CN113847873B - Discrete single-point displacement dynamic monitoring device and method based on laser ranging - Google Patents
Discrete single-point displacement dynamic monitoring device and method based on laser ranging Download PDFInfo
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Abstract
The invention provides a discrete single-point displacement dynamic monitoring device based on laser ranging, which comprises: a receiving target, which comprises a target surface made of light absorption materials, wherein the target surface is provided with a reflecting ring capable of diffusely reflecting incident light; the first end part of the connecting rod is fixedly connected with a discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface and is positioned at the center of the reflecting ring; the laser transmitter comprises a base and two laser rangefinders arranged on the mounting surface of the base, wherein two laser beams emitted by the two laser rangefinders are parallel; the driving mechanism is used for driving the base to translate and rotate; and the signal processing system is in signal connection with the laser range finder and the driving mechanism, and calculates displacement of discrete single points according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base through a built-in algorithm. The invention also provides a discrete single-point displacement dynamic monitoring method based on laser ranging. The invention can effectively monitor the displacement generated by discrete single points in real time.
Description
Technical Field
The invention relates to the field of civil engineering measurement, in particular to a discrete single-point displacement dynamic monitoring device and method based on laser ranging.
Background
In the field of traditional civil engineering, deformation of tunnels, bridges, foundation pits and the like is generally monitored manually. Because the manual deformation measurement is low in efficiency and difficult to realize real-time monitoring, some automatic monitoring methods exist in the prior art. At present, the automatic monitoring method of deformation is mainly based on two major categories of laser measurement technology and image measurement technology, wherein the former mainly uses a full-automatic total station, a laser range finder and a laser scanner; the latter is mainly by means of image processing techniques, digital photogrammetry techniques.
Because of the automatic monitoring method based on the image processing technology and the digital photogrammetry technology, high-definition image data needs to be sampled, the size of a measured object in civil engineering is large, the illumination environment is poor due to the restriction of site environment, construction interference and the like, the sampling environment is complex, and the original image with high resolution is difficult to acquire, so that the final measurement accuracy is influenced.
Compared with the image processing technology and the photogrammetry technology, the full-automatic total station has high measurement precision and high automation degree, but has higher cost. The laser scanner is used for measuring and deforming the laser, so that the measurement result is stable and reliable, the laser scanner can scan and acquire full-section data, and the accuracy is high during static scanning; however, the laser scanner is high in price, when the measurement purpose is to measure displacement deformation of a specified discrete single point with high precision, the laser scanner is difficult to position the specified measuring point, and the processed redundant data is large in quantity, so that real-time monitoring is not facilitated. The laser range finder has low price and high distance precision of measuring single measuring points, but cannot obtain the three-dimensional coordinates of the measuring points, and the difficulty of automatically tracking and calibrating the measuring points again is high after the displacement of the measuring points.
Therefore, for monitoring deformation displacement of discrete single points, a deformation monitoring method with high automation degree, low cost, high precision and small interference from field operation environment is needed.
Disclosure of Invention
The invention aims to provide a discrete single-point displacement dynamic monitoring device and method based on laser ranging, which can monitor discrete single-point deformation displacement in real time.
In order to achieve the above-mentioned object, the present invention provides a discrete single-point displacement dynamic monitoring device based on laser ranging, comprising:
a receiving target, which comprises a target surface made of light absorption materials, wherein the target surface is provided with a reflecting ring capable of diffusely reflecting incident light;
the first end part of the connecting rod is fixedly connected with a discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface and is positioned at the center of the reflecting ring;
the laser transmitter comprises a base and two laser range finders arranged on the mounting surface of the base; measuring a distance value between the base and the target surface by laser which is emitted by the laser range finder and falls on the reflecting ring; the two laser beams emitted by the two laser range finders are parallel;
the driving mechanism is used for driving the base to translate and rotate, so that laser emitted by the laser emitter falls on the reflecting ring and the position of a laser point falling on the reflecting ring is changed;
and the signal processing system is in signal connection with the laser range finder and the driving mechanism, obtains the position information of the laser points falling on the reflecting ring according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base through a built-in algorithm, and calculates and obtains the displacement of the discrete single points according to the position information.
