Measuring method, measuring device, equipment and medium for calibrating area measuring instrument

Abstract

The invention discloses a measurement method, a measurement device, equipment and a medium for calibrating an area measuring instrument, and the key points of the technical scheme are as follows: carrying equipment is driven to move, so that the starting point and the ending point of the movement of the carrying equipment coincide; controlling the measuring robot to measure the distance and the corresponding orientation of the target on the carrying equipment at a preset sampling frequency to obtain a plurality of track points of the target; establishing a coordinate system; according to the distance and the orientation of each track point, calculating to obtain a corresponding track point coordinate; according to the coordinates of all the track points and the difference, corresponding measurement coordinates are obtained through calculation, the difference is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated according to all the measurement coordinates. According to the invention, the workload of manual measurement can be reduced, the shielding of the manual measurement on the area measuring instrument and the generated error are avoided, and the measurement accuracy is improved.

Description

Technical Field

[0001] The invention belongs to the field of measurement technology, and in particular relates to a measurement method, a measurement device, equipment and a medium for calibrating an area measuring instrument. Background Art

[0002] The Global Navigation Satellite System (GNSS) dynamic area measuring instrument is an electronic measuring instrument that uses the global navigation satellite system to measure longitude, latitude, elevation and other data information in real time, obtains the coordinates of each point on the boundary of the measured area, and then calculates the distance, mileage, area and other data through mathematical methods.

[0003] The existing calibration method for area measuring instruments is mainly to manually measure the standard value of the area measuring instrument, and then calculate the measurement error between the standard value of the area measuring instrument and the measured value of the area measuring instrument to calibrate the area measuring instrument. In the manual detection method, for the measurement of the standard value, it is necessary to use measuring equipment such as a steel tape measure or a total station to measure the specified route or area and calculate the corresponding standard value. When detecting the area measuring instrument, a handheld device is required to measure along the specified route. During the measurement process, manual measurement will introduce line deviations, making it difficult to obtain accurate standard values. Manual measurement will also block the observation satellite of the area measuring instrument and cause multipath, which will reduce the impact of data quality and introduce measurement errors. Summary of the invention

[0004] The object of the present invention is to provide a measuring method, measuring device, equipment and medium for calibrating an area measuring instrument, which can reduce the workload of manual measurement, avoid the obstruction of the area measuring instrument and the resulting errors caused by manual measurement, and improve the measurement accuracy.

[0005] A first aspect of the present invention provides a measuring method for calibrating an area measuring instrument, comprising:

[0006] The measuring method measures the standard value of the area measuring instrument by a measuring device, wherein the measuring device comprises: a carrying device and a measuring robot, wherein a target is arranged on the carrying device, and the area measuring instrument is arranged on the carrying device; the measuring method comprises the following steps:

[0007] Selecting a measuring station, and setting up the measuring robot at the measuring station so that the measuring robot and the target are at the same horizontal plane;

[0008] The carrying device is driven to move so that the starting point and the end point of the movement of the carrying device coincide with each other. During the movement of the carrying device, the measuring robot is controlled to measure the distance and the corresponding orientation of the target at a preset sampling frequency to obtain a plurality of trajectory points of the target;

[0009] Establishing a coordinate system according to the measuring station and the starting point of the movement of the carrying equipment;

[0010] Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point;

[0011] The corresponding measurement coordinates are calculated based on the coordinates and gaps of each of the track points, wherein the gap is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated based on all the measurement coordinates.

[0012] In some embodiments, the step of calculating the area standard value of the area measuring instrument according to all the measured coordinates includes:

[0013] When the carrying device is controlled to move along a regular pattern, key points are selected according to the coordinate changes of all measured coordinates, and the area standard value of the area measuring instrument is calculated according to the key points and the area calculation formula of the regular pattern.

[0014] In some embodiments, selecting key points according to the coordinate changes of all measured coordinates includes:

[0015] Select the X-coordinate extreme value according to the X-coordinate change of all measured coordinates;

[0016] Select the extreme value of the Y coordinate according to the Y coordinate changes of all measured coordinates;

[0017] The X-coordinate extreme value and the Y-coordinate extreme value are taken as key points.

[0018] In some embodiments, the step of calculating the area standard value of the area measuring instrument according to all the measured coordinates includes:

[0019] When the carrying device is controlled to move along the irregular pattern, all the measured coordinates are substituted into the coordinate analysis method calculation formula to obtain the area standard value of the area measuring instrument. The coordinate analysis method calculation formula is:

[0020]

[0021] Where A represents the standard value of area, (X' i ,Y' i ) represents the i-th measurement coordinate, (X' i+1 ,Y' i+1 ) represents the i+1th measured coordinate, and n represents the number of measured coordinates.

[0022] In some embodiments, the calculating the corresponding trajectory point coordinates according to the distance and orientation of each trajectory point includes:

[0023] The trajectory point coordinates are calculated using the trajectory point coordinate calculation formula, which is as follows:

[0024]

[0025] Among them, D i represents the measured distance corresponding to the i-th trajectory point, θ i Represents the angle between the i-th trajectory point and the Y axis.

