Intelligent measurement system for measuring elevation points on engineering working surfaces based on path planning

Abstract

The present invention discloses an intelligent measurement system for realizing the measurement of elevation points of engineering working surfaces based on path planning, including an intelligent mobile laser transmitting station, multiple fixed laser receiving stations and a cloud control platform. The intelligent mobile laser transmitting station uses the TSP algorithm to generate the optimal mobile path planning, and automatically navigates to each measuring point on the working surface along the path planning, and finds the nearest fixed laser receiving station to emit a horizontal line beam laser, and then provides the vertical distance between the laser emitting point and the measuring point; multiple fixed laser receiving stations are fixed on multiple working surface reference points with known coordinates, and are used to receive lasers and provide the vertical distance between the laser positioning point and the working surface reference point; the cloud control platform realizes the communication coordination within the system and the collection and analysis of system data, and calculates the millimeter-level elevation data of multiple measuring points on the working surface. The present invention can realize the millimeter-level measurement of elevation points of large-scale engineering working surfaces and the automation and digitization of measurement operations.

Description

Technical Field

[0001] The invention belongs to the technical field of laser measuring instruments, and in particular relates to an intelligent measuring system for realizing elevation point measurement of an engineering working surface based on path planning. Background Art

[0002] In the fields of land surveying and engineering construction over long distances and large areas, elevation measurement is very important. It provides vertical position information of the surface or objects. For example, in road construction projects, construction workers need to measure the elevation of the road and adjust the road construction according to the measurement results to ensure that the road elevation meets the design requirements and the construction error is controlled within the minimum range. However, in various construction and construction fields, high-precision elevation measurement at the millimeter level can only be achieved by professionals using levels or total stations. This is especially true when performing elevation measurements over long distances and large areas of work surfaces. The labor cost is high and the efficiency is low. Summary of the invention

[0003] In order to address the deficiencies in the prior art, the present invention provides an intelligent measurement system for realizing elevation point measurement of engineering work surfaces based on path planning. Multiple fixed laser receiving stations are set in the work surface area to be measured, and the intelligent mobile laser transmitting station sequentially reaches multiple measurement points in the area to be measured along the planned path. Laser beams are emitted at each measurement point and cooperate with the nearest fixed laser receiving station to realize unmanned elevation measurement with millimeter-level precision in engineering construction, which effectively improves the measurement efficiency at the construction site, reduces the demand for professional surveying personnel, and records the measurement results more accurately.

[0004] In order to achieve the above-mentioned purpose, an embodiment of the present invention is an intelligent measurement system for realizing elevation point measurement of an engineering work surface based on path planning, including an intelligent mobile laser transmitting station and multiple fixed laser receiving stations.

[0005] The intelligent mobile laser transmitting station responds to the acquired data of multiple measuring points, and uses the optimal mobile path planning generated by the traveling salesman problem TSP algorithm to automatically navigate to each measuring point, find the nearest fixed laser receiving station, and then horizontally emit a linear beam laser, and provide vertical distance data between the linear beam laser emitting point and the working surface measuring point with consistent longitude and latitude coordinates in the horizontal projection state; the fixed laser receiving station is vertically fixed one-to-one on multiple working surface reference points with known coordinates in the area to be measured, and is used to extend and retract up and down and receive the horizontal linear beam laser emitted by the intelligent mobile laser transmitting station 360 degrees in the horizontal direction, and provide vertical distance data between the laser positioning point with consistent longitude and latitude coordinates and the working surface reference point in the successful reception state.

[0006] Furthermore, the system also includes a cloud control platform for realizing communication and coordination between the intelligent mobile laser transmitting station and the fixed laser receiving station, as well as collection, calculation, analysis and processing of system data, so as to obtain millimeter-level elevation data of the measuring points on the working surface.

[0007] Furthermore, the intelligent mobile laser transmitting station responds to the acquired measurement point data and adopts the optimal mobile path planning generated based on the traveling salesman problem TSP algorithm. Specifically, the intelligent mobile laser transmitting station constructs a distance matrix according to the acquired coordinates of all points to be measured on the working surface, calculates the distance between each two points according to the coordinates of these measurement points, and fills the results into the distance matrix, and adopts the traveling salesman problem TSP algorithm, specifically including greedy algorithm, genetic algorithm, and dynamic programming to calculate the optimal path, and generates the optimal mobile path planning of the intelligent mobile laser transmitting station, so that the total moving distance is the shortest when the intelligent mobile laser transmitting station passes through each point to be measured only once and returns to the starting point.

[0008] Furthermore, the fixed laser receiving station is a laser receiving reference pole, which includes a liftable vertical pole and an annular laser receiving sensor mounted on the liftable vertical pole, and the pole axis of the liftable vertical pole is vertically arranged on the working surface reference point.

[0009] Furthermore, the laser positioning point is a light spot center displacement point or a coordinate point of an incremental encoder fixed at the center position of the cylindrical axis formed by the annular laser receiving sensor set area.

[0010] Furthermore, the center displacement point of the light spot is obtained by extracting edge information of the light spot after the annular laser receiving sensor receives the light spot formed by the horizontal linear beam laser, calculating and determining the center position of the light spot by a geometric method, and then displacing the center of the light spot horizontally and parallel to the axis of the rod body of the liftable vertical pole while keeping the height unchanged.

[0011] Furthermore, the liftable vertical pole includes a base and a moving rod arranged on the base, and the moving rod can be adjusted up and down according to the instructions of the rod controller, and the adjustment accuracy is <1 mm.

[0012] Furthermore, the intelligent mobile laser transmitting station is an intelligent navigation robot equipped with a laser transmitting device; the laser transmitting device includes a homologous control console fixedly mounted on the chassis of the intelligent navigation robot's wire-controlled body and a light source mounting rod fixedly mounted on the homologous control console, a laser transmitter that emits a linear beam laser is fixedly mounted on the upper part of the light source mounting rod, a laser ranging sensor is fixedly mounted on the bottom of the light source mounting rod, the upper and bottom parts of the light source mounting rod respectively extend out of the upper and lower surfaces of the horizontal platform of the homologous control console, the direction of the linear beam laser emitted by the laser transmitter forms an angle of 90 degrees with the rod body of the light source mounting rod, and the direction of the laser emitted by the laser ranging sensor is to irradiate downward along the axis of the rod body of the light source mounting rod.

[0013] Furthermore, the homologous control console includes four compensating telescopic rods of equal height, a horizontal platform and a horizontal rotating turntable; the bottom of each compensating telescopic rod is fixed on the chassis of the wire-controlled vehicle body, and the top is rotatably connected to the lower surface of the horizontal platform through a ball joint; a horizontal rotating turntable is fixed on the upper surface of the horizontal platform, the center position of the horizontal rotating turntable is fixed, and the light source mounting rod is vertically arranged; an RTK module is also arranged on the light source mounting rod, and the coordinate position of the RTK module, the emission point position of the laser transmitter, and the emission point position of the laser ranging sensor light source are all arranged on the axis of the light source mounting rod.

[0014] Furthermore, a hole is reserved on the chassis of the wire-controlled vehicle body, and the hole is located between the bottoms of the four compensating telescopic rods. The hole size is set so that the vertical beam laser emitted by the laser ranging sensor can pass through the hole and illuminate the working surface when the robot vehicle is tilted or not.

