CN109323652A - A kind of engineering machinery positioning system - Google Patents
A kind of engineering machinery positioning system Download PDFInfo
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- CN109323652A CN109323652A CN201811166709.3A CN201811166709A CN109323652A CN 109323652 A CN109323652 A CN 109323652A CN 201811166709 A CN201811166709 A CN 201811166709A CN 109323652 A CN109323652 A CN 109323652A
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- engineering machinery
- total station
- coordinate system
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- measurement channel
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A kind of engineering machinery positioning system, which is characterized in that system includes: multiple prisms, is arranged in engineering machinery and is in different location；Total station is used to measure the location information of multiple prisms；Measurement channel control device is arranged between each prism and total station, for opening or closing the Measurement channel between prism and total station.This system by measurement process by the way that the different Measurement channels between different prisms and total station are opened or closed, can effectively avoid position as different prisms too close to and caused by it is interfering with each other, can guarantee that total station can accurately and reliably realize the measurement to adjacent prisms using Measurement channel control device.
Description
Technical field
The present invention relates to engineering field of locating technology, specifically, being related to a kind of engineering machinery positioning system.
Background technique
Total station (i.e. whole station type electronic distance meter) integrates light, mechanical, electrical, it be collection horizontal angle, vertical angle, distance,
The functions such as vertical survey are in the instrument of surveying and mapping of one.Because its primary placement instrument is with regard to all measuring work on the achievable survey station,
So referred to as total station.Total station is widely used in the precise engineering surveys such as ground heavy construction and construction of underground tunnel or deformation
Monitoring field.
Existing total station location technology usually determines the material information of determinand by the position of measuring prism, so
And if two measurement targets (i.e. two prisms) are separated by relatively closely, total station is in capture target, it is possible that catching
Catch the problem of obscuring.This that is, when desired total station capture one of prism when, due to the position mistake of two prisms
Closely, the prism that total station is actually captured is likely to another prism, also just causes influence in this way for positioning.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of engineering machinery positioning system, the system comprises:
Multiple prisms are arranged in engineering machinery and are in different location；
Total station is used to measure the location information of the multiple prism；
Measurement channel control device is arranged between each prism and total station, for by the prism and entirely
The Measurement channel stood between instrument opens or closes.
According to one embodiment of present invention, the Measurement channel control device includes:
Control module is blocked, is used to generate Measurement channel according to actual needs and blocks signal or Measurement channel opening letter
Number；
Multiple to block module, each module of blocking is correspondingly arranged between each prism and total station and blocks control with described
The connection of molding block, for according to the Measurement channel block signal or Measurement channel opening signal by the prism and total station it
Between Measurement channel close or open.
According to one embodiment of present invention, the module of blocking is affixed with prism, it is described block control module with it is described
Total station is affixed.
According to one embodiment of present invention, the Measurement channel control device is configured to by one of prism and entirely
When the Measurement channel stood between instrument is opened, the Measurement channel between other prisms and total station is closed.
According to one embodiment of present invention, the system also includes:
Total station control device is connect with the total station, for controlling the operating status of the total station.
According to one embodiment of present invention, the total station control device includes:
Operational order generation module is used to act generation corresponding operation instruction depending on the user's operation；
Data transmission module is connect with the operational order generation module, for the operational order to be transmitted to institute
Total station is stated, is rotated and/or carried out position measurement to control the total station by the operational order.
According to one embodiment of present invention, the operational order generation module includes control handle.
According to one embodiment of present invention, the system also includes:
Engineering machinery pose determining device, connect with the total station, for what is obtained according to the total station survey
Location information and pre-stored the multiple prism of the multiple prism in tunnel space coordinate system are in engineering machinery
Location information in space coordinates determines pose of the engineering machinery in the tunnel space coordinate system.
