CN115979209A - Elevation measurement system and method - Google Patents
Elevation measurement system and method Download PDFInfo
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- CN115979209A CN115979209A CN202211561203.9A CN202211561203A CN115979209A CN 115979209 A CN115979209 A CN 115979209A CN 202211561203 A CN202211561203 A CN 202211561203A CN 115979209 A CN115979209 A CN 115979209A
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Abstract
The invention relates to an elevation measurement system and method, the system comprises an automatic total station platform, a 360-degree prism and an intelligent navigation robot platform, wherein the 360-degree prism is installed on the intelligent navigation robot platform, the automatic total station platform is used for measuring and calculating the position coordinates of the 360-degree prism, the intelligent navigation robot platform is used for measuring and calculating the relative coordinates of a measured point relative to the 360-degree prism, and the position coordinates of the measured point are calculated by combining the position coordinates of the 360-degree prism, so that the elevation information of the measured point is obtained. According to the invention, the automatic accurate measurement of the elevation coordinate of the construction completion surface is realized by utilizing the autonomous tracking function of the navigation robot and the accurate measurement function of the automatic total station, so that the manpower input in the construction measurement process is reduced, and the measurement efficiency and the measurement precision are improved.
Description
Technical Field
The invention relates to the technical field of elevation measurement, in particular to a rapid and accurate measurement system and a measurement method for elevation coordinates of engineering construction finished surfaces such as roads and bridges.
Background
In the construction process of road and bridge engineering, frequently, the road elevation needs to be frequently measured so as to monitor the construction quality of a finished surface or guide subsequent construction operation. The traditional elevation coordinate measurement mainly adopts a manual measurement mode, and the leveling and measuring instrument is erected manually and then point-by-point contact measurement is carried out. The measuring method has low efficiency, long period and high labor intensity, and requires constructors to master necessary measuring skills. Therefore, the project construction progress is greatly restricted by the traditional elevation coordinate measuring mode.
In some existing schemes, an RTK elevation measurement mode is adopted, and elevation measurement can be rapidly performed on a point to be measured by means of RTK equipment. However, due to the inherent characteristics of RTK, the measurement error is generally over 1 cm, and the RTK measurement mode is difficult to meet in the case of high elevation measurement accuracy requirement.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides an elevation measurement system and an elevation measurement method based on an automatic total station and a navigation robot.
The technical scheme for solving the technical problems is as follows:
in one aspect, the invention provides an elevation measurement system, which comprises an automatic total station platform, a 360-degree prism and an intelligent navigation robot platform, wherein the 360-degree prism is installed on the intelligent navigation robot platform, the automatic total station platform is used for measuring and calculating the position coordinates of the 360-degree prism, and the intelligent navigation robot platform is used for measuring and calculating the relative coordinates of a measured point relative to the 360-degree prism, and calculating the position coordinates of the measured point by combining the position coordinates of the 360-degree prism to obtain elevation information of the measured point.
Further, the automatic total station platform and the intelligent navigation robot platform both include communication modules for data transmission between the automatic total station platform and the intelligent navigation robot platform.
Furthermore, the intelligent navigation robot platform comprises a robot, an autonomous navigation controller, a posture sensor and an elevation measuring instrument, wherein the robot is controlled by the autonomous navigation controller and moves to a measured point, and the posture sensor is installed on the robot and used for acquiring the pose of the robot; the elevation measuring instrument is installed on the robot and used for collecting the elevation of the measured point relative to the robot to the ground.