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention changes the working mode of manually finding measurement points, manually measuring data, and recording data through the coordinated operation of various components of the intelligent height measurement system. After the system is initialized, the autonomous navigation system of the intelligent mobile laser transmitting station can be controlled to navigate to each measurement point, and other components can be coordinated to automatically complete the height measurement and data recording. The height measurement accuracy can be controlled at the millimeter level, realizing the automation and digitization of the measurement operation;

[0017] 2. The present invention adopts the TSP (Traveling Salesman Problem) algorithm for path planning, so that the total moving distance is the shortest when the intelligent mobile laser transmitting station passes each target measurement point once and returns to the starting point; and during the movement of the intelligent mobile laser transmitting station, the path can be adjusted and optimized according to the real-time situation to adapt to the changes in the on-site environment or the addition of new measurement points, thereby saving measurement time and cost and improving measurement efficiency;

[0018] 3. The present invention determines the center displacement point of the light spot as the laser positioning point. The center displacement point of the light spot is obtained by extracting the edge information of the light spot after the annular laser receiving sensor receives the light spot formed by the horizontal beam-shaped laser, using a geometric method to determine the center position of the light spot, and then displacing the center of the light spot horizontally and parallel to the axis of the liftable pole while keeping the height unchanged, thereby further improving the height measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a measurement embodiment of an intelligent measurement system for realizing elevation point measurement of an engineering working surface based on path planning according to the present invention;

[0020] Figure 2 It is a schematic diagram of the state of the system of the present invention when measuring at a measuring point;

[0021] Figure 3 It is a schematic diagram of the principle of homologous height lifting compensation of the intelligent mobile laser transmitting station in the system of the present invention;

[0022] Figure 4 This is a schematic diagram of the measurement state in which the RTK module of an embodiment of the intelligent mobile laser transmitting station in the system of the present invention is arranged on the top of the light source mounting pole.

[0023] In the figure:

[0024] Wire-controlled vehicle chassis 1, RTK module 2, homologous control console 3, light source mounting pole 4, laser transmitter 5, laser ranging sensor 6, liftable pole 7, laser receiving sensor 8, working surface reference point 9, and cavity 10. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the present invention clearer, the following Figure 1-4 The invention is further described with examples.

[0026] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0027] Taking the engineering elevation measurement of a long-distance road work surface as an example, construction workers need to measure the elevation of a long-distance road and adjust the road construction based on the measurement results to ensure that the road elevation meets the design requirements and control the construction error within the minimum range.

[0028] The present invention provides an intelligent measurement system for realizing elevation point measurement of an engineering work surface based on path planning, which comprises an intelligent mobile laser transmitting station, multiple fixed laser receiving stations and a cloud control platform.

[0029] As attached Figure 1 As shown, in the long-distance area to be measured, the leveling measurement points provided by the country are used as a reference for construction. According to the coordinates of the leveling points provided by the engineering construction, the working surface reference points 9 with multiple known three-dimensional coordinates used in the engineering construction are measured by total stations, levels and other instruments. Multiple fixed laser receiving stations are set one-to-one on the working surface reference points 9. The intelligent mobile laser transmitting station reaches multiple measuring points in the area to be measured along the planned path in turn according to the coordinates of each point to be measured on the working surface, and emits a laser beam (horizontal laser beam + vertical laser beam) at each measuring point, and cooperates with the nearest fixed laser receiving station to realize unmanned elevation measurement with millimeter-level accuracy in engineering construction.

[0030] In response to the acquired measurement point data, the intelligent mobile laser transmitting station can automatically navigate to the measurement point along the planned path, find the nearest fixed laser receiving station, and then horizontally project a linear beam laser, and provide vertical distance data between the linear beam laser transmitting point and the measurement point with consistent longitude and latitude coordinates in the horizontal projection state.

[0031] As an implementation method, for a long distance road or a large area with multiple target measurement points, path planning can be used to design the moving route of the intelligent mobile laser transmitting station to most efficiently complete all the target measurement points. The path planning steps of the present invention based on the TSP (Traveling Salesman Problem) algorithm are as follows:

[0032] Determine the position coordinates of each target measurement point on the road; calculate the adjacency matrix based on the distance between each measurement point to represent the distance or cost between each point; use the TSP algorithm to solve the shortest path to ensure that the total moving distance is the shortest when the intelligent mobile laser transmitter passes each target measurement point once and returns to the starting point; generate the optimal moving path of the intelligent mobile laser transmitter based on the results of the TSP algorithm to ensure that all target measurement points are covered and the driving distance is minimized. In addition, during the movement of the intelligent mobile laser transmitter, the path is adjusted and optimized according to the real-time situation to adapt to changes in the on-site environment or the addition of new measurement points.

[0033] Through the above steps, the most efficient intelligent mobile laser transmitter station moving route can be designed, so that the intelligent mobile laser transmitter station can efficiently complete all target measurement points. This can not only save time and cost, but also improve measurement efficiency and accuracy.

[0034] Furthermore, one embodiment of the intelligent mobile laser transmitting station can be an intelligent navigation robot, which includes a wire-controlled body chassis 1, a battery, a main controller, a first IoT module and an RTK module 2 (some components are not shown in the figure). The wire-controlled body chassis 1 is the physical platform of the robot, which is used to carry various components such as the battery, the main controller, the first IoT module and the RTK module 2 and move by driving four wheels, and also includes a drive motor, a sensor, etc. The battery is used to provide the power demand of the robot and is connected to the main controller, the drive motor and other components for power supply. The main controller is the brain of the intelligent navigation robot, responsible for processing navigation algorithms, sensor data collection and processing, motion control, etc. It is connected to the wire-controlled body chassis 1, the battery, the first IoT module and other components through cables or interfaces, and is responsible for controlling the robot's navigation, motion and laser emission functions. The main controller and the first IoT module communicate with the AIOT platform network through wireless networks (such as Wi-Fi, cellular networks, etc.) to realize remote monitoring, remote operation, data transmission and other functions.

[0035] The laser emitting device includes a homologous control platform 3 and a cylindrical light source mounting rod 4, a laser emitter 5 and a laser ranging sensor 6 installed on the homologous control platform 3. The homologous control platform 3, the laser emitter 5 and the laser ranging sensor 6 are respectively connected to the main controller to receive control instructions. The homologous control platform 3 includes 4 compensation telescopic rods of equal height, a horizontal platform and a horizontal rotating turntable. The bottom of each compensating telescopic rod is fixed on the chassis 1 of the wire-controlled vehicle body, and the top is rotatably connected to the lower surface of the horizontal platform through a ball joint. A horizontal rotating turntable is arranged on the upper surface of the horizontal platform, and the center position of the horizontal rotating turntable is vertical and fixed with a light source mounting rod 4. The upper and bottom parts of the light source mounting rod 4 extend out of the upper and lower surfaces of the horizontal platform respectively. A laser emitter 5 is fixedly installed on the upper part of the light source mounting rod 4. The irradiation direction of the line beam laser emitted by the laser emitter 5 is at an angle of 90 degrees to the axis of the rod body of the light source mounting rod 4, that is, when the rod body of the light source mounting rod 4 is vertical, the laser emitter 5 emits a horizontal line beam laser; a laser ranging sensor 6 is fixedly installed on the bottom of the light source mounting rod 4, and the laser ranging sensor 6 emits a line beam laser downward along the axis direction of the rod body of the light source mounting rod 4, that is, when the rod body of the light source mounting rod 4 is vertical, the laser ranging sensor 6 emits a line beam laser vertically downward along the axis direction. The light source emitting point of the laser emitter 5 and the light source emitting point of the laser ranging sensor 6 are both installed on the axis of the cylindrical light source mounting rod 4. The laser rangefinder sensor 6 is a device that uses laser technology to measure the distance of a target. It calculates the distance between the target object and the sensor by emitting a laser beam and measuring the time or other properties of the laser beam returning.