According to one embodiment of present invention, the engineering machinery pose determining device is configured that
Tunnel space coordinate system is obtained around trunnion axis to the rotation angle of the engineering machinery space coordinates, obtains level
Axis rotates angle；
Rotate angle according to the trunnion axis, using coordinate of described two specified points in tunnel space coordinate system and
Coordinate in engineering machinery space coordinates determines coordinate system conversion parameter, and determines institute according to the coordinate system conversion parameter
State pose of the engineering machinery in the tunnel space coordinate system.
According to one embodiment of present invention, the engineering machinery pose determining device is configured to true according to following expression
The fixed coordinate system conversion parameter:
Wherein, (X, Y, Z) indicates that the coordinate a little in tunnel space coordinate system, (x, y, z) indicate a little in engineering machine
Coordinate in tool space coordinates, (Δ x, Δ y, Δ z) indicate the origin and engineering machinery space coordinate of tunnel space coordinate system
Vector between the origin of system, k indicate proportionality coefficient, RX(α) indicates tunnel space coordinate system to engineering machinery space coordinates
Along the transformation matrix of X-axis rotation, RY(β) indicates the change that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axis
Change matrix, RZ(γ) indicates that the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axis, α indicate
Tunnel space coordinate system around X-axis to engineering machinery space coordinates rotation angle, β indicate tunnel space coordinate system arrived around Y-axis
The rotation angle of engineering machinery space coordinates, γ indicate that tunnel space coordinate system arrives engineering machinery space coordinates about the z axis
Rotate angle, wherein X-axis and Y-axis are trunnion axis.
Engineering machinery positioning system provided by the present invention by measurement process by by different prisms and total station
Between different Measurement channels open or close, can effectively avoid position as different prisms too close to and caused by that
This interference can guarantee that total station can accurately and reliably realize the survey to adjacent prisms using Measurement channel control device
Amount.
Engineering machinery positioning system provided by the present invention by total station control device come remotely control total station (such as
User can remotely operate total station by the total station control device being arranged in engineering machinery operating room), so also
Complex environment in tunnel is avoided to the adverse effect of staff, thus improve engineering machinery positioning safety and can
By property.
The mechanically different prisms of engineering machinery positioning system utilizing works provided by the present invention are in two different coordinates
Coordinate in (i.e. engineering machinery coordinate system and tunnel space coordinate system) determines the transformational relation between the two coordinate systems, into
And pose of the engineering machinery in tunnel space coordinate system is determined according to the transformational relation.Due in engineering machinery coordinate system
Coordinate be determined in advance and store, therefore this localization method and system also can by directly carry out reading data come
Above-mentioned coordinate data is obtained, can also be effectively reduced so to be processed needed for being positioned to the engineering machinery in tunnel
Data volume.
Meanwhile engineering machinery positioning system provided by the present invention is by thus according to two fingers in the engineering machinery got
Fixed point determines pose of the engineering machinery under tunnel space coordinate system in the coordinate under space coordinates, therefore it is compared to existing
There is data volume to be processed needed for technology less, data processing algorithm also can be simpler, and it is fixed to improve
Position efficiency, additionally it is possible to reduce the complexity of data processing algorithm, and then reduce development cost and improve the reliability of system.This
Outside, this method can also effectively reduce artifical influence factor to interference brought by positioning result, can also improve so most
The accuracy of whole positioning result.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technical description to do simple introduction:
Fig. 1 is the structural schematic diagram of engineering machinery positioning system according to an embodiment of the invention；
Fig. 2 is the distribution schematic diagram of engineering machinery positioning system according to an embodiment of the invention；
Fig. 3 is the structural schematic diagram of total station control device according to an embodiment of the invention.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
For the above problem in the presence of the prior art, the present invention provides a kind of new engineering machinery positioning system,
The system can guarantee that total station can accurately and reliably realize the measurement to adjacent prisms using Measurement channel control device.
Fig. 1 shows the structural schematic diagram of engineering machinery positioning system provided by the present embodiment.
As shown in Figure 1, engineering machinery positioning system provided by the present embodiment includes: multiple prisms 101, Measurement channel control
Device 102 and total station 105 processed.Each prism 101 is arranged in engineering machinery and at different location, and total station then may be used
To measure the location information of each prism.In the present embodiment, Measurement channel control device 102 is arranged in each prism and total station
Between 105, the Measurement channel between prism and total station 105 can be opened or closed according to actual needs.
