CN107356235B - A kind of the infrared three-dimension positioning device and method of hyperboloid building - Google Patents
A kind of the infrared three-dimension positioning device and method of hyperboloid building Download PDFInfo
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- CN107356235B CN107356235B CN201710563018.6A CN201710563018A CN107356235B CN 107356235 B CN107356235 B CN 107356235B CN 201710563018 A CN201710563018 A CN 201710563018A CN 107356235 B CN107356235 B CN 107356235B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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Abstract
本发明公开了一种双曲面建筑物的红外线三维定位装置及方法，装置包括双曲面建筑、轴线所在曲面、红外线、横向和纵向红外线发射装置阵列、远程控制装置；红外线发射装置阵列均由n个红外线发射装置构成；红外线发射装置由红外线发射器、信号控制模块、数据处理模块和信号发射器或信号接收器构成；该装置能对曲面建筑的轴线进行精确定位，从而实时控制施工精度，方法简单，施工效率高；同时，也可以对建筑物的多个关键点进行定位，从而实现建筑物的三维重建。
The invention discloses an infrared three-dimensional positioning device and method for a hyperboloid building. The device includes a hyperboloid building, a curved surface where an axis is located, an array of infrared, horizontal and vertical infrared emission devices, and a remote control device; the infrared emission device array is composed of n infrared emission devices. It is composed of an infrared emitting device; the infrared emitting device is composed of an infrared transmitter, a signal control module, a data processing module and a signal transmitter or a signal receiver; the device can precisely locate the axis of the curved building, so as to control the construction accuracy in real time, and the method is simple , the construction efficiency is high; at the same time, it can also locate multiple key points of the building, so as to realize the three-dimensional reconstruction of the building.
Description
Technical field
The invention belongs to optical locating techniques fields, and in particular to a kind of infrared three-dimension positioning dress of hyperboloid building
It sets and method.
Background technique
Since the heat dissipation performance of hyperboloid building is good, currently, the cooling tower of chemical plant and steam power plant is all made of hyperbolic
The shape in face.Normal concrete is compared in the control of the sectional dimension of concrete component, offset deviation, verticality in curved-surface building object
Structural Engineering is difficult many, therefore complicated construction technique, construction quality are more difficult to control.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of infrared three-dimension positioning devices of hyperboloid building
And method.
Technical solution used by the device of the invention is: a kind of infrared three-dimension positioning device of hyperboloid building,
It is characterized by comprising infrared transmitting device, remote control apparatus, mobile machine arms；
Several infrared transmitting devices form lateral infrared transmitting device array, several infrared transmitting device groups
At longitudinal infrared transmitting device array；The mobile machine arm is two, and hyperboloid building is arranged in direction mutual vertically
Two sides, be fixedly installed the lateral infrared transmitting device array and longitudinal infrared transmitting device array respectively thereon；
The remote control apparatus is used to control the angle of infrared transmitting device transmitting infrared ray, so that it is guaranteed that hyperboloid
Every bit can be determined by the intersection point of two beam infrared rays on curved surface where the axis of building.
Technical solution used by method of the invention is: a kind of infrared three-dimension localization method of hyperboloid building,
Characterized by comprising the following steps:
Step 1: it is built for hyperboloid, exterior contour is hyperbola:
Hyperboloid is put into three-dimensional system of coordinate, coordinate origin for two focus institute line sections of hyperboloid midpoint；It is horizontal
Y-axis and x-axis two sides, lateral infrared ray are separately positioned on to infrared transmitting device array and longitudinal infrared transmitting device array
Infrared transmitting device B in emitter array1With the infrared transmitting device A in longitudinal infrared transmitting device array1It
Between distance be l；A1The angle of the infrared ray and y-axis launched is α1, B1The angle of the infrared ray and x-axis launched is β1；
Take z0=0 plane is studied, and in this plane, the intersection point of two beam infrared rays is P (x0,y0, 0), A1P's
Length is l1, B1The length of P is l2, focal length l, long axis a；Solving equations (1) and (2):
l1-l2=2a (1)；
:
Step 2: when P point moves in the first quartile of coordinate system, according to the α determined in step 11With β1Relationship, draw
Produce β1With α1The curve of variation；
Step 3: remote control apparatus passes through infrared transmitting device A1In signal receiver and A1In longitudinally rotate control
Molding block and lateral rotation control module are communicated, and then control infrared transmitting device A1Issue the drift angle of infrared light beam
α1α is changed to from 0 degree0, α0<180°；By the β in step 21With α1Quantitative relationship, β can be obtained1Size, this process is by data
Processing modules implement；Then, by infrared transmitting device A1In signal projector by calculated β1Size be sent to remotely
Control device, remote control apparatus pass through B1In signal receiver and B1In longitudinally rotate control module and lateral rotation control
Molding block is communicated, and then controls infrared transmitting device B1Issue infrared light beam angle β1Size；
Step 4: infrared transmitting device A1With infrared transmitting device B1The drift angle for emitting light beam is respectively α1And β1When,
Their intersection point is P；With α1Continuous variation, the track of P point is also constantly changing, these tracing points is connected, are obtained
The axis built to hyperboloid；
Step 5: setting infrared transmitting device A2The light beam of transmitting and the angle of y-axis are α2, the angle with z-axis is γ2；It is red
Outside line emitter B2The light beam of transmitting and the angle of x-axis are β2, the angle with z-axis is λ2；Work as z0When ≠ 0, by P (x0,y0,z0)
Point projection in xoy plane obtains P ' (x0,y0,0)；It is assumed that A2The length of P ' is x1, B2The length of P ' is x2；
It can be obtained by the cosine law:
Wherein, d indicates two neighboring red in lateral infrared transmitting device array and longitudinal infrared transmitting device array
The distance between outside line emitter；l1Indicate A1The length of P.