[0026] In some embodiments, the step of calculating corresponding measurement coordinates according to the coordinates and the gaps of each of the trajectory points includes:

[0027] Determine the forward direction of each track point according to the track point coordinates of the adjacent track points;

[0028] According to the coordinates of the trajectory points corresponding to the adjacent trajectory points, the trajectory angle corresponding to each trajectory point is calculated; wherein the trajectory angle is the angle between the line connecting the area measuring instrument and the target and the coordinate axis;

[0029] The corresponding measurement coordinates are calculated according to the trajectory point coordinates, the advancing direction, the corresponding trajectory angle and the difference of each of the trajectory points.

[0030] In some embodiments, it also includes:

[0031] The carrying device is driven to move in a straight line, and the starting distance and the ending distance of the target are measured by the measuring robot;

[0032] The distance standard value of the area measuring instrument is obtained by subtracting the starting point distance from the end point distance.

[0033] A second aspect of the present invention provides a measuring device for calibrating an area measuring instrument, comprising:

[0034] A carrying device, wherein a target is provided on the carrying device, and the area measuring instrument is arranged on the carrying device;

[0035] The measuring robot is mounted at the measuring station, and during the movement of the carrying device, measures the distance and the corresponding orientation of the target at a preset sampling frequency to obtain a plurality of trajectory points of the target;

[0036] A control device, comprising: a coordinate system establishment module, a first calculation module and a second calculation module;

[0037] The coordinate system establishment module is used to establish a coordinate system according to the measurement station and the starting point of the movement of the carrying equipment;

[0038] The first calculation module is used to calculate the measurement distance according to the distance and gap of each of the track points and the orientation between the area measuring instrument and the target, wherein the gap is the horizontal distance between the target and the area measuring instrument;

[0039] The second calculation module is used to calculate the corresponding measurement coordinates according to the orientation of each trajectory point, the measurement distance, and the orientation between the area measuring instrument and the target, and calculate the area standard value of the area measuring instrument according to all the measurement coordinates.

[0040] A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the following steps when executing the computer program:

[0041] The carrying device is driven to move so that the starting point and the end point of the movement of the carrying device coincide with each other. During the movement of the carrying device, the measuring robot is controlled to measure the distance and the corresponding orientation of the target at a preset sampling frequency to obtain multiple trajectory points of the target. The carrying device is provided with a target and an area measuring instrument.

[0042] Establish a coordinate system based on the measurement station and the starting point of the movement of the equipment;

[0043] Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point;

[0044] The corresponding measurement coordinates are calculated based on the coordinates and gaps of each of the track points, wherein the gap is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated based on all the measurement coordinates.

[0045] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0046] The carrying device is driven to move so that the starting point and the end point of the movement of the carrying device coincide with each other. During the movement of the carrying device, the measuring robot is controlled to measure the distance and the corresponding orientation of the target at a preset sampling frequency to obtain multiple trajectory points of the target. The carrying device is provided with a target and an area measuring instrument.

[0047] Establish a coordinate system based on the measurement station and the starting point of the movement of the equipment;

[0048] Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point;

[0049] The corresponding measurement coordinates are calculated based on the coordinates and gaps of each of the track points, wherein the gap is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated based on all the measurement coordinates.

[0050] The technical solution provided by the present invention has the following advantages and effects: by measuring the distance of the target by the measuring robot, the coordinates of the target are calculated. Since the gap between the target and the area measuring instrument remains unchanged, the measurement coordinates of the area measuring instrument can be calculated, and then the accurate area standard value is calculated according to the measurement coordinates of the area measuring instrument, thereby reducing the workload of manual measurement, avoiding the occlusion of the area measuring instrument and the resulting errors caused by manual measurement, and improving the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic flow chart of a measuring method for calibrating an area measuring instrument provided by the present invention;

[0052] Figure 2 It is a measurement schematic diagram of a measurement method for calibrating an area measuring instrument provided by the present invention;

[0053] Figure 3 It is a schematic diagram of the structure of the carrying device provided by the present invention;

[0054] Figure 4 It is a schematic diagram of the carrying device provided by the present invention moving in various directions on the coordinate system;

[0055] Figure 5 It is a schematic diagram of the trajectory of the carrying device provided by the present invention moving along a circle;

[0056] Figure 6 It is a schematic diagram of the trajectory of the carrying device provided by the present invention moving along a square;

[0057] Figure 7 It is a diagram of the internal structure of a computer device provided in an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] 100. Carrying device; 101. Target; 102. Load cart; 103. First connecting rod; 104. Second connecting rod; 105. Connecting piece; 106. Bracket; 200. Measuring robot; 300. Tripod; 400. Area measuring instrument. DETAILED DESCRIPTION

[0060] In order to facilitate the understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0061] Unless otherwise specified or defined, the "first, second..." used in this article is merely used to distinguish names and does not represent a specific quantity or order.

