CN117367383A - Digital angle measurement and autonomous positioning platform and method for intersection measurement - Google Patents

Digital angle measurement and autonomous positioning platform and method for intersection measurement Download PDF

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Publication number
CN117367383A
CN117367383A CN202311142676.XA CN202311142676A CN117367383A CN 117367383 A CN117367383 A CN 117367383A CN 202311142676 A CN202311142676 A CN 202311142676A CN 117367383 A CN117367383 A CN 117367383A
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China
Prior art keywords
platform
measurement
positioning
circuit board
control circuit
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CN202311142676.XA
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Chinese (zh)
Inventor
邓方
王向阳
黄泽源
孙智昊
刘洋
王雪旖
刘道明
张乐乐
周赞
白永强
蔡涛
付海岭
吕茂斌
陈杰
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN202311142676.XA priority Critical patent/CN117367383A/en
Publication of CN117367383A publication Critical patent/CN117367383A/en
Pending legal-status Critical Current

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention provides a digital angle measurement and autonomous positioning platform and a digital angle measurement and autonomous positioning method for intersection measurement, which realize digital angle measurement, autonomous positioning ranging and automatic/manual camera triggering in an intersection measurement task, provide azimuth angle, position, distance and camera triggering signals for an intersection measurement or binocular positioning system, and simultaneously have the differential positioning function and configuration of the two platforms. The invention can automatically obtain the data needed by resolving in the process of intersection measurement by engineering surveying staff, avoid the cross use of a large number of separated measuring instruments and the introduction of human errors in the intersection measurement, and greatly simplify the operation flow of the intersection measurement. In addition, the invention provides an open mechanical interface, which is convenient for the deployment and installation of the platform, and the measurement of cameras and the like.

Description

Digital angle measurement and autonomous positioning platform and method for intersection measurement
Technical Field
The invention relates to a digital angle measurement and autonomous positioning platform and method for intersection measurement, and belongs to the technical fields of digital angle measurement, ranging positioning and engineering measurement mapping.
Background
Intersection measurement is a measurement mapping method that is based on the principle of triangulation, by measuring the angle and distance between a target point and at least two reference points of known position to calculate the position coordinates of the target point for determining the position of the point on the earth's surface. Steering wheels are often used to measure the intersection of a target range, and a plurality of steering wheels simultaneously track the fire of a projectile in a monitored area. The intersection measurement of the target range belongs to a spatial intersection measurement and aims at determining the three-dimensional coordinates to be fixed. This process requires not only the latitude and longitude of the explosion point but also its elevation. Therefore, the observation station also needs to determine the longitude, latitude and elevation of the observation station, and calculate the relative distance and angle between the two stations and the target according to the longitude, latitude and elevation of the observation station so as to realize the measurement of the location of the explosion point. The intersection measurement is usually realized by using measuring instruments such as total stations, theodolites, rangefinders and the like, and measuring auxiliary tools such as tripods, reflecting prisms and the like for establishing measurement references, setting the measuring instruments, obtaining observation angles and distances, calculating coordinates and the like. Since a large number of separated measuring instruments are required to be obtained through cross deployment detection, the accuracy and precision of cross measurement depend on the precision of the measuring instruments, the observation conditions, the installation and placement, the correction of measurement errors and the processing and calculation of observation data. In addition, the complex measurement mode is complex in operation, long in deployment time of the measuring instrument and large in human error.
Disclosure of Invention
In view of the above, the invention provides a digital angle measurement and autonomous positioning platform and method for intersection measurement, which can realize digital angle measurement, autonomous positioning ranging and automatic/manual triggering of a camera in an intersection measurement task and provide azimuth angle, position, distance and camera triggering signals for an intersection measurement or binocular positioning system.
