CN101210812B - Hoist-transportation machine trajectory space relationship automated detection method - Google Patents

Abstract

The invention relates to a method for the automatic detection of spatial relationship of orbits in elevating machinery. The method comprises the following steps of: 1) arranging more than three prisms as public reference points between orbits; 2) arranging a total station system at a head end C of an orbit A, arranging a measuring point prism on the orbit in a way that the prism can move along the orbit; 3) allowing the measuring point prism to move from the head end C to a tail end E, tracing and recording the three-dimensional coordinate of the motion track of the measuring point prism on a small rail car by using the total station system, and simultaneously recording the relative coordinates of the relative spatial positions of the points and the total station system, based on each public reference point; 4) repeating the step 3: tracing and recording the three-dimensional coordinate of the motion track of the prism on the small rail car by using the total station system, and simultaneously recording the relative coordinates of the relative spatial positions of the points and the total station system, based on each public reference point as reference; and 5) calculating the linearity and the levelness of each orbit and calculating the span and the height difference of the same sections between two orbits.

Description

Hoist-transportation machine trajectory space relationship automated detection method

Technical field

The present invention relates to gate-type and the robotization of overhead traveling crane transportating machine rail and detect, relate in particular to a kind of detection method of track geometry amount.

Background technology

Along with science and technology development, commercial production is constantly to serialization, scale, automation direction development.Handling machinery is extensively applied to the transportation of industrial starting material, semi-manufacture, finished product, and the replacing of equipment, maintenance etc. are the visual plants of enterprise.What be in weak soil geology is installed in the industrial premises or the gate-type and the overhead traveling crane transportating machine rail on ground; Its basis and periphery are influenced by dead load or dynamic load; Be prone to take place uneven sedimentation or displacement through long-time load operation; Make track distortion in various degree occur, thus the normal operation of influence driving.In order correctly, in time to grasp Crane Rail distortion situation, take linearity, levelness to single track, two interorbital tracks are convenient to distinguish track condition rapidly and adjust with the cross section span, with cross section difference of height, depth of parallelism detection.In the super-sized enterprises of some metallurgy industries, all have nearly thousand of large-scale hoisting devices such as driving, its track length overall is more than tens kms, and the testing amount is very big.

At present the metering system to track still is to use conventional spirit-leveling instrument and transit and steel ruler, through in-site measurement, record measurement data, and then after calculating through lot of data, could draw the such process completion of achievement chart according to result of calculation.Add check and the inspection of calculating achievement and the work such as audit of achievement Report of measurement data in addition, accomplish the long orbit measurement work of 300m, (carrying out data sampling by 3 meters intervals) needs to drop into 12 people and spends nearly 8 hours time.Along with the in-depth of enterprise to safety management; Further strengthen safety management, require the work high above the ground personnel must not break away from effective protection of securing band, and traditional Crane Rail measurement is a labour-intensive aerological measurement job work high above the ground; Need to drop into great amount of manpower and time; Particularly track span and linearity must tie up securing band and step out the high-altitude safe guardrail in the measuring process, measure respectively; So both disperse the operating personnel, and caused great hidden danger for again the measurement safe operation.

Summary of the invention

The present invention is intended to solve the above-mentioned defective of prior art, and a kind of hoist-transportating machine rail span, linearity automated detection method are provided.Method of the present invention not only guarantees testing staff's personal safety, and accuracy of detection is high, efficient is high.

The present invention is achieved in that a kind of hoist-transportation machine trajectory space relationship automated detection method, and it comprises the steps,

Step 1 is being provided with prism more than three or three as the common reference point between the track;

Step 2 is set up total powerstation on the head end C of a track A, on this track, set up the measuring point prism that an ability moves along track; Total powerstation need be closed its automatic balancing arrangement

Step 3 makes the measuring point prism move to tail end E along track from head end C, and total powerstation is through the running orbit point three-dimensional coordinate (x of prism on tracking measurement and the track record dolly_a, y_a, z_a); While is with reference to the relative tertiary location relative coordinate of each common reference point RP and total powerstation;

Step 4 is located at another track B head end D with total powerstation and measuring point prism holder, makes the measuring point prism move to tail end D along track from head end B, and total powerstation is through the running orbit point three-dimensional coordinate (x of prism on tracking measurement and the track record dolly_b, y_b, z_b); While is with reference to the relative tertiary location relative coordinate of each common reference point RP and total powerstation;

Step 5, linearity, the levelness of difference caculation orbit, two interorbital tracks are with the cross section span, with the cross section difference of height.