[0062] Unless specifically stated or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0063] It should be noted that, in this document, “fixed to” or “connected to” may mean directly fixing or connecting to an element, or indirectly fixing or connecting to an element.

[0064] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a measuring method for calibrating an area measuring instrument, wherein the measuring method measures a standard value of an area measuring instrument 400 by a measuring device, wherein the measuring device comprises: a carrying device 100 and a measuring robot 200, wherein the carrying device 100 is provided with a target 101, and the area measuring instrument 400 is arranged on the carrying device 100; the measuring method comprises the following steps S1 to S4:

[0065] Step S1 , selecting a measurement station, and setting up the measurement robot 200 at the measurement station so that the measurement robot 200 and the target 101 are in the same horizontal plane.

[0066] Specifically, the measuring robot 200 is a laser measuring robot 200, which is rotatably mounted on a measuring station via a tripod 300, and the height of the tripod 300 is adjusted so that the measuring robot 200 and the target 101 are in the same horizontal plane, so that the laser beam emitted by the measuring robot 200 can be reflected by the target 101 and the reflected laser beam can be successfully received.

[0067] Step S2, drive the carrying device 100 to move so that the starting point and the end point of the movement of the carrying device 100 coincide. During the movement of the carrying device 100, control the measuring robot 200 to measure the distance and the corresponding orientation of the target 101 at a preset sampling frequency to obtain multiple trajectory points of the target 101.

[0068] Specifically, the starting point and the end point of the movement of the carrying device 100 coincide, that is, the carrying device 100 drives the target 101 and the area measuring instrument 400 to travel a closed route, so that the area measuring instrument 400 measures the area enclosed by the traveled closed route to obtain a measured area, which can be subsequently compared with the area standard value measured by the measuring robot 200 to calibrate the area measuring instrument 400. When the carrying device 100 drives the target 101 and the area measuring instrument 400 to move, the measuring robot 200 tracks the target 101, and measures the distance and corresponding orientation of the target 101 in real time at a preset sampling frequency, thereby obtaining multiple trajectory points of the target 101 movement, and the orientation of the target 101 is the angle between the laser beam emitted by the measuring robot 200 to the target 101 and the laser beam at the starting point. The preset sampling frequency can be determined according to the moving speed of the carrying device 100, and the initial preset sampling frequency can be set to 1Hz. The target 101 is a universal prism, so that the measuring robot 200 can track the target 101 without blind spots. The measuring robot 200 automatically measures the position of the target 101, thereby reducing errors introduced by humans and helping to improve detection accuracy.

[0069] like Figure 2 and Figure 3 As shown, the carrying device 100 includes: a load trolley 102, a first connecting rod 103 and a second connecting rod 104; one end of the first connecting rod 103 is arranged on the load trolley 102, and the other end is fixedly connected to the target 101; one end of the second connecting rod 104 is fixedly connected to the target 101, and the other end is fixedly connected to a connecting member 105; the connecting member 105 is provided with at least one clamping member for clamping the area measuring instrument 400; since the distance between the clamping member and the target 101 is fixed, when the clamping member clamps the area measuring instrument 400, the distance between the center of the area measuring instrument 400 and the center of the target 101 in the horizontal direction is measured, and the horizontal distance between the target 101 and the area measuring instrument 400 is obtained. The area measuring instrument 400 is driven to move by the load trolley 102, thereby avoiding the obstruction of the area measuring instrument 400 by manual measurement, and improving the measurement accuracy.

[0070] Step S3: establishing a coordinate system according to the measuring station and the starting point of the movement of the carrying device 100.

[0071] Specifically, the establishing of a coordinate system according to the measuring station and the starting point of the movement of the carrying device 100 includes:

[0072] A coordinate system is established with the measuring station as the origin, the starting direction of the movement of the carrying device 100 as the Y-axis, and the direction of the line connecting the starting point of the movement of the carrying device 100 and the measuring station as the X-axis.

[0073] In practical applications, each trajectory point can be converted into corresponding trajectory point coordinates according to the established coordinate system, so as to facilitate subsequent area calculation.

[0074] Step S4: Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point.

[0075] Specifically, the calculating of the corresponding trajectory point coordinates according to the distance and orientation of each trajectory point includes:

[0076] The trajectory point coordinates are calculated using the trajectory point coordinate calculation formula, which is as follows:

[0077]

[0078] Among them, (X i ,Y i ) represents the coordinates of the i-th trajectory point, D i represents the distance corresponding to the i-th trajectory point measured by the measuring robot, θ i Represents the angle between the i-th trajectory point and the Y axis.

[0079] In practical applications, after the coordinate system is determined, the measuring station is used as the origin of the coordinate system. The measuring robot 200 at the measuring station measures the distance and orientation of the target 101. The orientation of the target 101 is determined by the angle of rotation of the measuring robot 200 when tracking the target 101, that is, the angle between the trajectory point and the X-axis, so as to obtain the distance and orientation of each trajectory point, and then substitute the distance and orientation of each trajectory point into the trajectory point coordinate calculation formula to obtain the corresponding trajectory point coordinates.

