Surveying instrument positioning device for engineering surveying

Abstract

The invention relates to the technical field of surveying and mapping instruments, in particular to a surveying and mapping instrument positioning device for engineering surveying and mapping. A fixed base; a positioning bracket; the plurality of pressure sensors monitor pressure data on the mounting platform in real time; the gravity center adjusting mechanism comprises a controller, a balancing weight and a chain mechanism, and the balancing weight balances and stabilizes the actual gravity center position; the chain mechanism comprises at least three length-adjustable chains and at least three length adjusters and is used for adjusting the position and height of the balancing weight; the controller determines the actual center-of-gravity position of the surveying instrument positioning device according to the pressure data, determines a first center-of-gravity model according to the actual center-of-gravity position and the chain length data in the multiple operation processes, and determines the adjustment mode of the actual center-of-gravity position according to the actual center-of-gravity position, the preset center-of-gravity position and the first center-of-gravity model. The gravity center of the surveying instrument positioning device is effectively adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of surveying and mapping instruments, and in particular to a surveying and mapping instrument positioning device used for engineering surveying and mapping. Background Art

[0002] The surveying and mapping instrument positioning devices used in engineering surveying and mapping are mainly used to ensure that the surveying and mapping instruments can stably and accurately obtain the surveying and mapping data of the target area. These devices support the implementation of various engineering projects by providing precise measurement and positioning functions, such as the construction and monitoring of bridges, railways, roads, tunnels, pipelines, dams, etc.

[0003] However, these surveying and mapping instrument positioning devices also have some shortcomings. For example, when the ground is uneven, the soil is soft, or there is a slope, the surveying and mapping instrument positioning device cannot remain stable when placed. Under the influence of wind, strong winds may cause the surveying and mapping instrument positioning device to shake, thereby affecting its stability and causing the center of gravity of the surveying and mapping instrument positioning device to shift, affecting the measurement accuracy. In severe cases, the surveying and mapping instrument positioning device itself may be damaged, increasing the project cost and affecting the quality and safety of the project. Therefore, when designing and using the surveying and mapping instrument positioning device, its stability and safety need to be fully considered to ensure that the equipment can complete the surveying and mapping tasks.

[0004] Chinese patent publication number: CN111473221B, discloses an improved surveying instrument positioning device for engineering surveying, including: a mounting platform, a counterweight device, a controller, a positioning screw with a tip at the bottom, and three sets of fixing devices; the mounting platform is connected to the top of the positioning screw through a stud, and the surveying instrument is set on the mounting platform; in the counterweight device, one end of the three connecting rods is evenly fixed around the threaded ring, and there is a counterweight bar between the other ends of each two connecting rods; each motor moves at the top of the square groove through a transmission device; the top of the rotating rod in the fixing device is rotatably set on the upper part of the positioning screw, and the telescopic rod is rotatably set at the bottom end of the rotating rod, fixed by a first nut, and a pressure sensor is set at the bottom of the telescopic rod; the controller is electrically connected to the pressure sensor to control the rotation of the three motors. The device can adjust the center of gravity of the device through the counterweight device, and limit the position of the surveying instrument positioning device through the fixing device.

[0005] It can be seen that although the above technical solution can adjust the center of gravity of the surveying instrument positioning device through the counterweight device, there are still the following problems: counterweight is achieved by three connecting rods and counterweight bars, and the position and number of the counterweight bars need to be adjusted frequently during actual operation, and the counterweight device is cumbersome and complicated to operate. Summary of the invention

[0006] To this end, the present invention provides a surveying instrument positioning device for engineering surveying and mapping, so as to overcome the problems of center of gravity offset and complex operation of the counterweight device of the surveying instrument positioning device in the prior art.

[0007] To achieve the above object, the present invention provides a surveying instrument positioning device for engineering surveying and mapping, comprising: A mounting platform, which is used to mount a fixed surveying instrument and enable the surveying instrument to rotate horizontally; A fixed base, which is connected to the bottom of the mounting platform and serves as a basis for positioning the surveying instrument; A positioning bracket, comprising at least three supporting telescopic columns distributed at equal intervals near the bottom edge of the fixed base, for adjusting the observation height of the surveying instrument; A plurality of pressure sensors, which are evenly distributed on the bottom surface of the mounting platform and are used to monitor the pressure data of the surveying instrument on the mounting platform in real time; A positioning sensor, which is arranged at the center of the mounting platform and is used to determine the three-dimensional geographic location of the surveying instrument; The center of gravity adjustment mechanism is arranged at the bottom of the fixed base, and includes a controller, a counterweight block, and a chain mechanism, wherein: The counterweight block is connected to the fixed base through the chain mechanism to balance and stabilize the actual center of gravity position; The chain mechanism includes at least three chains with adjustable lengths and at least three length adjusters for adjusting the position and height of the counterweight; The controller is used to determine the actual center of gravity position of the surveying instrument positioning device according to the pressure data of the pressure sensor, and to determine a first center of gravity model between the chain length and the actual center of gravity position according to the actual center of gravity position and the chain length data during several operations, and to determine an adjustment method for the actual center of gravity position according to the actual center of gravity position, the preset center of gravity position and the first center of gravity model.

