Total-station spatial measuring and positioning method based on optoelectronic scanning and ultrasound distance measurement

Abstract

The invention discloses a total-station spatial measuring and positioning method based on optoelectronic scanning and ultrasound distance measurement and belongs to the technical field of big-size three-dimensional coordinate measurement in the industrial scene. The method comprises the following steps that a lunching base station and a receiver are built; the position of an ultrasound lunching module on the lunching base station is calibrated; the positions of a first ultrasound receiving module and a second ultrasound receiving module on the receiver are calibrated; the horizontal angle alpha and the pitch angle beta of a photodiode are measured with a photoelectric scanning method; through an ultrasound distance measurement method, the distance between the first ultrasound receiving module and the ultrasound lunching module and the distance between the second ultrasound receiving module and the ultrasound lunching module are measured; and the space coordinate of the photodiode is calculated. According to the total-station spatial measuring and positioning method based on optoelectronic scanning and ultrasound distance measurement, the total-station spatial measuring and positioning is realized only by a single lunching base station under certain specific working environment, the measurement principle is simple, and various requirements in the practical application are satisfied.

Description

technical field [0001] The invention belongs to the technical field of large-scale three-dimensional coordinate measurement on industrial sites, and in particular relates to a total-station space measurement and positioning method based on photoelectric scanning and ultrasonic ranging. Background technique [0002] At present, large-scale three-dimensional coordinate measurement systems on industrial sites (for example: theodolite and iGPS, etc.) generally adopt the multi-station intersection measurement method. The multi-station intersection measurement uses multiple base stations distributed in the measurement space to simultaneously measure the measured point relative to itself. The three-dimensional coordinates of the measured point can be calculated by combining the spatial angle and the positional relationship between the base stations. [0003] In the process of realizing the present invention, the inventor finds that at least the following disadvantages and deficienc...

AI Technical Summary

Problems solved by technology

[0004] The traditional multi-station intersection measurement method has high measurement accuracy, but the working principle is relatively complicated, and the required field conditions are relatively harsh

In some specific working environments, for example: when the robot is navigating, it cannot operate normally because the site environment cannot place multiple transmitting base stations or does not allow multiple transmitting base stations to work at the same time

Images