[0080] Step S5, calculating the corresponding measurement coordinates according to the coordinates and the gap of each track point, wherein the gap is the horizontal distance between the target 101 and the area measuring instrument 400, and calculating the area standard value of the area measuring instrument 400 according to all the measurement coordinates.

[0081] Specifically, the corresponding measurement coordinates are calculated according to the coordinates and the gaps of each of the trajectory points, including:

[0082] Determine the forward direction of each track point according to the track point coordinates of the adjacent track points;

[0083] According to the coordinates of the trajectory points corresponding to the adjacent trajectory points, the trajectory angle corresponding to each trajectory point is calculated; wherein the trajectory angle is the angle between the line connecting the area measuring instrument 400 and the target 101 and the coordinate axis;

[0084] The corresponding measurement coordinates are calculated according to the trajectory point coordinates, the advancing direction, the corresponding trajectory angle and the difference of each of the trajectory points.

[0085] In practical applications, such as Figure 4 As shown, the green arrow indicates the forward direction. Compare the coordinates of the current track point and the next track point. If the X value decreases and the Y value increases, the forward direction of the current track point is the upper left. If both the X value and the Y value increase, the forward direction of the current track point is the upper right. If both the X value and the Y value decrease, the forward direction of the current track point is the lower left. If the X value increases and the Y value decreases, the forward direction of the current track point is the lower right. The clamping position of the area measuring instrument 400 needs to be perpendicular or parallel to the forward direction of the load cart 102, that is, perpendicular or parallel to the forward direction of the track point. The calculation formula of the track angle is:

[0086]

[0087] Among them, α i represents the trajectory angle corresponding to the i-th trajectory point, (X i+1 ,Y i+1 ) represents the coordinates of the i+1th trajectory point. Since the measuring robot 200 measures the distance and orientation of the target 101 at a preset sampling frequency, the distances and orientations between adjacent trajectory points are not much different. Therefore, the angle between the line connecting the area measuring instrument 400 and the target 101 and the coordinate axis can be calculated by the calculation formula of the trajectory angle, as shown in FIG. Figure 4 As shown, when the target 101 is moving in the upper right direction, the corresponding trajectory angle of the area measuring instrument 400 located on the left side of the moving direction is the angle between the line connecting it and the target 101 and the opposite direction of the X-axis, the corresponding trajectory angle of the area measuring instrument 400 located in front of the moving direction is the angle between the line connecting it and the target 101 and the positive direction of the Y-axis, the corresponding trajectory angle of the area measuring instrument 400 located behind the moving direction is the angle between the line connecting it and the target 101 and the opposite direction of the Y-axis, and the corresponding trajectory angle of the area measuring instrument 400 located on the right side of the moving direction is the angle between the line connecting it and the target 101 and the positive direction of the X-axis, and so on, the angles between the line connecting the area measuring instrument 400 and the target 101 and the coordinate axis in the remaining moving directions are obtained. After obtaining the trajectory angle, the measurement coordinates of the corresponding area measuring instrument 400 are calculated according to the trajectory angle, trajectory point coordinates, moving direction and gap of each trajectory point, so as to accurately calculate the coordinates of the area measuring instrument 400, which is convenient for the subsequent calculation of the measurement area of ​​the area measuring instrument 400.

[0088] Specifically, the coordinates of the initial trajectory point are (X1, Y1), the initial coordinates of the area measuring instrument located on the left side of the forward direction are (X1-L1, Y1), the initial coordinates of the area measuring instrument located on the right side of the forward direction are (X1+L2, Y1), the initial coordinates of the area measuring instrument located in front of the forward direction are (X1, Y1+L3), and the initial coordinates of the area measuring instrument located behind the forward direction are (X1, Y1-L4), among which L1 represents the gap corresponding to the area measuring instrument located on the left side of the forward direction, L2 represents the gap corresponding to the area measuring instrument located on the right side of the forward direction, L3 represents the gap corresponding to the area measuring instrument located in front of the forward direction, and L4 represents the gap corresponding to the area measuring instrument located behind the forward direction.