Specifically, in the present embodiment, when the Measurement channel between a certain prism and total station 105 needs to open, measurement
Channel controller 102 can be by the removal of blocking between the prism and total station 105, and such total station 105 also can be normal
To the prism carry out position measurement.When the Measurement channel between a certain prism and total station 105 needs to close, Measurement channel
Control device 102 can be arranged between the prism and total station 105 to be blocked, and such total station 105 also just can not be normally to the rib
Mirror carries out position measurement.
For example, as depicted in figs. 1 and 2, in the present embodiment, engineering machinery positioning system may include two prisms (i.e. the
One prism 101a and the second prism 101b), the two prisms may be mounted at the different location of engineering machinery 201.And in order to
Guarantee to obtain measurement range as big as possible, in the present embodiment, total station 105 is preferably mounted on tunnel top by hanging basket
On.
Measurement channel control device 102, which preferably includes, several to be blocked module 103 and blocks control module 104.Due to
Each module 103 of blocking needs accordingly to block prism, therefore the number for blocking module that Measurement channel control device 102 is included
Amount is preferably consistent with the quantity of prism, for example, Measurement channel control device 102 blocks mould including first in the present embodiment
Block 103a and second blocks module 103b.Wherein, first module 103a is blocked for inciting somebody to action under the control for blocking control module 104
Measurement channel between first prism 101a and total station 105 opens or closes, and second, which blocks module 103b, is then used to block
The Measurement channel between second prism 101b and total station 105 is opened or closed under the control of control module 104.
In the present embodiment, what Measurement channel control device 102 was included blocks module 103 and blocks control module 104
Preferably discrete setting.Specifically, each module 103 of blocking preferably can be affixed with each prism 101 respectively, such as
It is separately positioned on a part of the shell in front of the emission part of prism 101 or as prism 101.Block control module 104 with
Total station 105 is affixed, can generate corresponding Measurement channel according to actual needs and block signal or Measurement channel opening signal,
And then signal or Measurement channel opening signal are blocked come by respective prisms and entirely according to above-mentioned Measurement channel by blocking module 103
The Measurement channel stood between instrument 105 closes or opens.
Certainly, in other embodiments of the invention, it can also be used by blocking module 103 and blocking control module 104
His reasonable set-up mode, present aspect are without being limited thereto.
In the present embodiment, blocks control module 104 and come advantageously according to the prism signal to be measured come transmitted by total station 105
It generates corresponding Measurement channel and blocks signal and Measurement channel opening signal.For example, if currently needing the prism measured is the
One prism 101a, then total station 105 can block control for being sent to for the first prism signal to be measured with the first prism 101a
Molding block 104, module 103a transmission Measurement channel can be blocked to first corresponding to the first prism 101a by blocking control module 104
Opening signal, and block module 103b to second corresponding to the second prism 101b and send Measurement channel shutdown signal, in this way
Can be so that the Measurement channel between the first prism 101a and total station 105 be opened, and make the second prism 101b and complete
The Measurement channel stood between instrument 105 is closed.At this point, the highest position of the intensity of light reflection that is captured of total station 105 is inevitable also
The position of the first prism 101a, so as to avoid due to the position of the first prism 101a and the second prism 101b too close to and
Caused by it is interfering with each other.
It should be pointed out that Measurement channel control device 104 is being controlled one of prism and whole station in the present embodiment
When Measurement channel between instrument is opened, the Measurement channel between other prisms and total station can preferably be closed.That is,
When one of them blocks module in the open state, other block module and are preferably at closed state.
Certainly, in other embodiments of the invention, according to actual needs, it can also be used by blocking control module 104
His rational method avoids the interference between different prisms by the Measurement channel between on and off prism and total station.