The digital angle measurement and autonomous positioning platform for intersection measurement comprises a platform base (1), a supporting rod (2), a transverse encoder (301), a vertical encoder (302), a platform mechanical shell (4), an interface (5), a control circuit board (6), a start button (701), a return-to-zero button (702), a trigger button (703), a work indicator lamp (801), a trigger indicator lamp (802), a positioning board card (9), a data transmission module (10), a sound trigger module (11), a camera fixing frame (12), a data transmission antenna (15) and a positioning antenna (16);
the platform base (1) is provided with an open mechanical interface, can be arranged on a tripod and other supporting structures and is used for providing a stable operating environment for the main body part of the platform;
the platform main body part comprises a platform mechanical shell (4) and equipment inside the platform mechanical shell;
the lower end of the supporting rod (2) is connected to the platform base (1) and can rotate relative to the platform base (1), and the upper end of the supporting rod is vertically and fixedly connected to the bottom center point of the platform mechanical shell (4), so that the supporting rod (2) and the platform main body part on the supporting rod can rotate around a vertical shaft;
the platform mechanical shell (4) is fixedly connected with a shell of the transverse encoder (301) fixed on the platform base (1) and can rotate along with the shell of the transverse encoder (301) in the horizontal direction;
the transverse encoder (301) is arranged on the supporting rod (2) and is used for measuring the rotation angle of the main body part of the platform relative to the base (1) of the platform in the horizontal direction; the power line and the data line of the transverse encoder (301) are connected to the control circuit board (6);
the camera fixing frame (12) is arranged in the platform mechanical shell (4) in parallel relative to the bottom of the platform mechanical shell (4), the left end and the right end are respectively and movably connected to the inner wall of the platform mechanical shell (4) through bearings 14, and the camera fixing frame (12) can rotate around the connecting line of the two bearings (14); the vertical encoder (302) is arranged on one of the bearings (14) and is used for measuring the pitching angle of the camera fixing frame (12) and the camera fixed by the camera fixing frame;
the positioning antenna (16) is an external component of the positioning board card (9), performs satellite positioning data receiving tasks of the positioning board card (9), and is arranged at the top end of the platform mechanical shell (4); the positioning board card (9) is used for automatically acquiring geographic position information, is loaded on the control circuit board (6) and is driven by the control circuit board (6) to read data;
the interface (5) is arranged at the bottom of the platform mechanical shell (4) and comprises a platform power input interface and a data input/output interface, and is used for platform power input, control information input and measurement data output;
the starting key (701) is arranged on the mechanical shell (4), is connected with the control circuit board (6) and is used for controlling the starting and stopping state of the platform; the zeroing key (702) is arranged on the mechanical shell (4), is connected with the control circuit board (6) and is used for generating a zeroing control signal after the initial operation of the system is finished, and the platform takes the current encoder state as a zero position and outputs the angle relative value in real time; the trigger key (703) is arranged on the mechanical shell (4) and is used for generating a signal acquisition trigger control signal, and is connected with the control circuit board (6);
the trigger indicator lamp (802) is arranged on the mechanical shell (4) and used for indicating the trigger mode state of the platform and is connected with the control circuit board (6); the working indicator lamp (801) is arranged on the mechanical shell (4) and used for indicating the working state of the platform and is connected with the control circuit board (6);
the data transmission module (10) is loaded on the control circuit board (6) and used for executing wireless data transmission tasks of the platforms, and has the capability of multi-platform cooperative work; the data transmission antenna (15) is an external component of the data transmission module (10), performs data receiving and transmitting tasks of the platform, is arranged at the top end of the mechanical shell 4 of the platform, and is positioned at a position far away from the positioning antenna (16);
the sound triggering module (11) is arranged on the front panel of the platform mechanical shell (4), is connected with the control circuit board (6) and is used for processing the sound signal of the tested target and providing triggering signals for the acquisition of the key information of the platform;
the control circuit board (6) comprises a positioning and ranging unit and is used for carrying out differential positioning calculation according to satellite positioning data acquired by the self platform and other external platforms to obtain self position data; the system comprises an angle resolving unit, a camera module and a camera module, wherein the angle resolving unit is used for carrying out intersection measurement on a measured target according to self position data and picture or video data obtained from a multi-platform camera so as to obtain positioning data of the measured target; the system also comprises a power supply conversion control unit, a man-machine interaction unit, a trigger control unit, a communication control unit and an interface control unit, which are connected with corresponding peripheral sensors, keys, indicator lights, interfaces and other components to execute tasks of platform data processing, power supply management, communication control and work time sequence control.
Preferably, the platform base (1) is detachable and replaceable.