[0089] When the forward direction is upward right, the measurement coordinates of the area measuring instrument on the left side of the forward direction are (X i -L1cosα,Y i +L1sinα), the measurement coordinates of the area measuring instrument located on the right side of the forward direction are (X i +L2cosα,Y i -L2sinα), the measurement coordinates of the area measuring instrument located in front of the advancing direction are (X i +L3cosα,Y i +L3sinα), the measurement coordinates of the area measuring instrument located behind the advancing direction are (X i -L4cosα,Y i -L4sinα); when the forward direction is the upper left, the measurement coordinates of the area measuring instrument on the left side of the forward direction are (X i+1 -L1cosα,Y i+1 +L1sinα); when the forward direction is the upper left, the measurement coordinates of the area measuring instrument on the left side of the forward direction are (X i -L1cosα,Y i -L1sinα), the measurement coordinates of the area measuring instrument located on the right side of the forward direction are (X i -L2cosα,Y i +L2sinα), the measurement coordinates of the area measuring instrument located in front of the advancing direction are (X i -L3cosα,Y i +L3sinα), the measurement coordinates of the area measuring instrument located behind the advancing direction are (X i +L4cosα,Y i -L4sinα); when the forward direction is the lower left, the measurement coordinates of the area measuring instrument on the left side of the forward direction are (X i +L1cosα,Y i-L1sinα), the measurement coordinates of the area measuring instrument located on the right side of the forward direction are (X i -L2cosα,Y i +L2sinα), the measurement coordinates of the area measuring instrument located in front of the advancing direction are (X i -L3cosα,Y i -L3sinα), the measurement coordinates of the area measuring instrument located behind the forward direction are (X i +L4cosα,Y i +L4sinα); when the advancing direction is the lower right, the measuring coordinates of the area measuring instrument on the left side of the advancing direction are (X i +L1cosα,Y i +L1sinα), the measurement coordinates of the area measuring instrument located on the right side of the forward direction are (X i -L2cosα,Y i -L2sinα), the measurement coordinates of the area measuring instrument located in front of the advancing direction are (X i -L3cosα,Y i -L3sinα), the measurement coordinates of the area measuring instrument located behind the forward direction are (X i +L4cosα,Y i -L4sinα); the coordinates of all trajectory points are calculated to facilitate subsequent calculations, especially the calculation of the area formed by the load trolley traveling along an irregular route.

[0090] Specifically, the calculation of the area standard value of the area measuring instrument 400 according to all the measurement coordinates includes:

[0091] When the carrying device 100 is controlled to move along a regular pattern, key points are selected according to the coordinate changes of all measured coordinates, and the area standard value of the area measuring instrument 400 is calculated according to the key points and the area calculation formula of the regular pattern.

[0092] By selecting the key points of the regular figure, it is convenient to calculate the area of ​​the regular figure according to the key points, thereby improving the operation efficiency; in practical applications, the measuring robot 200 can be directly connected to the computer through a data line or other communication methods, so as to transmit the track point information to the computer. The load cart 102 can also be connected to the computer for communication, so as to control the load cart 102 to travel along the preset regular figure. Since the area of ​​the preset regular figure and the actual area of ​​the load cart 102 travel have a large error during the process of controlling the load cart 102 to travel along the preset regular figure by the computer, it is difficult to meet the accuracy requirements of the area standard value of the measuring area measuring instrument 400. Therefore, the measuring robot 200 is still required to measure the actual area of ​​the load cart 102 driving the area measuring instrument 400 to move.

[0093] Specifically, selecting key points according to the coordinate changes of all measured coordinates includes:

[0094] Select the X-coordinate extreme value according to the X-coordinate change of all measured coordinates;

[0095] Select the extreme value of the Y coordinate according to the Y coordinate changes of all measured coordinates;

[0096] The X-coordinate extreme value and the Y-coordinate extreme value are taken as key points.

[0097] In practical applications, such as Figure 5 and Figure 6 As shown, the regular figure can be a circle or a square. It is understandable that the regular figure can also be other regular figures such as a triangle, which is not limited here. If the load trolley 102 drives the area measuring instrument 400 to move along a circle, the X coordinate extreme value corresponding to each area measuring instrument 400 is selected, that is, the X coordinate maximum value and the X coordinate minimum value are used as the X coordinate extreme value, and the Y coordinate extreme value corresponding to each area measuring instrument 400 is selected, that is, the Y coordinate maximum value and the Y coordinate minimum value are used as the Y coordinate extreme value. According to the circle, the X coordinate extreme value and the Y coordinate extreme value are used as key points, and the first absolute value of the X coordinate difference between the X coordinate extreme values ​​is calculated, and the second absolute value of the Y coordinate difference between the Y coordinate extreme values ​​is calculated. The average of the first absolute value and the second absolute value is calculated to obtain the corresponding movement diameter of the area measuring instrument 400, and the measurement area of ​​the area measuring instrument 400 is calculated according to the circular area calculation formula.

[0098] If the load cart 102 drives the area measuring instrument 400 to move along a square, the X-coordinate extreme values ​​corresponding to each area measuring instrument 400 are selected, that is, the maximum X-coordinate value and the minimum X-coordinate value are taken as the X-coordinate extreme values, and the Y-coordinate extreme values ​​corresponding to each area measuring instrument 400 are selected. It is determined whether the forward direction of the area measuring instrument 400 changes according to the X-coordinate change amount and the Y-coordinate change amount of adjacent measurement coordinates. If both the X-value and the Y-value change, that is, the X-coordinate change amount and the Y-coordinate change amount of the adjacent measurement coordinates are not zero, the forward direction of the area measuring instrument 400 changes, and the measurement coordinates at the four forward direction changes are taken as coordinate point values. According to the direction, the X-coordinate extreme value, the Y-coordinate extreme value and all coordinate point values ​​are taken as key points, and the length and width are calculated according to the X-coordinate extreme value and the Y-coordinate extreme value. The measured area of ​​the area measuring instrument 400 is calculated according to the square area calculation formula.