In another aspect, the present invention provides an elevation measurement method, which is implemented based on the above-mentioned elevation measurement, and includes the following steps:
leveling an automatic total station platform and acquiring a position coordinate of the automatic total station;
calibrating the intelligent navigation robot platform to obtain the relative position relationship between the 360-degree prism and the intelligent navigation robot platform;
the intelligent navigation robot platform moves to the measured point position, and the elevation of the measured point relative to the intelligent navigation robot platform is measured and calculated;
the automatic total station platform locks the position of a 360-degree prism on the intelligent navigation robot platform, and the coordinates of a 360-degree prism point are measured and calculated;
the intelligent navigation robot platform obtains coordinates of 360-degree prism points, and calculates coordinates of the measured points according to the relative position relation between the 360-degree prism and the intelligent navigation robot platform and the elevations of the measured points relative to the intelligent navigation robot platform, so that the elevations of the measured points are obtained.
Further, the method further comprises:
measuring the ground height of the intelligent navigation robot platform through an elevation measuring instrument, and acquiring the inclination angle of the intelligent navigation robot platform through an attitude sensor;
according to the ground height of the intelligent navigation robot platform and the relative coordinates of the measured point of the inclination angle of the intelligent navigation robot platform relative to the 360-degree prism;
and the intelligent navigation robot platform calculates the coordinates of the measured point according to the coordinates of the 360-degree prism point and the relative coordinates of the measured point relative to the 360-degree prism to obtain the elevation of the measured point.
The invention has the beneficial effects that: according to the invention, the automatic accurate measurement of the elevation coordinate of the construction completion surface is realized by utilizing the autonomous tracking function of the navigation robot and the accurate measurement function of the automatic total station, so that the manpower input in the construction measurement process is reduced, and the measurement efficiency and the measurement precision are improved.
Drawings
FIG. 1 is a schematic diagram of an exemplary elevation measurement system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the measurement of the relative coordinates of the measured point with respect to the 360 ° prism point provided by the embodiment of the present invention;
fig. 3 is a schematic diagram of measuring coordinates of an intelligent navigation robot platform according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the automatic total station comprises an automatic total station platform, 2, an intelligent navigation robot platform, 3, a first power supply, 4, a first communication module, 5, an autonomous navigation controller, 6, an attitude sensor, 7, an elevation measuring instrument, 8, 360-degree prisms, 9, a robot, 10, a control panel, 11, a leveling support, 12, a second power supply, 13, an automatic total station, 14 and a second communication module
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an elevation measurement system according to an embodiment of the present invention includes an automatic total station platform 1 and an intelligent navigation robot platform 2.
Wherein automatic total powerstation platform 1 includes: leveling support 11, automatic total station 13, second communication module 14, second power 12. And the automatic total station platform is connected with the second communication module in a wired or wireless manner and is used for realizing data transmission with the intelligent navigation robot platform.
The leveling support 11 is used for supporting and fixing the automatic total station 13, can be leveled manually, and is leveled manually before automatic measurement is carried out. The automatic total station is installed on the leveling support and fixed, before automatic measurement is carried out, the automatic total station is leveled manually, self coordinates are set, and the automatic total station has the function of automatically searching the position of the 360-degree prism. And the second power supply provides electric energy for the automatic total station platform and the second communication module.
The intelligent navigation robot platform 2 includes: the robot comprises a robot 9, a self-guiding navigation controller 5, an attitude sensor 6, a 360-degree prism 8, an elevation measuring instrument 7, a control panel 10, a first communication module 4 and a first power supply 3. The intelligent navigation robot platform 2 is connected with the first communication module 4 through a wire or a wireless connection mode and is used for achieving data transmission with the automatic total station platform 1.
The robot 9 may be a wheeled, tracked robot, and the robot 9 may perform controlled travel according to instructions from the autonomous navigation controller 5. The self-pilot navigation controller 5 is installed on the robot 9 and is respectively connected with the robot 9, the attitude sensor 6 and the elevation measuring instrument 7 in a wired mode, the self-pilot navigation controller 5 is connected with the first communication module 4 in a wired or wireless mode, and the self-pilot navigation controller 5 is connected with the control panel in a wireless mode. The attitude sensor 6 is fixedly mounted on the robot 9, and the mounting direction is consistent with the direction of the robot 9. The elevation measuring instrument 7 is fixedly arranged on the robot 9 and can be positioned at different positions, the installation direction is vertical to the horizontal direction of the robot 9, and the elevation measuring instrument points to the ground. The control panel 10 can be held by an operator, and can also be arranged on the intelligent navigation robot platform 2. The first power supply provides electric energy for the robot 9, the autonomous navigation controller 5, the attitude sensor 6, the elevation measuring instrument 7 and the first communication module 4.