Preferably, the camera fixing frame (12) is arranged and designed with fixing holes according to actual camera deployment requirements, and can be replaced in a detachable mode.
Preferably, the positioning board card (9) meets the requirements of a multi-system multi-frequency point navigation satellite system module, supports GPS, BDS-2, BDS-3, GLONASS, galileo, SBAS and QZSS, can input a configuration instruction through an interface to configure the platform into a base station or a mobile station for differential positioning and ranging so as to meet the requirements of intersection measurement.
A control method for a digital angle measurement and autonomous positioning platform for intersection measurement comprises the following steps:
completing the platform construction, and starting an autonomous angle measurement and positioning experiment in intersection measurement;
starting a platform by using a starting key (701), completing system initialization setting of the platform, wherein the platform is in a waiting measurement state;
the platform information acquisition triggering control mode is selected by pressing the triggering key (703) for a long time, and the triggering indicator lamp (802) is used for triggering mode indication; wherein, if the manual trigger mode is adopted, the short-press trigger key (703) generates a signal acquisition trigger signal, and the automatic trigger mode is automatically controlled and triggered by the sound trigger module (11);
after the platform deployment position is confirmed, the system is enabled to enter a measurement state from a standby state by utilizing a return-to-zero key (702), and a working indicator lamp (801) indicates the working state; after entering a measurement state, the platform takes the encoder position at the moment when a zeroing button (702) is pressed as a platform angle measurement zero position, and outputs the relative horizontal rotation angle and pitch angle of the camera in real time through the encoder feedback value; meanwhile, the positioning board card (9) reads the position, sends the geographic position of the current platform to the control circuit board (6), receives differential positioning information through the data transmission module (10), and completes the calculation of the relative distance and the elevation difference between the positioning board card and the peripheral adjacent platforms, and the data transmission module (10) sends the position, the relative distance and the elevation difference outwards;
when the platform is in a measuring state, the control circuit board (6) enables all functions of the platform, receives control instructions input by the interface (5) and responds, and simultaneously sends angle, position and trigger control information to the interface (5) so as to meet the meeting measurement requirement.
Preferably, if the platform deployment position does not need to be replaced or the platform is restarted after being shut down, the platform can continue to operate;
if the platform deployment position needs to be replaced or the platform is restarted, the platform is stopped by pressing a start button (701) for a long time, and after the platform is redeployed in a new experimental environment, the platform is started by repeating the steps, so that a measurement function is started.
Preferably, before the experiment starts, the experiment camera is mounted on a camera fixing frame (12), a camera power line is connected to the control circuit board (6), and a camera data line is led out from the interface (5); the platform base (1) is fixedly connected with the adaptive fixing device;
after the installation, the power supply is connected through the interface (5), the data line is connected with the upper computer, and the platform is adjusted to a set experimental state, so that the platform is built. The invention has the following beneficial effects:
(1) The invention realizes the integrated automatic, real-time and high-precision measurement of angle, distance and elevation information in the intersection measurement application, greatly simplifies the installation and deployment difficulties of the measurement platform and avoids errors caused by manual measurement.
(2) The method provided by the invention provides a digital angle measurement and autonomous positioning platform for automatic intersection measurement, and improves the intelligent degree of intersection measurement.
(3) According to the invention, by carrying the camera and combining automatic triggering and manual triggering, the problem of losing the intersection measurement target is avoided, and the flexibility, the measurement precision and the reliability of the intersection measurement system are improved.
Drawings
FIG. 1 is a schematic diagram of a digital angle measurement and autonomous positioning platform according to an embodiment of the present invention.
Fig. 2 is a flow chart of a method provided by the present invention.