For example, in one embodiment of the invention, blocking module and being also configured as when not receiving the sensible opening signal of measurement
In normally off.In this way, being surveyed when needing to open a certain measurement module for the Measurement channel between prism and total station is corresponded to
Amount channel controller 104 is also just realized by that can block the module sensible opening signal of transmission measurement to this；And when needs
When closing a certain measurement module for the Measurement channel between prism and total station is corresponded to, Measurement channel control device 104 also can
To be realized by no longer blocking any signal of module transmission to this, in this case, above-mentioned 105 institute of Measurement channel control module
The Measurement channel shutdown signal of transmission can also be considered as spacing wave.
In practical engineering applications, it usually needs measure a large amount of observation point for position with deformation monitoring etc..It is existing
Total station remote monitoring system is nearly all applied to automatically continuously measure, in discontinuous measurement, due to total station posture not
It determines and measurement target is uncertain, so needing constantly to manually adjust total station posture and measure, also result in so artificial
Factor influences problem big, that labor intensity is high, working efficiency is low and measurement result precision is low.And this problem is pacified in total station
Holding position is located at more prominent when the region of inconvenient operation.
In view of the above-mentioned problems, as shown in Figure 1, engineering machinery positioning system provided by the present embodiment preferably further includes complete
It stands instrument control device 106.Total station control device 106 and total station 105 communicate to connect, and can control according to actual needs
The operating status of total station 105.
It should be pointed out that in different embodiments of the invention, according to actual needs, total station control device 106 with
Both data communication can be carried out using wired connection mode between total station 105, can also be counted using radio connection
According to communication, the present invention is not defined total station control device 106 and the specific communication mode of total station 105.
As shown in figure 3, in the present embodiment, total station control device 106 preferably include operational order generation module 301 with
And data transmission module 302.Wherein, operational order generation module 301 generates corresponding behaviour for movement depending on the user's operation
It instructs.Specifically, operational order generation module 301 preferably may include operation handle, and operation handle is able to respond user
Operational motion, and then act depending on the user's operation generate corresponding operation instruction.Data transmission module 302 refers to operation
It enables generation module 301 connect, operational order generation module 301 can be transmitted to the operational order come and be transmitted to total station
105, position measurement is rotated and/or carried out to control total station 105 by operational order.
As shown in Fig. 2, total station 105 is preferably configured with total station communication module 105a in the present embodiment, total station is logical
Believe that module 105a and data transmission module 302 are communicated to connect, such total station 105 can also receive total station control device
The operational order come transmitted by 106.
Engineering machinery positioning system provided by the present embodiment remotely controls total station (example by total station control device
As user can remotely operate total station by the total station control device being arranged in engineering machinery operating room), in this way
Complex environment in tunnel is avoided to the adverse effect of staff, thus improve engineering machinery positioning safety and
Reliability.
Again as shown in Figure 1, optionally, engineering machinery positioning system provided by the present embodiment preferably further includes engineering
Mechanical pose determining device 107.Engineering machinery pose determining device 107 is connect with total station 105, can be according to total station
Location information and itself pre-stored above-mentioned prism of the multiple prisms that 105 measurements obtain in tunnel space coordinate system exist
Location information in engineering machinery space coordinates determines pose of the engineering machinery in tunnel space coordinate system.The present embodiment
In, tunnel space coordinate system is earth coordinates.
Specifically, work machine position determining device 107 can respectively obtain the first prism 101a by total station 105
With coordinate of the second prism 101b in tunnel space coordinate system.Two specified points are sat in tunnel space on obtaining engineering machinery
After coordinate in mark system, work machine position determining device 107 can read the above-mentioned two specified point being previously stored in engineering
Coordinate in mechanical space coordinate system.
In the present embodiment, coordinate of above-mentioned two prism in engineering machinery space coordinates in engineering machinery is stored in
In data storage device 202.Wherein, coordinate of above-mentioned two two prisms in engineering machinery space coordinates is preferably in work
It has just measured to obtain before the factory of journey machinery, and has been written into data storage device 202.So in the actual construction process,
When needing to position engineering machinery, work machine position determining device 107 can also be deposited by directly reading data
Data in storage device 202 obtain coordinate of above-mentioned two specified point in engineering machinery space coordinates.