Described hoist-transportation machine trajectory space relationship automated detection method, said common reference point has three, is respectively G, H, I point, and then the locus relative coordinate of each common reference point and total powerstation is respectively (Gx_c, Gy_c, Gz_c), (Hx_c, Hy_c, Hz_c), (Ix_c, Iy_c, Iz_c) and (Gx_d, Gy_d, Gz_d) and (Hx_d, Hy_d, Hz_d), (Ix_c, Iy_c, Iz_c).

Described hoist-transportation machine trajectory space relationship automated detection method, the linearity of caculation orbit, levelness in the said step 5, two interorbital tracks are with the cross section span, calculate according to following method respectively with the cross section difference of height:

The first, utilize three common reference points the three-dimensional coordinate reduction of two survey stations to be arrived the three-dimensional system of coordinate of CDE or CDF plane formation through coordinate transform;

Utilization coordinate transform formula will be the survey station three-dimensional system of coordinate of each measuring point of true origin with total powerstation observation position C, D respectively earlier; Being transformed to a common reference point is initial point; Another common reference point far away is the x direction, and the normal direction of three common reference points is the reference point three-dimensional system of coordinate of z direction;

Utilization coordinate transform formula, with the reference point three-dimensional system of coordinate of last each measuring point of track A, being transformed to the C point is initial point, and the C-E point is the x direction, and the normal direction of orbit plane is the CE three-dimensional system of coordinate of z direction;

With the reference point coordinate system of each measuring point on the B rail, being transformed to the D point is initial point, and the D-F point is the x direction, and the normal direction of orbit plane is the DF three-dimensional system of coordinate of z direction;

The second, the linearity of track calculates

The CEy of measuring point on the track A in the CE coordinate system_aValue is the linearity deviation of this point;

The DFy of measuring point on the track B in the DF coordinate system_bValue is the linearity deviation of this point;

The 3rd, the levelness of track is calculated

H by formula_a=z_{The a base}-z_a

h_b=z_{The a base}-z_b

The levelness of difference caculation orbit A, the last each point of B

The three, two interorbital track calculates with the cross section span

Be initial point with the C point, the C-E point is the x direction, the normal direction of orbit plane be in the three-dimensional system of coordinate of z direction by following formula caculation orbit with the cross section span:

Span=y_b-y_a

The 4th, the same cross section difference of height of track calculates

Be initial point with the C point, the C-E point is the x direction, and the normal direction of orbit plane is in the three-dimensional system of coordinate of z direction, when the measuring point g on the A rail is consistent with the x coordinate figure of the measuring point h of B rail by formula:

Difference of height=z_b-z_a

Described hoist-transportating machine rail span, linearity automated detection method, said step 2 and four, said total powerstation need be closed its automatic balancing arrangement.

Described hoist-transportating machine rail span, linearity automated detection method, said changes in coordinates formula is:

$\left(\begin{array}{c}{x}_1\\ y_1\\ h_1\end{array}\right)=R\left(\begin{array}{c}{x}_2\\ y_2\\ h_2\end{array}\right)+\left(\begin{array}{c}{x}_0\\ y_0\\ h_0\end{array}\right)$

$R=\left(\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\β}& -\sin \mathrm{\γ}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\cos \mathrm{\γ}& \sin \mathrm{\γ}\sin \mathrm{\α}-\sin \mathrm{\β}\cos \mathrm{\λ}\cos \mathrm{\α}\\ \sin \mathrm{\γ}\cos \mathrm{\β}& \cos \mathrm{\γ}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}& -\sin \mathrm{\α}\cos \mathrm{\γ}-\cos \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}\\ \sin \mathrm{\β}& \cos \mathrm{\β}\sin \mathrm{\α}& \cos \mathrm{\β}\cos \mathrm{\α}\end{array}\right);$

X wherein₀, y₀, h₀Be translation parameters, α, β, γ are respectively rotation parameter.

The present invention utilizes total powerstation to carry out tracking measurement; Cooperate data processing software to solve in the existing orbit measurement operation again, problems such as security is low, operating efficiency is not high, data processing real-time difference change present labour-intensive operating type; Reduced the measurement operating personnel; Shorten the measurement activity duration, also eliminated simultaneously and measured the security incident hidden danger in the operation process, received the effect of getting twice the result with half the effort.

Embodiment

Be embodiment of the present invention below:

A kind of hoist-transportation machine trajectory space relationship automated detection method, it comprises the steps,

Step 1 is being provided with prism more than three or three as the common reference point between the track;

Step 2 is set up total powerstation on the head end C of a track A, on this track, set up the measuring point prism that an ability moves along track; Total powerstation need be closed its automatic balancing arrangement;

Step 3 makes the measuring point prism move to tail end E along track from head end C, and total powerstation is through the running orbit point three-dimensional coordinate (x of prism on tracking measurement and the track record dolly_a, y_a, z_a); While is with reference to the relative tertiary location relative coordinate of each common reference point RP and total powerstation;

Step 4 is located at another track B head end D with total powerstation and measuring point prism holder, makes the measuring point prism move to tail end D along track from head end B, and total powerstation is through the running orbit point three-dimensional coordinate (x of prism on tracking measurement and the track record dolly_b, y_b, z_b); While is with reference to the relative tertiary location relative coordinate of each common reference point RP and total powerstation;

Step 5, linearity, the levelness of difference caculation orbit, two interorbital tracks are with the cross section span, with the cross section difference of height.