The device comprises a 1-base, a 2-supporting rod, a 301-transverse encoder, a 302-vertical encoder, a 4-platform mechanical shell, a 5-interface, a 6-control circuit board, a 701-start button, a 702-return-to-zero button, a 703-trigger button, a 801-working indicator lamp, a 802-trigger indicator lamp, a 9-positioning board card, a 10-data transmission module, a 11-sound starting module, a 12-camera fixing frame, a 13-camera fixing screw hole, a 14-bearing, a 15-data transmission antenna and a 16-positioning antenna.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
Fig. 1 is a schematic structure of a digital angle measurement and autonomous positioning platform according to this embodiment, and fig. 2 is a flowchart of a method provided by this embodiment. The digital angle measurement and autonomous positioning platform comprises a base 1, a support rod 2, a transverse encoder 301, a vertical encoder 302, a platform mechanical shell 4, an interface 5, a control circuit board 6, a start button 701, a zero button 702, a trigger button 703, a work indicator 801, a trigger indicator 802, a positioning board card 9, a data transmission module 10, a sound trigger module 11, a camera fixing frame 12, a camera fixing screw hole 13, a bearing 14, a data transmission antenna 15, a positioning antenna 16 and necessary wires.
The platform base 1 is provided with an open mechanical interface, can be installed on a supporting structure such as a tripod and is used for providing a stable operating environment for the main body part of the platform;
the platform main body part comprises a platform mechanical shell 4 and equipment inside the platform mechanical shell;
the lower end of the supporting rod 2 is connected to the platform base 1 and can rotate relative to the platform base 1, and the upper end of the supporting rod 2 is vertically and fixedly connected to the bottom center point of the platform mechanical shell 4, so that the supporting rod 2 and the platform main body part thereon can rotate around a vertical shaft.
The platform mechanical shell 4 is fixedly connected with the outer shell of the transverse encoder 301 fixed on the platform base 1 and can rotate along with the outer shell of the transverse encoder 301 in the horizontal direction;
the transverse encoder 301 is arranged on the support bar 2 and is used for measuring the rotation angle of the main body part of the platform relative to the platform base 1 in the horizontal direction; the power line and the data line of the transverse encoder 301 are connected to the control circuit board 6;
the camera fixing frame 12 is arranged in the platform mechanical shell 4 in parallel relative to the bottom of the platform mechanical shell 4, the left end and the right end are respectively and movably connected to the inner wall of the platform mechanical shell 4 through bearings 14, and the camera fixing frame 12 can rotate around the connecting line of the two bearings 14; a vertical encoder 302 is provided on one of the bearings 14 and is used to measure the pitch angle of the camera mount 12 and its fixed camera;
the positioning antenna 16 is an external component of the positioning board card 9, is connected with the positioning board card 9 through a signal wire with better electromagnetic shielding, performs satellite positioning data receiving tasks of the positioning board card 9, and is arranged at the top end of the platform mechanical shell 4; the positioning board card 9 is used for automatically acquiring geographic position information, is loaded on the control circuit board 6, and is driven by the control circuit board 6 to read data;
the interface 5 is arranged at the bottom of the platform mechanical shell 4 and comprises a platform power input interface and a data input/output interface, and is used for platform power input, control information input and measurement data output;
the control circuit board 6 includes a power conversion control unit, a positioning ranging unit (differential positioning calculation is performed according to satellite positioning data acquired by a self platform and other external platforms to obtain self position data), an angle resolving unit (intersection measurement is performed on a detected target according to self position data and picture or video data acquired from a multi-platform camera to obtain positioning data of the detected target), a man-machine interaction unit, a trigger control unit, a communication control unit and an interface control unit, and is connected with corresponding peripheral sensors, buttons, indicator lamps, interfaces and other components to execute tasks such as platform data processing, power management, communication control, work time sequence control and the like;
the starting key 701 is installed on the machine shell 4, connected to the control circuit board and used for controlling the starting and stopping states of the platform; the zeroing key 702 is arranged on the mechanical shell 4, is connected with the control circuit board and is used for generating a zeroing control signal after the initial operation of the system is finished, and the platform takes the current encoder state as a zero position and outputs the angle relative value in real time; the trigger button 703 is mounted on the machine housing 4, and is used for generating a signal acquisition trigger control signal, and accessing the control circuit board;
the trigger indicator lamp 802 is installed on the machine housing 4, and is used for indicating the state of a platform trigger mode (manual trigger or automatic trigger), and has two colors of red and green, and is connected with the control circuit board; the working indicator lamp 801 is mounted on the machine housing 4 and is used for indicating the working state (standby state or measurement state) of the platform, and has two colors of red and green, and is connected with the control circuit board;
the data transmission module 10 is loaded on the control circuit board 6, performs wireless data transmission tasks of the platform, and has the capability of multi-platform cooperative work; the data transmission antenna 15 is an external component of the data transmission module 10, performs data receiving and transmitting tasks of the platform, is arranged at the top end of the mechanical shell 4 of the platform and is at a position far away from the positioning antenna 16;
the sound triggering module 11 is arranged on the front panel (near the surface of the object to be detected) of the platform mechanical shell 4, is connected with the control circuit board 6, comprises a microphone, a signal amplifying circuit, a filter circuit and other units, is used for processing the sound signal of the object to be detected, provides triggering signals for the acquisition of the key information of the platform, and has adjustable triggering threshold;
wherein, the platform base 1 is detachable and replaceable.