When the elevation measurement system is used for performing elevation measurement, the method comprises the following steps:
1. through the intelligent navigation robot platform, a measuring instrument is carried to automatically reach the measured point, and the elevation of the measured point relative to the intelligent navigation robot platform is measured and calculated.
1.1, the intelligent navigation robot platform controls the robot through the self-pilot navigation controller, and automatic running of the intelligent navigation robot platform is achieved.
And 1.2, leading in a design drawing, which can be a CAD file or a BIM file, by an operator through a control panel, analyzing the design drawing to obtain a to-be-measured route, or manually inputting the to-be-measured route, and issuing the to-be-measured route to a self-pilot navigation controller by the control panel in a wireless mode.
And 1.3, automatically planning a driving route and a point to be measured of a road by the self-guided navigation controller according to a route to be measured issued by the control panel, calculating a driving speed and a steering wheel command, and sending the driving speed and the steering wheel command to the robot for execution, so that the intelligent navigation robot platform drives to the point to be measured according to the planned route to stop. And after the elevation coordinate measurement of the current point to be measured is finished, the self-leading navigation controller calculates and sends a driving speed and a steering wheel command to the robot to execute, and the elevation coordinate measurement of the next point to be measured is automatically carried out until the elevation measurement of all the points to be measured is finished.
And 1.4, measuring the height of the ground at each point to be measured through an elevation measuring instrument, measuring the inclination angle of the robot through an attitude sensor, and finally calculating the coordinate of the measured point relative to a 360-degree prism through an autonomous navigation controller.
The measurement and calculation methods are as follows:
(1) The method comprises the steps that a self-leading navigation controller obtains coordinates (a, b and c) of an altitude measuring instrument relative to a 360-degree prism, the self-leading navigation controller obtains the ground height H measured by the altitude measuring instrument, and the self-leading navigation controller obtains robot inclination angles (roll, pitch and yaw) measured by an attitude sensor and respectively represent a roll angle, a pitch angle and a course angle. Fig. 2 is a schematic diagram showing the measurement of the relative coordinates of the measured point with respect to the prism point.
(2) The self-guiding navigation controller calculates the coordinates of the measured point relative to the 360-degree prism as follows:
2. and (4) accurately measuring and calculating the coordinates of the intelligent navigation robot platform through the automatic total station platform.
And 2.1, the autonomous navigation controller sends a measurement instruction to the automatic total station platform through the second communication module.
And 2.2, after the automatic total station receives the measurement instruction, automatically locking the position of the prism point of the intelligent navigation robot platform, and measuring and calculating the coordinate of the prism point. Fig. 3 is a schematic diagram showing the measurement of the coordinates of the intelligent navigation robot platform.
The measurement calculation method is as follows:
(1) The automatic total station acquires the coordinates of the automatic total station as (x 0, y0, z 0).
(2) The automated total station measures the relative coordinates (Δ x0, Δ y0, Δ z 0) of the 360 ° prism with respect to the automated total station.
(3) The coordinates of the prism point calculated by the automatic total station are as follows:
(x2,y2,z2)＝(x0+Δx0,y0+Δy0,z0+Δz0)
and 2.3, the automatic total station platform sends the measurement calculation result to the intelligent navigation robot platform through the communication module.
3. The intelligent navigation robot platform acquires coordinates of the intelligent navigation robot platform from the automatic total station platform through the communication module, and calculates elevation coordinates of the measured point.