In one embodiment, said common reference point has three, is respectively G, H, I point, and then the locus relative coordinate of each common reference point and total powerstation is respectively (Gx_c, Gy_c, Gz_c), (Hx_c, Hy_c, Hz_c), (Ix_c, Iy_c, Iz_c) and (Gx_d, Gy_d, Gz_d) and (Hx_d, Hy_d, Hz_d), (Ix_c, Iy_c, Iz_c).

The linearity of caculation orbit, levelness in the said step 5, two interorbital tracks are with the cross section span, calculate according to following method respectively with the cross section difference of height:

The first, utilize three common reference points the three-dimensional coordinate reduction of two survey stations to be arrived the three-dimensional system of coordinate of CDE or CDF plane formation through coordinate transform;

Utilization coordinate transform formula will be the survey station three-dimensional system of coordinate of each measuring point of true origin with total powerstation observation position C, D respectively earlier; Being transformed to a common reference point is initial point; Another common reference point far away is the x direction, and the normal direction of three common reference points is the reference point three-dimensional system of coordinate of z direction;

Utilization coordinate transform formula, with the reference point three-dimensional system of coordinate of last each measuring point of track A, being transformed to the C point is initial point, and the C-E point is the x direction, and the normal direction of orbit plane is the CE three-dimensional system of coordinate of z direction;

With the reference point coordinate system of each measuring point on the B rail, being transformed to the D point is initial point, and the D-F point is the x direction, and the normal direction of orbit plane is the DF three-dimensional system of coordinate of z direction;

The second, the linearity of track calculates

The CEy of measuring point on the track A in the CE coordinate system_aValue is the linearity deviation of this point;

The DFy of measuring point on the track B in the DF coordinate system_bValue is the linearity deviation of this point;

The 3rd, the levelness of track is calculated

H by formula_a=z_{The a base}-z_a

h_b=z_{The a base}-z_b

The levelness of difference caculation orbit A, the last each point of B

The three, two interorbital track calculates with the cross section span

Be initial point with the C point, the C-E point is the x direction, the normal direction of orbit plane be in the three-dimensional system of coordinate of z direction by following formula caculation orbit with the cross section span:

Span=y_b-y_a

The 4th, the same cross section difference of height of track calculates

Be initial point with the C point, the C-E point is the x direction, and the normal direction of orbit plane is in the three-dimensional system of coordinate of z direction, when the measuring point g on the A rail is consistent with the x coordinate figure of the measuring point h of B rail by formula:

Difference of height=z_b-z_a

Changes in coordinates formula mentioned above is:

$\left(\begin{array}{c}{x}_1\\ y_1\\ h_1\end{array}\right)=R\left(\begin{array}{c}{x}_2\\ y_2\\ h_2\end{array}\right)+\left(\begin{array}{c}{x}_0\\ y_0\\ h_0\end{array}\right);$Wherein:

$R=\left(\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\β}& -\sin \mathrm{\γ}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\cos \mathrm{\γ}& \sin \mathrm{\γ}\sin \mathrm{\α}-\sin \mathrm{\β}\cos \mathrm{\λ}\cos \mathrm{\α}\\ \sin \mathrm{\γ}\cos \mathrm{\β}& \cos \mathrm{\γ}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}& -\sin \mathrm{\α}\cos \mathrm{\γ}-\cos \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}\\ \sin \mathrm{\β}& \cos \mathrm{\β}\sin \mathrm{\α}& \cos \mathrm{\β}\cos \mathrm{\α}\end{array}\right);$

X wherein₀, y₀, h₀Be translation parameters, α, β, γ are respectively rotation parameter.

Claims (5)

1. hoist-transportation machine trajectory space relationship automated detection method, it comprises the steps,

Step 1 is being provided with prism more than three or three as the common reference point between the track;

Step 2 is set up total powerstation on the head end C of a track A, on this track, set up the measuring point prism that an ability moves along track;

Step 3 makes the measuring point prism move to tail end E along track from head end C, and total powerstation is through the running orbit point three-dimensional coordinate (x of prism on tracking measurement and the track record dolly_a, y_a, z_a); While is with reference to the relative tertiary location relative coordinate of each common reference point RP and total powerstation;

Step 4 is located at the head end D of another track B with total powerstation and measuring point prism holder, makes the measuring point prism move to tail end F along track from head end D, and total powerstation is through the running orbit point three-dimensional coordinate (x of prism on tracking measurement and the track record dolly_b, y_b, z_b); While is with reference to the relative tertiary location relative coordinate of each common reference point RP and total powerstation;

Step 5, linearity, the levelness of difference caculation orbit, two interorbital tracks are with the cross section span, with the cross section difference of height.

