An automatic measurement system for engineering survey

Abstract

The present invention discloses an automatic measurement system for engineering survey, which relates to the technical field of engineering survey equipment. The present invention includes a measuring point device, a plurality of targets, and a data processing device; the measuring point device includes a laser rangefinder, a turntable, a laser rangefinder control module, a turntable control module, a driving module for driving the turntable to rotate, and a data transmission module; the outer contour of the target scanned by the laser rangefinder has a specific geometric contour, and the specific geometric contour means that there is a unique geometric feature point in the geometric contour; the data processing device establishes a coordinate system with the center of the laser rangefinder as the origin, issues a rotation control instruction to the turntable control module, and issues a measurement control instruction to the laser rangefinder control module. The present invention has a high degree of automation and low equipment cost, which is beneficial to the long-term field monitoring of structures such as slopes, tunnels, subways, and dams, and greatly reduces the monitoring cost.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering surveying equipment, and more particularly to an automatic surveying system for engineering surveying. Background Art

[0002] In the field of engineering surveying, the identification and aiming of surveying targets mainly rely on feature objects (such as prism lenses, reflectors, measuring points + invar tapes, etc.) to identify the target objects, and then professional surveyors rely on the collimation line provided by the crosshairs in the telescope to coincide with the cross center of the feature object to achieve aiming, so as to accurately complete the surveying operation.

[0003] A measuring robot, also known as an automatic total station, is a measuring platform that integrates automatic target recognition, automatic aiming, automatic angle measurement and distance measurement, automatic target tracking, and automatic recording. The measuring robot inputs the accurate position of the object to be measured in advance, controls the angle through a motor, and makes the measuring target (prism lens, reflector) appear in the lens field of view; then, through fine adjustment of the motor, it ensures that the measuring target (prism lens, reflector) is in a fixed position in the lens field of view, realizing the functions of automatic target recognition and automatic aiming.

[0004] The measuring robot mainly realizes the automatic recognition and aiming of targets through functional modules such as a coordinate system, a manipulator, a transducer, a computer and a controller, a closed-loop control sensor, decision-making, target capture, and an integrated sensor. The measuring robot is a very excellent measuring device, but its structure is precise and the cost is expensive, resulting in too high a full set of technologies for automatic target recognition and automatic aiming, thus restricting its application scenarios. For example, for some slope monitoring projects, bridge monitoring projects, subway or tunnel health monitoring projects, etc. with low total prices but requiring long-term continuous monitoring, the cost of using a measuring robot for monitoring is obviously too high. In recent years, the labor and daily operation costs have been increasing, and the single data acquisition cost of traditional manual surveying has been rising day by day, and it can no longer meet the extensive digital precise positioning requirements under the Internet of Everything.

[0005] For the published text of the patent application for an invention titled "An Adjustable Laser Rangefinder Control System" with a publication number of CN114185021A and a publication date of March 15, 2022, this invention patent involves an adjustable laser rangefinder control system, including a laser rangefinder. The laser rangefinder includes a ranging module, a pan-tilt module, a power supply module, a positioning module, and a data transmission module. The ranging module is provided with an angle adjustment module, and the angle adjustment module includes a rotating device and a vertical and horizontal elevation angle adjustment device. The pan-tilt module is provided with a remote control system that is signal-connected to the laser rangefinder control system. This adjustable laser rangefinder control system can remotely control the laser ranging module to adjust the angle through the installed pan-tilt module, including 360-degree rotation and vertical and horizontal elevation angle adjustment, so as to realize the topographic monitoring of each point in an area. The current position coordinates and the horizontal angle of the measurement position can be determined through the gyroscope and GPS positioning module, which assist the subsequent algorithm model to calculate the longitude, latitude, and elevation information of the specified position.

[0006] In the above laser rangefinder control system, it works based on the ranging principle of the laser rangefinder, and generally, the laser rangefinder measures distance in two ways: the pulse method and the phase method. The pulsed laser rangefinder emits a beam or a series of short pulsed laser beams towards the target during operation. The photoelectric element receives the laser beam reflected by the target, and the timer measures the time from the emission to the reception of the laser beam to calculate the distance from the observer to the target. The phase method laser rangefinder detects the distance by detecting the phase difference that occurs when the emitted light and the reflected light propagate in space.

