontal state.

[0134] Select the objective function so that the variable △H A '、△H B '、△H C The following adjustment modes exist to achieve "optimization":

[0135] (1) Optimal value of “L1 norm”:

[0136] For the telescopic adjustment parameters ΔH of the three telescopic rods 31 A '、△H B '、△H C ', so that the "L1 norm" of each element is minimized, and the corresponding objective function is: minimize(|ΔH A ′|+|ΔH B '|+|ΔH C '|).

[0137] (2) Optimal value of “L2 norm”:

[0138] For the telescopic adjustment parameters ΔH of the three telescopic rods 31 A '、△H B '、△H C ', so that the "L2 norm" of each element is minimized. Whether the corresponding objective function takes the square root has no effect on the final calculation result, that is, the objective function can be further optimized as follows: minimize[(ΔH′ A ) 2 +(ΔH′ B ) 2 +(ΔH′ C ) 2 ].

[0139] 3) "Maximum absolute value" optimal value:

[0140] For the telescopic adjustment parameters ΔH of the three telescopic rods 31 A '、△H B '、△H C ', so that the maximum absolute value of each element is minimized;

[0141] The corresponding objective function is: minimize[maxmize(|ΔH A ′|,|ΔH B '|,|ΔH C '|)].

[0142] Through the above analysis of the objective function, we treat the objective function as a convex function. That is, this optimization problem is considered a convex optimization problem, with the objective function and constraint functions being convex functions and the domain being a convex set. The local optimal solution to the convex optimization problem is the global optimal solution, and the CVX toolbox in Matlab can be used to solve this convex optimization problem.

[0143] The specific calculation is as follows: the original length of the telescopic rod is H = a, l1 = b, l2 = c. When the installation platform 1 is designed, its maximum supported deflection angle α max , β max The following geometric relationship exists with the parameters of the telescopic rod 31:

[0144]

[0145] The deflection angle of the mounting plane 1 is measured by a laser level. The deflection angle is decomposed into a deflection angle α around the x-axis and a deflection angle β around the y-axis. The deflection angles α and β are input respectively. After the angles are converted to radians, their sine and cosine values ​​are calculated.

[0146] The telescopic adjustment parameter △H of the telescopic rod 31 A '、△H B '、△H C Define the variable vector x = (x1, x2, x3) and set different mathematical models according to different optimal value methods to solve:

[0147] 1) Optimal value of “L1 norm”:

[0148] A non-negative variable z = (z1, z2, z3) of length 3 is introduced to simulate the absolute value of the variable x when calculating the L1 norm;

[0149] The constraints are as follows:

[0150] -x i ≤z i ≤x i ; ①

[0151] cosα(x3-x2)=2l2sinβ; ②

[0152] cosα(x2+x3)-2x1cosβ=4l1sinα+2H(cosβ-cosα); ③

[0153] -H≤x i ≤H; ④

[0154] The L1 norm is a non-convex function. Using the absolute value constraint of formula ①, the L1 norm is relaxed to satisfy the convex function model.

[0155] Formulas ② and ③ are linear equality constraints based on the physical relationship of the actual structure in mathematical calculations;

[0156] Formula ④ constrains the maximum value of the telescopic rod, that is, the maximum elongation and shortening does not exceed its original length.

[0157] Objective function: minimize(z1+z2+z3);

[0158] The goal of the optimization problem is to minimize the sum of z1, z2, and z3, which is the L1 norm.

[0159] 2) Optimal value of “L2 norm”:

[0160] The constraints are as follows:

[0161] cosα(x3-x2)=2l2sinβ; ⑥

[0162] cosα(x2+x3)-2x1cosβ=4l1sinα+2H(cosβ-cosα); ⑦

[0163] -H≤x i ≤H; ⑧

[0164] Formulas ⑥⑦ are linear equation constraints based on the physical relationship of the actual structure in mathematical calculations;

[0165] Formula ⑧ constrains the maximum value of the telescopic rod, that is, the maximum elongation and shortening does not exceed its original length.

[0166] Objective function:

[0167] The goal of the optimization problem is to minimize the sum of the squares of x1, x2, and x3, that is, the L2 norm.