In the present embodiment, before engineering machinery factory, a rib is preferably installed respectively at above-mentioned two specified point position
Mirror (such as first prism 101a and the second prism 101b).By measuring the two fixed points (i.e. the first prism 101a and second
Prism 101b point) position in device coordinate system (i.e. engineering machinery space coordinates), it also can be obtained by the two
Coordinate of the fixed point in engineering machinery space coordinates.Coordinate of the two fixed points in engineering machinery space coordinates
The relative positional relationship between two fixing points and the origin of engineering machinery space coordinates is just characterized, is also just completed in this way
The calibration of local coordinate.
Certainly, in other embodiments of the invention, according to the actual situation, work machine position determining device 107 may be used also
To determine that two specified points (i.e. two prism points) are in engineering machinery space in engineering machinery using other rational methods
Coordinate in coordinate system, the invention is not limited thereto.
Specifically, in the present embodiment, on obtaining engineering machinery coordinate of the prism in engineering machinery space coordinates with
And after the coordinate in tunnel space coordinate system, work machine position determining device 107 then can be according to the two specified points in work
Coordinate in journey mechanical space coordinate system and the coordinate in tunnel space coordinate system carry out coordinate system transformation, obtain engineering machine
Pose of the tool in tunnel space coordinate system.
Specifically, in the present embodiment, work machine position determining device 107 preferably obtains tunnel space coordinate system around water
Flat axis to engineering machinery space coordinates rotation angle, thus obtain trunnion axis rotation angle.The above-mentioned preferred earth's surface of trunnion axis
Two orthogonal reference axis in the horizontal plane of tunnel space coordinate system are levied, the two reference axis are set to X-axis and Y respectively
Axis.It and is the vertical axes Z axis of tunnel space coordinate system perpendicular to the reference axis of X-axis and Y-axis.
In the present embodiment, work machine position determining device 107 preferably includes dipmeter.Dipmeter is arranged in engineering machine
On tool, such work machine position determining device 107 can also measure to obtain using dipmeter tunnel space coordinate system around
Rotation angle of the trunnion axis to engineering machinery space coordinates.Wherein, which includes that tunnel space coordinate system is arrived around X-axis
The rotation angle [alpha] and tunnel space coordinate system of engineering machinery space coordinates are around Y-axis to the rotation of engineering machinery space coordinates
Gyration β.
After obtaining trunnion axis rotation angle, work machine position determining device 107 then can be according to above-mentioned horizontal rotation
Angle, coordinate of the above-mentioned two specified point of utilizing works mechanically in tunnel space coordinate system and sits in engineering machinery space
The coordinate in system is marked to determine coordinate system conversion parameter.
Specifically, in the present embodiment, above-mentioned coordinate system conversion parameter can be characterized with rotation angle [alpha], rotation angle beta
Transformational relation between the tunnel space coordinate system coordinate system different from engineering machinery space coordinates two.Wherein, above-mentioned seat
Mark system conversion parameter preferably includes the original of proportionality coefficient k, the origin of tunnel space coordinate system and engineering machinery space coordinates
(Δ x, Δ y, Δ z) and tunnel space coordinate system arrive the rotation angle of engineering machinery space coordinates to vector between point about the z axis
Spend γ.
For example, work machine position determining device 107 determines above-mentioned advantageously according to following expression in the present embodiment
Coordinate system conversion parameter:
Wherein, (X, Y, Z) indicates that the coordinate a little in tunnel space coordinate system, (x, y, z) indicate a little in engineering machine
Coordinate in tool space coordinates, RX(α) indicates the change that tunnel space coordinate system is rotated to engineering machinery space coordinates along X-axis
Change matrix, RY(β) indicates the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axis, RZ(γ) table
Show the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axis.