[0007] In the above laser rangefinder control system, when measuring a point, it only needs to measure that point. That is, when the laser rangefinder aims at the target of the point to be measured and emits the emitted light and receives the reflected light, the measurement of that point is completed. Whether the measured point is accurate cannot be effectively determined only from the control system of the laser rangefinder. Therefore, the existing measurement system of the laser rangefinder cannot achieve the function of automatically aligning with the target or the function of automatically aiming at the center of the target to ensure the measurement accuracy. Summary of the Invention

[0008] In order to overcome the defects and deficiencies existing in the above-mentioned prior art, the present invention provides an automatic measurement system for engineering survey. The object of the present invention is to solve the problem in the above-mentioned prior art that the laser rangefinder cannot achieve automatic alignment of the target to be measured and automatic aiming and recognition of the center of the target to be measured, resulting in the inability to guarantee the measurement accuracy. The automatic measurement system of the present invention utilizes the ranging principle of the laser rangefinder, uses a target with a geometric contour having a unique geometric feature point in cooperation with the laser rangefinder, measures the point cloud set of the target through the laser rangefinder, and thus fits to the geometric contour of the target. By comparing the geometric contour of the point cloud set measured by the laser rangefinder with the geometric contour of the target, the target is determined, and the unique geometric feature point is obtained from the geometric contour fitted to the point cloud set of the target, so as to automatically aim at the center of the target, thereby effectively improving the recognition rate of the target and the target aiming rate, and effectively guaranteeing the measurement accuracy.

[0009] In order to solve the problems existing in the above-mentioned prior art, the present invention is realized through the following technical solutions.

[0010] The present invention provides an automatic measurement system for engineering survey, and the automatic measurement system includes a measuring point device, a plurality of targets and a data processing device;

[0011] The measuring point device includes a laser rangefinder, a turntable, a laser rangefinder control module, a turntable control module, a driving module for driving the turntable to rotate and a data transmission module; the laser rangefinder is assembled on the turntable; the turntable is connected to the driving module, the driving module is connected to the turntable control module, the laser rangefinder is connected to the laser rangefinder control module, and both the laser rangefinder control module and the turntable control module establish a communication connection with the data processing device through the data transmission module;

[0012] The outer contour of the target scanned by the laser rangefinder has a specific geometric contour, and the specific geometric contour means that there is a unique geometric feature point in the geometric contour;

[0013] The data processing device establishes a coordinate system with the center of the laser rangefinder as the origin, issues a rotation control instruction to the turntable control module, and issues a measurement control instruction to the laser rangefinder control module;

[0014] The rotation control instruction includes controlling the driving module to drive the turntable to rotate circumferentially in one direction at a set angular interval;

[0015] The measurement control instruction includes controlling the laser rangefinder to perform point-by-point scanning measurement on the target at the point to be measured as the turntable rotates, and obtaining the point cloud data set of the target at the point to be measured after completing the scanning of the target at one point to be measured;

[0016] The data processing device fits a point cloud data set of a target point's target to be measured scanned by a laser rangefinder, fits the geometric contour and geometric contour function presented by the point cloud data set, calculates the unique geometric feature point of the geometric contour according to the geometric contour function, and uses the coordinate information of the calculated unique geometric feature point as the coordinate information of the target point to be measured;

[0017] After the laser rangefinder completes the scanning of all target points to be measured within its scanning range, the data processing device calculates the distance between any target point to be measured and other target points to be measured according to the coordinate information of each target point to be measured, forming a distance matrix of target points to be measured; and compares the distance matrix of target points to be measured with the reference distance matrix formed by N reference measurement points with known actual coordinate information in the data processing device, where N≥3; finds the data in the distance matrix of target points to be measured that is the same as the reference distance matrix, so as to determine N target points to be measured corresponding to the N measurement reference points; obtains the coordinate information of the N measurement reference points in the established coordinate system according to the coordinate information of the N target points to be measured corresponding to the N measurement reference points in the established coordinate system, so as to determine the conversion relationship between the actual coordinates and the coordinates in the coordinate system; calculates the actual coordinates of other target points to be measured within the scanning range of the laser rangefinder according to the coordinate conversion relationship.

