Prism remote control system and method

Abstract

The application provides a prism remote control system and method, a user terminal sends a control command to a server, a control terminal obtains the control command from the server and converts the control command into a control signal to send to a control device, the control device controls the working state of a stepping motor and a lifting motor respectively through the control signal to control the horizontal rotation and vertical rotation of the prism, so as to remotely adjust the azimuth angle and vertical angle of the prism. By using the application, the labor cost of control network re-measurement can be effectively reduced without affecting the application of other observation scenes of the prism and the accuracy of control network re-measurement results.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering surveying, in particular to a prism remote control system and method. BACKGROUND

[0002] When a control network or a monitoring network corner measurement is performed by a surveying professional, a prism needs to be erected on all observation piers that have a line of sight to the station, and the direction and angle of the prism need to be oriented towards the station. When the observation work at the current station is completed, the station is moved to the next work point, and the directions and angles of the prisms on all the corresponding observation piers that have a line of sight need to be adjusted accordingly. A large number of personnel need to be deployed to go back and forth between the prisms to adjust the directions and angles of the prisms. When the number of control network points is large or the transportation between the control network points is not convenient, a large amount of manpower and time will be consumed, resulting in low efficiency of the surveying work. SUMMARY

[0003] In view of the above problems in the prior art, the present application aims to provide a prism remote control system and method.

[0004] In a first aspect, the present application provides a prism remote control system, comprising: a user terminal, a server, a control terminal and a control device connected in sequence, the control device being fixedly installed on a corresponding prism; the control device comprises a base, the base being fixedly installed on a prism base; a rotary bearing is fixedly arranged above the base, the inner ring and the outer ring of the rotary bearing being connected by ball rolling, the outer ring of the rotary bearing being fixedly arranged above the base, a cross bar and a telescopic rod being fixedly arranged above the inner ring of the rotary bearing, the cross bar being fixedly installed on the prism base, the telescopic rod being fixedly connected to the tail of the prism, the inner ring of the rotary bearing being driven to rotate by a stepping motor, the telescopic rod being driven to extend and retract by a lifting motor; the control terminal is connected to the stepping motor and the lifting motor respectively; the user terminal is used to send a control command to the server; the control terminal is used to obtain the control command from the server and convert the control command into a control signal sent to the control device; the control device is used to control the working states of the stepping motor and the lifting motor respectively by the control signal to control the horizontal rotation and the vertical rotation of the prism.

[0005] In a second aspect, the embodiments of the present application also provide a prism remote control method, applied to the prism remote control system of the first aspect, comprising: installing a prism at each control network point of a control network; storing, by a server, station information of a same control network point and a first identifier of a prism corresponding to the same control network point into corresponding station configuration information; and displaying, by a user terminal, the station configuration information of each control network point obtained from the server; wherein the station information comprises a second identifier and a general position of the corresponding control network point, and whether the corresponding control network point is an initial station; the control network has only one initial station; removing the prism of the initial station, installing a total station at the initial station to perform observation work of the initial station, and replacing the total station of the initial station with the prism of the initial station after the observation work of the initial station is completed; sending, by the user terminal, an initial control command to the server; obtaining, by a control terminal, the initial control command from the server and converting the initial control command into an initial control signal to be sent to a control device fixedly installed on the prism, so that the control device controls a stepping motor and a lifting motor of the control device to control horizontal rotation and vertical rotation of the prism, thereby making the prism face a next station; moving the total station to the current station, removing the prism of the current station, installing the total station at the current station to perform observation work of the current station; wherein the current station is a control network point currently in need of observation work; obtaining, by the user terminal, first station configuration information of the current station and the next station and second station configuration information of each target control network point in an observation range of the current station, and generating a target control command corresponding to each target control network point based on the obtained first station configuration information and second station configuration information; wherein the prism installed at each target control network point is a target prism; sending, by the user terminal, each target control command to the server; obtaining, by the control terminal, each target control command from the server and converting each target control command into a corresponding target control signal to be sent to a target control device fixedly installed on the corresponding target prism, so that each target control device controls a stepping motor and a lifting motor of the target control device to control horizontal rotation and vertical rotation of the corresponding target prism, thereby making each target prism face the next station; and replacing the total station of the current station with the prism of the current station after the observation work of the current station is completed.