The transverse encoder 301 and the vertical encoder 302 should be equipped with bearings according to the actual stress condition.
The camera fixing frame 12 is configured with fixing holes according to actual camera deployment requirements, and can be detached and replaced according to actual requirements.
The positioning board card 9 can meet the requirements of a multi-system multi-frequency point navigation satellite system module, support one or more combinations of GPS, BDS-2, BDS-3 and GLONASS, galileo and SBAS and QZSS, and can input a configuration instruction through an interface to configure the platform into a base station or a mobile station for differential positioning and ranging so as to meet the requirements of an intersection measurement task.
The invention also provides a digital angle measurement and autonomous positioning method for intersection measurement, which adopts the digital angle measurement and autonomous positioning platform to carry out intersection measurement and comprises the following steps:
the platform of the invention is built:
before the experiment starts, an experiment camera is mounted on a camera fixing frame 12, a camera power line is connected to the control circuit board 6, and a camera data line is led out from the interface 5; the base 1 is fixedly connected with fixing devices such as an adaptive tripod;
after the installation, a power supply (such as a lithium battery and an adapter output end) is connected through the interface 1, a data line is connected with an upper computer (such as a computing platform of an industrial personal computer) through the interface 1, and the platform is adjusted to a set experimental state, so that the platform construction is completed.
And (3) completing the platform construction, and starting an autonomous angle measurement and positioning experiment in intersection measurement, wherein the experimental steps are as follows:
starting the platform by using a starting key 701, completing a system initialization task by the platform, and receiving an upper computer control instruction through an interface 1 to complete system configuration, wherein the platform is in a standby state;
pressing the return-to-zero button 702 once brings the system from the standby state to the measurement state, and the operation indicator lamp 801 performs an operation state indication (red is the standby state, green is the measurement state). After the measuring state is entered, the platform reads the positions of the transverse encoder 301 and the longitudinal encoder 302 at the time of pressing the zeroing key as the zero position of the platform angle measurement, and outputs the relative horizontal rotation angle and pitch angle of the camera in real time through the feedback value of the encoder; meanwhile, the platform drives the positioning board card 9 to read the position, and the control circuit board 6 controls the data transmission module 10 to send out the geographic position information of the current platform;
if the platform is configured as a base station by the upper computer, the control circuit board 6 can receive the position information of the mobile station sent by the mobile station through the data transmission module 10, complete the calculation of the relative distance and the elevation difference between the control circuit board and the mobile station, and send the position, the relative distance and the elevation difference to the mobile station through the data transmission module 10;
if the platform is configured as a mobile station by the upper computer, the control circuit board 6 can receive the differential positioning information sent by the base station through the data transmission module 10: relative distance, elevation difference;
by pressing the trigger button 703 for a long time to select the platform information acquisition trigger control mode, the trigger indicator lamp 802 performs trigger mode indication (red is a manual trigger mode, green is an automatic trigger mode). Wherein, if the manual trigger mode is adopted, the short-press trigger button 703 generates a signal acquisition trigger signal once, and the automatic trigger mode is automatically controlled and triggered by the sound trigger module 11.
When the platform is in a measuring state, the control circuit board 6 starts all functions of the platform, receives control instructions input by the interface 5 and responds, and simultaneously sends angle, position, trigger control information and the like to the interface 5 so as to meet the requirement of intersection measurement.
