Foundation pit deformation detection device for laser monitoring

Abstract

The invention relates to the technical field of engineering measurement and deformation monitoring, and discloses a foundation pit deformation detection device for laser monitoring, which comprises a vehicle body, a moving assembly, a lifting assembly, an angle adjusting assembly, a laser transmitter, a control piece and a carrying frame. The moving assembly is arranged at the bottom of the vehicle body and used for achieving moving arrangement of the device at the bottom or the peripheral area of a foundation pit. The lifting assembly is vertically arranged on the vehicle body and used for adjusting the height position of the laser transmitter. The angle adjusting assembly is arranged at the upper end of the lifting assembly and used for adjusting the horizontal azimuth angle and the pitch angle of the laser transmitter. A monitoring control system based on the device structure state is arranged in the control piece, cooperative control is conducted on the posture, the lifting height and the angle state of the vehicle body, a laser beam can be stably aligned with a monitoring target on the side wall of a foundation pit or a supporting structure, high-precision deformation monitoring under multiple stations is achieved, and the device is compact in structure, flexible in arrangement and high in reliability. And foundation pit monitoring requirements in a complex construction environment can be met.

Description

Technical Field

[0001] This invention relates to the field of engineering measurement and deformation monitoring technology, specifically to a foundation pit deformation detection device for laser monitoring. Background Technology

[0002] Among existing deformation monitoring technologies, laser monitoring has been widely used. It typically involves placing a laser emitter at a stable location at the bottom or perimeter of the foundation pit. By adjusting the laser emission direction, the laser beam is directed towards a monitoring target pre-set on the sidewall or support structure of the foundation pit, thereby obtaining information on the displacement or deformation of the target.

[0003] In actual operation, existing technologies generally rely on manual or semi-automatic methods to complete equipment deployment: first, the laser monitoring equipment is moved to the target area by manual pushing or hoisting, then the initial positioning is completed by manually adjusting the height of the bracket or using a fixed-height bracket, then the horizontal azimuth and elevation angles of the laser emitter are adjusted by manually rotating the pan-tilt head or using simple motor control, and finally the laser monitoring process is started after manual confirmation that the target is aligned with the monitoring target.

[0004] While the aforementioned existing technologies can accomplish the task of laser monitoring of foundation pit deformation, their overall operation relies heavily on manual experience regarding the structural state of the equipment, lacking systematic and coordinated control over the relationships between movement, lifting, and angle states. After the equipment completes movement or height adjustment, existing technologies typically fail to uniformly determine the coupling relationship between the vehicle's attitude, lifting position, and the spatial pointing of the laser emitter, easily leading to unstable monitoring positions or the need for repeated parameter corrections.

[0005] In addition, the pointing adjustment of laser emitters in existing technologies is mainly based on single-degree-of-freedom control, lacking coordinated control logic for lifting components and angle adjustment components. This results in repeated manual calibration and multiple adjustments when the pit environment changes or monitoring points are switched, leading to insufficient continuity in the overall monitoring process and making it difficult to form an automated monitoring and control system based on the structural state of the device itself. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a foundation pit deformation detection device for laser monitoring, which solves the problems mentioned in the background section.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: a foundation pit deformation detection device for laser monitoring, comprising a vehicle body, a moving component for driving the device to move at the bottom of the pit or around the pit is provided at the bottom of the vehicle body, a lifting component capable of vertical lifting is provided on the vehicle body, and an angle adjustment component is connected to the upper end of the lifting component. The angle adjustment component is used to support and adjust the horizontal and pitch angles of the laser emitter so that the laser emitted by the laser emitter is aligned with a preset foundation pit monitoring target. The vehicle body is also equipped with a carrying rack for carrying or transporting the device, and control components are installed on the side of the vehicle body.

[0008] Preferably, the control unit has a built-in structural state perception module, which includes a vehicle body attitude acquisition unit, a lifting height acquisition unit, an angle attitude acquisition unit, and a structural state integration unit. The structural state integration unit is used to integrate the data acquired by the vehicle body attitude acquisition unit, the lifting height acquisition unit, and the angle attitude acquisition unit into structural state data for subsequent control.

[0009] Preferably, the control unit has a built-in monitoring station determination module, which includes a station constraint condition unit, a station status determination unit, and a station parameter generation unit. The station status determination unit makes a determination based on the structural status data output by the structural status integration unit and in combination with the station constraint condition unit. When the monitoring conditions are met, the station parameter generation unit generates the corresponding monitoring station parameters.

