A method of controlling a measuring robot to implement polar coordinate method measurement

Abstract

The present application belongs to the field of computer software technology, automation control and measurement, and discloses a method for controlling a measurement robot to implement polar coordinate method measurement. The measurement steps and abnormality processing strategies can enable the computer-controlled measurement robot to perform multi-measurement-return distance measurement and angle measurement according to the polar coordinate method, and can ensure the smooth completion of the measurement task as much as possible through various abnormality processing strategies such as inappropriate environment delay strategy, target detection and abandonment strategy, limit difference overrun re-measurement strategy, single-step abnormality repetition strategy, foreign object intrusion alarm strategy, and real-time meteorological correction strategy. The present application can provide implementation steps and abnormality processing strategies for computer-automatically-controlled measurement robots, can generate considerable economic and social benefits, and has a wide application prospect and development space.

Description

Technical Field

[0001] This invention belongs to the fields of computer software technology, automation control and measurement, and specifically relates to a method for controlling a measurement robot to perform polar coordinate measurement. Background Technology

[0002] Dams serve multiple functions, including clean power generation, flood control and water storage, irrigation and drought relief, river channel improvement, and soil erosion reduction. Dam construction has become an important method for water conservancy development and utilization. With the increasing number of dams completed and put into operation, the safety issues they face are becoming increasingly prominent. To ensure the safe operation of dams, prevent accidents, and minimize accident losses, advanced instruments and equipment are currently used for real-time online monitoring of dams to promptly understand their operational status.

[0003] New methods for deformation monitoring are constantly evolving with the emergence of new instruments and technologies. Particularly in the mid-1980s and mid-1990s, surveying robots, also known as automatic total stations, were gradually developed. These robots are integrated measurement platforms that combine automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, and automatic recording. Among these methods, the use of networked and intelligent surveying robots for efficient and real-time monitoring of dam external deformation has become an important technological means.

[0004] With the promotion and application of high-precision controllable measurement robots, automated monitoring based on measurement robots has been widely used. Among them, intelligent measurement stations based on sensor-coordinated measurement robots, computer-controlled measurement robot measurement steps, and anomaly handling strategies are the core contents of deformation monitoring. Therefore, it is very necessary to study the control of measurement robots to realize polar coordinate method measurement and anomaly handling strategies, which has broad application prospects and development space. Summary of the Invention

[0005] The purpose of this invention is to provide a method for controlling a measurement robot to perform polar coordinate measurement. This measurement process and anomaly handling strategy enable the computer-controlled measurement robot to perform multiple distance and angle measurements using the polar coordinate method. Furthermore, various anomaly handling strategies, such as unsuitable environment delay strategy, target detection and abandonment strategy, limit exceedance retest strategy, single-step anomaly repetition strategy, foreign object intrusion alarm strategy, and real-time weather correction strategy, can ensure the smooth completion of the measurement task as much as possible.

[0006] The technical solution adopted in this invention is a method for controlling a measurement robot to achieve polar coordinate measurement, comprising the following steps:

[0007] S1: After the measurement task starts, the environmental quantity judgment is entered to determine whether the current environment meets the measurement requirements. If the measurement requirements are met, the limit data is obtained, and then the command is sent to turn on the measurement robot and the measurement robot opening and closing cover in sequence, and S2 is started. If the measurement requirements are not met, the judgment is entered to determine whether the delay is met. If it is met, a delayed measurement task is generated until the measurement ends. If it is not met, the measurement task is directly terminated.

[0008] S2, Measurement robot initial value settings;

[0009] S3: Obtain the data of the measurement point group assigned to the current task, and execute the target detection and abandonment strategy;

[0010] S4, control the measurement robot to switch to the left panel, and measure the upper half of each measurement point in a clockwise direction from the starting measurement point. Control the measurement robot to switch to the right panel, and measure the lower half of each measurement point in a counterclockwise direction from the starting measurement point. At the same time, execute the limit exceedance retest strategy during the measurement process.