If the platform deployment position does not need to be replaced or the platform is restarted after being shut down, the platform can continue to operate;
if the platform deployment position needs to be replaced or the platform is shut down and restarted, the platform is shut down by pressing the start key 701 for a long time, and after the platform is redeployed in a new experimental environment, the platform is started by repeating the steps, and the measurement function is started.
It should be understood that the foregoing is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The digital angle measurement and autonomous positioning platform for intersection measurement is characterized by comprising a platform base (1), a supporting rod (2), a transverse encoder (301), a vertical encoder (302), a platform mechanical shell (4), an interface (5), a control circuit board (6), a start button (701), a return-to-zero button (702), a trigger button (703), a work indicator lamp (801), a trigger indicator lamp (802), a positioning board (9), a data transmission module (10), a sound trigger module (11), a camera fixing frame (12), a data transmission antenna (15) and a positioning antenna (16);
the platform base (1) is provided with an open mechanical interface, can be arranged on a tripod and other supporting structures and is used for providing a stable operating environment for the main body part of the platform;
the platform main body part comprises a platform mechanical shell (4) and equipment inside the platform mechanical shell;
the lower end of the supporting rod (2) is connected to the platform base (1) and can rotate relative to the platform base (1), and the upper end of the supporting rod is vertically and fixedly connected to the bottom center point of the platform mechanical shell (4), so that the supporting rod (2) and the platform main body part on the supporting rod can rotate around a vertical shaft;
the platform mechanical shell (4) is fixedly connected with a shell of the transverse encoder (301) fixed on the platform base (1) and can rotate along with the shell of the transverse encoder (301) in the horizontal direction;
the transverse encoder (301) is arranged on the supporting rod (2) and is used for measuring the rotation angle of the main body part of the platform relative to the base (1) of the platform in the horizontal direction; the power line and the data line of the transverse encoder (301) are connected to the control circuit board (6);
the camera fixing frame (12) is arranged in the platform mechanical shell (4) in parallel relative to the bottom of the platform mechanical shell (4), the left end and the right end are respectively and movably connected to the inner wall of the platform mechanical shell (4) through bearings 14, and the camera fixing frame (12) can rotate around the connecting line of the two bearings (14); the vertical encoder (302) is arranged on one of the bearings (14) and is used for measuring the pitching angle of the camera fixing frame (12) and the camera fixed by the camera fixing frame;
the positioning antenna (16) is an external component of the positioning board card (9), performs satellite positioning data receiving tasks of the positioning board card (9), and is arranged at the top end of the platform mechanical shell (4); the positioning board card (9) is used for automatically acquiring geographic position information, is loaded on the control circuit board (6) and is driven by the control circuit board (6) to read data;
the interface (5) is arranged at the bottom of the platform mechanical shell (4) and comprises a platform power input interface and a data input/output interface, and is used for platform power input, control information input and measurement data output;
the starting key (701) is arranged on the mechanical shell (4), is connected with the control circuit board (6) and is used for controlling the starting and stopping state of the platform; the zeroing key (702) is arranged on the mechanical shell (4), is connected with the control circuit board (6) and is used for generating a zeroing control signal after the initial operation of the system is finished, and the platform takes the current encoder state as a zero position and outputs the angle relative value in real time; the trigger key (703) is arranged on the mechanical shell (4) and is used for generating a signal acquisition trigger control signal, and is connected with the control circuit board (6);
the trigger indicator lamp (802) is arranged on the mechanical shell (4) and used for indicating the trigger mode state of the platform and is connected with the control circuit board (6); the working indicator lamp (801) is arranged on the mechanical shell (4) and used for indicating the working state of the platform and is connected with the control circuit board (6);
the data transmission module (10) is loaded on the control circuit board (6) and used for executing wireless data transmission tasks of the platforms, and has the capability of multi-platform cooperative work; the data transmission antenna (15) is an external component of the data transmission module (10), performs data receiving and transmitting tasks of the platform, is arranged at the top end of the mechanical shell 4 of the platform, and is positioned at a position far away from the positioning antenna (16);
the sound triggering module (11) is arranged on the front panel of the platform mechanical shell (4), is connected with the control circuit board (6) and is used for processing the sound signal of the tested target and providing triggering signals for the acquisition of the key information of the platform;
the control circuit board (6) comprises a positioning and ranging unit and is used for carrying out differential positioning calculation according to satellite positioning data acquired by the self platform and other external platforms to obtain self position data; the system comprises an angle resolving unit, a camera module and a camera module, wherein the angle resolving unit is used for carrying out intersection measurement on a measured target according to self position data and picture or video data obtained from a multi-platform camera so as to obtain positioning data of the measured target; the system also comprises a power supply conversion control unit, a man-machine interaction unit, a trigger control unit, a communication control unit and an interface control unit, which are connected with corresponding peripheral sensors, keys, indicator lights, interfaces and other components to execute tasks of platform data processing, power supply management, communication control and work time sequence control.