[0099] like Figure 6As shown, when the load cart 102 turns, it drives the target 101 and the area measuring instrument 400 to rotate, so that the area measuring instrument 400 generates an arc track when turning. When calculating the measuring area of ​​the area measuring instrument 400 according to the square area calculation formula, if the area measuring instrument is located on the left side of the forward direction, its area calculation formula is:

[0100]

[0101] For the area measuring instrument located on the right side of the forward direction, the area calculation formula is:

[0102]

[0103] For the area measuring instrument located in front of the forward direction, the area calculation formula is:

[0104]

[0105] For the area measuring instrument located behind the forward direction, the area calculation formula is:

[0106]

[0107] Among them, A1 represents the standard area value of the area measuring instrument located on the left side of the forward direction, A2 represents the standard area value of the area measuring instrument located on the right side of the forward direction, and A3 represents the standard area value of the area measuring instrument located in front of the forward direction. 14 It represents the standard value of the area of ​​the area measuring instrument located behind the forward direction, a represents length, and represents width; in this way, the standard value of the area of ​​each area measuring instrument is accurately calculated, and the simultaneous measurement of the standard values ​​of multiple area measuring instruments is realized.

[0108] The step of calculating the area standard value of the area measuring instrument 400 according to all the measured coordinates further includes:

[0109] When the carrying device 100 is controlled to move along the irregular pattern, all the measured coordinates are substituted into the coordinate analysis method calculation formula to obtain the area standard value of the area measuring instrument 400. The coordinate analysis method calculation formula is:

[0110]

[0111] Where A represents the standard value of area, (X' i ,Y' i ) represents the i-th measurement coordinate, (X' i+1 ,Y' i+1 ) represents the i+1th measured coordinate, and n represents the number of measured coordinates.

[0112] Specifically, when the area measuring instrument 400 moves along an irregular shape, the area standard value of the area measuring instrument 400 is accurately calculated by using the area analysis method. When the area measuring instrument 400 moves along a regular shape, key points in the movement process are selected and combined with the area calculation formula of the regular shape to accurately calculate the area standard value of the area measuring instrument 400. Different area calculation methods are used according to different movement routes of the area measuring instrument 400 to reduce calculations and improve calculation speed.

[0113] Furthermore, the measuring method for calibrating an area measuring instrument further includes:

[0114] The carrying device 100 is driven to move in a straight line, and the starting distance and the ending distance of the target 101 are measured by the measuring robot 200;

[0115] The distance standard value of the area measuring instrument 400 is obtained by subtracting the starting distance from the ending distance.

[0116] In practical applications, the distance between the area measuring instrument 400 and the target 101 remains unchanged. When the load cart 102 drives the target 101 and the area measuring instrument 400 to move in a straight line, the moving distances of the target 101 and the area measuring instrument 400 are the same. By measuring the moving distance of the target 101, the moving distance of the area measuring instrument 400 can be directly obtained, that is, the distance standard value of the area measuring instrument 400 can be obtained.

[0117] The measuring method for calibrating an area measuring instrument of the present application measures the distance of the target 101 by the measuring robot 200, and calculates the coordinates of the target 101. Since the gap between the target 101 and the area measuring instrument 400 remains unchanged, the measuring coordinates of the area measuring instrument 400 can be calculated, and then the accurate area standard value can be calculated according to the measuring coordinates of the area measuring instrument 400, thereby reducing the workload of manual measurement, avoiding the occlusion of the area measuring instrument 400 and the resulting errors caused by manual measurement, and improving the measurement accuracy. Compared with manual measurement, only one can be detected at a time, which is greatly affected by the climate and has high work intensity. The present measuring method can clamp multiple area measuring instruments 400 by setting multiple clamping members on the connecting member 105, so as to achieve simultaneous measurement of the standard values ​​of multiple area measuring instruments 400 and improve work efficiency.

[0118] like Figure 2 As shown, in one embodiment of the present invention, a measuring device for calibrating an area measuring instrument is provided, comprising:

[0119] A carrying device 100, wherein a target 101 is provided on the carrying device 100, and the area measuring instrument 400 is provided on the carrying device 100;

[0120] The measuring robot 200 is set up at the measuring station, and during the movement of the carrying device 100, measures the distance and the corresponding orientation of the target 101 at a preset sampling frequency to obtain a plurality of trajectory points of the target 101;

[0121] A control device, comprising: a coordinate system establishment module, a first calculation module and a second calculation module;

[0122] The coordinate system establishment module is used to establish a coordinate system according to the measurement station and the starting point of the movement of the carrying device 100;

[0123] The first calculation module is used to calculate the corresponding trajectory point coordinates according to the distance and orientation of each trajectory point;

[0124] The second calculation module is used to calculate the corresponding measurement coordinates according to the coordinates and gaps of each of the trajectory points, wherein the gap is the horizontal distance between the target 101 and the area measuring instrument 400, and calculate the area standard value of the area measuring instrument 400 according to all the measurement coordinates.