2. hoist-transportation machine trajectory space relationship automated detection method according to claim 1; It is characterized in that; The common reference point that said step 1 is set has three, is respectively G, H, I point, and then the locus relative coordinate of each common reference point and total powerstation is respectively (Gx_c, Gy_c, Gz_c), (Hx_c, Hy_c, Hz_c), (Ix_c, Iy_c, Iz_c) and (Gx_d, Gy_d, Gz_d) and (Hx_d, Hy_d, Hz_d), (Ix_c, Iy_c, Iz_c).

3. hoist-transportation machine trajectory space relationship automated detection method according to claim 2; It is characterized in that; The linearity of caculation orbit, levelness in the said step 5, two interorbital tracks are with the cross section span, calculate according to following method respectively with the cross section difference of height:

The first, utilize three common reference points the three-dimensional coordinate reduction of two survey stations to be arrived the three-dimensional system of coordinate of CDE or CDF plane formation through coordinate transform;

Utilization coordinate transform formula will be the survey station three-dimensional system of coordinate of each measuring point of true origin with total powerstation observation position C, D respectively earlier; Being transformed to a common reference point is initial point; Another common reference point far away is the x direction, and the normal direction of three common reference points is the reference point three-dimensional system of coordinate of z direction;

Utilization coordinate transform formula, with the reference point three-dimensional system of coordinate of last each measuring point of track A, being transformed to the C point is initial point, and the C-E point is the x direction, and the normal direction of orbit plane is the CE three-dimensional system of coordinate of z direction;

With the reference point coordinate system of last each measuring point of track B, being transformed to the D point is initial point, and the D-F point is the x direction, and the normal direction of orbit plane is the DF three-dimensional system of coordinate of z direction;

The second, the linearity of track calculates

The CEy of measuring point on the track A in the CE coordinate system_aValue is the linearity deviation of this point;

The DFy of measuring point on the track B in the DF coordinate system_bValue is the linearity deviation of this point;

The 3rd, the levelness of track is calculated

H by formula_a=z_{The a base}-z_a

h_b=z_{The a base}-z_b

The levelness of difference caculation orbit A, the last each point of B

The three, two interorbital track calculates with the cross section span

Be initial point with the C point, the C-E point is the x direction, the normal direction of orbit plane be in the three-dimensional system of coordinate of z direction by following formula caculation orbit with the cross section span:

Span=y_b-y_a

The 4th, the same cross section difference of height of track calculates

Be initial point with the C point, the C-E point is the x direction, and the normal direction of orbit plane is in the three-dimensional system of coordinate of z direction, when the measuring point g on the track A is consistent with the x coordinate figure of the measuring point h of track B by formula:

Difference of height=z_b-z_a

4. according to the arbitrary described hoist-transportation machine trajectory space relationship automated detection method of claim 1 to 3, it is characterized in that, said step 2 and four, said total powerstation need be closed its automatic balancing arrangement.

5. hoist-transportation machine trajectory space relationship automated detection method according to claim 3 is characterized in that, said coordinate transform formula is:

$\left(\begin{array}{c}{x}_1\\ y_1\\ h_1\end{array}\right)=R\left(\begin{array}{c}{x}_2\\ y_2\\ h_2\end{array}\right)+\left(\begin{array}{c}{x}_0\\ y_0\\ h_0\end{array}\right)$

$R=\left(\begin{array}{ccc}\cos \mathrm{\γ}\cos \mathrm{\β}& -\sin \mathrm{\γ}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\cos \mathrm{\γ}& \sin \mathrm{\γ}\sin \mathrm{\α}-\sin \mathrm{\β}\cos \mathrm{\λ}\cos \mathrm{\α}\\ \sin \mathrm{\γ}\cos \mathrm{\β}& \cos \mathrm{\γ}\cos \mathrm{\α}-\sin \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}& -\sin \mathrm{\α}\cos \mathrm{\γ}-\cos \mathrm{\α}\sin \mathrm{\β}\sin \mathrm{\γ}\\ \sin \mathrm{\β}& \cos \mathrm{\β}\sin \mathrm{\α}& \cos \mathrm{\β}\cos \mathrm{\α}\end{array}\right);$

X wherein₀, y₀, h₀Be translation parameters, α, β, γ are respectively rotation parameter.