[0010] Preferably, the control unit has a built-in laser spatial parameter calculation module, which includes a target relative position modeling unit, a pointing parameter calculation unit, and a parameter validity verification unit. The target relative position modeling unit is used to establish a spatial relationship model between the laser emitter and the pit monitoring target. The pointing parameter calculation unit calculates the target values ​​of the elevation angle and the horizontal azimuth angle of the laser emitter based on the spatial relationship model.

[0011] Preferably, the parameter validity verification unit is used to compare the target pitch angle value and the target horizontal azimuth angle value obtained by the pointing parameter calculation unit with the structural movement range of the angle adjustment component, and output executable parameters when the parameters are within the allowable range.

[0012] Preferably, the control unit has a built-in multi-degree-of-freedom motion coordination control module, which includes a motion sequence planning unit, an execution instruction distribution unit, and a motion status feedback unit. The motion sequence planning unit is used to determine the motion execution order of the lifting component and the angle adjustment component based on the target pitch angle value, the target horizontal azimuth angle value, and the height adjustment amount.

[0013] Preferably, the execution instruction distribution unit is used to split the action sequence generated by the action sequence planning unit into corresponding lifting control instructions and angle adjustment control instructions, and send them to the lifting component and the angle adjustment component according to a predetermined timing sequence.

[0014] Preferably, the action status feedback unit is used to receive data collected by the structure status perception module in real time during the execution of the lifting component and the angle adjustment component, and output an action completion signal when the action reaches the target parameter.

[0015] Preferably, the control unit has a built-in laser monitoring execution and verification module, which includes a launch control unit and an alignment verification unit. The launch control unit starts the laser emitter after receiving the action completion signal, and the alignment verification unit is used to verify the alignment status between the laser emitter and the pit monitoring target.

[0016] This invention provides a device for detecting the deformation of foundation pits using laser monitoring. It has the following beneficial effects: 1. This solution constructs a structural state perception and monitoring station determination system based on the vehicle body, lifting components, and angle adjustment components within the control unit. This allows the device to complete a unified identification and judgment of its own structural state before performing laser monitoring. By using the vehicle body attitude, lifting height, and angle attitude as the determination conditions for the monitoring station, the execution of laser monitoring is based on a clear structural state, thereby forming a stable and repeatable monitoring station control logic.

[0017] 2. With the combination of laser spatial parameter calculation and multi-degree-of-freedom motion coordinated control, this solution incorporates the lifting component and the angle adjustment component into the same control process. By using the unified spatial parameter calculation results, the sequence and execution mode of actions of different degrees of freedom are coordinated, so that the height adjustment and pointing adjustment of the laser emitter form a continuous control process, avoiding the process fragmentation caused by repeated adjustment of a single degree of freedom.

[0018] 3. This solution integrates the laser monitoring execution process with the preceding structural state perception, workstation determination, and motion coordination control, establishing the start-up, shutdown, and alignment verification of the laser emitter within a complete control chain. This forms a monitoring execution mechanism constrained by the structural state of the device itself, enabling the monitoring process to maintain consistent execution logic across different workstations. It is suitable for continuous monitoring operations in complex foundation pit environments. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a front view structural diagram of the present invention; Figure 3This is a rear-view stereoscopic structural diagram of the present invention; Figure 4 This is a schematic diagram of the module structure of the present invention.

[0020] The components include: 1. Vehicle body; 2. Moving components; 3. Lifting components; 4. Angle adjustment components; 5. Laser emitter; 6. Control components; and 7. Carrying frame. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described 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.

[0022] Please see Figures 1 to 3 This invention provides a foundation pit deformation detection device for laser monitoring, which mainly includes a vehicle body 1, a moving component 2, a lifting component 3, an angle adjustment component 4, a laser emitter 5, a control component 6, and a carrying frame 7.

[0023] The vehicle body 1 serves as the support platform for the device; the moving component 2 is located at the bottom of the vehicle body 1 and is used to drive the entire device to move in the pit bottom or the surrounding area of ​​the pit to adapt to the deployment requirements of different measuring stations; the lifting component 3 is vertically installed on the vehicle body 1 and can perform vertical lifting and lowering movements; the angle adjustment component 4 is connected to the upper end of the lifting component 3 and is used to support the laser emitter 5 and can adjust the horizontal azimuth and pitch angle of the laser emitter 5.