[0008] Furthermore, the controller is also used to determine a second center of gravity model based on several adjustments from the actual center of gravity position to the preset center of gravity position according to the length adjustment amount of each chain, the actual center of gravity position and the preset center of gravity position, and determine the optimal length adjustment amount of each chain according to the second center of gravity model.

[0009] Furthermore, the counterweight comprises: At least three arc grooves, the arc grooves are evenly and vertically opened on the side of the counterweight, and the shape of the arc grooves is consistent with the side of the support column; At least three hooks corresponding to the arc grooves are evenly spaced and distributed near the top edge of the counterweight block for connection with the chain.

[0010] Furthermore, one end of the chain is fixedly connected to the hook, and the other end is movably connected to the length adjuster; Wherein, the length adjuster comprises: A rolling wheel, which is used to adjust the chain length by rotation; A meter to measure the length of the chain; A motor, wherein an output shaft of the motor is connected to the rolling wheel to drive the rolling wheel to rotate; A fixed end, which is arranged on the side of the rolling wheel and is used to fix one end of the chain; A guide groove, which is arranged inside the middle of the rolling wheel and is used to guide the chain to move along a predetermined path; The clamping part is arranged on one side of the guide groove and is used for clamping the chain on the guide groove.

[0011] Furthermore, the controller establishes a two-dimensional coordinate system with the bottom center of the fixed base as the origin, and determines the position information of the plurality of pressure sensors according to the two-dimensional coordinate system.

[0012] Furthermore, the controller determines a first resultant torque in the X-axis direction and a second resultant torque in the Y-axis direction according to the position information of the pressure sensors, and determines the actual center of gravity position of the surveying instrument according to the first resultant torque, the second resultant torque and the pressure data.

[0013] Furthermore, the controller determines a first deviation value in the X-axis direction and a second deviation value in the Y-axis direction according to the actual center of gravity position and the preset center of gravity position, and determines an adjustment method for the actual center of gravity position according to the first deviation value, the second deviation value and the first center of gravity model.

[0014] Furthermore, the controller determines a first center of gravity model between the chain length and the center of gravity position according to the chain length data and the actual center of gravity position corresponding to the positioning device of the surveying instrument during the process of randomly adjusting the lengths of at least three chains for several times.

[0015] Furthermore, the controller compares the first deviation value, the second deviation value and a preset deviation, and determines an adjustment method for the actual center of gravity position according to the comparison result, wherein: If the first deviation value and / or the second deviation value is greater than the preset deviation, adjusting the chain length; If the first deviation value and / or the second deviation value is less than or equal to the preset deviation, there is no need to adjust the chain length.

[0016] Furthermore, the controller determines the length adjustment amount of the at least three chains according to the actual length data of each chain, the first deviation value and the second deviation value.

[0017] Furthermore, the controller determines the number of rolling turns and the rolling direction of the rolling wheel corresponding to each chain according to the length adjustment amount, and determines the clamping position of the corresponding clamping part according to the number of rolling turns and the rolling direction.

[0018] Compared with the prior art, the invention has the beneficial effect that the invention enhances the stability and accuracy in engineering surveying and mapping by integrating a height-adjustable positioning bracket, a pressure sensor and a precise center-of-gravity adjustment mechanism. In particular, through the mutual cooperation and flexible adjustment of the chain mechanism and the counterweight block, the actual center-of-gravity position of the surveying and mapping instrument positioning device is effectively balanced, the risk of tipping is reduced, and the continuity and accuracy of the surveying and mapping operation in various harsh environments are ensured, thereby further improving the reliability and practicality of the surveying and mapping results.

[0019] Furthermore, the present invention improves the portability and accuracy of chain length adjustment by arranging a rolling wheel, a motor, a fixed end, a guide groove, and a clamping part in the length adjuster, thereby effectively balancing the actual center of gravity position of the surveying and mapping instrument positioning device, further improving the surveying and mapping accuracy, and improving the reliability and practicality of the surveying and mapping results.