Preferably, the driving mechanism is a single-shaft sliding table; the single-shaft sliding table comprises a sliding block and a sliding rod; the sliding block is fixedly connected with the base, and the base is positioned between the laser range finder and the sliding block; the sliding rod penetrates through the sliding block, and the sliding block can translate along the length direction of the sliding rod and rotate around the central shaft of the sliding rod.
Preferably, the laser ranging-based discrete single-point displacement dynamic monitoring device further comprises: the single-axis electronic inclinometer is fixedly arranged on the base mounting surface and used for measuring the included angle between the base mounting surface and the horizontal plane and sending the included angle to the signal processing system.
Preferably, the two laser beams can be projected in the range formed by surrounding the inner ring of the reflective ring at the same time.
The invention also provides a discrete single-point displacement dynamic monitoring method based on laser ranging, which is realized by adopting the discrete single-point displacement dynamic monitoring device based on laser ranging, and is characterized in that two laser rangefinders are respectively a first laser rangefinder and a second laser rangefinder, and the method comprises the following steps:
s1, recording an initial state of a sliding block, and establishing an initial coordinate system based on the initial state of the sliding block;
s2, the first laser range finder and the second laser range finder emit first laser and second laser; sliding block driving flat along sliding rodMoving and rotating around the central axis of the slide bar, and stopping driving the slide block when the first laser and the second laser are projected on the reflecting ring to form a first laser point and a second laser point; according to the translation distance L of the sliding block relative to the initial state of the sliding block 1 Angle value measured by single-axis electronic inclinometerDistance value l measured by first and second laser distance measuring instruments 1 、l 2 Generating an initial coordinate a= (x) of the first and second laser points in the initial coordinate system 1 ,y 1 ,z 1 )、B＝(x 2 ,y 2 ,z 2 )；
S3, continuously driving the sliding block to translate along the sliding rod and rotate around the central shaft of the sliding rod, and stopping driving the sliding block when the first laser and the second laser are projected on the reflecting ring again to generate a third laser spot and a fourth laser spot; according to the translation distance L of the sliding block relative to the initial state of the sliding block 2 Angle value measured by single-axis electronic inclinometerDistance value l measured by first and second laser distance measuring instruments 3 、l 4 Generating initial coordinates C= (x) of the third and fourth laser points in the initial coordinate system 3 ,y 3 ,z 3 )、D＝(x 4 ,y 4 ,z 4 )；
S4, calculating according to four initial coordinates A, B, C, D to obtain the coordinates (X) of the circle center of the reflecting ring under the initial coordinate system P ,Y P ,Z P )；
S5, repeating the steps S2 to S4 after a set time interval to obtain the coordinate (X 'of the center of the reflecting ring under the initial coordinate system' P ,Y P ′,Z′ P ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating the displacement of discrete single points
The step S1 specifically comprises the following steps:
s11, recording initial state of sliding block and bagWith the slide in the initial position of the slide bar and the angle value measured by the single-axis electronic inclinometer
S12, an initial coordinate system O-XYZ is established by taking the plane of the current base mounting surface as the O-XY plane of the initial coordinate system and taking the direction which is perpendicular to the base mounting surface and points to the target surface as the +Z axis direction.