[0006] The prism remote control system and method provided by the embodiment of the present application, a user terminal sends a control command to a server, a control terminal obtains the control command from the server and converts the control command into a control signal to send to a control device, and the control device controls the working state of the step motor and the lifting motor respectively to control the horizontal rotation and vertical rotation of the prism, so as to remotely adjust the azimuth angle and vertical angle of the prism. By using the above technology, since a specific control device is used, the original prism structure does not need to be changed, the application of other observation scenes of the prism and the accuracy of the control network re-measurement results are not affected, and the relevant specification requirements are met. After the initial installation of the prism remote control system is completed, personnel do not need to be arranged at the prism, the number of personnel required for the control network re-measurement is reduced, and the effect is more obvious when the number of control network points is large, and the labor cost can be effectively reduced.

[0007] Other features and advantages of the present application will be set forth in the descriptions that follow, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and attained by the structure particularly pointed out in the description, claims and drawings.

[0008] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0010] Figure 1 It is a structural schematic diagram of a prism remote control system in the embodiment of the present application;

[0011] Figure 2 It is a structural diagram of a prism in the embodiment of the present application;

[0012] Figure 3 It is a whole structural diagram of a control device in the embodiment of the present application;

[0013] Figure 4 It is a structural diagram of a base in the embodiment of the present application;

[0014] Figure 5 It is a structural diagram of a rotating bearing in the embodiment of the present application;

[0015] Figure 6 It is a structural diagram of a connecting piece and a cross bar in the embodiment of the present application;

[0016] Figure 7 Structure diagram of telescopic rod in the embodiment of the present application;

[0017] Figure 8 Remote control schematic diagram in the embodiment of the present application;

[0018] Figure 9 Control APP main interface design diagram in the embodiment of the present application;

[0019] Figure 10 Station management interface design diagram in the embodiment of the present application;

[0020] Figure 11 One-key station switching interface design diagram in the embodiment of the present application;

[0021] Figure 12 Manual fine-tuning interface design diagram in the embodiment of the present application;

[0022] Figure 13 One-key meteorological data reading interface design diagram in the embodiment of the present application;

[0023] Figure 14 Flowchart of a prism remote control method in the embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the present application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0025] In order to facilitate the understanding of the present embodiment, first, a prism remote control system disclosed in the embodiment of the present application will be described in detail, referring to Figure 1 and Figure 2As shown, the prism remote control system can include: a user terminal 1, a server 2, a control terminal 3 and a control device 4 connected in turn, the control device 4 is fixedly installed on the corresponding prism 5; the control device 4 includes a base 41, the base 41 is fixedly installed on the prism base 51; a rotating bearing 42 is fixedly arranged above the base 41, the inner ring 421 and the outer ring 422 of the rotating bearing 42 are connected by rolling ball rolling, the outer ring 422 of the rotating bearing 42 is fixedly arranged above the base 41, a cross bar 43 and a telescopic rod 44 are fixedly arranged above the inner ring 421 of the rotating bearing 42, the cross bar 43 is fixedly installed on the prism base 51, the telescopic end of the telescopic rod 44 is fixedly connected with the prism tail 51, the inner ring of the rotating bearing 42 is driven to rotate by a stepping motor 45, the telescopic rod 44 is driven to extend and retract by a lifting motor 46; the control terminal 3 is connected with the stepping motor 45 and the lifting motor 46 respectively; the user terminal 1 can be used to send control commands to the server 2; the control terminal 3 can be used to obtain control commands from the server 2 and convert the control commands into control signals and send the control signals to the control device 4; the control device 4 can be used to control the working states of the stepping motor 45 and the lifting motor 46 respectively by the control signals, so as to control the horizontal rotation and vertical rotation of the prism, thereby remotely adjusting the azimuth angle and vertical angle of the prism.