[0018] Further, the rotation control instruction issued by the data processing device also includes controlling the drive module to drive the turntable to continuously rotate multiple circumferences, and the angular intervals between the multiple circumferential rotations are different.

[0019] Further, the control instruction issued by the data processing device also includes controlling the drive module to drive the turntable to continuously rotate multiple circumferences at the same angular interval.

[0020] The data processing device performs averaging processing on the unique geometric feature points of the target of the same target point to be measured obtained after the turntable rotates multiple circumferences in the same scanning plane, and the coordinates after the averaging processing are the coordinates of the target point to be measured.

[0021] Further, the measurement control instruction issued by the data device also includes controlling the laser rangefinder to continuously measure multiple times at each measurement point during point-by-point scanning.

[0022] The angular interval θ satisfies 360° / θ = M, where M is an integer.

[0023] The geometric contour of the target is a parabola, the fitted contour is a parabola, and the unique geometric feature point is the vertex of the parabola.

[0024] The geometric contour of the target is spherical, the fitted contour is a semi-circular arc, and the unique geometric feature point is the midpoint of the arc.

[0025] The scanning surface of the target is two intersecting surfaces, the fitted contour is two intersecting straight lines, and the only combined feature point is the intersection of the two straight lines.

[0026] The data processing device numbers the target points to be measured according to the order of the target points to be measured scanned by the laser rangefinder.

[0027] In the data processing device, the actual coordinates of N measurement reference points with known actual coordinates are {x 1 , x 2 ,..., x N}. For each measurement reference point x n , 1 ≤ n ≤ N, calculate its distance from other measurement reference points, and establish a reference distance matrix Each row in matrix X represents the distance set D n between the measurement reference point x xn and other points;

[0028] Take the coordinate information of the target points to be measured in the established coordinate system to form a set {y 1 , y 2 , …, y M}. For each target point to be measured y m , 1 ≤ m ≤ M, calculate its distance from other target points to be measured, and establish a target point to be measured distance matrix Each row in matrix Y represents the distance set D m between the measurement reference point y ym and other points;

[0029] Traverse the distance sets of each row of the reference distance matrix X and the target point to be measured distance matrix Y. If there exists then x n and y m are the same point; thus, match the N measurement reference points with N of the target points to be measured.

[0030] The data processing device calculates the coordinate information of the measurement point in the coordinate system established by the data processing device according to the distance information transmitted by the laser rangefinder and the angle information of the turntable rotation.

[0031] The coordinate system established by the data processing device is a polar coordinate system.

[0032] The measuring point device further includes a pitch angle adjustment mechanism and a pitch angle control module. The pitch angle control module establishes a communication connection with the data processing device through the communication module and simultaneously receives the pitch angle control instruction from the data processing device.

[0033] The pitch angle control command includes controlling the pitch angle adjustment mechanism to adjust to the set pitch angle. After the turntable completes the measurement according to the turntable control command and the measurement control command, it switches to a new pitch angle for measurement.

[0034] Compared with the prior art, the beneficial technical effects brought by the present invention are as follows:

[0035] 1. For the automatic measurement system of the present invention, it only needs to obtain the actual coordinates of at least 3 measurement reference points in advance, has no requirements for the erection points of the automatic measurement system, does not require an independent GPS positioning module for coordinate positioning, and does not require prior numbering of the target points to be measured. The automatic measurement system of the present invention can automatically achieve the coordinate measurement of the target points, completely relying on the internal data processing of the automatic measurement system, and the data processing method is also a simple processing method, rather than a more complex data processing method such as image recognition. It has a high degree of automation and low equipment cost, which is beneficial to the long-term field monitoring of structures such as slopes, tunnels, subways, and dams, and greatly reduces the monitoring cost.