Step S2 of generating initial coordinates A= (x) of the first and second laser points in the initial coordinate system 1 ,y 1 ,z 1 )、B＝(x 2 ,y 2 ,z 2 ) Specifically comprises the following steps:
s21, a first current coordinate system O '-X' Y 'Z' is established, a plane where a base mounting surface is currently located is the O '-X' Y 'plane of the first current coordinate system, and the +Z' axis direction is perpendicular to the base mounting surface and points to a target surface;
s22, the signal processor generates coordinates of a first laser point and a second laser point in the first current coordinate system O '-X' Y 'Z': a' = (x 1 ′,y 1 ′,l 1 )，B′＝(x 2 ′,y 2 ′,l 2 ) Wherein (x) 1 ′,y 1 ′)、(x′ 2 ,y′ 2 ) Coordinates of the first laser point and the second laser point in an O ' -X ' Y ' plane;
s23, converting the A ', B' into O-XYZ under an initial coordinate system by a signal processor to generate corresponding initial coordinates A, B, wherein:
A＝(x 1 ,y 1 ,z 1 )＝R 1 -1 ·(0,0,l 1 )-T 1 ，B＝(x 2 ,y 2 ,z 2 )＝R 1 -1 ·(c,0,l 2 )-T 1 ；
R 1 、T 1 for the rotation matrix and translation phasor from the first current coordinate system to the initial coordinate system,
T 1 ＝(L 1 ,0,0) T ；/>
step S3 of generating initial coordinates C= (x) of the third and fourth laser points in the initial coordinate system 3 ,y 3 ,z 3 )、D＝(x 4 ,y 4 ,z 4 ) Specifically comprises the following steps:
s31, establishing a second current coordinate system O '-X' Y 'Z', the plane of the current base mounting surface is the O '-X' Y 'plane of the second current coordinate system, the +Z' axis direction is the direction perpendicular to the base mounting surface and pointing to the target surface;
s32, the signal processor generates coordinates of a third laser point and a fourth laser point in the second current coordinate system O '-X' Y 'Z': c' = (x 3 ′,y 3 ′,l 3 )，D′＝(x 4 ′,y 4 ′,l 4 ) Wherein (x) 3 ′,y 3 ′)、(x′ 4 ,y′ 4 ) Coordinates of the third laser spot and the fourth laser spot in an O ' -X ' Y ' plane;
s33, the signal processor converts C ', D' into an initial coordinate system O-XYZ to generate corresponding initial coordinates C, D, wherein
C＝(x 3 ,y 3 ,z 3 )＝R 2 -1 ·(0,0,l 3 )-T 2 ，D＝(x 4 ,y 4 ,z 4 )＝R 2 -1 ·(c,0,l 4 )-T 2 ；
R 2 、T 2 For the rotation matrix and translation phasor from the second current coordinate system to the initial coordinate system,
T 2 ＝(L 2 ,0,0) T ，/>
the step S4 specifically includes:
s41, selecting three vertexes which are selected from four initial coordinates A, B, C, D and serve as triangles, and calculating the center coordinates of the circle center of the circumscribed circle of the triangle under the initial coordinate system; repeating step S41 until all combinations of optional three from the four initial coordinates A, B, C, D are exhausted;
s42, averaging the circle center coordinates obtained in the step S41 to obtain a coordinate (X P ,Y P ,Z P )。
Compared with the prior art, the invention has the beneficial effects that:
the discrete single-point displacement dynamic monitoring device based on laser ranging has a simple structure and high cost performance; the discrete single-point displacement dynamic monitoring method based on laser ranging is convenient to operate, accurate in measurement result and capable of effectively monitoring displacement of discrete single points due to deformation in real time.
Drawings
For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
FIG. 1 is a top view of a laser transmitter, single axis sled of the present invention in a first embodiment;
FIG. 2 is a side view of a laser transmitter, single axis sled of the present invention in a first embodiment;
FIG. 3 is a schematic diagram of the connection relationship between the connecting rod, the target surface and discrete single points according to the first embodiment of the present invention;
FIG. 4 is a schematic diagram of a discrete single point displacement dynamic monitoring device according to the first embodiment of the present invention;
in the figure: 31. a slide bar; 32. a slide block; 33. a first laser rangefinder; 34. a second laser rangefinder; 35. a single axis electronic inclinometer; 36. a base; 37. a target surface; 371. a light reflecting ring; 39. and a connecting rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The invention provides a discrete single-point displacement dynamic monitoring device based on laser ranging, as shown in fig. 3, comprising: a receiving target, a connecting rod 39, a laser transmitter, a signal processing system (not shown), a single axis slide table, a single axis electronic inclinometer 35.
As shown in fig. 3 and 4, the receiving target includes a target surface 37 made of a light absorbing material, and the target surface 37 is provided with a reflective ring 371 capable of diffusely reflecting incident light.
The first end of the connecting rod 39 is fixedly connected to the discrete single point to be measured (point Q in fig. 3), and the second end is fixedly connected to the target surface 37 and is located at the center of the reflecting ring 371 (point P in fig. 3).