[0026] By using the above prism remote control system, since a specific control device is used, the original prism structure does not need to be changed, the other observation scene applications of the prism and the precision of the control network re-measurement results are not affected, and the relevant specification requirements are met; after the initial installation of the prism remote control system is completed, personnel do not need to be arranged to guard the prism, the number of personnel required for the control network re-measurement is reduced, and the effect is more obvious when the number of control network points is large, and the labor cost can be effectively reduced.

[0027] As a possible implementation, refer to Figs. 1 to Figure 4 As shown, the base 41 can include a bottom disc 411, the bottom disc 411 is fixedly installed on the forced centering disc 511 of the prism 5; a first through hole 412 can be formed in the bottom disc 411, a fixing frame 414 is fixedly arranged in the first through hole, and the fixing frame 414 is fixedly installed on the prism base 51. For example Figure 2 、 Figure 3 and Figure 4 As shown, the fixing frame 414 can adopt a triangular shape or other shapes, the bottom disc 411 can be stably placed on the forced centering disc 511 in Fig. 4, and the fixing frame 414 can be clamped to the bottom of the prism base 51 by tightening the screw 415. Figure 2

[0028] As a possible implementation, refer to Figs. 1 to Figure 3 and Figure 4 As shown, the bottom disc 411 can be fixedly connected with the outer ring 422 of the rotating bearing 42 through the connecting rod 413.​

[0029] As a possible implementation, see Figures 3 to 7 As shown in the figure, the inner ring 421 of the rotating bearing 42 can be vertically provided with a connecting piece 49, the crossbar 43 is fixedly connected with the connecting piece 49, and the telescopic rod 44 is vertically fixedly installed on the connecting piece 49.

[0030] As a possible implementation, see Figures 3 to 7 As shown in the figure, the connecting piece 49 can have two, and the two ends of the crossbar 43 are fixedly connected with the two connecting pieces 49 one by one; correspondingly, the telescopic rod 44 can have two, and the two telescopic rods 44 are fixedly connected with the upper ends of the two connecting pieces 49 one by one. In order to improve the structural stability, the two connecting pieces 49 can be symmetrically distributed on the circumference of the inner ring 421 of the rotating bearing 42.

[0031] In actual application process, in order to facilitate installation and improve the structural stability, see Figures 3 to 7 As shown in the figure, each connecting piece 49 can be provided with a second through hole 491 in the vertical direction, and the two ends of the crossbar 43 can be respectively screwed with the corresponding nut 492, and the two ends of the crossbar 43 can be fastened in the corresponding second through hole 491 through the corresponding nut 492; the connecting piece 49 can adopt a cylindrical structure, and the lower part of each telescopic rod 44 can be fixedly sleeved in the corresponding connecting piece 49, and the lower part of each telescopic rod 44 can be provided with a third through hole 441 corresponding to the second through hole 491 in the vertical direction, and the two ends of the crossbar 43 can be located in the corresponding third through hole 441.

[0032] As shown in the figure, Figures 2 to 7 The lower surface of the inner ring 421 of the rotating bearing 42 can be circumferentially provided with a plurality of teeth 47, and the stepping motor 45 can be fixedly installed on the bottom plate 411, and the output shaft of the stepping motor 45 can be fixedly provided with a transmission gear 48, and the transmission gear 48 is engaged with the plurality of teeth 47. With this design, the transmission gear 48 can be driven to rotate by the stepping motor 45, so as to drive the inner ring 421 of the rotating bearing 42 to rotate through the meshing relationship between the transmission gear 48 and the plurality of teeth 47, and then drive the prism base 51 to rotate through the crossbar 43, so as to control the prism 5 to rotate horizontally, thereby adjusting the azimuth angle of the prism 5.