[0036] 2. The present invention forms a reference distance matrix using the distances between the measurement reference points and performs traversal matching with the distance matrix of the target points to be measured. The data processing process is relatively simple, the data processing efficiency is high, and the matching is more accurate. By matching the measurement reference points with the target points to be measured, the coordinates of the measurement reference points in the established coordinate system are obtained, thereby obtaining the coordinate conversion relationship, and the actual coordinates of other target points to be measured are determined through the determined coordinate conversion relationship. The actual coordinates can be longitude and latitude coordinates or geodetic coordinates. In the present invention, single-point measurement is not required, nor is it necessary to preset which point is the reference measurement point in the automatic measurement system. The automatic measurement system can automatically match the reference measurement points, thereby obtaining the actual coordinates of all target points to be measured within its measurement range.

[0037] 3. The present invention performs circular rotation scanning in a set direction, while the prior art measurement robot needs to reciprocally adjust the angle of the measurement instrument to achieve the function of automatic aiming, and only then will it measure points after the crosshair is aimed. During the aiming adjustment process, it involves relatively complex control components such as angle adjustment and multi-direction adjustment control. However, the present application performs scanning according to the established scanning rules and can be achieved by assembling a stepping motor, which can greatly save equipment costs.

[0038] 4. The target point position measurement method of the present invention is applicable to both plane measurement and space measurement, and is not only applicable to the automatic measurement system composed of laser rangefinders, which can solve the drawbacks of single-point measurement of total stations or the drawbacks of needing to be erected at specific points.

[0039] 5. The point cloud data obtained by the automatic measurement system of the present invention is subjected to fitting analysis. The geometric contour is fitted from the point cloud data set of the point to be measured, and the unique geometric feature point is obtained from the fitted geometric contour, so as to realize the automatic alignment of the measurement system and the target. There is no need to align the crosshairs. Only contour fitting is required to automatically calculate the unique geometric feature point, thereby automatically aligning the point to be measured.

[0040] 6. The present invention scans the target of the same point to be measured with the same scanning rule and the same angular interval in two adjacent scanning periods, obtains the point cloud data sets of the points to be measured in the two scanning periods, and performs adjustment on the automatic measurement system according to the point cloud data sets of the same point to be measured obtained in the two scanning periods to complete data correction and ensure the accuracy of the measurement system.

[0041] 7. The present invention scans the same point to be measured at different angular intervals in multiple adjacent scanning periods, averages the coordinate information of the same point to be measured calculated in the multiple scanning periods, and the averaged coordinate information is the coordinate information of the point to be measured output, which can effectively improve the measurement accuracy. Description of the Drawings

[0042] Figure 1 It is a schematic structural diagram of the automatic measurement system of the present invention;

[0043] Figure 2 It is a schematic structural diagram of the measuring point device of the present invention;

[0044] Figure 3 It is a schematic diagram of data fitting after measuring points by the measuring point device of the present invention;

[0045] Figure 4 It is a schematic structural diagram of the target in the present invention;

[0046] Figure 5 It is another schematic structural diagram of the target in the present invention;

[0047] Reference Signs: 100, measuring point device; 200, target; 300, data processing device; 101, laser rangefinder; 102, turntable; 103, turntable control module; 104, driving module; 105, data transmission module; 106, tripod; 201, point to be measured a; 202, point to be measured b; 203, point to be measured c; 204, point to be measured d; 205, point to be measured e; 206, point to be measured f. Detailed Embodiments

[0048] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] Embodiment 1

[0050] As a preferred embodiment of the present invention, referring to the accompanying drawings of the specification Figure 1 , Figure 2 and Figure 3 shown, this embodiment discloses an automatic measurement system for engineering survey. As Figure 1 shown, the automatic measurement system includes a measuring point device, a plurality of targets, and a data processing device;

[0051] As Figure 2 shown, the measuring point device includes a laser rangefinder, a turntable, a laser rangefinder control module, a turntable control module, a driving module for driving the turntable to rotate, and a data transmission module; the laser rangefinder is assembled on the turntable; the turntable is connected to the driving module, the driving module is connected to the turntable control module, the laser rangefinder is connected to the laser rangefinder control module, and both the laser rangefinder control module and the turntable control module establish a communication connection with the data processing device through the data transmission module;

[0052] The outer contour of the target scanned by the laser rangefinder has a specific geometric contour, and the specific geometric contour means that there is a unique geometric feature point in the geometric contour;