In the present embodiment, transformation matrix R that tunnel space coordinate system to engineering machinery space coordinates is rotated along X-axisX(α)
It can indicate are as follows:
The transformation matrix R that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axisY(β) can be indicated are as follows:
The transformation matrix R that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axisZ(γ) can be indicated
Are as follows:
Due to having obtained coordinate under tunnel space coordinate system of two specified points in engineering machinery and in engineering machine
Coordinate under tool coordinate system, while rotation angle [alpha], rotation angle beta have also been obtained, in this way by this two groups of coordinate datas and rotation
Angle-data, which substitutes into above-mentioned expression formula (1), also can be obtained by proportionality coefficient k, the origin of tunnel space coordinate system and engineering machinery
(Δ x, Δ y, Δ z) and tunnel space coordinate system arrive engineering machinery space to vector between the origin of space coordinates about the z axis
The rotation angle γ of coordinate system to get arrive coordinate system conversion parameter.
It should be pointed out that in other embodiments of the invention, work machine position determining device 107 can also use
Other rational methods determine coordinate system conversion parameter, and the invention is not limited thereto.For example, in one embodiment of the invention,
Work machine position determining device 107 can also utilize three or three or more the specified points (i.e. three of utilizing works mechanically
A or three or more prisms) dependent coordinate (sat including coordinate of the specified point in tunnel space coordinate system and in engineering machinery
Coordinate in mark system) determine the origin of proportionality coefficient k and tunnel space coordinate system and the original of engineering machinery space coordinates
(Δ x, Δ y, Δ z) can no longer measure trunnion axis rotation angle to vector between point according to actual needs at this time, but direct
It is calculated by the dependent coordinate of specified point.
In the present embodiment, work machine position determining device 107 also can root using obtained coordinate system conversion parameter
Determine engineering machinery space coordinates (i.e. engineering machinery itself) in tunnel space coordinate system according to tunnel space coordinate system
Pose.
Specifically, in the present embodiment, between the origin of tunnel space coordinate system and the origin of engineering machinery space coordinates
Vector (Δ x, Δ y, Δ z) can characterize coordinate of the engineering machinery in tunnel space coordinate system, and rotate angle [alpha], β and γ
Posture of the engineering machinery in tunnel space coordinate system can then be symbolized.
From foregoing description as can be seen that engineering machinery positioning system utilizing works provided by the present embodiment mechanically not
The two are determined with coordinate of the prism in two different coordinates (i.e. engineering machinery coordinate system and tunnel space coordinate system)
Transformational relation between coordinate system, and then position of the engineering machinery in tunnel space coordinate system is determined according to the transformational relation
Appearance.Since the coordinate in engineering machinery coordinate system is determined in advance and stores, this localization method and system also can
To obtain above-mentioned coordinate data by directly carrying out reading data, can also effectively reduce to the engineering in tunnel in this way
Machinery data volume to be processed needed for being positioned.
Meanwhile engineering machinery positioning system provided by the present embodiment is by thus according to two in the engineering machinery got
Specified point determines pose of the engineering machinery under tunnel space coordinate system in the coordinate under space coordinates, thus its compared to
Data volume to be processed needed for the prior art is less, and data processing algorithm also can be simpler, not only can improve
Location efficiency, additionally it is possible to reduce the complexity of data processing algorithm, and then reduce development cost and improve the reliability of system.
In addition, this method can also effectively reduce artifical influence factor to interference brought by positioning result, can also improve in this way
The accuracy of final positioning result.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing from the principles and ideas of the present invention, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (10)
1. a kind of engineering machinery positioning system, which is characterized in that the system comprises:
Multiple prisms are arranged in engineering machinery and are in different location；
Total station is used to measure the location information of the multiple prism；
Measurement channel control device is arranged between each prism and total station, is used for the prism and total station
Between Measurement channel open or close.
2. the system as claimed in claim 1, which is characterized in that the Measurement channel control device includes:
Control module is blocked, is used to generate Measurement channel according to actual needs and blocks signal or Measurement channel opening signal；
Multiple to block module, each module of blocking is correspondingly arranged between each prism and total station and blocks control mould with described
Block connection, will be between the prism and total station for blocking signal or Measurement channel opening signal according to the Measurement channel
Measurement channel closes or opens.