It can be obtained by sine:
That is:
Similarly, it can obtain:
At this point,
Step 6: when the subpoint P ' of P point is moved in the first quartile of coordinate system, α being found out according to step 52、β2、γ2
And λ2Value；
Different coordinate points (α2,β2) be plotted in respectively with α2And β2To obtain β in the coordinate system of x-axis and y-axis2With α2
The curve of variation；Similarly obtain γ2With α2The curve of variation, λ2With α2The curve of variation；
Step 7: remote control apparatus passes through infrared transmitting device A2In signal receiver and A2In longitudinally rotate control
Molding block and lateral rotation control module are communicated, and then control infrared transmitting device A2Issue the drift angle of infrared light beam
α2α is changed to from 0 degree0, α0<180°；By the β in step 62With α2、γ2With α2、λ2With α2Quantitative relationship, obtain β2、γ2And λ2's
Size, this process are realized by data processing module；Then, by infrared transmitting device A2In signal projector will calculate
β2、γ2And λ2Size be sent to remote control apparatus, remote control apparatus passes through A2And B2In signal receiver and A2With
B2In longitudinally rotate control module and lateral rotation control module is communicated, and then control infrared transmitting device A2It issues
Infrared light beam angle γ2Size and infrared transmitting device B2Issue infrared light beam angle β2And λ2Size；
Step 8: infrared transmitting device A2The light beam and infrared transmitting device B of transmitting2The light beam intersection point of transmitting is P, with
α2Continuous variation, the track of P point also constantly changing, these tracing points connected, and obtains hyperboloid building in z=
z0Axis in plane；
Step 9: determining that hyperboloid is built by lateral infrared transmitting device array and longitudinal infrared transmitting device array
Curved surface where axis.
The invention has the advantages that
1: the axis of curved-surface building can be accurately positioned, thus real-time control construction precision, method is simple, construction
It is high-efficient；
2: multiple key points of building can be positioned, to realize the three-dimensional reconstruction of building.
Detailed description of the invention
Fig. 1 and Fig. 2 is the method schematic of the embodiment of the present invention；
Fig. 3 and Fig. 4 is infrared transmitting device, roller bearing and the telescopic device of the embodiment of the present invention；
Fig. 5 is the detail of construction of the roller bearing of the embodiment of the present invention；
Fig. 6 is the remote control apparatus figure of the embodiment of the present invention；
Fig. 7 and Fig. 8 is the infrared transmitting device array of the embodiment of the present invention；
Fig. 9 is the β of the embodiment of the present invention1With α1The curve graph of variation；
Figure 10 is the β of the embodiment of the present invention2With α2The curve graph of variation；
Figure 11 is the γ of the embodiment of the present invention2With α2The curve graph of variation；
Figure 12 is the λ of the embodiment of the present invention2With α2The curve graph of variation.