[0125] The control equipment is not shown in the figure. Figure 3 As shown, in some embodiments, the carrying device 100 includes: a load cart 102, a first connecting rod 103 and a second connecting rod 104; one end of the first connecting rod 103 is set on the load cart 102, and the other end is fixedly connected to the target 101, one end of the second connecting rod 104 is fixedly connected to the target 101, and the other end is fixedly connected to the connecting member 105, and at least one clamping member is set on the connecting member 105 for clamping the area measuring instrument 400.

[0126] In some embodiments, the second computing module includes:

[0127] The first area calculation unit is used to select key points according to the coordinate changes of all measured coordinates while controlling the carrying device 100 to move along a regular pattern, and calculate the area standard value of the area measuring instrument 400 according to the key points and the area calculation formula of the regular pattern.

[0128] In some embodiments, the first area calculation unit includes:

[0129] The key point selection unit is used to select the X coordinate extreme value according to the X coordinate change of all measured coordinates, select the Y coordinate extreme value according to the Y coordinate change of all measured coordinates, and use the X coordinate extreme value and the Y coordinate extreme value as key points.

[0130] In some embodiments, the second computing module further includes:

[0131] The second area calculation unit is used to substitute all the measured coordinates into the coordinate analysis method calculation formula to obtain the area standard value of the area measuring instrument 400 when controlling the carrying device 100 to move along the irregular pattern. The coordinate analysis method calculation formula is:

[0132]

[0133] Where A represents the standard value of area, (X' i ,Y' i ) represents the i-th measurement coordinate, (X' i+1 ,Y' i+1 ) represents the i+1th measured coordinate, and n represents the number of measured coordinates.

[0134] In some embodiments, the first computing module includes:

[0135] The trajectory point coordinate calculation unit is used to calculate the trajectory point coordinates using a trajectory point coordinate calculation formula, and the trajectory point coordinate calculation formula is as follows:

[0136]

[0137] Among them, D i represents the measured distance corresponding to the i-th trajectory point, θ i Represents the angle between the i-th trajectory point and the Y axis.

[0138] In some embodiments, the second computing module includes:

[0139] A direction determination unit, used to determine the forward direction of each trajectory point according to the trajectory point coordinates adjacent to the trajectory point;

[0140] An angle determination unit, used to calculate the trajectory angle corresponding to each trajectory point according to the trajectory point coordinates corresponding to the adjacent trajectory points; wherein the trajectory angle is the angle between the line connecting the area measuring instrument 400 and the target 101 and the coordinate axis;

[0141] The coordinate calculation unit is used to calculate the corresponding measurement coordinates according to the trajectory point coordinates, the advancing direction, the corresponding trajectory angle and the difference of each of the trajectory points.

[0142] In some embodiments, the measuring device for calibrating an area measuring instrument further comprises:

[0143] A driving unit, used to drive the carrying device 100 to perform linear motion, and measure the starting distance and the end distance of the target 101 through the measuring robot 200;

[0144] The distance calculation unit is used to obtain the distance standard value of the area measuring instrument 400 by subtracting the starting point distance from the end point distance.

[0145] Each module of the measuring device for calibrating an area measuring instrument can be implemented in whole or in part by software, hardware, or a combination thereof. Each module and unit can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0146] like Figure 7 As shown, an embodiment of the present invention discloses a computer device, including a memory and a processor, wherein the memory stores a computer program;

[0147] The computer device may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, steps S2 to S4 of the measurement method for calibrating an area measuring instrument described in the above embodiments are implemented.

[0148] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0149] The embodiment of the present invention further discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute steps S2 to S4 of the measurement method for calibrating an area measuring instrument described in the above embodiments.

[0150] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0151] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A measuring method for calibrating an area measuring instrument, characterized in that The measuring method measures the standard value of the area measuring instrument by a measuring device, wherein the measuring device comprises: a carrying device and a measuring robot, wherein a target is arranged on the carrying device, and the area measuring instrument is arranged on the carrying device; the measuring method comprises the following steps: Selecting a measuring station, and setting up the measuring robot at the measuring station so that the measuring robot and the target are at the same horizontal plane; The carrying device is driven to move so that the starting point and the end point of the movement of the carrying device coincide with each other. During the movement of the carrying device, the measuring robot is controlled to measure the distance and the corresponding orientation of the target at a preset sampling frequency to obtain a plurality of trajectory points of the target; Establishing a coordinate system according to the measuring station and the starting point of the movement of the carrying equipment; Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point; The corresponding measurement coordinates are calculated based on the coordinates and gaps of each of the track points, wherein the gap is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated based on all the measurement coordinates.