[0036] The homologous control console 3 is used to adjust the posture of the light source mounting rod 4 to keep the laser emitter 5 emitting horizontal beam lasers, the laser ranging sensor 6 emitting vertical beam lasers, and the horizontally emitted beam lasers rotating to adjust the irradiation direction. The bottom of the four compensating telescopic rods of the homologous control console 3 is fixed on the wire-controlled vehicle chassis 1, and the top is rotatably connected to the horizontal platform through a ball joint. This connection method can provide sufficient flexibility, so that the telescopic rods can be under the horizontal platform, according to the height requirements of the working surface where the four wheels are located, and move up and down in a compensatory manner, thereby correcting the tilt state of the horizontal platform and keeping the horizontal platform level. During installation, four wheel height support points are found on the upper surface of the wire-controlled vehicle chassis 1, and the four wheel height support points are connected in pairs to form a first displacement quadrilateral with two diagonals, thereby obtaining four first line segments with the intersection of the diagonals and the four wheel height support points as two end points. The bottoms of the four compensating telescopic rods are fixedly installed on the four first line segments one by one, and the distance from the bottom of each compensating telescopic rod to the intersection of the diagonals is equal to the proportion of the first line segment in which it is located, that is, if the bottom of one compensating telescopic rod is at 1 / 2 of the first line segment in which it is located, the bottoms of the remaining three compensating telescopic rods are also at 1 / 2 of the first line segment in which they are located. The purpose of this design is to provide a better compensation effect through a homologous design.

[0037] The adjustment of the homologous control console 3 is mainly achieved through the telescopic height compensation of the four compensation telescopic rods. Taking the telescopic height compensation of one compensation telescopic rod as an example, the compensation principle is as shown in the attached figure. Figure 3 As shown, when the C end point (wheel height support point) of a horizontal plane AC rises 2 cm to point C', point E (located at 1 / 2AC) and point F (located at 3 / 4AC) on the plane move with the plane to points E' and F', and plane AC' becomes tilted and no longer remains horizontal. At this time, if the plane is lowered about 1 cm from point E' to point E (or about 1.5 cm from point F' to point F), plane AC' returns to plane AC and returns to a horizontal state. Realizing automatic control of the platform level also includes: installing a tilt sensor on the platform, such as an accelerometer or a tilt sensor, to measure the tilt angle of the plane. The sensor measures the tilt angle of the platform and transmits the data to the main controller for real-time analysis and processing. According to the tilt angle measured by the sensor, the main controller adjusts the telescopic length of the four compensating telescopic rods to keep the plane horizontal.

[0038] When the intelligent navigation robot drives to the measuring point, because the measured working surface may be uneven, the working surface heights of the four wheels on the wire-controlled body chassis 1 are different. Therefore, the wire-controlled body chassis 1 and the horizontal platform, which were originally in a horizontal state, will tilt, so that the linear laser emitted by the laser emitter 5 set thereon cannot be horizontally irradiated, affecting the final measurement result. This requires the adjustment of the homologous control console 3 (mainly through the extension and contraction of the four compensating telescopic rods of the homologous design mentioned above, and at the same time, the extension range of the compensating telescopic rod can cover the wheel height displacement.) to keep the horizontal platform horizontal, so as to keep the laser emitter 5 able to emit the linear laser horizontally, and the laser ranging sensor 6 able to emit the linear laser vertically.

[0039] A horizontal rotating turntable is arranged on the upper surface of the horizontal platform. There are two ways to arrange the horizontal rotating turntable. The first is to arrange the horizontal rotating turntable at the center of the upper surface of the horizontal platform. The second is to find four support points at the height of the telescopic rod on the upper surface of the horizontal platform, and connect the four support points at the height of the telescopic rod to form a second displacement quadrilateral with two diagonals. The horizontal rotating turntable is arranged with the intersection of the diagonals of the second displacement quadrilateral as the center of the turntable. The advantage of this design is that the RTK module 2 on the light source mounting rod 4 arranged on the center of the turntable can obtain the minimum displacement when the horizontal platform is adjusted to a horizontal state, which is conducive to repositioning and aligning the coordinates of the ground measurement point after subsequent adjustment.

[0040] The light source mounting rod 4 is fixedly arranged vertically at the center of the horizontal rotating turntable. A laser emitter 5 is installed on the upper part of the light source mounting rod 4. The laser emitter 5 is located above the horizontal platform to ensure that the laser will not be blocked when irradiated horizontally. The laser emitter 5 is a line beam laser light source, fixed on the axis of the light source mounting rod 4, and emits a line beam laser horizontally. The laser light source requires that the spot size can be controlled within 10 mm after the emitted light is transmitted to the laser receiving reference rod to ensure millimeter-level elevation measurement. For example, when measuring the elevation of the target highway, because the general requirement for construction measurement is 1 kilometer, that is, the measurement must be carried out 500 meters before and after the laser receiving reference rod, the laser light source requires that the spot size can still be controlled within 10 mm after the emitted light is transmitted 500 meters (transmitted to the laser receiving reference rod) to ensure millimeter-level elevation measurement. A laser ranging sensor 6 that emits a vertical line beam laser is installed at the bottom of the light source mounting rod 4. The laser ranging sensor 6 is also installed on the axis of the cylindrical light source mounting rod 4, and the bottom of the light source mounting rod 4 protrudes from the lower surface of the horizontal platform. A hole 10 is reserved on the wire-controlled body chassis 1. The hole 10 is located between the bottoms of the four compensating telescopic rods and can be circular, elliptical, etc. The size setting standard of the hole 10 is: the vertical beam laser emitted by the laser ranging sensor 6 can pass through the hole 10 and irradiate the ground when the robot vehicle is tilted or not due to the ground height conditions where the four wheels are located.

[0041] The functions of homology control station 3 are mainly reflected in the following three aspects:

[0042] First, because the engineering work road surface that needs to be measured is not always horizontal, when the intelligent navigation robot drives to the measuring point, the vertically erected light source mounting rod 4 on the wire-controlled body chassis 1 may be tilted due to the uneven road surface, resulting in the linear beam laser emitted by the laser transmitter 5 cannot maintain a horizontal irradiation state. Therefore, by adjusting the state of the homologous control console 3, the horizontal platform can be kept horizontal and the light source mounting rod 4 can be kept vertical, thereby achieving the horizontal irradiation state of the linear beam laser.

[0043] Secondly, after the light source mounting rod 4 is kept in a vertical state, the laser ranging sensor 6 at its bottom can also emit a linear beam laser vertically to the measuring point of the working surface to perform sub-millimeter laser ranging.

[0044] On the third aspect, because the laser emitter 5 of the present invention emits a line beam laser instead of a surface laser, it is necessary to enable the line beam laser to find the axis of the laser receiving reference rod by adjusting the horizontal irradiation angle and accurately project the annular laser receiving sensor 8 thereon. This requires providing a rotation function for the light source mounting rod 4 where the laser emitter 5 is located, and the light source mounting rod 4 is vertically fixed on the homologous control table 3. The rotation of the horizontal rotating turntable on the homologous control table 3 drives the rotation of the light source mounting rod 4 fixed thereon, so that the line beam laser of the laser emitter 5 can be rotated in the horizontal direction as needed to achieve a change in the irradiation angle in the horizontal direction, so that the line beam laser can be positioned by the longitude and latitude coordinates of the axis of the laser receiving reference rod, and the laser receiving reference rod is then lifted and lowered to achieve accurate search and projection of the horizontal line beam laser on the annular laser receiving sensor 8 on the laser receiving reference rod.

[0045] The present invention uses a linear laser instead of a surface laser after special consideration:

[0046] Because when surveying the elevation of a construction road or other engineering scenes, there will be workers performing other tasks at the outer edge of the road and other places working on site. If it is a surface laser, then large-area laser irradiation may cause safety hazards to the eyes and other parts of the human body when the workers squat, raise their heads, turn their heads, etc. Therefore, after using a linear beam laser, it is only necessary to ensure that other workers are not in the extremely small straight line area between the two points of the transmitting point and the receiving point through on-site construction reminders and other means to avoid such personal safety hazards.