[0053] The data processing device establishes a coordinate system with the center of the laser rangefinder as the origin, sends a rotation control instruction to the turntable control module, and sends a measurement control instruction to the laser rangefinder control module;

[0054] The rotation control instruction includes controlling the driving module to drive the turntable to rotate circumferentially in one direction at a set angular interval;

[0055] The measurement control instruction includes controlling the laser rangefinder to perform point-by-point scanning measurement on the target at the point to be measured as the turntable rotates, and obtaining a point cloud data set of the target at the point to be measured after completing the scanning of the target at one point to be measured;

[0056] As Figure 3 shown, the data processing device fits the point cloud data set of the target at a certain point to be measured scanned by the laser rangefinder, fits out the geometric contour and geometric contour function presented by the point cloud data set, calculates the unique geometric feature point of the geometric contour according to the geometric contour function, and uses the coordinate information of the calculated unique geometric feature point as the coordinate information of the point to be measured;

[0057] After the data processing device completes the scanning of all target points to be measured within its scanning range, it calculates the distances between any target point to be measured and other target points to be measured according to the coordinate information of each target point to be measured, forming a distance matrix of target points to be measured; and compares the distance matrix of target points to be measured with the reference distance matrix formed by N reference measurement points with known actual coordinate information in the data processing device, where N≥3; finds the data in the distance matrix of target points to be measured that is the same as the reference distance matrix, so as to determine N target points to be measured corresponding to the N measurement reference points; obtains the coordinate information of the N measurement reference points in the established coordinate system according to the coordinate information of the N target points to be measured corresponding to the N measurement reference points in the established coordinate system, so as to determine the conversion relationship between the actual coordinates and the coordinates in the coordinate system; and calculates the actual coordinates of other target points to be measured within the scanning range of the laser rangefinder according to the conversion relationship of the coordinates.

[0058] As an example, the data processing device is an intelligent device, such as a notebook computer, a desktop computer, an intelligent mobile terminal, a host computer and other devices with data processing capabilities. It can also be a data processing module integrated on the laser rangefinder.

[0059] In this embodiment, the specific process for the above automatic measurement system to achieve automatic measurement is as follows: Assume the measuring point device in the area to be measured, fix the target with the target points to be measured in the area to be measured, and the scanning range of the measuring point device should cover all the target points to be measured.

[0060] As an example, if the automatic measurement system shown in this embodiment is a two-dimensional plane measurement system, then the positions where the targets of all target points to be measured are erected are set within the scanning plane that can be scanned by the measuring point device.

[0061] The position of the measuring point device can be erected randomly, without knowing the coordinates of the erection point, only need to know the actual coordinates of at least three points among the target points to be measured, and it is not necessary to know in advance which three points they are, which is applicable to the secondary measurement working condition.

[0062] Embodiment 2

[0063] As another preferred embodiment of the present invention, this embodiment is a specific elaboration of the rotation control instruction on the basis of Embodiment 1. In this embodiment, the rotation control instruction issued by the data processing device further includes controlling the drive module to drive the turntable to rotate continuously for multiple circumferences, and the angular intervals between the multiple circumferential rotations are different.

[0064] As an example, when the measuring point device in the present application performs measurement, it only needs to control the turntable to rotate in one direction at a set angular interval. After one full rotation, all the points to be measured within the scanning plane can be scanned. The set angular interval θ satisfies 360° / θ = M, where M is an integer. That is, with the initial rotation position as the 0 point, after rotating M times, it returns to the 0 point position, and then continues to rotate at this set angular interval, and the measurement within the second circumference starts. The coordinates of the unique geometric feature points fitted from the point cloud data sets of the same point to be measured within the two circumferences are subjected to adjustment processing. Theoretically speaking, when continuously rotating two weeks at the same angular interval, the obtained data should be the same. If there are differences in the data obtained after rotating two circumferences at the same angular interval, adjustment processing is performed to improve the data measurement accuracy.

[0065] As another implementation manner of this embodiment, the rotation control instruction issued by the data processing device further includes controlling the drive module to drive the turntable to continuously rotate multiple circumferences, and the angular intervals are different between the multiple circumferences of rotation. The set angular interval θ satisfies 360° / θ = M, where M is an integer. The data processing device performs averaging processing on the unique geometric feature points of the same target point to be measured obtained after the turntable rotates multiple circumferences within the same scanning plane, and the coordinates after the averaging processing are the coordinates of the target point to be measured.