2. A digital goniometer and autonomous positioning platform for intersection measurements according to claim 1, characterized in that said platform base (1) is removable and replaceable.
3. A digital goniometer and autonomous positioning platform for intersection measurements according to claim 1, characterized in that said camera mount (12) is fixed hole arrangement designed according to the actual camera deployment requirements and is removable and replaceable.
4. A digital goniometer and autonomous positioning platform for use in intersection measurements according to claim 1, 2 or 3, characterized in that the positioning board card (9) meets the requirements of a multi-system multi-frequency point navigation satellite system module, supports GPS, BDS-2, BDS-3, GLONASS, galileo and SBAS and QZSS, and can be configured as a base station or a mobile station for differential positioning, ranging by inputting configuration instructions through an interface to meet the requirements of intersection measurements.
5. The control method for the digital angle measurement and autonomous positioning platform for intersection measurement is characterized by comprising the following steps:
completing the platform construction, and starting an autonomous angle measurement and positioning experiment in intersection measurement;
starting a platform by using a starting key (701), completing system initialization setting of the platform, wherein the platform is in a waiting measurement state;
the platform information acquisition triggering control mode is selected by pressing the triggering key (703) for a long time, and the triggering indicator lamp (802) is used for triggering mode indication; wherein, if the manual trigger mode is adopted, the short-press trigger key (703) generates a signal acquisition trigger signal, and the automatic trigger mode is automatically controlled and triggered by the sound trigger module (11);
after the platform deployment position is confirmed, the system is enabled to enter a measurement state from a standby state by utilizing a return-to-zero key (702), and a working indicator lamp (801) indicates the working state; after entering a measurement state, the platform takes the encoder position at the moment when a zeroing button (702) is pressed as a platform angle measurement zero position, and outputs the relative horizontal rotation angle and pitch angle of the camera in real time through the encoder feedback value; meanwhile, the positioning board card (9) reads the position, sends the geographic position of the current platform to the control circuit board (6), receives differential positioning information through the data transmission module (10), and completes the calculation of the relative distance and the elevation difference between the positioning board card and the peripheral adjacent platforms, and the data transmission module (10) sends the position, the relative distance and the elevation difference outwards;
when the platform is in a measuring state, the control circuit board (6) enables all functions of the platform, receives control instructions input by the interface (5) and responds, and simultaneously sends angle, position and trigger control information to the interface (5) so as to meet the meeting measurement requirement.
6. The method of controlling a digital goniometer and autonomous positioning platform for intersection measurement according to claim 5 wherein the platform can continue to operate if no platform deployment location change or shutdown restart is required;
if the platform deployment position needs to be replaced or the platform is restarted, the platform is stopped by pressing a start button (701) for a long time, and after the platform is redeployed in a new experimental environment, the platform is started by repeating the steps, so that a measurement function is started.
7. The method for controlling a digital goniometer and autonomous positioning platform for intersection measurement according to claim 5, characterized in that the specific steps of building said platform are:
before the experiment starts, an experiment camera is mounted on a camera fixing frame (12), a camera power line is connected to the control circuit board (6), and a camera data line is led out from the interface (5); the platform base (1) is fixedly connected with the adaptive fixing device;
after the installation, the power supply is connected through the interface (5), the data line is connected with the upper computer, and the platform is adjusted to a set experimental state, so that the platform is built.
CN202311142676.XA 2023-09-06 2023-09-06 Digital angle measurement and autonomous positioning platform and method for intersection measurement Pending CN117367383A (en)

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