The laser transmitter comprises a base 36 and two laser rangefinders (a first laser rangefinder 33 and a second laser rangefinder 34 respectively) arranged on a mounting surface of the base; in this embodiment, to facilitate measurement and calculation, the laser rangefinder is perpendicular to the base mounting surface. Two parallel laser beams (first laser beam and second laser beam, respectively) are emitted to the target surface 37 by the first laser range finder 33 and the second laser range finder 34, and the two laser beams can be projected in a range formed by surrounding the inner ring of the reflective ring 371 at the same time. Preferably, the initial positions of the two laser points of the two laser beams projected on the target surface 27 are located within the range formed by the inner ring of the reflection ring 371. The distance between the two laser beams is c meters.
As shown in fig. 1 and 2, the single-shaft sliding table comprises a sliding block 32 and a sliding rod 31. The sliding block 32 is fixedly connected with the base 36, and the base 36 is positioned between the laser range finder and the sliding block 32; the sliding rod 31 is penetrated with a sliding block 32, and the sliding block 32 can translate along the length direction of the sliding rod 31 and can rotate around the central axis of the sliding rod 31. By driving the slide 32 to translate and rotate, the position of the laser spot on the target surface 37 is changed. In this embodiment, when the sliding block 32 on the sliding rod 21 translates, the sliding table reads the translation distance of the sliding block 32 and generates a corresponding digital signal to be sent to the signal processing system. There are well-established products in the prior art, such as screw slides. In the embodiment of the invention, two laser beams are projected through the reflective ring 371 by driving the sliding table, the ranging signal intensity of the laser range finder gives a difference signal when passing through the reflective ring 371, and the software can analyze the intensity of the laser ranging signal and extract and calculate the laser ranging signal, so that the ranging result when the two laser beams are projected on the reflective ring 371 can be obtained (the prior art).
As shown in fig. 1 and 2, the single-axis electronic inclinometer 35 is fixedly disposed on the base 36, and in the embodiment of the present invention, the measured value of the single-axis electronic inclinometer is initially zero degrees when the mounting surface of the base is horizontal. The included angle between the mounting surface of the base 36 and the horizontal plane is measured by the uniaxial electronic inclinometer 35 during the rotation of the slider 32 around the central axis of the slide bar 31, and sent to the signal processing system.
The signal processing system is in signal connection with the laser range finder and the single-axis electronic inclinometer 35, obtains the position information of the laser point falling on the reflecting ring 371 according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base 36 through a built-in algorithm, and calculates the displacement of the discrete single point according to the position information.
The invention also provides a discrete single-point displacement dynamic monitoring method based on laser ranging, which is realized by adopting the discrete single-point displacement dynamic monitoring device based on laser ranging, and comprises the following steps:
s1, recording the initial state of the slider 32 (including the initial position of the slider 32 on the slide bar 31, and the angle value measured by the single-axis electronic inclinometer 35)) The method comprises the steps of carrying out a first treatment on the surface of the Establishing an initial coordinate system based on the initial state of the sliding block; the plane of the base mounting surface is O of the initial coordinate system-an XY plane. As shown in fig. 1, in this embodiment, the intersection point of the first laser beam on the base mounting surface is taken as the O point of the initial coordinate system, the line connecting the two intersection points of the two laser beams on the base mounting surface is taken as the X axis of the O-XY plane, and the +z axis direction is the direction perpendicular to the base mounting surface and pointing to the target surface 37;
s2, the first laser range finder 33 and the second laser range finder 34 emit first laser and second laser; the driving slide block 32 translates along the slide bar 31 and rotates around the central axis of the slide bar, and when the first laser and the second laser are projected on the reflecting ring 371 to form a first laser point and a second laser point (positions shown as a point and a point B in fig. 3), the driving slide block 32 is stopped; according to the translation distance L of the slider 32 relative to the initial state of the slider 1 Angle value measured by single-axis electronic inclinometerDistance value l measured by first and second laser distance measuring instruments 1 、l 2 Generating an initial coordinate a= (x) of the first and second laser points in the initial coordinate system 1 ,y 1 ,z 1 )、B＝(x 2 ,y 2 ,z 2 )；
In this embodiment, step S2 is described as generating initial coordinates a= (x) of the first and second laser points in the initial coordinate system 1 ,y 1 ,z 1 )、B＝(x 2 ,y 2 ,z 2 ) Specifically comprises the following steps:
s21, a first current coordinate system O '-X' Y 'Z' is established, the current plane of the base mounting surface is the O '-X' Y 'plane of the first current coordinate system, and the +Z' axis direction is the direction perpendicular to the base mounting surface and pointing to the target surface 37; taking the intersection point of the first laser on the base mounting surface as an O ' point of a first current coordinate system, and taking the connecting line of two laser beams between the two intersection points of the base mounting surface as an X ' axis of an O ' -X ' Y ' plane;
s22, the signal processor generates coordinates of a first laser point and a second laser point in the first current coordinate system O '-X' Y 'Z': a' = (0, l) 1 )，B′＝(c,0,l 2 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein (0, 0), (c, 0) is the first and second laser spotCoordinates in the O ' -X ' Y ' plane;
s23, converting the A ', B' into O-XYZ under an initial coordinate system by a signal processor to generate corresponding initial coordinates A, B, wherein:
A＝(x 1 ,y 1 ,z 1 )＝R 1 -1 ·(0,0,l 1 )-T 1 ，B＝(x 2 ,y 2 ,z 2 )＝R 1 -1 ·(c,0,l 2 )-T 1 ；
R 1 、T 1 for the rotation matrix and translation phasor from the first current coordinate system to the initial coordinate system,
T 1 ＝(L 1 ,0,0) T ；/>
s3, continuously driving the sliding block 32 to translate along the sliding rod 31 and rotate around the central axis of the sliding rod, and stopping driving the sliding block 32 when the first laser and the second laser are projected on the reflecting ring again to generate a third laser point and a fourth laser point (positions shown as a point C and a point D in FIG. 3); according to the translation distance L of the slider 32 relative to the initial state of the slider 2 Angle value measured by single-axis electronic inclinometerDistance value l measured by first and second laser distance measuring instruments 3 、l 4 Generating initial coordinates C= (x) of the third and fourth laser points in the initial coordinate system 3 ,y 3 ,z 3 )、D＝(x 4 ,y 4 ,z 4 )；
In this embodiment, step S3 generates initial coordinates c= (x) of the third and fourth laser points in the initial coordinate system 3 ,y 3 ,z 3 )、D＝(x 4 ,y 4 ,z 4 ) Specifically comprises the following steps:
s31, establishing a second current coordinate system O ' -X ' Y ' Z ', the current plane of the base mounting surface is the O ' -X ' Y ' plane of the second current coordinate system, the intersection point of the first laser on the mounting surface of the base is taken as an O ' point of a second current coordinate system, the line connecting the two laser beams between the two intersection points of the base mounting surface is taken as the X "axis of the O ' -X" Y "plane, and the +Z" axis direction is the direction perpendicular to the base mounting surface and pointing to the target surface 37;
s32, the signal processor generates coordinates of a third laser point and a fourth laser point in the second current coordinate system O '-X' Y 'Z': c' = (0, l) 3 )，D′＝(c,0,l 4 )；
S33, the signal processor converts C ', D' into an initial coordinate system O-XYZ to generate corresponding initial coordinates C, D, wherein
C＝(x 3 ,y 3 ,z 3 )＝R 2 -1 ·(0,0,l 3 )-T 2 ，D＝(x 4 ,y 4 ,z 4 )＝R 2 -1 ·(c,0,l 4 )-T 2 ；
R 2 、T 2 For the rotation matrix and translation phasor from the second current coordinate system to the initial coordinate system,
T 2 ＝(L 2 ,0,0) T ，/>
s4, calculating the coordinates (X) of the center of the reflecting ring 371 under the initial coordinate system according to the four initial coordinates A, B, C, D P ,Y P ,Z P )；
Step S4 includes:
s41, selecting three vertexes which are selected from four initial coordinates A, B, C, D and serve as triangles, and calculating the center coordinates of the circle center of the circumscribed circle of the triangle under the initial coordinate system; repeating step S41 until all combinations of three initial coordinates are selected completely; easily known, all togetherSeed combinations, respectively obtain center coordinates (X P1 ,Y P1 ,Z P1 )、(X P2 ,Y P2 ,Z P2 )、(X P3 ,Y P3 ,Z P3 )、(X P4 ,Y P4 ,Z P4 )；
S42, taking the average value of the coordinates of the circle center of the circumscribed circle obtained in the step S41 under the initial coordinate system as the coordinates of the circle center of the light-reflecting ring 371 under the initial coordinate system
S5, repeating the steps S2-S4 at intervals to obtain the coordinates (X 'of the center of the reflecting ring 371 in the initial coordinate system' P ,Y P ′,Z′ P ) The method comprises the steps of carrying out a first treatment on the surface of the Displacement of discrete single points
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (9)
1. Discrete single-point displacement dynamic monitoring device based on laser rangefinder, characterized by comprising:
a receiving target, which comprises a target surface made of light absorption materials, wherein the target surface is provided with a reflecting ring capable of diffusely reflecting incident light;
the first end part of the connecting rod is fixedly connected with a discrete single point to be measured, and the second end part of the connecting rod is fixedly connected with the target surface and is positioned at the center of the reflecting ring;