In figure, 1 it is hyperboloid building, 2 is curved surface where axis, 3 is infrared ray, 4 is lateral infrared transmitting device battle array
Column, 5 be longitudinal direction infrared transmitting device array, 6 be RF transmitter, 7 be signal control module, 8 be data processing module,
9 be signal projector, 10 be signal receiver, 11 for longitudinally rotate control module, 12 be telescopic device, 13 be roller bearing, 14 be
Outer layer ring, 15 be ball, 16 be inner layer ring, 17 be lateral rotation control module, 18 be remote control apparatus, 19 be mobile machine
Arm.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and embodiments to this hair
It is bright to be described in further detail, it should be understood that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
See Fig. 3-Fig. 8, a kind of infrared three-dimension positioning device of hyperboloid building provided by the invention, including hyperbolic
Curved surface 2, infrared ray 3, lateral infrared transmitting device array 4, longitudinal infrared transmitting device array where face building 1, axis
5, telescopic device 12, roller bearing 13, remote control apparatus 18, mobile machine arm 19；
Infrared transmitting device array 4 is made of many infrared transmitting devices, and infrared transmitting device includes infrared ray
Transmitter 6, signal control module 7, data processing module 8, signal receiver 10 and/or signal projector 9, telescopic device 12；
12 both ends of telescopic device are configured with roller bearing 13, and roller bearing 13 is made of outer layer ring 14, ball 15 and inner layer ring 16；It is horizontal and vertical red
Outside line emitter array 4 and 5 is fixed on above mobile machine arm 19, and the distance between every two infrared transmitting device can be with
Adjustment as needed；The two sides of hyperboloid building 1 are arranged in two mobile machine arms 19, and direction is mutually perpendicular to；Flexible dress
12 are set for adjusting RF transmitter 6 to appropriate height as needed；Two infrared transmitting device A1And B1The distance between
For l；Infrared transmitting device AiAnd BiThe light beam launched is respectively α with the angle of y-axis and x-axis directioniAnd βi；They and z-axis
Angle be respectively γiAnd λi；Remote control apparatus 18 can be to angle αi、βi、γiAnd λiIt is adjusted in real time；Where axis
Every bit on curved surface 2 can be determined by the intersection point of two beam infrared rays.
See Fig. 1 and Fig. 2, a kind of infrared three-dimension localization method of hyperboloid building provided by the invention, including with
Lower step:
Step 1: for hyperboloid building 1, exterior contour is hyperbola:
Hyperboloid is put into three-dimensional system of coordinate, coordinate origin for two focus institute line sections of hyperboloid midpoint；It is horizontal
It is separately positioned on y-axis and x-axis two sides to infrared transmitting device array 4 and longitudinal infrared transmitting device array 5, it is laterally infrared
Infrared transmitting device B in line emitter array 41Emit dress with the infrared ray in longitudinal infrared transmitting device array 5
Set A1The distance between be l；A1The angle of the infrared ray and y-axis launched is α1, B1The angle of the infrared ray and x-axis launched
For β1；
Take z0=0 plane is studied, and in this plane, the intersection point of two beam infrared rays is P (x0,y0, 0), A1P's
Length is l1, B1The length of P is l2, focal length l, long axis a；Solving equations (1) and (2):
l1-l2=2a (1)；
:
Step 2: when P point moves in the first quartile of coordinate system, according to the α determined in step 11With β1Relationship, draw
Produce β1With α1The curve of variation；Such as (a=4, b=3) shown in Fig. 9；
Step 3: remote control apparatus 18 passes through infrared transmitting device A1In signal receiver 10 and A1In longitudinal direction turn
Dynamic control module 11 and lateral rotation control module 17 are communicated, and then control infrared transmitting device A1Issue infrared ray
The drift angle α of beam1α is changed to from 0 degree0, α0<180°；By the β in step 21With α1Quantitative relationship, β can be obtained1Size, this mistake
Journey is realized by data processing module 8；Then, by infrared transmitting device A1In signal projector 9 by calculated β1Size
It is sent to remote control apparatus 18, remote control apparatus 18 passes through B1In signal receiver 10 and B1In longitudinally rotate control
Module 11 and lateral rotation control module 17 are communicated, and then control infrared transmitting device B1Issue infrared light beam angle
β1Size；
Step 4: infrared transmitting device A1With infrared transmitting device B1The drift angle for emitting light beam is respectively α1And β1When,
Their intersection point is P；With α1Continuous variation, the track of P point is also constantly changing, these tracing points is connected, are obtained
To the axis of hyperboloid building 1；
Step 5: setting infrared transmitting device A2The light beam of transmitting and the angle of y-axis are α2, the angle with z-axis is γ2；It is red
Outside line emitter B2The light beam of transmitting and the angle of x-axis are β2, the angle with z-axis is λ2；Work as z0When ≠ 0, by P (x0,y0,z0)
Point projection in xoy plane obtains P ' (x0,y0,0)；It is assumed that A2The length of P ' is x1, B2The length of P ' is x2；
It can be obtained by the cosine law:
Wherein, d indicates two neighboring in lateral infrared transmitting device array 4 and longitudinal infrared transmitting device array 5
The distance between infrared transmitting device；l1Indicate A1The length of P.