[0024] By raising and lowering the lifting component 3 and adjusting the angle of the angle adjustment component 4, the laser beam emitted by the laser emitter 5 can be aligned with the monitoring target pre-installed on the side wall of the foundation pit or the supporting structure, thereby achieving high-precision deformation monitoring.

[0025] The carrying frame 7 is mounted on the vehicle body 1, which facilitates manual lifting or hoisting of the device using tools, enhancing its portability in complex construction sites; the control component 6 is installed on the side of the vehicle body 1, and is used to coordinate and control the actions of various parts of the device.

[0026] In this embodiment, the moving component 2 (such as a wheeled structure driven by a motor, a tracked structure, or a caster wheel), the lifting component 3 (such as an electric push rod, a screw jack, a scissor lift mechanism, or a hydraulic cylinder linear drive mechanism), the angle adjustment component 4 (such as a two-degree-of-freedom gimbal, a worm gear adjustment mechanism driven by a stepper motor, or a manually locked ball joint mechanism), and the laser emitter 5 (referring to a device capable of emitting a visible or invisible reference laser beam) are all existing technologies or well-known general components in the fields of engineering machinery, optical measurement, or automation equipment; their independent structures, working principles, and selection methods are well known to those skilled in the art, and will not be described in detail in this embodiment.

[0027] refer to Figure 4 The control component 6 includes a structural state perception module, a monitoring station determination module, a laser spatial parameter calculation module, a multi-degree-of-freedom motion collaborative control module, and a laser monitoring execution and verification module.

[0028] The structural state perception module is used to collect and organize the real-time structural state of the vehicle body 1 in the pit environment. The vehicle body attitude acquisition unit obtains the tilt state of the vehicle body 1 relative to the bottom of the pit or the ground around the pit. The lifting height acquisition unit obtains the current vertical displacement of the lifting component 3. The angle attitude acquisition unit obtains the attitude data of the angle adjustment component 4 in the horizontal azimuth and pitch directions. The above data are uniformly mapped into the structural state dataset inside the control component 6 in the structural state integration unit, which serves as the basis for subsequent module judgment and control.

[0029] The vehicle body attitude acquisition unit is fixedly installed at the structural reinforcement position inside the vehicle body 1 and forms a rigid connection with the vehicle body 1, so that its attitude change is consistent with the overall attitude of the vehicle body 1. After the moving component 2 drives the vehicle body 1 to complete the displacement and stop, the vehicle body attitude acquisition unit enters the working state and collects the pitch and lateral tilt angles of the vehicle body 1 relative to the bottom of the pit or the ground around the pit. During the acquisition process, the vehicle body attitude acquisition unit only outputs attitude data when the moving component 2 is in the stopped state, so as to ensure that the acquired data reflects the static attitude state of the vehicle body 1. The acquired attitude data is sorted according to the preset data format inside the control component 6 and then sent to the structural state integration unit as part of the structural state data for subsequent processing.

[0030] The lifting height acquisition unit is located in the vertical motion transmission path of the lifting component 3 and is synchronized with the telescopic movement of the lifting component 3. During the lifting action of the lifting component 3, the lifting height acquisition unit collects the actual vertical displacement of the lifting component 3 relative to the bottom reference plane of the vehicle body 1 in real time and converts the displacement into corresponding height data. When the lifting component 3 stops at the target height position, the lifting height acquisition unit confirms the current height status and outputs stable height data. This height data uses the bottom of the vehicle body 1 as a unified reference benchmark. After the acquisition is completed, it is sent to the structural status integration unit to describe the current vertical installation height status of the laser emitter 5.

[0031] The angle and attitude acquisition unit is installed on the rotating structure of the angle adjustment component 4, and is set to correspond to the horizontal azimuth rotation axis and the pitch rotation axis of the angle adjustment component 4 respectively. During the angle adjustment process of the angle adjustment component 4, the angle and attitude acquisition unit synchronously acquires the current horizontal azimuth angle state and pitch angle state of the angle adjustment component 4. When the angle adjustment component 4 completes the angle adjustment and remains stable, the angle and attitude acquisition unit outputs the corresponding angle and attitude data to reflect the actual spatial pointing state of the laser emitter 5. The acquired horizontal azimuth angle data and pitch angle data are encapsulated according to the unified data format inside the control component 6 and then sent to the structure state integration unit.