the laser transmitter comprises a base and two laser range finders arranged on the mounting surface of the base; measuring a distance value between the base and the target surface by laser which is emitted by the laser range finder and falls on the reflecting ring; the two laser beams emitted by the two laser range finders are parallel;
the driving mechanism is used for driving the base to translate and rotate, so that laser emitted by the laser emitter falls on the reflecting ring and the position of a laser point falling on the reflecting ring is changed;
and the signal processing system is in signal connection with the laser range finder and the driving mechanism, obtains the position information of the laser points falling on the reflecting ring according to the distance value measured by the laser range finder, the translation distance and the rotation angle of the base through a built-in algorithm, and calculates and obtains the displacement of the discrete single points according to the position information.
2. The laser ranging-based discrete single-point displacement dynamic monitoring device according to claim 1, wherein the driving mechanism is a single-axis sliding table; the single-shaft sliding table comprises a sliding block and a sliding rod; the sliding block is fixedly connected with the base, and the base is positioned between the laser range finder and the sliding block; the sliding rod penetrates through the sliding block, and the sliding block can translate along the length direction of the sliding rod and rotate around the central shaft of the sliding rod.
3. The laser ranging-based discrete single point displacement dynamic monitoring device of claim 1, further comprising: the single-axis electronic inclinometer is fixedly arranged on the base mounting surface and used for measuring the included angle between the base mounting surface and the horizontal plane and sending the included angle to the signal processing system.
4. The laser ranging-based discrete single point displacement dynamic monitoring device of claim 1, wherein the two lasers can be projected simultaneously within the range defined by the inner ring envelope of the reflective ring.
5. A discrete single-point displacement dynamic monitoring method based on laser ranging, which is realized by adopting the discrete single-point displacement dynamic monitoring device based on laser ranging as claimed in any one of claims 1 to 4, wherein two laser rangefinders are respectively a first laser rangefinder and a second laser rangefinder, and the method is characterized by comprising the following steps:
s1, recording an initial state of a sliding block, and establishing an initial coordinate system based on the initial state of the sliding block;
s2, the first laser range finder and the second laser range finder emit first laser and second laser; the driving slide block moves horizontally along the slide bar and rotates around the central shaft of the slide bar, and when the first laser and the second laser are projected on the reflecting ring to form a first laser point and a second laser point, the driving slide block is stopped; according to the translation distance L of the sliding block relative to the initial state of the sliding block 1 Angle value measured by single-axis electronic inclinometerDistance value l measured by first and second laser distance measuring instruments 1 、l 2 Generating an initial coordinate a= (x) of the first and second laser points in the initial coordinate system 1 ,y 1 ,z 1 )、B＝(x 2 ,y 2 ,z 2 )；
S3, continuously driving the sliding block to translate along the sliding rod and rotate around the central shaft of the sliding rod, and stopping driving the sliding block when the first laser and the second laser are projected on the reflecting ring again to generate a third laser spot and a fourth laser spot; according to the translation distance L of the sliding block relative to the initial state of the sliding block 2 Angle value measured by single-axis electronic inclinometerDistance value l measured by first and second laser distance measuring instruments 3 、l 4 Generating initial coordinates C= (x) of the third and fourth laser points in the initial coordinate system 3 ,y 3 ,z 3 )、D＝(x 4 ,y 4 ,z 4 )；
S4, calculating according to four initial coordinates A, B, C, D to obtain the coordinates (X) of the circle center of the reflecting ring under the initial coordinate system P ,Y P ,Z P )；
S5, repeating the steps S2 to S4 after a set time interval to obtain the coordinate (X 'of the center of the reflecting ring under the initial coordinate system' P ,Y P ′,Z′ P ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating the displacement of discrete single points
6. The method for dynamic monitoring of discrete single point displacement based on laser ranging as claimed in claim 5, wherein step S1 specifically comprises:
s11, recording the initial state of the sliding block, including the initial position of the sliding block on the sliding rod and the angle value measured by the single-axis electronic inclinometer
S12, an initial coordinate system O-XYZ is established by taking the plane of the current base mounting surface as the O-XY plane of the initial coordinate system and taking the direction which is perpendicular to the base mounting surface and points to the target surface as the +Z axis direction.