[0011] S5, Distance Correction;

[0012] S6 performs real-time weather corrections and uses the corrected horizontal angle, vertical angle, and slope distance to calculate the three-dimensional coordinates of the measuring point using trigonometric functions.

[0013] S7, save all measurement data and calculated coordinate data of all measuring points into the database;

[0014] S8 sequentially controls the shutdown of the measurement robot and the opening and closing of the measurement robot's cover, ending the measurement task.

[0015] Further, in step S1, after entering the environmental quantity judgment stage, the system first acquires real-time wind speed, rainfall, and ultrasonic ranging data of the current environment collected by the sensors. Then, it uses the acquired wind speed, rainfall, and ultrasonic ranging data to judge against the thresholds set in the system: The acquired wind speed data is compared with the wind speed threshold set in the system. If the wind speed exceeds the set threshold, the measurement requirement is not met, and the system proceeds to judge whether the delay is met. If it is met, a delayed measurement task is generated; otherwise, the measurement task ends directly. If the wind speed does not exceed the set threshold, the acquired rainfall data is compared with the rainfall threshold set in the system. If the rainfall exceeds the set threshold, the measurement requirements are not met, and the process proceeds to determine if a delay is met. If the delay is met, a delayed measurement task is generated; otherwise, the measurement task is terminated. If the rainfall does not exceed the set threshold, the acquired ultrasonic ranging data is compared with the threshold set in the system for detecting the approach of a foreign object. If a foreign object is approaching, the measurement requirements are not met, and the process proceeds to determine if a delay is met. If the delay is met, a delayed measurement task is generated; otherwise, the measurement task is terminated. If no foreign object is approaching, the measurement requirements are met, the limit data is acquired, and then commands are sent to sequentially start the measurement robot and the measurement robot's opening and closing cover.

[0016] Furthermore, in S3, the target detection and abandonment strategy is as follows: for points where no target was found in the previous measurement, advance detection is performed, the rotating measurement robot aims at the target point and searches the prism. If the target can be found, the RecentError attribute of the point in the group is marked as False, and the point can be measured in this measurement. If no target point is found in the prism, the target point is removed in this measurement and the measurement of the point is abandoned.

[0017] Furthermore, in S4, before each measurement cycle begins, a foreign object intrusion judgment is performed. Specifically, the sensor's real-time ranging data is obtained during the environmental quantity judgment, and it is determined whether the ranging data triggers the alarm strategy. If it is not triggered, there is no foreign object intrusion, and the measurement continues. If it is triggered, there is a foreign object intrusion, and the sound and light alarm is controlled to emit sound and flash alarm to notify the operation and maintenance personnel of the risk of foreign object intrusion. At the same time, the measurement task is ended and the measurement robot and the measurement robot opening and closing cover are turned off.

[0018] Furthermore, in S4, the single-point measurement steps include: setting the prism type and height, positioning and aiming, searching for the prism, locking the target, clearing the measurement value, performing angle and distance measurement, acquiring the measurement value, and closing the target lock. Each step has an abnormal repetition strategy.

[0019] Furthermore, the abnormal repetition strategy is as follows: After starting measurement at a certain point, the first step is to call the BAP_SetPrismType and TMC_SetHeight functions to set the prism type and prism height respectively. If the setting process is normal, the second step of positioning and aiming begins. If an abnormality occurs, it will wait for one second and then repeat. If the set number of repetitions is exceeded, an abnormality is thrown; otherwise, the next step is performed. The second step is to call the AUT_MakePositioning function to control the measurement robot to perform positioning and aiming. If the positioning and aiming process is normal, the third step of searching for the prism begins. If an abnormality occurs, it will wait for one second and then repeat. If the set number of repetitions is exceeded, an abnormality is thrown; otherwise, the next step is performed. The third step is to call the AUT_FineAdjust function to search for the prism for precise aiming. If the prism search process is normal, the fourth step of locking the target begins. If an abnormality occurs, it will wait for one second and then repeat. If the set number of repetitions is exceeded, an abnormality is thrown; otherwise, the next step is performed. The fourth step is to call the AUS_SetUserLockState function to lock the target. If the target locking process is normal, the fifth step of clearing the measurement value begins. If an abnormality occurs, it will wait... The process repeats after one second. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, proceed to the next step. The fifth step calls the TMC_DoMeasure function to clear previous measurements. If the clearing process is successful, the sixth step begins: angle and distance measurement. If an exception occurs, the process repeats after one second. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, proceed to the next step. The sixth step calls the TMC_DoMeasure function to perform angle and distance measurement. If the angle and distance measurement process is successful, the seventh step begins: acquiring measurement values. If an exception occurs, the process repeats after one second. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, proceed to the next step. The seventh step calls the TMC_GetSimpleMea function to acquire measurement values. If the acquisition process is successful, the eighth step begins: disabling target locking. If an exception occurs, the process repeats after one second. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, proceed to the next step. The eighth step calls the AUS_SetUserLockState function to disable target locking. If an exception occurs during the disabling target locking process, the process repeats after one second. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, proceed to the next step.