[0033] As a possible implementation, see Figure 1As shown, the prism remote control system can further include a weather sensor 6, which can be connected with the control terminal 3; based on this, the user terminal 1 can be further used to send a weather data acquisition command to the server 2 to require to acquire the weather sensor observation value at the prism 5 through the weather data acquisition command; the server 2 can be further used to generate a weather data reading command based on the weather data acquisition command; the control terminal 3 can be further used to acquire the weather data reading command from the server 2 and read the weather data collected by the weather sensor 6, and then send the weather data to the server 2; the user terminal 1 can be further used to acquire the weather data from the server 2 and display the weather data.

[0034] The application further provides a prism remote control method, which can be applied to the prism remote control system. Figure 2 and Figure 14 As shown, the prism remote control method can include the following steps:

[0035] Step S1401, installing the prism at each control network point of the control network, the server 2 stores the station information of the same control network point and the first identification of the prism corresponding to the same control network point into corresponding station configuration information, and the user terminal acquires the station configuration information of each control network point from the server and displays the station configuration information.

[0036] The station information can include the second identification and the approximate position of the corresponding control network point, whether the corresponding control network point is an initial station, etc., and the control network has only one initial station. In actual application, the first identification and the second identification can be names or numbers that play an identification role, which are not limited.

[0037] Step S1402, removing the prism of the initial station, installing the total station at the initial station to perform the observation work of the initial station, and replacing the total station of the initial station with the current prism after completing the observation work of the initial station.

[0038] Step S1403, the user terminal 1 sends an initial control command to the server 2, the control terminal 3 acquires the initial control command from the server 2 and converts the initial control command into an initial control signal to send to the control device 4 fixedly installed on the current prism, the control device 4 controls the working states of the stepping motor 45 and the lifting motor 46 respectively through the initial control signal to control the horizontal rotation and vertical rotation of the current prism, so that the current prism is directed to the next station.

[0039] Step S1404, moving the total station to the current station, removing the prism of the current station, and installing the total station at the current station to perform the observation work of the current station.

[0040] The current station is a control network point that needs to be observed at present.

[0041] In step S1405, the user terminal 1 acquires the first station configuration information of the current station and the next station and the second station configuration information of each target control network point in the observation range of the current station, and generates a target control command corresponding to each target control network point based on the acquired first station configuration information and second station configuration information.

[0042] The prism installed on each target control network point is a target prism.

[0043] In step S1406, the user terminal 1 sends each target control command to the server 2, and the control terminal 3 acquires each target control command from the server 2 and converts each target control command into a corresponding target control signal and sends the target control signal to the target control device 4 fixedly installed on the corresponding target prism. Each target control device 4 controls the working state of the stepping motor 45 and the lifting motor 46 thereof through the target control signal received thereby to control the horizontal rotation and vertical rotation of the corresponding target prism, so that each target prism is directed toward the next station.

[0044] In step S1407, when the observation work of the current station is completed, the total station of the current station is dismounted and replaced with the prism of the current station.

[0045] As a possible implementation, each target control command can include an azimuth control command and a vertical angle control command of the corresponding target control network point. Based on this, the generation of the target control command corresponding to each target control network point by the user terminal based on the acquired first station configuration information and second station configuration information in the above step S1406 can include: for each target control network point, calculating the pre-station azimuth angle and the pre-station vertical angle of the target control network point based on the approximate positions of the current station and the target control network point, calculating the post-station azimuth angle and the post-station vertical angle of the target control network point based on the approximate positions of the next station and the target control network point, generating the azimuth control command of the target control network point based on the pre-station azimuth angle and the post-station azimuth angle of the target control network point and the azimuth control step length of the stepping motor corresponding to the target control network point, and generating the vertical angle control command of the target control network point based on the pre-station vertical angle and the post-station vertical angle of the target control network point and the vertical angle control step length of the lifting motor corresponding to the target control network point.

[0046] The prism remote control method provided by the embodiment of the present application has the same implementation principle and technical effects as the prism remote control system described above. For brevity, the part of the prism remote control method embodiment not mentioned can refer to the corresponding content in the prism remote control system embodiment described above.

[0047] For the convenience of understanding, the implementation mode of the prism remote control system and the prism remote control method is described exemplarily as follows by taking a specific application as an example.