7. The method of claim 5, wherein step S2 is performed to generate initial coordinates a= (x) of the first and second laser points in the initial coordinate system 1 ,y 1 ,z 1 )、B＝(x 2 ,y 2 ,z 2 ) Specifically comprises the following steps:
s21, a first current coordinate system O '-X' Y 'Z' is established, a plane where a base mounting surface is currently located is the O '-X' Y 'plane of the first current coordinate system, and the +Z' axis direction is perpendicular to the base mounting surface and points to a target surface;
s22, the signal processor generates coordinates of a first laser point and a second laser point in the first current coordinate system O '-X' Y 'Z': a' = (x 1 ′,y 1 ′,l 1 )，B′＝(x 2 ′,y 2 ′,l 2 ) Wherein (x) 1 ′,y 1 ′)、(x′ 2 ,y′ 2 ) Coordinates of the first laser point and the second laser point in an O ' -X ' Y ' plane;
s23, converting the A ', B' into O-XYZ under an initial coordinate system by a signal processor to generate corresponding initial coordinates A, B, wherein:
A＝(x 1 ,y 1 ,z 1 )＝R 1 -1 ·(0,0,l 1 )-T 1 ，B＝(x 2 ,y 2 ,z 2 )＝R 1 -1 ·(c,0,l 2 )-T 1 ；
R 1 、T 1 for the rotation matrix and translation phasor from the first current coordinate system to the initial coordinate system,
8. the method of claim 5, wherein generating initial coordinates c= (x) of the third and fourth laser points in the initial coordinate system in step S3 3 ,y 3 ,z 3 )、D＝(x 4 ,y 4 ,z 4 ) Specifically comprises the following steps:
s31, establishing a second current coordinate system O '-X' Y 'Z', the plane of the current base mounting surface is the O '-X' Y 'plane of the second current coordinate system, the +Z' axis direction is the direction perpendicular to the base mounting surface and pointing to the target surface;
s32, the signal processor generates coordinates of a third laser point and a fourth laser point in the second current coordinate system O '-X' Y 'Z': c' = (x 3 ′,y 3 ′,l 3 )，D′＝(x 4 ′,y 4 ′,l 4 ) Wherein (x) 3 ′,y 3 ′)、(x′ 4 ,y′ 4 ) Coordinates of the third laser spot and the fourth laser spot in an O ' -X ' Y ' plane;
s33, the signal processor converts C ', D' into an initial coordinate system O-XYZ to generate corresponding initial coordinates C, D, wherein
C＝(x 3 ,y 3 ,z 3 )＝R 2 -1 ·(0,0,l 3 )-T 2 ，D＝(x 4 ,y 4 ,z 4 )＝R 2 -1 ·(c,0,l 4 )-T 2 ；
R 2 、T 2 For the rotation matrix and translation phasor from the second current coordinate system to the initial coordinate system,
9. the method for dynamic monitoring of discrete single point displacement based on laser ranging as claimed in claim 5, wherein step S4 specifically comprises:
s41, selecting three vertexes which are selected from four initial coordinates A, B, C, D and serve as triangles, and calculating the center coordinates of the circle center of the circumscribed circle of the triangle under the initial coordinate system; repeating step S41 until all combinations of optional three from the four initial coordinates A, B, C, D are exhausted;
s42, averaging the circle center coordinates obtained in the step S41 to obtain a coordinate (X P ,Y P ,Z P )。
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