[0020] Further, in S4, the limit over-limit retest strategy includes the following: left-side zeroing difference over-limit judgment, right-side zeroing difference over-limit judgment, 2C mutual difference within the measurement cycle, vertical circle index difference and distance difference over-limit judgment, and same-direction horizontal angle, vertical angle and distance difference between measurement cycles over-limit judgment. Specifically, after controlling the measurement robot to switch to left-side to complete the upper half of the measurement cycle, it is judged whether the left-side zeroing difference exceeds the limit. If it does, a retest is performed. If it does not exceed the limit, the measurement robot is controlled to switch to right-side to complete the lower half of the measurement cycle. Then, it is judged whether the right-side zeroing difference exceeds the limit. If it does, a retest is performed. If it does not exceed the limit, it continues to judge whether the 2C mutual difference, vertical circle index difference and distance difference within the current measurement cycle exceed the limit. If they exceed the limit, a retest is performed. If they do not exceed the limit, the next measurement cycle begins until the set number of measurement cycles is completed. After the set number of measurement cycles is completed, it is judged whether the same-direction horizontal angle, vertical angle and distance difference between measurement cycles exceed the limit. If they exceed the limit, a delayed measurement task is generated. If they do not exceed the limit, the next measurement step is performed.

[0021] Furthermore, in S6, the current meteorological data is obtained through the environmental measurement task for meteorological correction, and the corrected horizontal angle, vertical angle, and slope distance are used to calculate the three-dimensional coordinates of the measuring point through trigonometric functions.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. It can enable computer-controlled measurement robots to perform multiple distance and angle measurements using the polar coordinate method, and can ensure the smooth completion of measurement tasks as much as possible through various anomaly handling strategies such as unsuitable environment delay strategy, target detection and abandonment strategy, limit exceedance retest strategy, single-step anomaly repetition strategy, foreign object intrusion alarm strategy, and real-time weather correction strategy.

[0024] 2. The method is simple, highly reliable, and inexpensive.

[0025] 3. It can generate considerable economic and social benefits, and has broad application prospects and development space. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall process of the present invention.

[0027] Figure 2 This is a flowchart illustrating the environmental quantity judgment (unsuitable environment delay strategy) of the present invention.

[0028] Figure 3 This is a flowchart illustrating the target detection and abandonment strategy of the present invention.

[0029] Figure 4 This is a flowchart illustrating the over-limit retest strategy of the present invention.

[0030] Figure 5 A flowchart illustrating the single-step abnormal repetition strategy of this invention.

[0031] Figure 6 A flowchart illustrating the foreign object intrusion alarm strategy of this invention.

[0032] Figure 7 A flowchart illustrating the real-time weather correction strategy of this invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the technical solutions of this invention will be further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the method for controlling a measurement robot to perform polar coordinate measurement according to the present invention includes the following steps:

[0035] S1: After the measurement task begins, the environmental quantity judgment is entered to determine whether the current environment meets the measurement requirements. If the measurement requirements are met, the limit data is obtained, and then commands are sent to sequentially open the measurement robot and the measurement robot opening and closing cover to start S2. If the measurement requirements are not met, the judgment is entered to determine whether the delay is met. If it is met, a delayed measurement task is generated until the measurement ends. If it is not met, the measurement task is directly terminated.