[0168] 3) "Maximum absolute value" optimal value

[0169] A non-negative variable z of length 3 is introduced to simulate the absolute value of the variable x when calculating the L1 norm; a variable f is defined to approximate the maximum absolute value of the elements in x.

[0170] The constraints are as follows:

[0171] -x i ≤z i ≤x i ⑨

[0172] z i ≤f; ⑩

[0173]

[0174] Formula 9 is used to perform absolute value constraints;

[0175] Formula ⑩ is used to ensure that f is not less than any element in z, that is, f is the maximum value of the elements in z;

[0176] Mode It is a linear equality constraint based on the physical relationship of the actual structure in mathematical calculations;

[0177] Mode To constrain the maximum value of the telescopic rod, that is, the maximum elongation and shortening does not exceed its original length.

[0178] Objective function: minimize(f);

[0179] The goal of the optimization problem is to minimize f. Since f is the maximum absolute value of the elements in x, minimizing f is actually looking for a solution that makes the absolute value of the elements in x as small as possible.

[0180] The calculation result of the variable vector x output by the above mathematical model, that is, the telescopic adjustment parameter ΔH of the telescopic rod 31 A '、△H B '、△H C '.

[0181] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0182] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

Claims

1. A self-leveling device for a vibration monitor in an ancient pagoda, characterized in that: The invention comprises a mounting platform (1) for fixing a vibration monitor, wherein the mounting platform (1) is arranged above a base (2), and the base (2) forms a three-point support for the mounting platform (1) through three groups of lifting and adjusting mechanisms (3) capable of generating telescopic movements; three groups of guide grooves (21) for installing the lifting and adjusting mechanisms (3) are provided on the base (2), and each lifting and adjusting mechanism (3) is driven by a power source to move along the length direction of the guide groove (21), wherein the groove length direction of two groups of guide grooves (21) is perpendicular to the groove length direction of the other group of guide grooves (21); each lifting and adjusting mechanism (3) is hingedly matched with the mounting platform (1), and the horizontal hinge axis of each lifting and adjusting mechanism (3) is perpendicular to the groove length direction of the guide groove (21) in which it is located.

2. The self-leveling device for a vibration monitor used in an ancient pagoda according to claim 1, characterized in that: The power source comprises a walking wheel (33) that moves along the longitudinal direction of the guide groove (21); the lifting and adjusting mechanism (3) comprises a telescopic rod (31); the telescopic rod (31) is coaxially rotated with the walking wheel (33) through a fixing clamp (32); the walking wheel (33) drives the telescopic rod (31) to move along the guide groove (21); and a locking mechanism is provided in the guide groove (21) to stop the walking wheel (33) from rotating.

3. The self-leveling device for a vibration monitor used in an ancient pagoda according to claim 2, characterized in that: The fixed clamp (32) is provided with a limiting groove at one end thereof facing the travel wheel (33); the locking mechanism is a locking rack (34) arranged along the length direction of the guide groove (21); the locking rack (34) passes through the limiting groove of the fixed clamp (32) and can generate a vertical lifting action in the limiting groove; the travel wheel (33) is a gear structure; the locking rack (34) is engaged with the travel wheel (33) after being lifted and lowered, so as to limit the travel wheel (33) from moving along the guide groove (21).

4. The self-leveling device for a vibration monitor in an ancient pagoda according to claim 3, characterized in that: Both ends of the locking rack (34) are provided with vertically arranged lifting racks (341); two groups of lockers (22) for clamping the locking rack (34) are provided in the guide groove (21); a driving gear (221) is installed on the locker (22); the driving gear (221) and the lifting rack (341) form a gear rack to drive the locking rack (34) to rise and fall.

5. The self-leveling device for a vibration monitor used in an ancient pagoda according to claim 3, characterized in that: A rack guide rail (211) is provided at the bottom of the guide groove (21) along the groove length direction, and the running wheel (33) moves along the rack guide rail (211) in a gear and rack matching manner.

6. A self-leveling device for a vibration monitor in an ancient pagoda according to any one of claims 2 to 5, characterized in that: The mounting platform (1) is hingedly connected to the rod end of the telescopic rod (31) through a clamping plate seat (36) at the bottom thereof. The clamping plate of the clamping plate seat (36) can clamp the hinged end of the telescopic rod (31) to limit relative rotation between the telescopic rod (31) and the mounting platform (1).