It can be obtained by sine:
That is:
Similarly, it can obtain:
At this point,
Step 6: when the subpoint P ' of P point is moved in the first quartile of coordinate system, α can be found out according to step 52、
β2、γ2And λ2Value.Different coordinate points (α2,β2) be plotted in respectively with α2And β2For in the coordinate system of x-axis and y-axis, so that it may
To draw out β2With α2The curve of variation, such as (z shown in Figure 100=2, d=3)；γ can similarly be drawn out2With α2The song of variation
Line, λ2With α2The curve of variation, such as shown in Figure 11 and Figure 12；
Step 7: remote control apparatus 18 passes through infrared transmitting device A2In signal receiver 10 and A2In longitudinal direction turn
Dynamic control module 11 and lateral rotation control module 17 are communicated, and then control infrared transmitting device A2Issue infrared ray
The drift angle α of beam2α is changed to from 0 degree0, α0<180°；By the β in step 62With α2、γ2With α2、λ2With α2Quantitative relationship, obtain β2、
γ2And λ2Size, this process realized by data processing module 8；Then, by infrared transmitting device A2In signal transmitting
Device 9 is by calculated β2、γ2And λ2Size be sent to remote control apparatus 18, remote control apparatus 18 passes through A2And B2In
Signal receiver 10 and A2And B2In longitudinally rotate control module 11 and lateral rotation control module 17 is communicated, and then control
Infrared transmitting device A processed2Issue infrared light beam angle γ2Size and infrared transmitting device B2Issue infrared light beam
Angle β2And λ2Size；
Step 8: infrared transmitting device A2The light beam and infrared transmitting device B of transmitting2The light beam intersection point of transmitting is P, with
α2Continuous variation, the track of P point also constantly changing, these tracing points connected, and obtains hyperboloid building in z=
z0Axis in plane；
Step 9: determining that hyperboloid is built by lateral infrared transmitting device array 4 and longitudinal infrared transmitting device array 5
Build the curved surface where axis.
Curved surface 2, infrared ray 3, lateral infrared ray where although this specification has more used hyperboloid building 1, axis
Emitter array 4, longitudinal infrared transmitting device array 5, RF transmitter 6, signal control module 7, data processing mould
Block 8, signal receiver 10, longitudinally rotates control module 11, telescopic device 12, roller bearing 13, outer layer ring 14, rolling at signal projector 9
The terms such as pearl 15, inner layer ring 16, lateral rotation control module 17, remote control apparatus 18, mobile machine arm 19, but be not precluded
A possibility that using other terms.The use of these items is only for more easily describing essence of the invention, they are solved
Being interpreted into any additional limitation is disagreed with spirit of that invention.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of invention patent protection range, those skilled in the art under the inspiration of the present invention, are not departing from power of the present invention
Benefit requires to make replacement or deformation under protected ambit, fall within the scope of protection of the present invention, this hair
It is bright range is claimed to be determined by the appended claims.
Claims (3)
1. a kind of infrared three-dimension localization method of hyperboloid building positions dress using the infrared three-dimension of hyperboloid building
It sets；Described device includes infrared transmitting device, remote control apparatus (18), mobile machine arm (19)；
Several infrared transmitting devices form lateral infrared transmitting device array (4), several infrared transmitting device groups
At longitudinal infrared transmitting device array (5)；The mobile machine arm (19) is two, and hyperbolic is arranged in direction mutual vertically
The two sides of (1) are built in face, are fixedly installed the lateral infrared transmitting device array (4) and longitudinal infrared ray hair respectively thereon
Injection device array (5)；
The remote control apparatus (18) is used to control the angle of infrared transmitting device transmitting infrared ray (3), so that it is guaranteed that double
Every bit can be determined by the intersection point of two beam infrared rays on curved surface (2) where the axis of curved-surface building (1)；
It is characterized in that, the described method comprises the following steps:
Step 1: for hyperboloid building (1), exterior contour is hyperbola:
Hyperboloid is put into three-dimensional system of coordinate, coordinate origin for two focus institute line sections of hyperboloid midpoint；It is laterally red
Outside line emitter array (4) and longitudinal infrared transmitting device array (5) are separately positioned on y-axis and x-axis two sides, laterally infrared
Infrared transmitting device B in line emitter array (4)1With the infrared ray hair in longitudinal infrared transmitting device array (5)
Injection device A1The distance between be l；A1The angle of the infrared ray and y-axis launched is α1, B1The infrared ray launched and x-axis