[0036] After entering the environmental quantity judgment stage, the system first acquires real-time wind speed, rainfall, and ultrasonic ranging data from sensors. Then, it uses these acquired data and sets thresholds within the system to determine the appropriate environment and executes an unsuitable environment delay strategy. Figure 2 As shown, the acquired wind speed data is compared with the wind speed threshold set in the system. If the wind speed exceeds the set threshold, the measurement requirements are not met, and the process proceeds to determine if a delay is met. If it is, a delayed measurement task is generated; otherwise, the measurement task ends directly. If the wind speed does not exceed the set threshold, the acquired rainfall data is compared with the rainfall threshold set in the system. If the rainfall exceeds the set threshold, the measurement requirements are not met, and the process proceeds to determine if a delay is met. If it is, a delayed measurement task is generated; otherwise, the measurement task ends directly. If the rainfall does not exceed the set threshold, the acquired ultrasonic ranging data is compared with the threshold set in the system for detecting the approach of a foreign object. If a foreign object is approaching, the measurement requirements are not met, and the process proceeds to determine if a delay is met. If it is, a delayed measurement task is generated; otherwise, the measurement task ends directly. If no foreign object is approaching, the measurement requirements are met, the limit data is acquired, and then commands are sent to sequentially open the measurement robot and the measurement robot's opening and closing cover.

[0037] S2, Initial settings for the measurement robot, including dual-axis compensation, meteorological parameters, ATR activation, and angle compensation.

[0038] S3: Obtain the data of the measurement point group assigned to the current task, and execute the target detection and abandonment strategy.

[0039] like Figure 3 As shown, the target detection and abandonment strategy is as follows: For points where no target was found in the previous measurement, advance detection is performed. The rotating measurement robot aims at the target point and searches for the prism. If the target can be found, the RecentError attribute of the point in the group is marked as False, and the point can be measured in this measurement. If no target point is found, the target point is removed in this measurement and the measurement of the point is abandoned.

[0040] S4, control the measurement robot to switch to the left panel, and measure the upper half of each measurement point in a clockwise direction from the starting measurement point. Then control the measurement robot to switch to the right panel, and measure the lower half of each measurement point in a counterclockwise direction from the starting measurement point. At the same time, execute the limit exceedance retest strategy during the measurement process.

[0041] The limit-exceeding retest strategy includes judging the limits of left-side zeroing difference, right-side zeroing difference, 2C mutual difference within the measurement cycle, vertical circle index difference, and distance difference exceeding the limit, and judging the limits of horizontal angle, vertical angle, and distance difference between measurement cycles exceeding the limit. Specifically, such as... Figure 4 As shown, the control measurement robot switches to the left panel (panel 1) and sequentially measures each measurement point in a clockwise direction from the starting measurement point, which is the upper half of the measurement cycle. After the upper half of the measurement cycle is completed, it is determined whether the zeroing difference of the left panel exceeds the limit. If it does, the measurement is repeated. If it does not exceed the limit, the control measurement robot switches to the right panel (panel 2) and sequentially measures each measurement point in a counterclockwise direction from the starting measurement point, which is the lower half of the measurement cycle. After the lower half of the measurement cycle is completed, it is determined whether the zeroing difference of the right panel exceeds the limit. If it does, the measurement is repeated. If it does not exceed the limit, the control measurement robot continues to sequentially determine whether the 2C mutual difference, vertical circle index difference, and distance difference in the current measurement cycle (upper half of the measurement cycle + lower half of the measurement cycle equals one measurement cycle) exceed the limit. If they exceed the limit, the measurement is repeated. If they do not exceed the limit, the next measurement cycle begins until the set number of measurement cycles is completed. After the set number of measurement cycles is completed, the control measurement robot sequentially determines whether the horizontal angle, vertical angle, and distance difference between measurement cycles exceed the limit. If they exceed the limit, a delayed measurement task is generated. If they do not exceed the limit, the next measurement step is performed.