[0048] Referring to Figures 1 to 7 , the assembly process of the control device 4 is as follows:

[0049] Place the base 41 shown in Figure 4 firmly and horizontally on the forced centering disc 511 of the prism 5 in Figure 2 , symmetrically install the connecting rods 413 on both sides of the bottom disc 411 of the base 41, and tighten the screws 415 to tightly fix the fixing frame 414 at the bottom of the prism base 51.

[0050] Place the rotating bearing 42 shown in Figure 5 on the base 41 shown in Figure 4 , adjust the step motor 45 so that the transmission gear 48 is in engagement (i.e. meshing) with the plurality of teeth 47 arranged on the lower surface of the inner ring 421 of the rotating bearing 42.

[0051] Connect the telescopic rod 44 shown in Figure 7 with the connecting piece 49 in Figure 6 , and extend the horizontal rods 43 in Figure 6 into the corresponding second through holes 491 and Figure 7 the corresponding third through holes 441 of the telescopic rod 44 shown in Figure 2 . There is a gap 55 between the water level bubble 53 and the prism support 54 of the prism 5 shown in Figure 6 , install the connecting piece 49 in Figure 5 on the rotating bearing 42 shown in Figure 2 , adjust the height of the horizontal rod 43 so that the horizontal rod 43 is located at the gap 55 in , and tighten the nuts 492 to lock and fix the two ends of the horizontal rod 43 on the corresponding connecting pieces 49, so that when the rotating bearing 42 rotates, it can drive the prism base 51 to rotate as a whole through the horizontal rod 43, so as to adjust the azimuth angle of the prism 5.

[0052] Figure 7 Use a cable tie to fix the upper end (i.e. telescopic end) of the telescopic rod 44 shown in Figure 2 at the prism tail 52 in , so that the movement of the prism tail 52 can be driven by controlling the up and down telescopic movement of the telescopic rod 44 to adjust the vertical angle of the prism 5.

[0053] After assembling the control device 4 required for the prism used in the measurement, connect the user terminal 1, server 2, control terminal 3 and each control device 4, configure the 4G communication modules of the user terminal 1, server 2 and control terminal 3, and connect the power supply required for using the user terminal 1, server 2, control terminal 3 and each control device 4.

[0054] Using a mobile device as user terminal 1, such as Figure 8 As shown, a control command is sent to server 2 via a mobile APP. Control terminal 3 requests control command from server 2. After parsing the control command, control terminal 3 converts it into control signal and sends the control signal to control device 4 (including azimuth control signal sent to stepper motor 45 and vertical angle control signal sent to lifting motor 46). The azimuth control signal controls stepper motor 45 to drive transmission gear 48 to rotate, which drives inner ring 421 of rotary bearing 42 to rotate. This drives prism base 51 to rotate via crossbar 43, thereby controlling prism 5 to rotate horizontally and thus remotely adjusting the azimuth angle of prism 5. The vertical angle control signal controls lifting motor 46 to drive telescopic rod 44 to extend and retract vertically, which drives prism tail 52 to move and controls prism 5 to rotate vertically, thereby remotely adjusting the vertical angle of prism 5.

[0055] The main interface design of the mobile APP "Benchmark Network Remeasurement Prism Orientation and Angle Control System" (hereinafter referred to as "Control APP"), which serves as user terminal 1, is as follows: Figure 9 As shown, the mobile app includes four main functions: site management, one-click site switching, manual fine-tuning, and one-click meteorological data reading. Figure 9 The main interface shown includes a site management button, a one-click site switching button, a manual fine-tuning button, and a one-click meteorological data reading button.

[0056] Site Management Function: Clicking the Site Management button will take you to the configuration interface (i.e., site management interface) for this baseline network (i.e., control network) retesting task on your mobile app. Figure 10 As shown, relevant personnel can complete tasks such as adding, deleting, modifying, and querying benchmark points (i.e., stations) through the site management interface of the mobile APP. Relevant personnel need to enter the station number, prism number, approximation X, approximation Y, approximation H, and whether it is an initial station for each benchmark point in sequence, and test whether the communication between user terminal 1 and each prism is smooth.