[0047] The RTK module 2 is arranged on the light source mounting rod 4, and the RTK module 2 is also arranged on the axis of the light source mounting rod 4. The RTK module 2 is used to provide high-precision positioning information, which is connected to the main controller of the intelligent navigation robot to achieve accurate navigation and positioning.

[0048] As an implementation mode of the present invention, the RTK module 2 is fixed on the top of the light source mounting rod 4, and the laser transmitter 5 is fixed on the upper part of the light source mounting rod 4 below the RTK module 2. At this time, the system structure diagram is as shown in the attached figure. Figure 4 shown.

[0049] As another embodiment of the present invention: the RTK module 2 is fixed at the center of the turntable, that is, the intersection of the diagonal lines of the second displacement quadrilateral, and the laser transmitter 5 is fixed on the upper part of the RTK module 2. The purpose of this design is to minimize the displacement of the RTK module 2 when the horizontal platform is adjusted horizontally, and the amplitude of its coordinate change is also minimized, so the robot can reduce (or do not need to) adjust the moving distance. At this time, the system structure diagram is as shown in the attached figure. Figure 2 shown.

[0050] The main controller of the intelligent navigation robot is responsible for coordinating the work of all components, including navigation, positioning, laser emission and adjustment of the homologous control console 3, so as to enable the intelligent navigation robot to accurately reach the measurement point and control the adjustment of the homologous control console 3, including steering, positioning the laser irradiation direction, and maintaining the horizontal and vertical irradiation functions respectively.

[0051] Multiple fixed laser receiving stations are vertically fixed one-to-one on multiple working surface reference points with known coordinates in the area to be measured, and are used to extend and retract up and down and receive the horizontal line beam laser emitted by the intelligent mobile laser transmitting station 360 degrees in the horizontal direction, and provide vertical distance data between the laser positioning point and the working surface reference point with consistent longitude and latitude coordinates in the successful reception state.

[0052] Furthermore, one embodiment of a fixed laser receiving station may be a laser receiving reference pole, which includes a cylindrical liftable pole 7, an annular laser receiving sensor 8, a pole controller, a second Internet of Things module, and a power supply. Among them, the liftable pole 7 includes a base and a moving pole on the base, and a leveling structure and a lifting structure are provided on the base. The moving pole can be adjusted up and down according to the command of the pole controller, and the adjustment accuracy is within 1mm. The annular laser receiving sensor 8 is sleeved on the upper part of the moving pole body. The axis of the cylinder formed by the annular laser receiving sensor 8 coincides with the axis of the cylindrical moving pole body, and is responsible for receiving and processing laser signals. The annular structure enables the laser receiving sensor to receive laser signals without dead angles within a horizontal range of 360 degrees, thereby expanding the measurement range. The diameter of the annular laser receiving sensor 8 is greater than 10cm, because the accuracy given by the RTK module 2 product is generally ±3cm, but in actual testing, it is found that there is a maximum deviation of ±5cm, so the laser projection result may be biased when calculating the coordinates, and the closer the distance between the robot and the receiving rod, the smaller the light spot, which may be a very small point, so it is necessary to control the deviation receiving range at this time to be greater than or equal to 5cm on the left and right of the axis, that is, to set the diameter of the annular laser receiving sensor 8 to be greater than or equal to 10cm to ensure that the laser is effectively received. In engineering measurement, the position accuracy requirement for the measurement point on the working surface is at the centimeter level, so the RTK positioning accuracy can fully meet the engineering business requirements.

[0053] An incremental encoder is fixedly installed in the middle position of the cylindrical axis (coinciding with the axis of the moving rod body) formed in the area where the annular laser receiving sensor 8 is installed. The incremental encoder is used to provide the change or increment relative to the initial position. After each movement stops, the encoder will output an incremental signal to indicate the distance it has moved, that is, the distance the laser receiving sensor 8 has moved. The annular receiving surface of the laser receiving sensor 8 covers the surface of the rod body in the entire installation area to ensure that the linear laser signal can be received 360 degrees in the horizontal direction around the rod body, and the upper and lower widths of the annular receiving surface are ≤10 mm to ensure millimeter-level elevation measurement. The standard for the extension length of the moving rod is: the receiving displacement range of the annular laser receiving sensor 8 installed thereon can cover the upper and lower displacement range of the horizontal linear laser emitted by the laser emitter 5.

[0054] The pole controller is connected to the liftable pole 7, the laser receiving sensor 8, and the second IoT module through wired or wireless connections, and is used to control the liftable pole 7 to adjust its height, process the data of the laser sensor, the data of the second IoT module, etc. The pole controller and the second IoT module are arranged on the laser receiving reference pole, and are respectively connected to the AIOT platform for communication. The power supply provides power to the components of the laser receiving reference pole.

[0055] There are two ways to obtain laser positioning points:

[0056] The first type: the laser positioning point is the center point of the cylindrical axis segment (coinciding with the axis of the reference rod) formed by the annular laser receiving sensor set area.

[0057] The method of obtaining the height coordinate of this center position includes an encoder method, that is, an incremental encoder is fixed at the center position point, and the coordinate point of the incremental encoder is measured when the annular laser receiving sensor is at the lowest point (the reference rod is not extended or retracted) during initialization. After the reference rod is extended or retracted and the laser receiving sensor receives the light spot formed by the laser, the incremental encoder will input the height coordinate displacement, and the coordinates of the incremental encoder at this time, that is, the laser positioning point, are obtained from the surface calculation.

[0058] It also includes a gear counting method, that is, a gear that is linked to the extension and retraction of the moving rod is set in the base of the liftable vertical pole, and the number of rotating teeth of the gear is calculated by a counter to determine the extension and retraction height of the moving rod. During initialization, the distance from the work surface reference point to the center position point of the axis of the annular laser receiving sensor is measured, and then the number of rotating teeth of the gear is calculated by a counter to determine the distance moved by the center position of the laser receiving sensor, so as to calculate the final required center position point height coordinate.

[0059] Because the upper and lower widths of the annular receiving surface are ≤10 mm, after the annular laser receiving sensor receives the light spot (the light spot may be in different areas of the annular receiving surface), the coordinate point of its central incremental encoder is used as the laser positioning point, which can ensure millimeter-level elevation measurement.

[0060] The second type: In order to improve the accuracy of elevation measurement, the laser positioning point can also be the center displacement point of the light spot.

[0061] The center displacement point of the light spot is obtained by extracting the edge information of the light spot after the annular laser receiving sensor receives the light spot formed by the horizontal linear beam laser, using a geometric method to determine the center position of the light spot, and then displacing the center of the light spot horizontally and parallel to the axis of the liftable pole while keeping the height unchanged.

[0062] Specifically, the process of implementing the technology for the center position of the light spot can be as follows: the ring laser receiving sensor includes an array composed of multiple photodiodes, which are arranged on the outer surface of the sensor to receive the light signal of the laser spot. When the laser spot is irradiated onto the photodiode array, each photodiode will generate a current response. By collecting the current signal generated by each photodiode and comparing the current response of each photodiode, the sensor can determine the position of the laser spot on the array. The method used can be to measure the relationship between the current signal generated by the photodiode and the set threshold to determine whether the light spot is on the diode, and calculate the position of the light spot through this information. Furthermore, the position of the light spot can be estimated by weighted averaging or fitting the curve of the light spot, and then the center position of the light spot can be calculated by using these data through geometric methods.