[0032] The structural state integration unit is located inside the control unit 6 and is used to centrally process the data output by the vehicle attitude acquisition unit, the lifting height acquisition unit, and the angle attitude acquisition unit. After receiving data from each acquisition unit, the structural state integration unit first matches the data in chronological order to ensure that the vehicle attitude data, lifting height data, and angle attitude data are within the same state cycle. Then, it unifies the format and integrates the parameters of the data from different sources to form a complete structural state dataset. This structural state dataset includes the attitude state of the vehicle 1, the height state of the lifting component 3, and the angle state of the angle adjustment component 4. The integrated structural state dataset is stored in the internal cache area of ​​the control unit 6 and provided to the monitoring station judgment module as the basic data source for its station status judgment.

[0033] The monitoring station determination module determines whether the current device is in a station state where laser monitoring can be performed based on the structural state data provided by the structural state perception module. The module makes a joint judgment on the vehicle body posture, lifting height range and initial angle adjustment range through the station constraint condition unit. When the geometric conditions required for monitoring the pit sidewall or support structure are met, the corresponding monitoring station parameters are generated and transmitted to the laser space parameter calculation module.

[0034] The workstation constraint unit is located inside the control component 6 and is used to store the monitoring workstation constraints corresponding to the structural parameters of this device.

[0035] The workstation constraints are preset by the device at the time of manufacture or initial deployment based on the structural dimensions and range of motion of the vehicle body 1, lifting assembly 3, and angle adjustment assembly 4, and are stored in the storage area of ​​the control unit 6 in the form of a parameter table.

[0036] The workstation constraints include at least the allowable tilt range of the vehicle body 1 in the pit environment, the allowable height range of the lifting assembly 3 for monitoring, and the initial angle range of the angle adjustment assembly 4 before entering the monitoring state.

[0037] During the operation of the monitoring station determination module, the station constraint condition unit does not participate in real-time calculation, but only provides the structural constraint parameters required for determination to the station status determination unit.

[0038] The workstation status judgment unit maintains a data connection with the structural status perception module and is used to receive the structural status dataset output by the structural status integration unit.

[0039] After receiving the structural state dataset, the workstation state judgment unit calls the corresponding constraint parameters stored in the workstation constraint condition unit in a preset judgment order to compare the vehicle body attitude state, lifting height state, and angle attitude state item by item.

[0040] During the comparison process, the workstation status judgment unit first determines whether the attitude data corresponding to the vehicle body attitude acquisition unit falls within the attitude range limited by the workstation constraint unit, then determines whether the height data corresponding to the lifting height acquisition unit is within the allowable monitoring height range, and finally determines whether the angle status corresponding to the angle attitude acquisition unit meets the initial angle conditions for entering the monitoring workstation.

[0041] When any structural status data does not meet the corresponding constraint, the workstation status judgment unit will determine the current status as a non-monitored workstation status and stop the subsequent judgment process; when all structural status data meet the constraint, the workstation status judgment unit will determine the current status as a valid monitored workstation status and generate the corresponding judgment result.

[0042] The workstation parameter generation unit is connected to the workstation status judgment unit and is triggered to run after the workstation status judgment unit confirms that the current status is a valid monitoring workstation status.

[0043] The workstation parameter generation unit provides a parameterized description of the current workstation state of the device in the pit environment based on the vehicle body attitude state, lifting height state, and angle attitude state contained in the current structural state dataset.

[0044] During the generation process, the station parameter generation unit uses the structural state corresponding to the current parking position of the vehicle body 1 as a reference, and combines the height state of the lifting component 3 with the initial angle state of the angle adjustment component 4 to form the reference parameter set of the current monitoring station.

[0045] The generated station parameters are uniformly packaged into monitoring station parameters and sent to the laser space parameter calculation module for subsequent calculation of the laser emitter 5 pointing parameters.

[0046] The laser spatial parameter calculation module calculates the spatial parameters required for the laser emitter 5 to point at the monitoring target based on the monitoring station parameters and the structural characteristics of the lifting component 3 and the angle adjustment component 4. The module establishes a spatial description of the monitoring target on the pit sidewall or support structure through the target relative position modeling unit, and then obtains the corresponding pitch angle and horizontal azimuth target values ​​through the pointing parameter calculation unit.