[0057] One-click station switching function: After completing the station information configuration and observation work at the initial station, remove the total station and replace it with the current prism, then adjust the aiming direction and height of the current prism to aim at the next station; move the total station to the next station, remove the prism and reinstall the total station, and enter the one-click station switching interface, as shown below. Figure 11As shown, after selecting the current station and the next station respectively, click the one-click station switch button displayed in the one-click station switch interface. When each prism returns to the adjustment status and the adjustment is complete, the edge and corner observation task of the current station can be carried out.

[0058] Manual fine-tuning function: By aiming the total station at the prism center of each target station (target control point) within its observation range, if there is a deviation in the prism center or a slight obstruction affecting the accuracy of edge and corner observations, the manual fine-tuning function can be activated. Figure 12 As shown, select the prism number of the target prism that needs fine-tuning, and adjust the azimuth and vertical angle of the target prism by using the buttons in the four directions of up, down, left, and right displayed in the manual fine-tuning interface, until the target prism can be completely aimed at the next station.

[0059] One-click meteorological data reading function: Meteorological data is an important correction parameter for improving the accuracy of benchmark network observations. Through the control terminal 3 connected to the meteorological sensors 6 at each benchmark point, surveyors can read the meteorological data at each benchmark point at any time via a control APP, avoiding errors and time differences caused by manual reading. The one-click meteorological data reading interface is designed as follows: Figure 13 As shown.

[0060] The calculation process for the one-click site switching function is as follows:

[0061] Assume there are m reference points in this resurvey of the reference network, namely (J1, J2…J…). i …J m The approximate locations of m reference points (including plane coordinates X and Y and elevation H) are as follows: ([X1,Y1,H1], [X2,Y2,H2]...[X...). i ,Y i H i ]…[X m ,Y m H m The stepper motor 45 controls the horizontal rotation of the prism by r° per step (i.e., the azimuth control step size), and the lifting motor 46 controls the vertical rotation of the prism by s° per step (i.e., the vertical angle control step size). (In actual applications, different combinations of prisms and control devices will cause s to change, which needs to be calibrated in advance). If the current station is J... i The next station is J. i+1 Due to the change of station, except for J i and J i+1 The prism at one station is manually adjusted, while the prisms at other stations can be automatically adjusted to aim at the next station via a one-click station switch. i+1 .

[0062] The calculation process for the prism azimuth control signal can be as follows:

[0063] Take station J1 as an example, before the station change, the prism L1 at station J1 is aimed at station J i At this time, the azimuth angle θ 1，i The calculation formula is:

[0064]

[0065] After the station change, the prism L1 at station J1 is aimed at station J i+1 At this time, the azimuth angle θ 1，i+1 The calculation formula is:

[0066]

[0067] The difference Δθ between the two azimuth angles is:

[0068] Δθ = θ 1，i+1 - θ 1，i

[0069] The step value n of the stepping motor 45 is:

[0070]

[0071] The symbol is rounded up, if the step value n is positive, the control command containing the step value n is sent to the stepping motor 45 of the control device 4 corresponding to the prism L1, so that the output shaft of the stepping motor 45 rotates clockwise n steps, to control the inner ring 421 of the rotating bearing 42 to rotate clockwise close to Δθ; if the step value n is negative, the control command containing the step value n is sent to the stepping motor 45 of the control device 4 corresponding to the prism L1, so that the output shaft of the stepping motor 45 rotates counterclockwise n steps, to control the inner ring 421 of the rotating bearing 42 to rotate counterclockwise close to Δθ.