The coordinate calculation method of the measured point comprises the following steps:
(x,y,z)＝(x1+x2,y1+y2,z1+z2)
the elevation coordinates of the measured point are: z = z1+ z2.
According to the invention, the automatic accurate measurement of the elevation coordinate of the construction completion surface is realized by utilizing the autonomous tracking function of the navigation robot and the accurate measurement function of the automatic total station. By the method and the device, the problems of low field measurement efficiency, high labor intensity and the like commonly existing in the traditional construction measurement can be solved, and meanwhile, the efficiency and the quality of elevation coordinate measurement are greatly improved.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (5)
1. An elevation measurement system is characterized by comprising an automatic total station platform (1), a 360-degree prism (8) and an intelligent navigation robot platform (2), wherein the 360-degree prism (8) is installed on the intelligent navigation robot platform (2), the automatic total station platform (1) is used for measuring and calculating position coordinates of the 360-degree prism (8), the intelligent navigation robot platform (2) is used for measuring and calculating relative coordinates of a measured point relative to the 360-degree prism (8), and the position coordinates of the measured point are calculated by combining the position coordinates of the 360-degree prism (8), so that elevation information of the measured point is obtained.
2. The elevation measurement system of claim 1, wherein the robotic total station platform (1) and the intelligent navigational robot platform (2) each include a communication module for data transmission between the robotic total station platform (1) and the intelligent navigational robot platform (2).
3. The elevation measurement system according to claim 1, wherein the intelligent navigation robot platform (2) comprises a robot (9), an autonomous navigation controller (5), an attitude sensor (6) and an elevation measurement instrument (7), the robot (9) is controlled by the autonomous navigation controller (5) to move to a measured point, and the attitude sensor (6) is mounted on the robot (9) and used for acquiring the pose of the robot; the elevation measuring instrument (7) is installed on the robot (9) and used for collecting the elevation of the measured point relative to the robot to the ground.
4. An elevation measurement method implemented based on an elevation measurement according to any one of claims 1 to 3, comprising the steps of:
leveling an automatic total station platform (1) and acquiring a position coordinate of the automatic total station;
calibrating the intelligent navigation robot platform (2) to obtain the relative position relation between the 360-degree prism and the intelligent navigation robot platform (2);
the intelligent navigation robot platform (2) moves to the measured point, and the elevation of the measured point relative to the intelligent navigation robot platform is measured and calculated;
the automatic total station platform (1) locks the position of a 360-degree prism on the intelligent navigation robot platform (2), and measures and calculates the coordinates of a 360-degree prism point;
the intelligent navigation robot platform (2) acquires coordinates of 360-degree prism points, and calculates coordinates of the measured points according to the relative position relation between the 360-degree prism and the intelligent navigation robot platform (2) and the elevation of the measured points relative to the intelligent navigation robot platform to obtain the elevation of the measured points.
5. The method of elevation measurement according to claim 4, further comprising:
measuring the ground height of the intelligent navigation robot platform (2) through an elevation measuring instrument, and acquiring the inclination angle of the intelligent navigation robot platform (2) through an attitude sensor;
according to the ground height of the intelligent navigation robot platform (2) and the relative coordinates of the measured point relative to the 360-degree prism at the inclination angle of the intelligent navigation robot platform;
and the intelligent navigation robot platform (2) calculates the coordinates of the measured point according to the coordinates of the 360-degree prism point and the relative coordinates of the measured point relative to the 360-degree prism to obtain the elevation of the measured point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211561203.9A CN115979209A (en) | 2022-12-07 | 2022-12-07 | Elevation measurement system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211561203.9A CN115979209A (en) | 2022-12-07 | 2022-12-07 | Elevation measurement system and method |
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| CN115979209A true CN115979209A (en) | 2023-04-18 |
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| CN202211561203.9A Pending CN115979209A (en) | 2022-12-07 | 2022-12-07 | Elevation measurement system and method |
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