[0066] By performing averaging processing on the coordinates of the unique geometric feature points of the target point to be measured obtained in adjacent circular motions, and using the averaged coordinate information as the coordinate information of the target point to be measured, the measurement accuracy can be improved.

[0067] Embodiment 3

[0068] As another preferred embodiment of the present invention, this embodiment is a specific implementation manner of the matching between the known measurement reference points and the target points to be measured in the data processing device on the basis of the above-mentioned Embodiment 1. In this embodiment, the actual coordinates of N measurement reference points with known actual coordinates are {x 1 , x 2 , …, x N}. For each measurement reference point x n , 1 ≤ n ≤ N, calculate its distance from other measurement reference points, and establish a reference distance matrix Each row in matrix X represents the distance set D n between the measurement reference point x xn and other points;

[0069] Take the coordinate information of the target points to be measured within the established coordinate system to form a set {y 1 , y 2 , …, y M}. For each target point to be measured y m, for 1 ≤ m ≤ M, calculate its distances to other target points to be measured and establish a distance matrix of target points to be measured Each row in matrix Y represents the measurement reference point y m The distance set D to other points ym ;

[0070] Traverse the distance sets of each row in the reference distance matrix X and the distance matrix of target points to be measured Y. If there exists then x n and y m are the same point; thus, match N measurement reference points with N target points to be measured among the target points to be measured.

[0071] As an example, as Figure 3 shown, given 3 measurement reference points A, B, and C, the reference distance matrix formed by these 3 measurement reference points is AB, AC, and BC; there are 6 target points to be measured, namely target point to be measured a201, target point to be measured b202, target point to be measured c203, target point to be measured d204, target point to be measured e205, and target point to be measured f206. The distance matrix of target points to be measured formed by the 6 target points to be measured is ab, ac, ad, ae, af, bc, bd, be, bf, cd, ce, cf, de, df, and ef; where ab = AB, ac = AC, and bc = BC, then target point a corresponds to the known measurement reference point A, target point b corresponds to the known measurement reference point B, and target point c corresponds to the known measurement reference point C. It can be known that target point a is the known measurement reference point A, target point b is the known measurement reference point B, and target point c is the known measurement reference point C. Given the actual coordinates of A, B, and C, then the actual coordinates of a, b, and c are known. According to the coordinates established by a, b, and c in the coordinate system established by the automatic measurement system, the corresponding conversion relationship between the actual coordinates and the coordinates of the established coordinate system can be determined. Then, based on this conversion relationship and the coordinates of d, e, and f in the established coordinate system, the actual coordinates of d, e, and f are obtained by conversion.

[0072] In this embodiment, the data processing device calculates the coordinate information of the measurement point in the coordinate system established by the data processing device based on the distance information transmitted by the laser rangefinder and the angle information of the turntable rotation.

[0073] As an example, the actual coordinate information of the known measurement reference point can adopt the actual coordinates obtained from the previous measurement. If the target area to be measured is a new target area and no measurement has been carried out, then more than three points can be actually measured as the known measurement reference points.

[0074] In specific implementation, it is only necessary to input the known actual coordinates into the data processing device, without the need to correspond to the order of the measurement reference points or number the measurement reference points.

[0075] Embodiment 4

[0076] As another preferred embodiment of the present invention, referring to the attached Figure 3 As shown, the coordinate system established by the data processing device is a polar coordinate system. The geometric contour of the target is a parabola, the fitted contour is a parabola, and the only geometric feature point is the vertex of the parabola. The data processing device numbers the target points to be measured according to the order of the target points to be measured scanned by the laser rangefinder.

[0077] As an implementation manner of this embodiment, the measuring point device further includes an elevation angle adjustment mechanism and an elevation angle control module. The elevation angle control module establishes a communication connection with the data processing device through the communication module and simultaneously receives the elevation angle control instruction of the data processing device. The elevation angle control instruction includes controlling the elevation angle adjustment mechanism to adjust to the set elevation angle. After the turntable completes the measurement according to the turntable control instruction and the measurement control instruction, it switches to a new elevation angle for measurement. After adding the elevation angle adjustment mechanism and the elevation angle control module, three-dimensional space measurement can be realized.