[0072] The prism vertical angle control signal calculation process can be:

[0073] Similarly, take J1 point as an example, before the station change, the prism L1 at station J1 is aimed at station J i At this time, the vertical angle α 1，i The calculation formula is:

[0074]

[0075] After the station change, the prism L1 at station J1 is aimed at station J i+1 At this time, the vertical angle α 1，i+1 The calculation formula is:

[0076]

[0077] The difference Δα between the two vertical angles is:

[0078] Δα = α 1，i+1 -α 1，i

[0079] The stepping value n' of the lifting motor 46 is:

[0080]

[0081] The up rounding symbol, if the stepping value n' is positive, the control command containing the stepping value n' can be sent to the lifting motor 46 of the control device 4 corresponding to the prism L1, so that the output shaft of the lifting motor 46 rotates clockwise n' steps, to control the vertical angle of the prism L1 to increase close to Δα; if the stepping value n' is negative, the control command containing the stepping value n' can be sent to the lifting motor 46 of the control device 4 corresponding to the prism L1, so that the output shaft of the lifting motor 46 rotates counterclockwise n' steps, to control the vertical angle of the prism L1 to decrease close to Δα.

[0082] Compared with the prior art, the present application has the following advantages:

[0083] (1) The customized control device is used, without changing the original prism structure, without affecting the other observation scene application of the prism and the precision of the control network re-measurement results, in line with the requirements of relevant specifications;

[0084] (2) After the initial installation of the prism remote control system, no personnel need to be arranged on site, reducing the number of personnel required for control network re-measurement, especially when the number of control network points is large, the effect is more obvious, effectively reducing the labor cost;

[0085] (3) When replacing the station, the observation personnel can realize one-key adjustment of the azimuth and vertical angle of the prism after station replacement through the control APP, and can also manually fine-tune the azimuth and vertical angle of the prism according to the actual situation on site, to realize the best aiming observation;

[0086] (4) The prism remote control system is extended to access sensors for measuring meteorological data such as air pressure and air temperature at each reference point, and the survey personnel can read the meteorological data at each reference point at any time through one key, which can avoid the error and time difference caused by manual reading of meteorological data, and effectively improve the observation accuracy of the reference network.

[0087] Unless otherwise specified, the relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0088] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0089] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0090] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, and are not limited thereto, the protection scope of the present application is not limited thereto, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art within the technical range disclosed by the present application can modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A prism remote control system, characterized by, The utility model relates to a kind of control system of prism, including: User terminal, server, control terminal and control device connected in turn, the control device is fixedly installed on corresponding prism;The control device includes base, and the base is fixedly installed on prism pedestal;Rotary bearing is fixedly arranged above the base, the inner ring and outer ring of the rotary bearing are connected by ball rolling, the outer ring of the rotary bearing is fixedly arranged above the base, the inner ring of the rotary bearing is fixedly arranged with crossbar and telescopic rod above, the crossbar is fixedly installed on prism pedestal, the telescopic rod is fixedly connected with the tail of prism at telescopic end, the inner ring of the rotary bearing is rotated by step motor drive, the telescopic rod is telescopic by lifting motor drive;The control terminal is connected with the step motor and the lifting motor respectively;The user terminal is used to send control command to the server;The control terminal is used to obtain the control command from the server, and the control command is converted into control signal and sent to the control device; The control device is used to control the working state of the step motor and the lifting motor respectively by the control signal, to control the horizontal direction rotation and vertical direction rotation of prism; The inner ring of the rotary bearing is vertically provided with connecting piece, the crossbar is fixedly connected with the connecting piece, and the telescopic rod is vertically fixedly installed on the connecting piece;The connecting piece has two, and the two ends of the crossbar are fixedly connected with the two connecting pieces one by one;The telescopic rod has two, and the two telescopic rods are fixedly connected with the upper ends of the two connecting pieces one by one;Each connecting piece is provided with a second through hole in the vertical direction, and the two ends of the crossbar are respectively screwed with corresponding nuts, and the two ends of the crossbar are respectively fastened in the corresponding second through hole through the corresponding nut;The connecting piece adopts a cylindrical structure, each lower part of the telescopic rod is fixedly sleeved in the corresponding connecting piece, and each lower part of the telescopic rod is provided with a third through hole corresponding to the corresponding second through hole in the vertical direction, and the two ends of the crossbar are respectively located in the corresponding third through hole.