[0063] At the same time, the positions of these photodiodes on the outer surface of the annular laser receiving sensor are known, that is, the height difference of each photodiode relative to the center position of the cylindrical busbar formed by the annular laser receiving sensor set area where it is located is known, and the height coordinate of the center position of each busbar on the cylinder is equal to the height coordinate of the incremental encoder at the center of the axis segment.

[0064] Furthermore, in this scheme, the width of the receiving surface can be made slightly larger than the maximum diameter of the light spot that may be received. By raising and lowering the annular laser receiving sensor, the receiving area of ​​the light spot on the receiving surface of the annular laser receiving sensor can be maximized. Through the highest and lowest photodiode positions that receive the laser, the center position of the light spot can be obtained more accurately ((highest diode position - lowest diode position) / 2). In this way, whether it is frontal illumination or side illumination that may be formed due to RTK module errors, since the laser light is perpendicular to the laser receiving reference rod and horizontally illuminates the annular laser receiving sensor, (highest diode position - lowest diode position) / 2 is the height position of the center position.

[0065] The system also includes a cloud control platform, which is used to realize the communication, coordination and system data collection, calculation, analysis and processing between the intelligent mobile laser transmitting station and the fixed laser receiving station, and obtain the millimeter-level elevation data of the measuring point. The cloud control platform is an AIOT platform, which includes modules such as IOT management, task coordination services, and data middle platform, and can be deployed on a cloud server. The AIOT platform is an artificial intelligence Internet of Things (AIoT) platform, which is a comprehensive platform that combines artificial intelligence (AI) and Internet of Things (IoT) technologies. It includes multiple modules such as IOT management, task coordination services, and data middle platform. Here is how these modules work:

[0066] The IOT management module is mainly responsible for managing IoT devices. It will connect to the first IoT module and the second IoT module through communication protocols (such as Wi-Fi, LoRa, 3G\4G\5G signals, etc.) and monitor the status and data of these devices in real time. The IOT management module usually includes functions such as device registration, device connection, device status monitoring, and remote control. Through these functions, users can easily manage and control IoT devices.

[0067] The task coordination service module is mainly responsible for coordinating and managing various tasks. It can receive task requests from users or other systems, and then assign them to appropriate devices for execution based on the type, priority and other information of the task. The task coordination service module usually includes functions such as task scheduling, task allocation, and task execution monitoring. Through these functions, the automated management and execution of tasks can be achieved.

[0068] The data middle platform module is mainly responsible for data management and analysis. It collects data from the first and second IoT modules, the main controller, and the rod controller, and then stores, processes, and analyzes them, and finally generates various data analysis results. Through these functions, effective management and utilization of data can be achieved.

[0069] The AIOT platform achieves the management of IoT devices such as intelligent navigation robots, laser emitting devices and laser receiving reference poles, the collaborative execution of tasks and the management and analysis of data through the collaborative work of multiple modules such as IOT management, task collaboration services and data middle platform.

[0070] The present invention provides an intelligent elevation measurement method for measuring elevation points on a long-distance and large-scale engineering work surface, which is implemented by the above-mentioned intelligent measurement system for measuring elevation points on an engineering work surface based on path planning, and specifically includes the following steps:

[0071] S1. Initialize the robot system, including initializing the laser receiving reference rod, the intelligent navigation robot and the laser emitting device, specifically:

[0072] S11, initializing the laser receiving reference rod, including:

[0073] S111. Determine the work surface reference point: Based on the leveling measurement points provided by the state, obtain the work surface reference point 9 with known three-dimensional coordinates used in engineering construction by measuring with instruments such as total station and level, which will serve as a reference for construction;

[0074] S112. Laying out the laser receiving reference pole: Install and lay out the laser receiving reference pole at a determined reference point on the working surface (whose longitude and latitude coordinates (X0, Y0) are known) and perpendicular to the working surface. The axis of the cylindrical laser receiving reference pole is located at the coordinates (X0, Y0). When the laser receiving reference pole is set, the pole body is manually buried vertically or adjusted to verticality by the leveling mechanism on the base.

[0075] Furthermore, the movable rod is adjusted to be in an initial state of not being extended, that is, the annular laser receiving sensor mounted thereon is at the lowest point of its moving range, that is, the coordinate height of the incremental encoder on the inner axis of the annular laser receiving sensor is at its lowest point.

[0076] By measuring the distance between the incremental encoder at the center point of the annular laser receiving sensor on each reference rod and the corresponding work surface reference point, the initial elevation h1 of the incremental encoder on each reference rod is obtained. g， Among them, g=1...k, k is the number of laser receiving reference rods, which forms the initial elevation data set of the incremental encoder and is sent to the AIOT platform together with the coordinate data set of the axis of the laser receiving reference rod.

[0077] S12, initializing the intelligent navigation robot;

[0078] The initialization of the intelligent navigation robot includes keeping the robot's wire-controlled body chassis level in the initial state before the robot sets off. The RTK module measures and obtains the WG84 initial coordinates (x0, y0, z0) of the module center point through the GNSS system and sends it to the main controller. The distance h2 from the laser transmitter emission point to the laser ranging sensor laser emission point is measured and sent to the AIOT platform.

[0079] S13, initializing the laser emitting device;

[0080] Initialization of the laser emitting device includes keeping the horizontal platform of the homologous control console horizontal and the light source mounting rod fixedly arranged at the center of the horizontal rotating turntable in a vertical state, the line-beam laser emitted by the laser emitter on the upper part of the light source mounting rod in a horizontal state, and the line-beam laser emitted by the laser ranging sensor at the bottom of the light source mounting rod in a vertical, downward state coinciding with the rod axis; further, the telescopic height of the four compensating telescopic rods under the horizontal platform can be extended to about half, so that when the robot reaches the measuring point, no matter whether the working surface of the four wheels of the vehicle is high or low, the four compensating telescopic rods of the homologous design can be easily retracted and retracted accordingly to adjust the horizontal state of the horizontal platform and quickly reach the platform horizontal target.

[0081] S14. Let i=1.

[0082] S2. Set and issue specific measurement tasks to the intelligent navigation robot through the AIOT platform to start measurement. The measurement tasks include the coordinate data set of the measurement points to be measured and the coordinate data set of the laser receiving reference rod.

[0083] The measurement task sent by the AIOT platform to the intelligent navigation robot includes a measurement point coordinate data set {(X1, Y1), (X2, Y2), … (Xi, Yi), … (Xn, Yn)},

[0084] Wherein, (X1, Y1) is the coordinate of the first measurement point to be measured when i=1, (X2, Y2) is the coordinate of the second measurement point to be measured when i=2, and i=1…n, where n is the number of measurement points.

[0085] The measurement task sent also includes the coordinate data set of multiple laser receiving reference rod axes

[0086] {(X0,Y0)1,,…(X0,Y0) k}, k is the number of laser receiving reference rods.

[0087] Among them, (X0, Y0)1 is the coordinate of the axis of the first laser receiving reference rod, (X0, Y0) k is the coordinate of the axis of the kth laser receiving reference rod.

[0088] S3. The intelligent navigation robot uses the optimal mobile path planning of the intelligent mobile laser transmitting station generated by the traveling salesman problem TSP algorithm according to the measurement point coordinate data set, and then calculates and automatically navigates to the first measurement point according to the first measurement point coordinate (X1, Y1) and the initial coordinate (x0, y0) of the RTK module in the optimal mobile path planning. At this time, the current two-dimensional coordinate (x1, y1) of the RTK module is equal to the two-dimensional coordinate (X1, Y1) of the first measurement point;

[0089] The optimal mobile path planning of the intelligent mobile laser transmitting station generated by the traveling salesman problem TSP algorithm can be implemented by the following steps: obtaining the coordinates of all measurement points, constructing a distance matrix, calculating the distance between each two points based on the coordinates of these measurement points, and filling the results into the distance matrix, using the TSP algorithm (such as greedy algorithm, genetic algorithm, dynamic programming, etc.) to calculate the optimal path, which will cover all measurement points and have the shortest total distance. The optimal path generated by the TSP algorithm is converted into the actual optimal mobile path planning, and the intelligent navigation robot visits all measurement points in turn, and finally returns to the starting point with the shortest path.