[0047] The target relative position modeling unit is located inside the control component 6 and is used to model the spatial position relationship between the monitoring target on the pit sidewall or support structure and the laser emitter 5 after the monitoring station determination module confirms the valid monitoring station.

[0048] In practice, the target relative position modeling unit takes the current monitoring station of vehicle 1 as the spatial reference origin and uses the lifting height acquisition unit output data provided by the structural state perception module as the vertical position reference of laser emitter 5.

[0049] Based on the target deployment parameters pre-input into the control unit 6, the target relative position modeling unit determines the relative distance relationship between the monitoring targets in the horizontal and vertical directions, and constructs the three-dimensional spatial coordinates of the monitoring targets relative to the laser emitter 5.

[0050] The three-dimensional spatial coordinates are as follows It means that among them and This indicates the relative position component of the monitored target in the horizontal plane relative to the laser emitter 5. This indicates the vertical height difference between the monitoring target and the laser emitter 5.

[0051] After completing the spatial coordinate modeling, the target relative position modeling unit will The input parameters are sent to the parameter calculation unit.

[0052] The pointing parameter calculation unit is used to calculate the target values ​​of the pitch angle and the horizontal azimuth angle required for the laser emitter 5 to point at the monitoring target based on the three-dimensional spatial coordinates output by the target relative position modeling unit.

[0053] In the specific implementation process, the pointing parameter calculation unit first obtains the output of the target relative position modeling unit. The coordinate data is used, and the angle is calculated with the current position of laser emitter 5 as the origin.

[0054] The pointing parameter calculation unit calculates the target pitch angle value required by the laser emitter 5 by analyzing the relationship between the horizontal distance and the vertical height difference. pitch angle The calculation relationship is as follows: ; in, This indicates the composite horizontal distance of the monitoring target relative to the laser emitter 5 in the horizontal plane.

[0055] Subsequently, the pointing parameter calculation unit calculates the required horizontal azimuth target value for laser emitter 5 based on the relative position components of the monitored target in the horizontal plane. The calculation relationship is as follows: ; Through the above calculations, the pointing parameter calculation unit obtains a set of pitch angle target values ​​corresponding to the current monitoring position. and horizontal azimuth target value The parameters are then output as the target pointing parameters of the angle adjustment component 4.

[0056] The parameter validity verification unit is located after the pointing parameter calculation unit and is used to verify the calculated pitch angle target value. and horizontal azimuth target value Perform structural executability verification.

[0057] In practical implementation, the parameter validity verification unit calls the pre-stored structural parameters of the angle adjustment component 4 in the control component 6, including the allowable rotation range of the horizontal azimuth rotation axis and the pitch rotation axis.

[0058] The parameter validity verification unit will point to the pitch angle target value output by the parameter calculation unit. Compare with the allowable range of the pitch rotation axis structure, and simultaneously set the target value of the horizontal azimuth angle. Compare with the allowable range of the horizontal orientation rotation axis.

[0059] When the target value of the pitch angle and horizontal azimuth target value When all parameters are within the allowable range of the corresponding structure, the parameter validity verification unit confirms that the set of pointed parameters are executable parameters and sends them to the multi-degree-of-freedom motion collaborative control module.

[0060] When any angle parameter exceeds the allowable range of the structure, the parameter validity verification unit marks the current solution result as invalid and returns the status information to the monitoring station judgment module to trigger a re-judgment of the current monitoring station status.

[0061] The multi-degree-of-freedom motion coordination control module is used to coordinate the action sequence and execution mode of the lifting component 3 and the angle adjustment component 4 under the premise of ensuring structural stability. The action sequence planning unit determines the action logic of lifting first and then adjusting the angle or fine-tuning, and sends the control command to the corresponding execution mechanism through the execution command distribution unit.

[0062] The action sequence planning unit is located inside the control unit 6 and is used to plan the action execution sequence of the lifting component 3 and the angle adjustment component 4 after receiving the target parameters output by the laser spatial parameter calculation module.

[0063] The action sequence planning unit first reads the adjustment amount related to the lifting height, as well as the target values ​​of the pitch angle and horizontal azimuth angle related to the angle adjustment from the target parameters, and calculates the adjustment range corresponding to each degree of freedom by combining the lifting height state and angle attitude state provided by the structural state perception module.