7. A self-leveling device for a vibration monitor in an ancient pagoda according to any one of claims 2 to 5, characterized in that: The hinge points between the telescopic rods (31) and the mounting platform (1) are distributed in an equilateral triangle shape.

8. A self-leveling device for a vibration monitor used in an ancient pagoda according to any one of claims 2 to 5, characterized in that: The telescopic rod (31) is equipped with a laser rangefinder (35) for monitoring the telescopic amount of the telescopic rod (31); the mounting platform (1) is equipped with a laser level for leveling; the mounting platform (1) is provided with a fixed card seat and a movable card seat that is slidably matched with the mounting platform (1); the vibration monitor is abutted against the fixed card seat, and the movable card seat is fixed after sliding along the mounting platform (1) to clamp and position the vibration monitor.

9. The self-leveling device for a vibration monitor used in an ancient pagoda according to claim 8, characterized in that: When calibrating the vibration monitor horizontally, the specific steps include: S1, calibrate the installation platform (1) horizontally using a laser level, and when the installation platform (1) deflects, enter S2; S2, collecting the deflection angle of the installation platform (1) by using a laser level; S3, using the deflection angle of the installation platform (1) as a variable, calculating the elongation of the three sets of telescopic rods (31) according to the data calculation module; S4, after the traveling wheel (33) is unlocked by the locking mechanism, it moves along the guide groove (21) to a set position and is then locked; When the traveling wheel (33) is traveling, the telescopic rod (31) is hydraulically extended and retracted synchronously to adjust the length, and a laser rangefinder (35) is used to measure whether the telescopic rod (31) reaches the set length; After the clamping plate seat (36) unlocks the telescopic rod (31), the clamping plate seat (36) rotates relative to the telescopic rod (31) until the telescopic rod (31) and the mounting platform (1) reach a set angle, and the clamping plate seat (36) clamps and fixes the telescopic rod (31) to achieve angle locking; Each telescopic rod (31) is locked after reaching a set extension; S5. Performing secondary horizontal calibration on the deflection angle of the installation platform (1) using a laser level; When the installation platform (1) is not in a horizontal state, return to step S1; When the installation platform (1) is in a horizontal state, the vibration monitor is started to monitor the vibration data.

10. The self-adjusting method of the self-leveling device of the vibration monitor used in the ancient pagoda according to any one of claims 1 to 5, characterized in that: The steps include: S1. When the installation platform (1) is in an initial horizontal state, the installation points of the three sets of vertically arranged telescopic rods (31) on the base (2) are respectively points A, B, and C; the lines connecting points A, B, and C form an equilateral triangle, and a spatial rectangular coordinate system is constructed with the center point of the equilateral triangle as the origin of the coordinate system; wherein the hinge axes of the telescopic rods (31) corresponding to points B and C are parallel to each other; in the initial horizontal state, the coordinates of points A, B, and C are: A: (0, l1, H); B: (l2, -l1, H); C: (-l2, -l1, H); Among them, l1 represents half of the height of the equilateral triangle formed by the line connecting points A, B, and C; l2 represents half the length of the side of the equilateral triangle formed by the line connecting points A, B, and C; H represents the original length of each telescopic rod (31) in the initial state; S2. After the installation platform (1) is deflected, the deflection of the installation platform (1) is decomposed into rotations around the x-axis and the y-axis in the spatial rectangular coordinate system; wherein the rotation angle of the installation platform (1) around the x-axis is α, and the rotation angle of the installation platform (1) around the x-axis is β. After the installation platform (1) is deflected, the following constraints are satisfied: Among them, △H A ' represents the extension of the telescopic rod (31) corresponding to point A after the installation platform (1) is leveled; ΔH B ' represents the extension of the telescopic rod (31) corresponding to point B after the installation platform (1) is leveled; ΔH C ' represents the extension of the telescopic rod (31) corresponding to point C after the installation platform (1) is leveled; S3, select the objective function, and calculate the △H in step S2. A '、△H B '、△H C 'Solve and calculate the minimum telescopic amount of each telescopic rod (31) when the installation platform (1) returns to a horizontal state.

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