[0090] The following is the general process of the robot automatically navigating to the measurement point based on the received coordinate information:

[0091] Path planning: After receiving the coordinates of the measurement point, the robot uses the coordinates provided by the RTK module to determine its current position and orientation for current positioning. The main controller uses the path planning algorithm to calculate the best navigation path. When planning the path, factors such as avoiding obstacles, the shortest path, and terrain features are considered to ensure that the robot reaches the target point safely and efficiently.

[0092] Motion control: The main controller controls the movement of the robot according to the path planning results, including adjusting the rotation speed and direction of the wheels to move along the planned path.

[0093] Real-time correction: Since RTK provides high-precision positioning information, the robot can perform real-time corrections during movement to ensure the accuracy of its position and orientation. This can be achieved by continuously updating the robot's position information and adjusting the navigation path according to actual conditions.

[0094] Arrival at the measuring point: When the robot arrives at the measuring point, the current two-dimensional coordinates (x1, y1) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measuring point, and the robot wheels stop moving.

[0095] S4, check the horizontal platform state, if the platform is not in a horizontal state, execute step S5, if the platform is in a horizontal state, execute step S6;

[0096] The state of the horizontal platform is detected by a tilt sensor installed on the horizontal platform. If the platform is not in a horizontal state, step S5 is executed; if the platform is in a horizontal state, step S6 is executed.

[0097] S5. The intelligent navigation robot adjusts the horizontal platform to a horizontal level through the homologous control console, and then obtains the current two-dimensional coordinates (x1*, y1*) of the RTK module, and determines whether (x1*, y1*) is equal to the two-dimensional coordinates (X1, Y1) of the measuring point. If so, execute step S6; otherwise, keep the platform horizontal and automatically navigate to adjust the position until the current two-dimensional coordinates (x1*, y1*) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measuring point, that is, the linear laser emitted by the laser ranging sensor at the bottom of the light source installation rod can be projected vertically and downward onto the measuring point, and then execute step S6;

[0098] Specifically, when driving to the measuring point, because the heights of the working surfaces of the four wheels under the robot's wire-controlled body chassis are different, the support points of the wheel height on the upper surface of the wire-controlled body chassis are displaced due to the increase or decrease in height, thereby causing the wire-controlled body chassis to tilt, driving the horizontal platform at the top of the compensation telescopic rod to tilt. Taking the increase in the working surface where a wheel is located as an example, the wheel height support point corresponding to the wheel rises, that is, one corner vertex of the first displacement quadrilateral rises, and the first displacement quadrilateral plane on the upper surface of the wire-controlled body chassis tilts, driving the second displacement quadrilateral on the horizontal platform parallel to the first displacement quadrilateral to tilt at the same angle. At this time, the telescopic height of the compensation telescopic rod is adjusted so that the top of the compensation telescopic rod assumed to be located at point E' drops to point E (if it is located at point F', it drops to point F), then the wire-controlled body chassis is still tilted, but the horizontal platform above the compensation telescopic rod returns to the horizontal state, so that the linear beam laser emitted by the laser transmitter fixed on the upper part of the light source mounting rod of the horizontal platform can be horizontally irradiated, and the laser ranging sensor at the bottom of the light source mounting rod can be vertically irradiated downward, without affecting the final measurement result.

[0099] Furthermore, after the horizontal platform is adjusted to be horizontal, the current two-dimensional coordinates (x1*, y1*) of the RTK module need to be obtained again. If it is found that (x1*, y1*) is not equal to the two-dimensional coordinates (X1, Y1) of the measuring point, the horizontal state of the horizontal platform is maintained, and the robot is controlled to move accordingly, so that the coordinates of the RTK module are positioned on the two-dimensional coordinates (X1, Y1) of the measuring point. One way to maintain the horizontal state of the horizontal platform is to use a tilt sensor installed on the platform, adopt a closed-loop control system, monitor the tilt angle of the plane in real time, and adjust the compensation telescopic rod to keep the plane horizontal in real time.

[0100] At this point, the longitude and latitude coordinates of the center of the RTK module (i.e., the coordinates of the module itself acquired by RTK), the longitude and latitude coordinates of the laser transmitter launch point, and the longitude and latitude coordinates of the laser ranging sensor launch point are consistent with the longitude and latitude coordinates of the measurement point (X1, Y1).

[0101] S6. The robot selects the nearest laser receiving reference pole according to the coordinate data set of the laser receiving reference pole axis and the RTK current coordinates, and calculates the longitude and latitude coordinates (△X0, △Y0) of the axis of the laser receiving reference pole relative to the RTK current coordinates (X1, Y1); by rotating the horizontal rotating turntable, the light source mounting pole fixed on it is driven to rotate, so that the linear laser emitted by the laser transmitter fixed on the pole rotates to find and align with the projection direction of the reference pole axis.

[0102] S7, turn on the horizontal laser light source of the laser transmitter, emit laser to the axis of the laser receiving reference rod, and send a message to notify the AIOT platform that the laser has been emitted, and send the RTK terminal height coordinate zi, that is, z1, to the AIOT platform at this time;

[0103] Before the laser transmitter launches the horizontal laser, make on-site safety reminders and remove obstructions to ensure that there are no people or other obstructions in the straight line area between the robot and the reference pole.

[0104] S8, the AIOT platform notifies the reference rod to move upward until the laser receiving sensor receives the laser, records the moving distance value △h1 output by the incremental encoder, and uploads the value of △h1 to the AIOT platform through the second IoT module.

[0105] S9. Turn on the laser distance measuring sensor to emit laser to the measuring point, output the measured distance △h2, and upload the value of △h2 to the AIOT platform through the first IoT module.

[0106] The accuracy of the distance values ​​output by the laser distance measuring sensor and the incremental encoder is sub-millimeter, which can meet the millimeter-level elevation measurement requirements of the present invention.

[0107] S10. The result calculated by the AIOT platform through the expression H1=(h1+△h1)-(h2+△h2) is the elevation H1 of the first measuring point where the intelligent navigation robot is located.

[0108] Furthermore, when subsequently measuring the elevation of the measurement points of the planned path, proceed as follows:

[0109] P0, let i=i+1;

[0110] P1. The intelligent navigation robot automatically navigates to the current measurement point based on the coordinates of the i-th measurement point (Xi, Yi) in the measurement point coordinate data set and the current coordinates of the RTK module, that is, the coordinates of the previous measurement point. At this time, the current two-dimensional coordinates (xi, yi) of the RTK module are equal to the two-dimensional coordinates (Xi, Yi) of the current measurement point.