[0020] Furthermore, the controller of the present invention can accurately calculate the actual center of gravity position of the surveying and mapping instrument positioning device based on the position information and pressure data of the pressure sensor, thereby improving the accuracy and efficiency of the center of gravity position determination, thereby providing reliable data support for subsequent center of gravity adjustment, further enhancing the stability of the surveying and mapping instrument positioning device, further improving the surveying and mapping accuracy, and improving the reliability and practicality of the surveying and mapping results.

[0021] Furthermore, the present invention determines the position deviation according to the actual center of gravity position and the preset center of gravity position, and intelligently adjusts the length of each chain through the position deviation and the first center of gravity model to achieve accurate control of the center of gravity of the surveying and mapping instrument positioning device, further enhance the stability of the surveying and mapping instrument positioning device, further improve the surveying and mapping accuracy, and improve the reliability and practicality of the surveying and mapping results.

[0022] Furthermore, the present invention accurately determines the lengths of at least three chains according to the first deviation, the second deviation and the first center of gravity model, and further determines the length adjustment amount to achieve the balance and stability of the center of gravity of the surveying and positioning device, thereby further improving the surveying and mapping accuracy and the reliability and practicality of the surveying and mapping results.

[0023] Furthermore, the present invention determines the number of rolling circles of the corresponding rolling wheels according to the length adjustment amount of the corresponding chains, and determines the clamping position of the corresponding clamping parts according to the number of rolling circles, thereby fixing the chain length, thereby further achieving the balance and stability of the center of gravity of the surveying and mapping positioning device, further improving the surveying and mapping accuracy, and improving the reliability and practicality of the surveying and mapping results. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of a surveying instrument positioning device used for engineering surveying and mapping according to an embodiment of the present invention; Figure 2This is a flow chart of a surveying and mapping instrument positioning device used for engineering surveying and mapping according to an embodiment of the present invention; Figure 3 This is a structural schematic diagram of a center of gravity adjustment mechanism according to an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a length adjuster according to an embodiment of the present invention; In the figure: 1, mounting platform; 2, fixed base; 3, positioning bracket; 4, center of gravity adjustment mechanism, 401, counterweight block; 402, chain; 403, length adjuster; 4031, rolling wheel; 4032, guide groove. DETAILED DESCRIPTION

[0025] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0027] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0028] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] See also Figure 1 to Figure 3 As shown, Figure 1 It is a structural schematic diagram of a surveying instrument positioning device used for engineering surveying and mapping according to an embodiment of the present invention; Figure 2 This is a flow chart of a surveying and mapping instrument positioning device used for engineering surveying and mapping according to an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the center of gravity adjustment mechanism of an embodiment of the present invention; specifically, an embodiment of the present invention provides a surveying instrument positioning device for engineering surveying and mapping, including: An installation platform 1, which is used to install and fix the surveying instrument and enable the surveying instrument to rotate horizontally; A fixed base 2, which is connected to the bottom of the mounting platform 1 and serves as a basis for positioning the surveying instrument; A positioning bracket 3, comprising at least three supporting telescopic columns distributed at equal intervals near the bottom edge of the fixed base 2, for adjusting the observation height of the surveying instrument; A plurality of pressure sensors, which are evenly distributed on the bottom surface of the installation platform 1, for real-time monitoring of the pressure data of the surveying instrument on the installation platform 1; A positioning sensor, which is arranged at the center of the mounting platform and is used to determine the three-dimensional geographic location of the surveying instrument; The center of gravity adjustment mechanism 4 is arranged at the bottom of the fixed base 2, and includes a controller, a counterweight block 401, and a chain mechanism, wherein: The counterweight block 401 is connected to the fixed base 2 through the chain mechanism to balance and stabilize the actual center of gravity position; The chain mechanism includes at least three chains 402 with adjustable lengths and at least three length adjusters 403, which are used to adjust the position and height of the counterweight 401; The controller is used to determine the actual center of gravity position of the surveying instrument positioning device according to the pressure data of the pressure sensor, and to determine a first center of gravity model between the length of the chain 402 and the actual center of gravity position according to the actual center of gravity position and the length data of the chain 402 during several operations, and to determine an adjustment method for the actual center of gravity position according to the actual center of gravity position, the preset center of gravity position and the first center of gravity model.