2. The measuring method for calibrating an area measuring instrument according to claim 1, characterized in that: The method of calculating the area standard value of the area measuring instrument according to all the measured coordinates includes: When the carrying device is controlled to move along a regular pattern, key points are selected according to the coordinate changes of all measured coordinates, and the area standard value of the area measuring instrument is calculated according to the key points and the area calculation formula of the regular pattern.

3. The measuring method for calibrating an area measuring instrument according to claim 2, characterized in that: The step of selecting key points according to the coordinate changes of all measured coordinates includes: Select the X-coordinate extreme value according to the X-coordinate change of all measured coordinates; Select the extreme value of the Y coordinate according to the Y coordinate changes of all measured coordinates; The X-coordinate extreme value and the Y-coordinate extreme value are taken as key points.

4. The measuring method for calibrating an area measuring instrument according to claim 1, characterized in that: The method of calculating the area standard value of the area measuring instrument according to all the measured coordinates includes: When the carrying device is controlled to move along the irregular pattern, all the measured coordinates are substituted into the coordinate analysis method calculation formula to obtain the area standard value of the area measuring instrument. The coordinate analysis method calculation formula is: Where A represents the standard value of area, (X' i ,Y' i ) represents the i-th measurement coordinate, (X' i+1 ,Y' i+1 ) represents the i+1th measured coordinate, and n represents the number of measured coordinates.

5. The measuring method for calibrating an area measuring instrument according to any one of claims 1 to 4, characterized in that: The step of calculating the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point includes: The trajectory point coordinates are calculated using the trajectory point coordinate calculation formula, which is as follows: Among them, D i represents the measured distance corresponding to the i-th trajectory point, θ i Represents the angle between the i-th trajectory point and the Y axis.

6. The measuring method for calibrating an area measuring instrument according to any one of claims 1 to 4, characterized in that: The step of calculating corresponding measurement coordinates according to the coordinates and the gaps of each track point includes: Determine the forward direction of each track point according to the track point coordinates of the adjacent track points; According to the coordinates of the trajectory points corresponding to the adjacent trajectory points, the trajectory angle corresponding to each trajectory point is calculated; wherein the trajectory angle is the angle between the line connecting the area measuring instrument and the target and the coordinate axis; The corresponding measurement coordinates are calculated according to the trajectory point coordinates, the advancing direction, the corresponding trajectory angle and the difference of each of the trajectory points.

7. The measuring method for calibrating an area measuring instrument according to any one of claims 1 to 4, characterized in that: Also includes: The carrying device is driven to move in a straight line, and the starting distance and the ending distance of the target are measured by the measuring robot; The distance standard value of the area measuring instrument is obtained by subtracting the starting point distance from the end point distance.

8. A measuring device for calibrating an area measuring instrument, characterized in that include: A carrying device, wherein a target is provided on the carrying device, and the area measuring instrument is arranged on the carrying device; The measuring robot is mounted at the measuring station, and during the movement of the carrying device, measures the distance and the corresponding orientation of the target at a preset sampling frequency to obtain a plurality of trajectory points of the target; A control device, comprising: a coordinate system establishment module, a first calculation module and a second calculation module; The coordinate system establishment module is used to establish a coordinate system according to the measurement station and the starting point of the movement of the carrying equipment; The first calculation module is used to calculate the measurement distance according to the distance and gap of each of the track points and the orientation between the area measuring instrument and the target, wherein the gap is the horizontal distance between the target and the area measuring instrument; The second calculation module is used to calculate the corresponding measurement coordinates according to the orientation of each trajectory point, the measurement distance, and the orientation between the area measuring instrument and the target, and calculate the area standard value of the area measuring instrument according to all the measurement coordinates.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the following steps are implemented: The carrying device is driven to move so that the starting point and the end point of the movement of the carrying device coincide with each other. During the movement of the carrying device, the measuring robot is controlled to measure the distance and the corresponding orientation of the target at a preset sampling frequency to obtain a plurality of trajectory points of the target. The carrying device is provided with a target and an area measuring instrument. Establish a coordinate system based on the measurement station and the starting point of the movement of the equipment; Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point; The corresponding measurement coordinates are calculated based on the coordinates and gaps of each of the track points, wherein the gap is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated based on all the measurement coordinates.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the following steps are implemented: The carrying device is driven to move so that the starting point and the end point of the movement of the carrying device coincide with each other. During the movement of the carrying device, the measuring robot is controlled to measure the distance and the corresponding orientation of the target at a preset sampling frequency to obtain a plurality of trajectory points of the target. The carrying device is provided with a target and an area measuring instrument. Establish a coordinate system based on the measurement station and the starting point of the movement of the equipment; Calculate the coordinates of the corresponding trajectory points according to the distance and orientation of each trajectory point; The corresponding measurement coordinates are calculated based on the coordinates and gaps of each of the track points, wherein the gap is the horizontal distance between the target and the area measuring instrument, and the area standard value of the area measuring instrument is calculated based on all the measurement coordinates.

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