[0111] P2, check the horizontal platform state, if the platform is not in a horizontal state, execute step P3, if the platform is in a horizontal state, execute step P4;

[0112] P3. The intelligent navigation robot adjusts the horizontal platform to a horizontal level through the homologous control console, and then obtains the current two-dimensional coordinates (xi*, yi*) of the RTK module, and determines whether (xi*, yi*) is equal to the two-dimensional coordinates (Xi, Yi) of the current measurement point. If yes, execute step P4; otherwise, keep the platform horizontal and automatically navigate to adjust the position until the current two-dimensional coordinates (xi*, yi*) of the RTK module are equal to the two-dimensional coordinates (Xi, Yi) of the current measurement point, and then execute step P4;

[0113] P4. The robot selects the nearest laser receiving reference pole according to the coordinate data of the laser receiving reference pole axis and the RTK current coordinates. The robot calculates the coordinates (△X0) of the incremental encoder longitude and latitude coordinates (X0, Y0) relative to the RTK current coordinates (Xi, Yi). i ,△Y0 i ), through the rotation of the horizontal rotating turntable, the light source mounting rod is driven to rotate, so that the linear beam laser emitted by the laser transmitter fixed on the rod rotates to find and align with the projection direction of the reference rod axis;

[0114] P5. Turn on the laser transmitter and emit a horizontal laser to the laser receiving reference rod. At the same time, send a message to notify the AIOT platform that the laser has been emitted, and send the RTK terminal height coordinate zi at this time to the AIOT platform;

[0115] P6, AIOT platform notifies the benchmark pole to move and informs it of the direction of movement;

[0116] The moving direction of the reference pole is determined by the relationship between the RTK terminal height coordinate zi when it is located at the current measurement point and the RTK terminal height coordinate z(i-1) when it is located at the previous measurement point:

[0117] If z(i-1)>zi, the moving direction of the reference rod is downward;

[0118] If z(i-1)>zi, the moving direction of the reference rod is upward;

[0119] If z(i-1)=zi, the reference rod remains stationary.

[0120] Because the design coordinates used in the project are not the same coordinate system as those used by RTK, and because the earth is not a circle, different reference points at the center of the circle are different coordinate systems. The elevation error between different coordinate systems depends on many factors, including the measurement method used, the earth model, and atmospheric conditions. During the measurement process, the coordinates of the reference point of the working surface and the coordinates of the measurement target point must use the same earth model coordinate system, generally in accordance with the coordinate system used in the engineering construction design drawings.

[0121] When the intelligent robot performs path planning and navigation through RTK positioning, it needs to perform corresponding coordinate system conversion, but it cannot directly use RTK and other data to accurately obtain the elevation value of the target measurement point required for the project. However, the trend of numerical changes in each system is consistent. This is because even in different coordinate systems, the actual change of the terrain is relatively consistent, that is, if the height coordinates of the two points before and after RTK move downward, then the movement trend of the coordinate system used for the engineering measurement of these two points must also be downward. Therefore, by using the RTK height coordinate change trend after the horizontal platform of the two measurement points is leveled, it is possible to predict the height coordinate change trend of the horizontal laser ray emission point fixed on the same pole as the RTK, thereby determining the direction in which the ring laser receiving sensor needs to move in order to quickly receive the laser.

[0122] The present invention utilizes the RTK terminal coordinate data not only to assist the intelligent navigation robot in realizing the function of automatic navigation and finding the measuring point, but also to inform the moving direction of the benchmark pole through the numerical changes of the RTK terminal height coordinates at different measuring points, thereby avoiding the useless movement and searching of the benchmark pole in the wrong direction, realizing the multi-purpose use of the RTK terminal, and more effectively improving the system measurement efficiency;

[0123] P7. The laser receiving sensor detects whether the laser is received. If it is detected that the laser is received, the AIOT platform is notified that the elevation of the current measurement point is the same as the previous measurement point. If it is detected that the laser is not received, the reference rod moves according to the direction notified by the AIOT platform until the laser receiving sensor receives the laser, and records the moving distance value △h1 output by the incremental encoder at this time. i , △h1 i The value is uploaded to the AIOT platform through the second IoT module;

[0124] As an abnormal situation, if you move to the end point along the benchmark pole according to the direction notified by the AIOT platform, and the laser receiving sensor does not receive the laser, you will move in the opposite direction from the end point until you receive the laser, and report the abnormal situation for future reference.

[0125] In addition, when the nearest or well-matched laser receiving reference pole is unable to receive and feedback measurement data due to a fault or signal problem within the time when the intelligent navigation robot sends out the horizontal laser calibration, the intelligent navigation robot will look for the next nearest laser receiving reference pole to perform measurements according to the steps and report the problem to the AIOT platform. The calibration time is twice the length of time it takes for the laser receiving reference pole to extend from the lowest point to the highest point under normal conditions.

[0126] P8. Turn on the laser distance sensor to emit laser to the measuring point and output the measured distance △h2 j , △h2 j The value is uploaded to the AIOT platform through the first IoT module;

[0127] P9, AIOT platform through the expression H j =(h1+△h1 j )-(h2+△h2 j ) The result of the calculation is the elevation H of the current measurement point where the intelligent navigation robot is located. j。

[0128] P10, determine whether i≤n is true, if yes, repeat P0~P9 method to obtain the elevation data H of the subsequent measurement points 3， H4,…,H n， Otherwise the measurement ends.

[0129] The above steps take the subsequent second measurement point as an example: The above P0 to P9 methods are specifically as follows:

[0130] M0, let i=i+1=1+1=2;

[0131] M1. The intelligent navigation robot automatically navigates to the second measurement point according to the coordinates of the second measurement point (X2, Y2) in the measurement point coordinate data set and the current coordinates of the RTK module, i.e., the coordinates of the first measurement point. At this time, the current two-dimensional coordinates (x2, y2) of the RTK module are equal to the two-dimensional coordinates (X2, Y2) of the second measurement point.

[0132] M2, check the horizontal platform state, if the platform is not in a horizontal state, execute step P3, if the platform is in a horizontal state, execute step P4;

[0133] The state of the horizontal platform is detected by the tilt sensor installed on the horizontal platform. If the platform is not in a horizontal state, step P3 is executed; if the platform is in a horizontal state, step P4 is executed.

[0134] M3. The intelligent navigation robot adjusts the horizontal platform to a horizontal level through the homologous control console, and then obtains the current two-dimensional coordinates (x2*, y2*) of the RTK module, and determines whether (x2*, y2*) is equal to the two-dimensional coordinates (X2, Y2) of the second measurement point. If so, execute step P4; otherwise, keep the platform horizontal and automatically navigate to adjust the position until the current two-dimensional coordinates (x2*, y2*) of the RTK module are equal to the two-dimensional coordinates (X2, Y2) of the second measurement point, that is, the linear laser emitted by the laser ranging sensor at the bottom of the light source installation rod can be vertically and downwardly projected onto the measurement point, and then execute step P4;

[0135] M4. The robot selects the nearest laser receiving reference pole according to the coordinate data of the laser receiving reference pole axis and the current RTK coordinates. The robot calculates the coordinates (△X0,△Y0) of the incremental encoder longitude and latitude coordinates (X0, Y0) relative to the current RTK coordinates (X2, Y2). The robot drives the rotation of the light source mounting pole through the rotation of the horizontal rotating turntable, so that the linear laser emitted by the laser transmitter fixed on the pole rotates to find and align with the projection direction of the reference pole axis.

[0136] M5, turn on the laser transmitter, emit horizontal laser to the laser receiving reference rod body, send a message to notify the AIOT platform that the laser has been emitted, and send the RTK terminal height coordinate z2 at this time to the AIOT platform;

[0137] Before launching the horizontal laser, make safety reminders on site and remove obstructions to ensure that there are no people or other obstructions in the straight line area between the robot and the reference pole.

[0138] M6, AIOT platform notifies the benchmark pole to move and informs it of the direction of movement;

[0139] The moving direction of the reference pole is determined by the relationship between the RTK terminal height coordinate z2 when located at the current measurement point and the RTK terminal height coordinate z1 when located at the first measurement point:

[0140] If z1>z2, the moving direction of the reference rod is downward;

[0141] If z1>z2, the moving direction of the reference rod is upward;

[0142] If z1=z2, the reference rod remains stationary.