[0042] The single-point measurement process includes setting the prism type and height, positioning and aiming, searching for the prism, locking the target, clearing the measurement values, performing angle and distance measurement, acquiring the measurement values, and disabling target locking. Each step has an abnormal repetition strategy, such as... Figure 5As shown, the specific steps are as follows: First, after starting measurement at a certain point, the `BAP_SetPrismType` and `TMC_SetHeight` functions are called to set the prism type and height respectively. If the setting process is normal, the second step, positioning and aiming, begins. If an error occurs, it waits one second and repeats the process. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the next step is performed. The second step calls the `AUT_MakePositioning` function to control the measurement robot for positioning and aiming. If the positioning and aiming process is normal, the third step, searching for the prism, begins. If an error occurs, it waits one second and repeats the process. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the next step is performed. The third step calls the `AUT_FineAdjust` function to search for the prism for precise aiming. If the prism search process is normal, the fourth step, locking the target, begins. If an error occurs, it waits one second and repeats the process. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the next step is performed. The fourth step calls the `AUS_SetUserLockState` function to lock the target. If the target locking process is normal, the fifth step, clearing the measurement values, begins. If an error occurs, it waits one second and repeats the process. If the number of repetitions exceeds the set limit, an exception is thrown. If an error occurs, proceed to the next step; Step 5 calls the TMC_DoMeasure function to clear previous measurements. If the process of clearing previous measurements is normal, proceed to Step 6 to perform angle and distance measurement. If an error occurs, wait one second and repeat. If the number of repetitions exceeds the set number, throw an exception; otherwise, proceed to the next step; Step 6 calls the TMC_DoMeasure function to perform angle and distance measurement. If the process of angle and distance measurement is normal, proceed to Step 7 to obtain measurement values. If an error occurs, wait one second and repeat. If the number of repetitions exceeds the set number, throw an exception; otherwise, proceed to the next step; Step 7 calls the TMC_GetSimpleMea function to obtain measurement values. If the process of obtaining measurement values ​​is normal, proceed to Step 8 to disable target locking. If an error occurs, wait one second and repeat. If the number of repetitions exceeds the set number, throw an exception; otherwise, proceed to the next step; Step 8 calls the AUS_SetUserLockState function to disable target locking. If an error occurs during the disabling of target locking process, wait one second and repeat. If the number of repetitions exceeds the set number, throw an exception; otherwise, proceed to the next step; All the above steps will be retried in a loop when an error occurs to prevent momentary network fluctuations from affecting the entire measurement process.

[0043] Among them, such as Figure 6As shown, before each measurement cycle begins, an intrusion detection and alarm strategy is executed: real-time distance measurement data from the sensor (ultrasonic rangefinder) is acquired during environmental measurement, and it is determined whether the distance measurement data triggers the alarm strategy. If not triggered, there is no intrusion and the measurement continues; if triggered, an intrusion is detected, and the sound and light alarm is activated to notify the maintenance personnel of the risk of intrusion. At the same time, the measurement task is terminated and the measurement robot and its opening and closing cover are shut down to provide security for the valuable measurement equipment.

[0044] S5, Distance Correction (Multiplication Constant, Addition Constant).

[0045] S6 performs real-time weather corrections and uses the corrected horizontal angle, vertical angle, and slope distance to calculate the three-dimensional coordinates of the measuring point using trigonometric functions.

[0046] like Figure 7 As shown, by acquiring current meteorological data (temperature, humidity, air pressure) through environmental measurement tasks and performing meteorological corrections, i.e., executing real-time meteorological correction strategies, the measurement accuracy can be improved. The corrected horizontal angle, vertical angle, and slope distance are then used to calculate the three-dimensional coordinates of the measuring point through trigonometric functions.

[0047] S7 stores all measurement data and calculated coordinate data of all measuring points in the database.

[0048] S8 sequentially controls the shutdown of the measurement robot and the opening and closing of the measurement robot's cover, ending the measurement task.