Angle is β1；
Take z0=0 plane is studied, and in this plane, the intersection point of two beam infrared rays is P (x0,y0, 0), A1The length of P is
l1, B1The length of P is l2, focal length l, long axis a；Solving equations (1) and (2):
l1-l2=2a (1)；
:
Step 2: when P point moves in the first quartile of coordinate system, according to the α determined in step 11With β1Relationship, draw out
β1With α1The curve of variation；
Step 3: remote control apparatus (18) passes through infrared transmitting device A1In signal receiver (10) and A1In longitudinal direction turn
Dynamic control module (11) and lateral rotation control module (17) are communicated, and then control infrared transmitting device A1It issues infrared
The drift angle α of Line beam1α is changed to from 0 degree0, α0180 ° of <；By the β in step 21With α1Quantitative relationship, β can be obtained1Size,
This process is realized by data processing module (8)；Then, by infrared transmitting device A1In signal projector (9) will calculate
β out1Size be sent to remote control apparatus (18), remote control apparatus (18) passes through B1In signal receiver (10) with
B1In longitudinally rotate control module (11) and lateral rotation control module (17) is communicated, and then control infrared ray transmitting dress
Set B1Issue infrared light beam angle β1Size；
Step 4: infrared transmitting device A1With infrared transmitting device B1The drift angle for emitting light beam is respectively α1And β1When, they
Intersection point is P；With α1Continuous variation, the track of P point is also constantly changing, these tracing points is connected, hyperbolic is obtained
Build the axis of (1) in face；
Step 5: setting infrared transmitting device A2The light beam of transmitting and the angle of y-axis are α2, the angle with z-axis is γ2；Infrared ray
Emitter B2The light beam of transmitting and the angle of x-axis are β2, the angle with z-axis is λ2；Work as z0When ≠ 0, by P (x0,y0,z0) point exist
Projection obtains P ' (x in xoy plane0,y0,0)；It is assumed that A2The length of P ' is x1, B2The length of P ' is x2；
It can be obtained by the cosine law:
Wherein, d indicates two neighboring in lateral infrared transmitting device array (4) and longitudinal infrared transmitting device array (5)
The distance between infrared transmitting device；l1Indicate A1The length of P；
It can be obtained by sine:
That is:
Similarly, it can obtain:
At this point,
Step 6: when the subpoint P ' of P point is moved in the first quartile of coordinate system, α being found out according to step 52、β2、γ2And λ2
Value；
Different coordinate points (α2,β2) be plotted in respectively with α2And β2To obtain β in the coordinate system of x-axis and y-axis2With α2Variation
Curve；Similarly obtain γ2With α2The curve of variation, λ2With α2The curve of variation；
Step 7: remote control apparatus (18) passes through infrared transmitting device A2In signal receiver (10) and A2In longitudinal direction turn
Dynamic control module (11) and lateral rotation control module (17) are communicated, and then control infrared transmitting device A2It issues infrared
The drift angle α of Line beam2α is changed to from 0 degree0, α0180 ° of <；By the β in step 62With α2、γ2With α2、λ2With α2Quantitative relationship, obtain
To β2、γ2And λ2Size, this process by data processing module (8) realize；Then, by infrared transmitting device A2In letter
Number transmitter (9) is by calculated β2、γ2And λ2Size be sent to remote control apparatus (18), remote control apparatus (18) is logical
Cross A2And B2In signal receiver (10) and A2And B2In longitudinally rotate control module (11) and lateral rotation control module
(17) it is communicated, and then controls infrared transmitting device A2Issue infrared light beam angle γ2Size and infrared ray transmitting dress
Set B2Issue infrared light beam angle β2And λ2Size；
Step 8: infrared transmitting device A2The light beam and infrared transmitting device B of transmitting2The light beam intersection point of transmitting is P, with α2
Continuous variation, the track of P point also constantly changing, these tracing points connected, and obtains hyperboloid building in z=z0It is flat
Axis in face；
Step 9: determining that hyperboloid is built by lateral infrared transmitting device array (4) and longitudinal infrared transmitting device array (5)
Build the curved surface where axis.
2. according to the method described in claim 1, it is characterized by: the infrared transmitting device includes RF transmitter
(6), signal control module (7), data processing module (8), signal receiver (10) and/or signal projector (9), longitudinally rotate
Control module (11), lateral rotation control module (17)；
The infrared transmitting device is also configured with telescopic device (12), arrives for adjusting RF transmitter (6) as needed
Appropriate height.
3. according to the method described in claim 2, it is characterized by: the telescopic device (12) both ends be configured with roller bearing (13),
Roller bearing (13) is made of outer layer ring (14), ball (15) and inner layer ring (16).
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