[0143] M7, the laser receiving sensor detects whether the laser is received. If it is detected that the laser is received, the AIOT platform is notified, and the elevation of the second measuring point is the same as the first measuring point; if it is detected that the laser is not received, the benchmark rod moves according to the direction notified by the AIOT platform until the laser receiving sensor receives the laser, and records the moving distance value △h1 output by the incremental encoder at this time, and uploads the value of △h1 to the AIOT platform through the second IoT module;

[0144] M8, turn on the laser distance sensor to emit laser to the measuring point, output the measured distance △h2, and upload the value of △h2 to the AIOT platform through the first IoT module;

[0145] M9. The result calculated by the AIOT platform through the expression H2=(h1+△h1)-(h2+△h2) is the elevation H2 of the second measuring point where the intelligent navigation robot is located.

[0146] Repeat the above steps P1 to P9 to obtain the elevation data of subsequent measuring points.

[0147] Furthermore, the AIOT platform can also match the laser receiving reference pole closest to the measuring point in advance based on the known coordinates of each measuring point and the coordinates of each laser receiving reference pole axis line, and then send them to the intelligent navigation robot. After arriving at the measuring point, the intelligent navigation robot directly calls the coordinate data of the matching laser receiving reference pole axis line for measurement, which is more efficient.

[0148] The technical solution of the present invention utilizes the principle of rectilinear propagation of light. After setting up a benchmark pole at a point with a known elevation, direct communication and coordination between the intelligent navigation robot and the benchmark pole is realized through the AIOT platform. The intelligent navigation robot adopts the optimal path planning based on the TSP (Traveling Salesman Problem) algorithm, so that the total moving distance is the shortest when the intelligent mobile laser transmitting station passes through each target measurement point once and returns to the starting point; and, during the movement of the intelligent mobile laser transmitting station, the path cannot be adjusted and optimized according to the real-time situation to adapt to changes in the on-site environment or new measurement points, thereby saving measurement time and cost and improving measurement efficiency; after the intelligent navigation robot carries the laser emission source to the target measurement point, it emits the laser to the benchmark pole, and then confirms the corresponding elevation of the laser on the benchmark pole by adjusting the laser receiver height of the benchmark pole, thereby realizing high-precision elevation measurement; at the same time, the information and measurement data of the entire operation process are collected and analyzed through the AIOT platform, realizing the automation and digitization of the measurement operation. Compared with traditional measurement processes, the present invention reduces the work of manually searching for measurement points and manually measuring and recording data. It only requires setting up benchmark poles in advance, and then inputting the information of the measurement points into the AIOT platform. The robot's autonomous navigation system can then navigate to the measurement points and automatically complete elevation measurement and data recording. The elevation measurement accuracy can be controlled at the millimeter level.

[0149] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0150] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. An intelligent measurement system for measuring elevation points on an engineering work surface based on path planning, characterized in that: It includes an intelligent mobile laser transmitting station and multiple fixed laser receiving stations; The intelligent mobile laser transmitting station responds to the acquired data of multiple measuring points, automatically navigates to each measuring point by using the optimal mobile path planning generated by the traveling salesman problem TSP algorithm, finds the nearest fixed laser receiving station, and then emits a linear beam laser horizontally, and provides vertical distance data between the linear beam laser emitting point and the working surface measuring point with consistent longitude and latitude coordinates in the horizontal projection state; the intelligent mobile laser transmitting station is an intelligent navigation robot equipped with a laser emitting device; the laser emitting device includes a homologous control console fixed on the chassis of the intelligent navigation robot's wire-controlled body and an optical control console fixed on the homologous control console A source mounting rod, a laser emitter for emitting a linear beam laser is fixedly mounted on the upper part of the light source mounting rod, a laser ranging sensor is fixedly mounted on the bottom of the light source mounting rod, the upper part and the bottom of the light source mounting rod respectively extend out of the upper surface and the lower surface of the horizontal platform of the same source control console, the direction of the linear beam laser emitted by the laser emitter is at a 90-degree angle to the rod body of the light source mounting rod, and the direction of the laser emitted by the laser ranging sensor is to irradiate downward along the axis of the rod body of the light source mounting rod; an RTK module is also arranged on the light source mounting rod, and the coordinate position of the RTK module, the emitting point position of the laser emitter, and the emitting point position of the light source of the laser ranging sensor are all arranged on the axis of the light source mounting rod; The fixed laser receiving station is fixed one-to-one vertically on multiple working surface reference points with known coordinates in the area to be measured, and is used to extend and retract up and down and receive the horizontal line beam laser emitted by the intelligent mobile laser transmitting station 360 degrees in the horizontal direction, and provide the vertical distance data between the laser positioning point and the working surface reference point with consistent longitude and latitude coordinates in the successful reception state; the fixed laser receiving station is a laser receiving reference pole, and the laser receiving reference pole includes a liftable vertical pole and an annular laser receiving sensor mounted on the liftable vertical pole, and the pole axis of the liftable vertical pole is vertically arranged on the working surface reference point; the laser positioning The position point is a point of displacement of the center of the light spot or a coordinate point of an incremental encoder fixed at the center position of the axis of the cylinder formed by the setting area of ​​the annular laser receiving sensor; the center displacement point of the light spot is obtained by extracting the edge information of the light spot after the annular laser receiving sensor receives the light spot formed by the horizontal linear beam laser, calculating and determining the center position of the light spot by a geometric method, and then displacing the center of the light spot horizontally and parallel to the axis of the rod body of the liftable vertical pole while keeping the height unchanged; the liftable vertical pole includes a base and a moving rod arranged on the base, and the moving rod can be telescoped up and down according to the command of the rod controller, and the adjustment accuracy is <1 mm.

2. The intelligent measurement system for realizing elevation point measurement of engineering working surface based on path planning according to claim 1 is characterized in that: The system also includes a cloud control platform for realizing communication and coordination between the intelligent mobile laser transmitting station and the fixed laser receiving station, as well as collection, calculation, analysis and processing of system data, so as to obtain millimeter-level elevation data of the measuring points on the working surface.

3. The intelligent measurement system for realizing elevation point measurement of engineering working surface based on path planning according to claim 1 is characterized in that: The intelligent mobile laser transmitting station responds to the acquired measurement point data and adopts the optimal mobile path planning generated by the traveling salesman problem TSP algorithm, specifically: The intelligent mobile laser transmitting station constructs a distance matrix based on the coordinates of all points to be measured on the work surface, calculates the distance between each two points based on the coordinates of these measurement points, and fills the results into the distance matrix. The traveling salesman problem TSP algorithm, including greedy algorithm, genetic algorithm, and dynamic programming, is used to calculate the optimal path and generate the optimal mobile path planning of the intelligent mobile laser transmitting station, so that the total moving distance is the shortest when the intelligent mobile laser transmitting station only passes through each point to be measured once and returns to the starting point.

4. The intelligent measurement system for realizing elevation point measurement of engineering working surface based on path planning according to claim 1 is characterized in that: The homologous control console includes four compensating telescopic rods of equal height, a horizontal platform and a horizontal rotating turntable; the bottom of each compensating telescopic rod is fixed on the chassis of the wire-controlled vehicle body, and the top is rotatably connected to the lower surface of the horizontal platform through a ball joint, and a horizontal rotating turntable is fixed on the upper surface of the horizontal platform. The center position of the horizontal rotating turntable is fixed, and the light source mounting rod is vertically arranged.

5. The intelligent measurement system for realizing elevation point measurement of engineering working surface based on path planning according to claim 4 is characterized in that: A hole is reserved on the chassis of the wire-controlled vehicle body, and the hole is located between the bottoms of the four compensating telescopic rods. The hole size is set so that the vertical beam laser emitted by the laser ranging sensor can pass through the hole and illuminate the working surface when the robot vehicle is tilted or not.

Images