3. system as claimed in claim 2, which is characterized in that the module of blocking is affixed with prism, described to block control mould
Block and the total station are affixed.
4. system according to any one of claims 1 to 3, which is characterized in that the Measurement channel control device is configured to
When opening the Measurement channel between one of prism and total station, by the Measurement channel between other prisms and total station
It closes.
5. system as described in any one of claims 1 to 4, which is characterized in that the system also includes:
Total station control device is connect with the total station, for controlling the operating status of the total station.
6. system as claimed in claim 5, which is characterized in that the total station control device includes:
Operational order generation module is used to act generation corresponding operation instruction depending on the user's operation；
Data transmission module is connect with the operational order generation module, described complete for the operational order to be transmitted to
It stands instrument, is rotated and/or carried out position measurement to control the total station by the operational order.
7. system as claimed in claim 6, which is characterized in that the operational order generation module includes control handle.
8. such as system according to any one of claims 1 to 7, which is characterized in that the system also includes:
Engineering machinery pose determining device, connect with the total station, described in being obtained according to the total station survey
Location information and pre-stored the multiple prism of multiple prisms in tunnel space coordinate system are in engineering machinery space
Location information in coordinate system determines pose of the engineering machinery in the tunnel space coordinate system.
9. system as claimed in claim 8, which is characterized in that the engineering machinery pose determining device is configured that
Tunnel space coordinate system is obtained around trunnion axis to the rotation angle of the engineering machinery space coordinates, obtains trunnion axis rotation
Gyration；
Angle is rotated according to the trunnion axis, using coordinate of described two specified points in tunnel space coordinate system and in engineering
Coordinate in mechanical space coordinate system determines coordinate system conversion parameter, and determines the work according to the coordinate system conversion parameter
Pose of the journey machinery in the tunnel space coordinate system.
10. system as claimed in claim 9, which is characterized in that the engineering machinery pose determining device is configured to according to such as
Lower expression formula determines the coordinate system conversion parameter:
Wherein, (X, Y, Z) indicates that the coordinate a little in tunnel space coordinate system, (x, y, z) indicate a little in engineering machinery sky
Between coordinate in coordinate system, (Δ x, Δ y, Δ z) indicate the origin and engineering machinery space coordinates of tunnel space coordinate system
Vector between origin, k indicate proportionality coefficient, RX(α) indicates tunnel space coordinate system to engineering machinery space coordinates along X-axis
The transformation matrix of rotation, RY(β) indicates the transformation square that tunnel space coordinate system is rotated to engineering machinery space coordinates along Y-axis
Battle array, RZ(γ) indicates that the transformation matrix that tunnel space coordinate system is rotated to engineering machinery space coordinates along Z axis, α indicate tunnel
Space coordinates are around the rotation angle of X-axis to engineering machinery space coordinates, and β expression tunnel space coordinate system is around Y-axis to engineering
The rotation angle of mechanical space coordinate system, γ indicate that tunnel space coordinate system arrives the rotation of engineering machinery space coordinates about the z axis
Angle, wherein X-axis and Y-axis are trunnion axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811166709.3A CN109323652B (en) | 2018-10-08 | 2018-10-08 | Engineering machinery positioning system |
Applications Claiming Priority (1)
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| CN110185452A (en) * | 2019-05-15 | 2019-08-30 | 中铁工程装备集团隧道设备制造有限公司 | Ranging angle adjusts positioning mechanism, positioning control system, method and engineering machinery |
| CN110530358A (en) * | 2019-09-20 | 2019-12-03 | 中铁工程装备集团隧道设备制造有限公司 | Car body navigation positional device and navigation system and method |
| CN113048972B (en) * | 2021-03-12 | 2023-05-23 | 衢州海西电子科技有限公司 | Method and system for determining attitude and position of mining engineering machinery |
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