2. The prism remote control system according to claim 1, wherein The base includes a base plate, and the base plate is fixedly installed on the forced centering disc of the prism;A first through hole is formed in the base plate, and a fixing frame is fixedly arranged in the first through hole, and the fixing frame is fixedly installed on the prism pedestal.

3. The prism remote control system according to claim 2, wherein The base plate is fixedly connected with the outer ring of the rotary bearing through the connecting rod.

4. The prism remote control system of claim 2, wherein, A plurality of teeth are circumferentially arranged on the lower surface of the inner ring of the rotary bearing, the step motor is fixedly installed on the base plate, the output shaft of the step motor is fixedly provided with a transmission gear, and the transmission gear is engaged with the plurality of teeth.

5. The prism remote control system of claim 1, wherein, It further includes a weather sensor, and the weather sensor is connected with the control terminal;The user terminal is also used to send weather data acquisition command to the server;The server is also used to generate weather data reading command based on the weather data acquisition command;The control terminal is also used to obtain the weather data reading command from the server, read the weather data collected by the weather sensor, and then send the weather data to the server;The user terminal is also used to obtain the weather data from the server and display.

6. A method of remotely controlling a prism, the method comprising: The prism remote control system is applied to any one of claims 1-5, comprising: A prism is installed at each control network point of a control network, the server stores station information of the same control network point and a first identifier of the prism corresponding to the same control network point as corresponding station configuration information, and the user terminal obtains and displays the station configuration information of each control network point from the server; wherein the station information includes a second identifier and a general position of the corresponding control network point, and whether the corresponding control network point is an initial station, and the control network has only one initial station; The prism of the initial station is removed, a total station is installed at the initial station to perform observation work of the initial station, and the total station of the initial station is removed and replaced with the current prism after the observation work of the initial station is completed; The user terminal sends an initial control command to the server, the control terminal obtains the initial control command from the server and converts the initial control command into an initial control signal to send to a control device fixedly installed on the current prism, the control device controls the working states of the stepping motor and the lifting motor of the control device through the initial control signal to control the horizontal rotation and vertical rotation of the current prism, so that the current prism is directed to the next station; The total station is moved to the current station, the prism of the current station is removed, and the total station is installed at the current station to perform observation work of the current station; wherein the current station is a control network point that currently needs to perform observation work; The user terminal obtains the first station configuration information of the current station and the next station and the second station configuration information of each target control network point in the observation range of the current station, and generates a target control command corresponding to each target control network point based on the obtained first station configuration information and second station configuration information; wherein the prism installed at each target control network point is a target prism; The user terminal sends each target control command to the server, the control terminal obtains each target control command from the server and converts each target control command into a corresponding target control signal to send to a target control device fixedly installed on the corresponding target prism, each target control device controls the working states of the stepping motor and the lifting motor of the target control device through the target control signal received thereby to control the horizontal rotation and vertical rotation of the corresponding target prism, so that each target prism is directed to the next station; When the observation work of the current station is completed, the total station of the current station is removed and replaced with the prism of the current station.

7. The prism remote control method according to claim 6, wherein Each target control command includes an azimuth control command and a vertical angle control command of the corresponding target control network point; Generating a target control command corresponding to each target control network point based on the obtained first station configuration information and second station configuration information includes: For each target control network point, the pre-station azimuth angle and the pre-station vertical angle of the target control network point are calculated based on the respective approximate positions of the current station and the target control network point, the post-station azimuth angle and the post-station vertical angle of the target control network point are calculated based on the respective approximate positions of the next station and the target control network point, the azimuth angle control command of the target control network point is generated based on the pre-station azimuth angle and the post-station azimuth angle of the target control network point and the azimuth angle control step of the stepping motor corresponding to the target control network point, and the vertical angle control command of the target control network point is generated based on the pre-station vertical angle and the post-station vertical angle of the target control network point and the vertical angle control step of the lifting motor corresponding to the target control network point.

Images