[0064] After the calculation is completed, the action sequence planning unit determines the action sequence of the lifting component 3 and the angle adjustment component 4 according to the preset action planning rules. When a large vertical adjustment is required, the lifting component 3 is planned to perform the height adjustment action first, and the angle adjustment component 4 is planned to perform the angle adjustment action after the lifting action is completed. When the vertical adjustment range is small, the angle adjustment component 4 is directly planned to perform the angle adjustment while the lifting component 3 maintains the current height. The planned action sequence is output to the execution instruction distribution unit in the form of a control instruction sequence.

[0065] The execution instruction distribution unit is located inside the control unit 6 and is used to receive the control instruction sequence output by the action sequence planning unit and decompose the instruction sequence into specific execution instructions for the corresponding lifting component 3 and angle adjustment component 4.

[0066] Upon receiving the control command sequence, the execution command distribution unit first identifies the execution object corresponding to the current command. When the command involves lifting or lowering, it sends the corresponding height control command to the lifting component 3. When the command involves angle adjustment, it sends the corresponding horizontal azimuth control command and pitch control command to the angle adjustment component 4.

[0067] The execution instruction distribution unit sends instructions sequentially according to the time sequence determined by the action sequence planning unit, and does not send subsequent action instructions to the next execution mechanism before the previous action is completed, so as to ensure the consistency of the action process sequence.

[0068] During the instruction sending process, the instruction distribution unit continuously maintains data communication with the action status feedback unit to receive execution status information.

[0069] The motion status feedback unit is located inside the control component 6 and is used to monitor and confirm the motion execution status of the lifting component 3 and the angle adjustment component 4.

[0070] During the lifting action of the lifting component 3, the action status feedback unit monitors the height change of the lifting component 3 by receiving real-time data from the lifting height acquisition unit and determines whether it has reached the target height position.

[0071] During the angle adjustment process of the angle adjustment component 4, the action status feedback unit monitors the actual angle status of the angle adjustment component 4 by receiving the horizontal azimuth angle data and pitch angle data from the angle attitude acquisition unit, and determines whether it has reached the target angle parameter.

[0072] Once the motion status feedback unit confirms that the lifting component 3 or the angle adjustment component 4 has reached the corresponding target parameters and the state is stable, it generates the corresponding motion completion status signal and sends the signal to the execution command distribution unit to trigger the sending of the next motion command.

[0073] After all planned actions have been executed, the action status feedback unit sends an overall action completion signal to the laser monitoring execution and verification module, indicating that the current multi-degree-of-freedom action collaborative control process has ended.

[0074] After the multi-degree-of-freedom motion coordination control module confirms that the laser monitoring execution and verification module is in place, it starts the laser transmitter 5 to monitor and verifies the alignment status between the laser beam and the monitoring target. This module completes the laser start and stop control through the emission control unit and determines whether the monitoring conditions are met through the alignment verification unit.

[0075] The emission control unit is located inside the control component 6 and is electrically connected to the laser emitter 5 to control the working state of the laser emitter 5.

[0076] After the multi-degree-of-freedom motion coordination control module confirms through the motion status feedback unit that both the lifting component 3 and the angle adjustment component 4 have reached the corresponding target parameters, the launch control unit receives the start command from the multi-degree-of-freedom motion coordination control module.

[0077] After receiving the start command, the emission control unit sends a laser emission control signal to the laser emitter 5 according to the monitoring timing parameters preset in the control unit 6, so that the laser emitter 5 enters the working state and outputs a laser beam.

[0078] During laser monitoring, the emission control unit continuously maintains the emission state of the laser emitter 5 until the monitoring process ends or a stop command is received, at which point the laser emitter 5 is controlled to stop emitting.

[0079] The alignment verification unit is located inside the control unit 6 and establishes a data connection with the monitoring signal channel of the laser emitter 5 to determine the alignment status between the laser beam and the monitoring target.

[0080] After the laser transmitter 5 is activated by the transmission control unit, the alignment and verification unit collects the monitoring signal obtained by the laser transmitter 5 in the current pointing state, and combines it with the angle and attitude data provided by the angle and attitude acquisition unit to verify the pointing state of the laser beam.

[0081] When the alignment and verification unit determines that the current laser beam pointing state meets the preset monitoring conditions, the alignment and verification unit outputs an alignment confirmation signal to the control unit 6, indicating that the current state can continue to execute the monitoring process.

[0082] When the alignment and verification unit determines that there is a deviation between the laser beam pointing state and the preset monitoring state, the alignment and verification unit generates corresponding verification result information and sends the information to the multi-degree-of-freedom motion collaborative control module to trigger the angle adjustment component 4 or the lifting component 3 for minor adjustments.