[0030] It is understandable that when the surveying and mapping instrument positioning device works outdoors in complex terrain or in an environment with strong winds, the device is prone to tipping over and shaking, affecting the stability of the surveying and mapping results. Through the cooperation between the chain mechanism and the counterweight block 401, the center of gravity of the surveying and mapping instrument positioning device can be balanced and stabilized, thereby reducing the risk of tipping over of the surveying and mapping instrument positioning device, improving the stability in various working environments, and thus improving the observation accuracy.

[0031] In a specific embodiment, the positioning bracket 3 includes three supporting telescopic columns, and the supporting telescopic columns are evenly spaced near the edge of the fixed bottom surface. The chain mechanism includes three length-adjustable chains 402 and three length adjusters 403, and the number of pressure sensors is 4. In implementation, the number and installation distance of the supporting telescopic columns, the number of the chains 402, the number of the length adjusters 403, the number and installation positions of the pressure sensors can be determined according to actual conditions, and no specific restrictions are made here. As long as the supporting telescopic columns can support the observation instrument and facilitate the surveying and mapping of the surveying and mapping positioning device, the number of the chains 402, the number of the length adjusters 403 and the number of the supporting telescopic columns correspond, and the several pressure sensors are evenly distributed on the bottom surface of the installation platform 1, and can monitor the pressure data of the surveying and mapping instrument on the installation platform 1 in real time, no further details are given here.

[0032] The present invention enhances the stability and accuracy in engineering surveying and mapping by integrating a height-adjustable positioning bracket 3, a pressure sensor, and a precise center-of-gravity adjustment mechanism 4. In particular, through the mutual cooperation and flexible adjustment of the chain mechanism and the counterweight block 401, the actual center-of-gravity position of the surveying and mapping instrument positioning device is effectively balanced, the risk of tipping is reduced, and the continuity and accuracy of the surveying and mapping operation in various harsh environments are ensured, thereby further improving the reliability and practicality of the surveying and mapping results.

[0033] Specifically, the controller is also used to determine a second center of gravity model based on the length adjustment amount of each chain 403, the actual center of gravity position and the preset center of gravity position based on several adjustments from the actual center of gravity position to the preset center of gravity position, and determine the optimal length adjustment amount of each chain 403 based on the second center of gravity model.

[0034] It is understandable that the adjustment strategy can be optimized by further utilizing the data from multiple adjustment processes, and by recording the length adjustment amount of each chain 403, the actual center of gravity position after adjustment, and the preset center of gravity position each time the actual center of gravity position is adjusted to the preset center of gravity position, to construct a more accurate second center of gravity model to describe the complex relationship between the length adjustment amount of the chain 403 and the actual center of gravity position and the preset center of gravity position. The second center of gravity model is used to predict the optimal length adjustment amount of different chains 403, so as to facilitate more efficient and accurate adjustment of the center of gravity position of the surveying instrument and improve the accuracy and stability of surveying and mapping positioning.

[0035] In a specific embodiment, the length adjustment amounts of each chain 403 are respectively the first adjustment amount, the second adjustment amount, and the third adjustment amount, the actual center of gravity position after adjustment is the first center of gravity position, and the second center of gravity model is a multiple linear regression model, and the model is expressed as: the difference between the first center of gravity position and the preset center of gravity position is equal to the sum of the product of the first regression coefficient and the first adjustment amount, the product of the second regression coefficient and the second adjustment amount, and the product of the third regression coefficient and the third adjustment amount. The first regression coefficient, the second regression coefficient, and the third regression coefficient can be solved by the least squares method. In implementation, the construction method and related formulas of the second center of gravity model can be determined according to actual conditions, and are not specifically limited here and will not be repeated.

[0036] In a specific embodiment, the optimal length adjustment amount of each chain 403 is determined according to the second center of gravity model, and the optimal length adjustment amount is the square of the norm of the difference between the first center of gravity position and the preset center of gravity position and the sum of the product of the first regression coefficient and the first adjustment amount, the product of the second regression coefficient and the second adjustment amount, and the product of the third regression coefficient and the third adjustment amount. The optimal length adjustment amount of each chain 403 can be determined by linear programming, gradient descent or other optimization algorithms. In implementation, the optimal length adjustment amount can be determined according to actual conditions, which is not specifically limited here and will not be repeated.

[0037] Specifically, the counterweight block 401 includes: At least three arc grooves, the arc grooves are evenly and vertically opened on the side of the counterweight block 401, and the shape of the arc grooves is consistent with the side of the support column; At least three hooks corresponding to the arc grooves are evenly spaced and distributed near the top edge of the counterweight block 401 for connection with the chain 402 .