Claims

1. A method of controlling a survey robot to implement polar coordinate method surveying, characterised by, Includes the following steps: S1: After the measurement task starts, the environmental quantity judgment is entered to determine whether the current environment meets the measurement requirements. If the measurement requirements are met, the limit data is obtained, and then the command is sent to turn on the measurement robot and the measurement robot opening and closing cover in sequence, and S2 is started. If the measurement requirements are not met, the judgment is entered to determine whether the delay is met. If it is met, a delayed measurement task is generated until the measurement ends. If it is not met, the measurement task is directly terminated. S2, Measurement robot initial value settings; S3: Obtain the data of the measurement point group assigned to the current task, and execute the target detection and abandonment strategy; S4, control the measurement robot to switch to the left panel, and measure the upper half of each measurement point in a clockwise direction from the starting measurement point. Control the measurement robot to switch to the right panel, and measure the lower half of each measurement point in a counterclockwise direction from the starting measurement point. At the same time, execute the limit exceedance retest strategy during the measurement process. The steps of single-point measurement include: setting prism type and height, positioning and aiming, searching for prisms, locking the target, clearing measurement values, performing angle and distance measurement, acquiring measurement values, and turning off target locking. Each step has an abnormal repetition strategy. The limit-exceeding retest strategy includes judging the left-side zeroing difference, the right-side zeroing difference, the 2C mutual difference within the measurement cycle, the vertical circle index difference, and the distance difference, and the same-direction horizontal angle, vertical angle, and distance difference between measurement cycles. Specifically, after controlling the measurement robot to switch to the left-side to complete the upper half of the measurement cycle, it judges whether the left-side zeroing difference exceeds the limit. If it does, a retest is performed. If it does not exceed the limit, the measurement robot is controlled to switch to the right-side to complete the lower half of the measurement cycle. Then, it judges whether the right-side zeroing difference exceeds the limit. If it does, a retest is performed. If it does not exceed the limit, it continues to judge whether the 2C mutual difference, vertical circle index difference, and distance difference within the current measurement cycle exceed the limit. If they exceed the limit, a retest is performed. If they do not exceed the limit, the next measurement cycle begins until the set number of measurement cycles is completed. After the set number of measurement cycles is completed, it judges whether the same-direction horizontal angle, vertical angle, and distance difference between measurement cycles exceed the limit. If they exceed the limit, a delayed measurement task is generated. If they do not exceed the limit, the next measurement step is performed. S5, Distance Correction; S6 performs real-time weather corrections and uses the corrected horizontal angle, vertical angle, and slope distance to calculate the three-dimensional coordinates of the measuring point using trigonometric functions. S7, save all measurement data and calculated coordinate data of all measuring points into the database; S8 sequentially controls the shutdown of the measurement robot and the opening and closing of the measurement robot's cover, ending the measurement task.

2. The method of claim 1, wherein the control measurement robot implements a polar coordinate method of measurement, and wherein the control measurement robot is configured to measure the distance and the angle of the control measurement robot to the control target. In step S1, after entering the environmental quantity judgment stage, the system first acquires real-time wind speed, rainfall, and ultrasonic ranging data of the current environment collected by the sensors. Then, it uses the acquired wind speed, rainfall, and ultrasonic ranging data to judge against the thresholds set in the system: The acquired wind speed data is compared with the wind speed threshold set in the system. If the wind speed exceeds the set threshold, the measurement requirement is not met, and the system proceeds to judge whether the delay is met. If it is met, a delayed measurement task is generated; otherwise, the measurement task ends directly. If the wind speed does not exceed the set threshold, the acquired rainfall data is compared with the rainfall threshold set in the system. If the rainfall exceeds the set threshold, the measurement requirements are not met, and the system proceeds to determine if a delay is met. If the delay is met, a delayed measurement task is generated; otherwise, the measurement task is terminated. If the rainfall does not exceed the set threshold, the acquired ultrasonic ranging data is compared with the threshold set in the system for detecting the proximity of external objects. If an external object is present, the measurement requirements are not met, and the system proceeds to determine if a delay is met. If the delay is met, a delayed measurement task is generated; otherwise, the measurement task is terminated. If no external object is present, the measurement requirements are met, the limit data is acquired, and then commands are sent to sequentially start the measurement robot and the measurement robot's opening and closing cover.