[0083] After the multi-degree-of-freedom motion collaborative control module completes the corresponding adjustments and reaches a stable state again, the alignment verification unit performs alignment state verification again until the monitoring conditions are met or the current monitoring process ends.

[0084] In this embodiment, before the excavation pit deformation monitoring operation begins, the operator places the device at the bottom of the excavation pit or in the surrounding area. The device is then manually lifted using the carrying frame 7 or initially positioned using lifting tools. After the device is in place, the vehicle body 1 serves as a support platform in the excavation pit environment, and the moving component 2 contacts the bottom of the excavation pit or the surrounding ground.

[0085] Subsequently, control unit 6 is activated, entering the working phase of the structural state perception module. At this time, under the control of control unit 6, the moving component 2 completes position adjustment, moving the vehicle body 1 to the predetermined monitoring area. After the moving component 2 stops operating and enters a stable state, the vehicle body attitude acquisition unit in the structural state perception module begins to acquire the pitch and roll angles of the vehicle body 1; simultaneously, the lifting height acquisition unit acquires the current vertical displacement of the lifting component 3, obtaining the height status of the laser emitter 5 relative to the vehicle body 1; the angle attitude acquisition unit synchronously acquires the actual attitude of the angle adjustment component 4 in the horizontal azimuth and pitch directions. The acquired data is synchronized and uniformly processed by the structural state integration unit to form the current structural state dataset of the device, and then transmitted to the monitoring station judgment module.

[0086] After receiving the structural status dataset, the monitoring station determination module first calls the station constraint rules pre-stored in the control component 6 to jointly compare the attitude status of the vehicle body 1, the height status of the lifting component 3, and the initial angle status of the angle adjustment component 4. The station status determination unit determines whether the current structural status meets the station conditions required for laser monitoring based on the comparison results. When the determination result is that the station conditions are met, the station parameter generation unit generates the corresponding monitoring station parameters based on the relative position of the vehicle body 1 in the pit and sends the monitoring station parameters to the laser spatial parameter calculation module.

[0087] After receiving the monitoring station parameters, the laser spatial parameter calculation module and the target relative position modeling unit establish a spatial coordinate model of the monitoring target relative to the initial position of the laser emitter 5 based on the monitoring target parameters pre-deployed on the pit sidewall or support structure. On this basis, the pointing parameter calculation unit, combined with the vertical height data of the laser emitter 5 provided by the lifting height acquisition unit, calculates the target values ​​of the pitch angle and horizontal azimuth angle required for the laser emitter 5 to point at the monitoring target. After the calculation is completed, the parameter validity verification unit verifies the target values ​​of the pitch angle and horizontal azimuth angle against the structural limits of the angle adjustment component 4, confirming that the parameters are within the executable range, and then sends the verified target parameters to the multi-degree-of-freedom motion collaborative control module.

[0088] After receiving the target parameters, the multi-degree-of-freedom motion collaborative control module determines the specific execution order of the lifting component 3 and the angle adjustment component 4 based on the relationship between the lifting adjustment amount and the angle adjustment amount. When height adjustment is required, the execution command distribution unit first sends a lifting control command to the lifting component 3, causing the lifting component 3 to drive the angle adjustment component 4 and the laser emitter 5 to move vertically to the target height. After the lifting component 3 is in position, the execution command distribution unit sends an angle adjustment control command to the angle adjustment component 4, causing the angle adjustment component 4 to adjust in the horizontal azimuth and pitch directions respectively. The motion status feedback unit continuously receives feedback data from the lifting height acquisition unit and the angle attitude acquisition unit throughout the execution process. When it is confirmed that both the lifting component 3 and the angle adjustment component 4 have reached the target parameter state, it sends a motion completion signal to the laser monitoring execution and verification module.

[0089] Upon receiving the action completion signal, the laser monitoring execution and verification module activates the laser transmitter 5, causing it to emit a laser beam towards the monitoring target according to a predetermined emission state. During laser emission, the alignment and verification unit verifies the alignment between the laser beam and the monitoring target. When the alignment and verification unit confirms that the current laser pointing state meets the monitoring requirements, the device enters a stable monitoring state, completing one data acquisition process for foundation pit deformation monitoring. When a deviation in laser pointing is detected, the alignment and verification unit feeds back the correction requirement to the multi-degree-of-freedom motion collaborative control module, which then fine-tunes the angle adjustment component 4 until the monitoring conditions are met.