[0078] As an example of this embodiment, referring to the attached Figure 4 As shown, the scanning surface of the target is two intersecting surfaces, the fitted contour is two intersecting straight lines, and the only combined feature point is the intersection of the two straight lines.

[0079] As another example of this embodiment, referring to the attached Figure 5 As shown, the geometric contour of the target is spherical, the fitted contour is a semi-circular arc, and the only geometric feature point is the midpoint of the arc.

[0080] The geometric contour of the target is not limited to the above two limited contours. The above two contours are only used as examples for illustration, and other geometric contours that can implement the method of the present application are all acceptable.

[0081] Embodiment 5

[0082] As another preferred embodiment of the present invention, this embodiment elaborates on the specific implementation manner of an automatic measurement system for engineering measurement described in the above Embodiment 1 to Embodiment 4 at the implementation operation level.

[0083] As an implementation manner of this embodiment, at the operation implementation level, if the positions of the target points to be measured in the automatic measurement system are already known, input the positions of the target points to be measured into the automatic measurement system, and then measurement monitoring operations can be carried out. For example: Use a total station for prior collection, and match the parameters of the measurement system and the total station. This method has low operability.

[0084] As another implementation manner of this embodiment, at the operation implementation level, if the relative positions of the target points to be measured are known in advance, the information input into the automatic measurement system is the sorting of the measurement targets collected by the total station (defined by two technical indicators of distance and relative angle); use an algorithm program to perform interval single collection, first identify any target, and calculate the distance and central angle of the target; according to the matching method of distance and relative angle, provide data collection requirements for the automatic measurement system. When it is consistent with the measurement target data collected by the total station, it is regarded as the identification of the completion of embedding. Its design idea is to carry out a linkage design for the requirements of measuring point embedding and the control of embedding quality.

[0085] As another implementation manner of this embodiment, at the operation implementation level, if the relative positions of the target points to be measured are not known in advance, control the laser rangefinder to rotate one week first for rough scanning, and obtain the approximate positions of the target points to be measured from the rough scanned point cloud dataset through geometric contour matching. Then control the laser rangefinder to perform fine scanning. The so-called fine scanning is to scan only the positions of the target points to be measured, and the angle interval is small, and no point collection is carried out between the target points to be measured. After fine scanning, accurate data can be obtained, and then accurate point coordinates can be obtained according to the processing of the data processing device.

[0086] As another implementation manner of this embodiment, first use a total station to know the embedding of the measuring point and record the data, and then use the automatic measurement system of the present application to perform rapid target recognition and then automatic measurement.

[0087] Note that the above are only the preferred embodiments of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automatic measurement system for engineering survey, the automatic measurement system comprising a measuring point device, a plurality of targets and a data processing device; Characterized in that: The measuring point device includes a laser rangefinder, a turntable, a laser rangefinder control module, a turntable control module, a driving module for driving the turntable to rotate and a data transmission module; the laser rangefinder is assembled on the turntable; the turntable is connected to the driving module, the driving module is connected to the turntable control module, the laser rangefinder is connected to the laser rangefinder control module, and both the laser rangefinder control module and the turntable control module establish a communication connection with the data processing device through the data transmission module; The outer contour of the target scanned by the laser rangefinder has a specific geometric contour, and the specific geometric contour means that there is a unique geometric feature point in the geometric contour; The data processing device establishes a coordinate system with the center of the laser rangefinder as the origin, issues a rotation control instruction to the turntable control module, and issues a measurement control instruction to the laser rangefinder control module; The rotation control instruction includes controlling the driving module to drive the turntable to rotate circumferentially in one direction at a set angular interval; The measurement control instruction includes controlling the laser rangefinder to scan and measure the target on the point to be measured point by point as the turntable rotates, and obtaining a point cloud data set of the target on the point to be measured after completing the scanning of the target on one point to be measured; The data processing device fits the point cloud data set of the target on a certain point to be measured scanned by the laser rangefinder, fits out the geometric contour and geometric contour function presented by the point cloud data set, calculates the unique geometric feature point of the geometric contour according to the geometric contour function, and uses the coordinate information of the calculated unique geometric feature point as the coordinate information of the point to be measured; After the data processing device completes the scanning of all points to be measured within the scanning range of the laser rangefinder, it calculates the distance between any point to be measured and other points to be measured according to the coordinate information of each point to be measured, and forms a distance matrix of points to be measured; And compares the distance matrix of points to be measured with the reference distance matrix formed by N reference measurement points with known actual coordinate information in the data processing device, where N≥3; finds the data in the distance matrix of points to be measured that is the same as the reference distance matrix, so as to determine N points to be measured corresponding to the N reference measurement points; according to the coordinate information of the N points to be measured corresponding to the N reference measurement points in the established coordinate system, obtains the coordinate information of the N reference measurement points in the established coordinate system, so as to determine the conversion relationship between the actual coordinates and the coordinates in the coordinate system; According to the conversion relationship of the coordinates, calculates the actual coordinates of other points to be measured within the scanning range of the laser rangefinder.