3. The method of claim 1, wherein the control measurement robot implements a polar method of measurement, and wherein the control measurement robot is configured to measure the distance and the angle of the control measurement robot to the control target. In S3, the target detection and abandonment strategy is as follows: For points where no target was found in the previous measurement, advance detection is performed. The rotating measurement robot aims at the target point and searches for the prism. If the target is found, the RecentError attribute of the point in the group is marked as False, and the point is measured in this measurement. If no target point is found, the target point is removed in this measurement, and the measurement of the point is abandoned.

4. The method of claim 1, wherein the control measurement robot implements a polar method of measurement. In S4, before each measurement cycle begins, a foreign object intrusion judgment is performed. Specifically, the sensor's real-time ranging data is obtained during the environmental quantity judgment. It is determined whether the ranging data triggers the alarm strategy. If it is not triggered, there is no foreign object intrusion and the measurement continues. If it is triggered, there is a foreign object intrusion. The sound and light alarm is controlled to emit sound and flash alarm to notify the maintenance personnel of the risk of foreign object intrusion. At the same time, the measurement task is ended and the measurement robot and the measurement robot opening and closing cover are turned off.

5. The method of claim 1, wherein the control measurement robot implements a polar method of measurement, and wherein the control measurement robot is configured to measure a distance to a target and an angle to the target. The abnormal repetition strategy is as follows: After starting the measurement at a certain point, the first step is to call the BAP_SetPrismType and TMC_SetHeight functions to set the prism type and prism height respectively. If the setting process is normal, the second step of positioning and aiming begins. If an abnormality occurs, it will wait for one second and then repeat. If the set number of repetitions is exceeded, an abnormality is thrown; otherwise, the next step is performed. The second step is to call the AUT_MakePositioning function to control the measurement robot to perform positioning and aiming. If the positioning and aiming process is normal, the third step of searching for the prism begins. If an abnormality occurs, it will wait for one second and then repeat. If the set number of repetitions is exceeded, an abnormality is thrown; otherwise, the next step is performed. The third step is to call the AUT_FineAdjust function to search for the prism for precise aiming. If the prism search process is normal, the fourth step of locking the target begins. If an abnormality occurs, it will wait for one second and then repeat. If the set number of repetitions is exceeded, an abnormality is thrown; otherwise, the next step is performed. The fourth step calls the AUS_SetUserLockState function to lock the target. If the target locking process is normal, the fifth step begins: clearing the measurement values. If an exception occurs, the process waits for one second and repeats. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the process proceeds to the next step. The fifth step calls the TMC_DoMeasure function to clear the previous measurement values. If the clearing process is normal, the sixth step begins: performing angle and distance measurement. If an exception occurs, the process waits for one second and repeats. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the process proceeds to the next step. The sixth step calls the TMC_DoMeasure function to perform angle and distance measurement. If the angle and distance measurement process is normal, the seventh step begins: acquiring the measurement values. If an exception occurs, the process waits for one second and repeats. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the process proceeds to the next step. The seventh step calls the TMC_GetSimpleMea function to acquire the measurement values. If the acquisition process is normal, the eighth step begins: closing the target lock. If an exception occurs, the process waits for one second and repeats. If the number of repetitions exceeds the set limit, an exception is thrown; otherwise, the process proceeds to the next step. The eighth step involves calling the AUS_SetUserLockState function to close the target lock. If an exception occurs during the process of closing the target lock, the process waits for one second and then repeats. If the number of repetitions exceeds the set number, an exception is thrown; otherwise, the process proceeds to the next step.

6. The method of claim 1, wherein the control measurement robot implements a polar method of measurement, and wherein the control measurement robot is configured to measure a distance to a target and an angle to the target. In step S6, current meteorological data is obtained through environmental measurement tasks to perform meteorological corrections, and the corrected horizontal angle, vertical angle, and slope distance are used to calculate the three-dimensional coordinates of the measuring point using trigonometric functions.

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