[0090] After completing the monitoring task at the current monitoring station, the control unit 6 can control the moving component 2 to restart, so that the vehicle body 1 moves to the next monitoring position and repeats the above process of structural state perception, monitoring station determination, laser spatial parameter calculation, multi-degree-of-freedom motion collaborative control, and laser monitoring execution and verification, thereby realizing continuous deformation monitoring at different locations of the foundation pit.

[0091] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A foundation pit deformation detection device for laser monitoring, comprising a vehicle body (1), characterized in that, The bottom of the vehicle body (1) is provided with a moving assembly (2) for driving the device to move on the pit bottom or around the pit, the vehicle body (1) is provided with a vertically lifting lifting assembly (3), the upper end of the lifting assembly (3) is connected with an angle adjusting assembly (4), the angle adjusting assembly (4) is used for carrying and adjusting the horizontal and pitch angle of the laser emitter (5), so that the laser emitted by the laser emitter (5) is aligned with the preset foundation pit monitoring target; The vehicle body (1) is also provided with a carrying frame (7) for carrying or transporting the device, and the side of the vehicle body (1) is provided with a control member (6).

2. The pit deformation detection device for laser monitoring according to claim 1, characterized by, The control member (6) is internally provided with a structure state sensing module, which includes a vehicle body posture acquisition unit, a lifting height acquisition unit, an angle posture acquisition unit and a structure state integration unit, the structure state integration unit is used for integrating the data collected by the vehicle body posture acquisition unit, the lifting height acquisition unit and the angle posture acquisition unit into structure state data for subsequent control.

3. The pit deformation detection apparatus for laser monitoring according to claim 2, characterized by, The control member (6) is internally provided with a monitoring station determination module, which includes a station constraint condition unit, a station state judgment unit and a station parameter generation unit, the station state judgment unit judges based on the structure state data output by the structure state integration unit and combines the station constraint condition unit, and generates corresponding monitoring station parameters when the monitoring conditions are met by the station parameter generation unit.

4. The pit deformation detection apparatus for laser monitoring according to claim 3, wherein The control member (6) is internally provided with a laser space parameter solving module, which includes a target relative position modeling unit, a pointing parameter solving unit and a parameter validity checking unit, the target relative position modeling unit is used for establishing a spatial relationship model between the laser emitter (5) and the foundation pit monitoring target, the pointing parameter solving unit calculates the pitch angle target value and the horizontal azimuth angle target value of the laser emitter (5) based on the spatial relationship model.

5. The pit deformation detection apparatus for laser monitoring according to claim 4, characterized by The parameter validity checking unit is used for comparing the pitch angle target value and the horizontal azimuth angle target value obtained by the pointing parameter solving unit with the structure motion range of the angle adjusting assembly (4), and outputting executable parameters when the parameters are within the allowable range.

6. The pit deformation detection apparatus for laser monitoring according to claim 5, wherein The control member (6) is internally provided with a multi-degree-of-freedom action cooperative control module, which includes an action sequence planning unit, an execution instruction distribution unit and an action state feedback unit, the action sequence planning unit is used for determining the action execution sequence of the lifting assembly (3) and the angle adjusting assembly (4) according to the pitch angle target value, the horizontal azimuth angle target value and the lifting height adjustment amount.

7. The pit deformation detection apparatus for laser monitoring according to claim 6, wherein The execution instruction distribution unit is used for splitting the action sequence generated by the action sequence planning unit into corresponding lifting control instructions and angle adjusting control instructions, and sending them to the lifting assembly (3) and the angle adjusting assembly (4) according to the predetermined time sequence.

8. The pit deformation detection apparatus for laser monitoring according to claim 6, wherein The action state feedback unit is used for receiving the data collected by the structure state sensing module in real time during the execution of the lifting assembly (3) and the angle adjusting assembly (4), and outputting an action completion signal when the action reaches the target parameter.

9. The pit deformation detection apparatus for laser monitoring according to claim 1, wherein The control member (6) is internally provided with a laser monitoring execution and checking module, which comprises a transmission control unit and an alignment checking unit. The transmission control unit starts the laser transmitter (5) after receiving a motion completion signal, and the alignment checking unit is used for checking the alignment state between the laser transmitter (5) and the foundation pit monitoring target.

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