2. An automatic measurement system for engineering survey according to claim 1, Characterized in that: The rotation control instruction issued by the data processing device further includes controlling the driving module to drive the turntable to rotate continuously for a plurality of circumferences, and the angular intervals are different between the plurality of circumferential rotations.

3. An automatic measurement system for engineering survey according to claim 1 or 2, Characterized in that: The control instructions issued by the data processing device further include controlling the drive module to drive the turntable to continuously rotate multiple circumferences at the same angular interval.

4. An automatic measurement system for engineering survey as described in claim 2, wherein: The unique geometric feature points of the same target point of the target to be measured obtained after the turntable of the data processing device rotates multiple circumferences in the same scanning plane are subjected to averaging processing, and the coordinates after the averaging processing are the coordinates of the target point to be measured.

5. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The measurement control instructions issued by the data device further include controlling the laser rangefinder to continuously measure multiple times at each measurement point during point-by-point scanning.

6. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The angular interval θ satisfies 360° / θ = M, where M is an integer.

7. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The data processing device numbers the target points to be measured according to the order of the target points to be measured scanned by the laser rangefinder.

8. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: In a data processing device, the actual coordinates of N measurement reference points with known actual coordinates are , for each measurement reference point , calculate its distance from other measurement reference points to establish a reference distance matrix , each row in matrix X represents the measurement reference point and the distance set from other points ; Collect the coordinate information of the target points to be measured within the established coordinate system to form a set , for each target point to be measured , calculate its distance from other target points to be measured and establish a distance matrix of target points to be measured , each row in matrix Y represents the distance set between the measurement reference point and other points ; Traverse the distance sets of each row of the reference distance matrix X and the distance matrix Y of the target points to be measured. If there exists , then and are the same point; thus, match the N measurement reference points with the N target points to be measured among the target points to be measured.

9. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The data processing device calculates the coordinate information of the measurement point in the coordinate system established by the data processing device according to the distance information transmitted by the laser rangefinder and the angular information of the rotation of the turntable.

10. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The coordinate system established by the data processing device is a polar coordinate system.

11. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The measuring point device further includes a pitch angle adjustment mechanism and a pitch angle control module. The pitch angle control module establishes a communication connection with the data processing device through the communication module and simultaneously receives the pitch angle control instructions from the data processing device; The pitch angle control instructions include controlling the pitch angle adjustment mechanism to adjust to the set pitch angle. After the turntable completes the measurement according to the rotation control instructions and the measurement control instructions, a new pitch angle is switched for measurement.

12. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The geometric contour of the target is a parabola, the fitted contour is a parabola, and the unique geometric feature point is the vertex of the parabola.

13. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The geometric contour of the target is spherical, the fitted contour is a semi-circular arc, and the unique geometric feature point is the midpoint of the arc.

14. An automatic measurement system for engineering survey as described in claim 1, 2 or 4, wherein: The scanning plane of the target is two intersecting planes, the fitted contour is two intersecting straight lines, and the unique geometric feature point is the intersection point of the two straight lines.

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