[0038] It is understandable that when the surveying instrument positioning device is not in use, the at least three support columns can be placed in the corresponding at least arc grooves to facilitate the storage of the surveying instrument positioning device. The three hooks are provided to facilitate the connection between the counterweight block 401 and the chain 402.

[0039] In a specific embodiment, the number of arc grooves is three, and the number of hooks is three. The number of arc grooves, the bending angle of the arc grooves, and the number of hooks can be determined according to actual conditions and are not specifically limited here. As long as the number of arc grooves, the number of hooks, and the number of supporting telescopic columns correspond, and the bending angle of the arc groove is consistent with the side of the supporting column, no specific limitation is made here and will not be repeated.

[0040] See also Figure 4 As shown, Figure 4Schematic diagram of the structure of the length adjuster 403 according to an embodiment of the present invention; specifically, one end of the chain 402 is fixedly connected to the hook, and the other end is movably connected to the length adjuster 403; Wherein, the length adjuster 403 comprises: A rolling wheel 4031, which is used to adjust the length of the chain 402 by rotation; Meter, which is used to detect the length of the chain; A motor, wherein the output shaft of the motor is connected to the rolling wheel 4031 to drive the rolling wheel 4031 to rotate; A fixed end, which is arranged on the side of the rolling wheel 4031 and is used to fix one end of the chain 402; A guide groove 4032, which is arranged inside the middle of the rolling wheel 4031, and is used to guide the chain 402 to move along a predetermined path; The clamping portion is arranged on one side of the guide groove 4032 to clamp the chain 402 on the guide groove 4032 .

[0041] It can be understood that the length adjuster 403 can achieve precise control of the length of a single chain 402. By ensuring that one end of the chain 402 is stable through the fixed end, the other end can use the motor to drive the rolling wheel 4031 to rotate, thereby adjusting the length of the chain 402. The guide groove 4032 guides the chain 402 to move along a predetermined path to ensure the accuracy and stability of the adjustment; the clamping part further clamps the chain 402 to prevent the chain 402 from sliding or accidentally falling off after being adjusted to a certain length.

[0042] The present invention improves the portability and accuracy of adjusting the length of the chain 402 by arranging a rolling wheel, a motor, a fixed end, a guide groove 4032, and a clamping part in the length adjuster 403, thereby effectively balancing the actual center of gravity position of the surveying and mapping instrument positioning device, further improving the surveying and mapping accuracy, and improving the reliability and practicality of the surveying and mapping results.

[0043] Specifically, the tension of each chain 402 is determined according to the total weight of the surveying instrument positioning device, the distance from the bottom center of the fixed base 2 to the bottom of each telescopic support column, and the relative position relationship between the supporting telescopic columns, and the initial chain length of each chain 402 is determined according to the tension.

[0044] It can be understood that the total weight includes the weight of all components of the surveying and mapping instrument positioning device, including the weight of all components such as the mounting platform 1, the fixed base 2, the supporting telescopic columns and the chain mechanism.

[0045] In a specific embodiment, the tension of each chain 402 can be calculated based on methods such as static analysis or finite element analysis. By modeling and solving physical parameters such as the elastic modulus, cross-sectional area, and tension of each chain, as well as performing precision correction, the initial chain length of each chain 402 can be obtained.

[0046] Specifically, the controller establishes a two-dimensional coordinate system with the bottom center of the fixed base 2 as the origin, and determines the position information of the plurality of pressure sensors according to the two-dimensional coordinate system.

[0047] Specifically, the controller determines a first resultant torque in the X-axis direction and a second resultant torque in the Y-axis direction according to the position information of the pressure sensors, and determines the actual center of gravity position of the surveying instrument according to the first resultant torque, the second resultant torque and pressure data.

[0048] In a specific embodiment, the controller ignores the influence of the Z-axis direction on the center of gravity position of the surveying and mapping instrument positioning device, and only considers the influence of the X-axis direction and the Y-axis direction on the center of gravity position of the surveying and mapping instrument positioning device. The controller establishes a two-dimensional rectangular coordinate system with the bottom center of the fixed base 2 as the origin (0, 0). In this coordinate system, the position information of each pressure sensor is determined, that is, the coordinate value of each sensor on the X-axis and Y-axis, and the pressure value corresponding to each pressure sensor obtained by the pressure sensor is obtained. The first resultant moment is the sum of the components of the pressure values ​​of all pressure sensors in the X-axis direction; the second resultant moment is the sum of the components of the pressure values ​​of all pressure sensors in the Y-axis direction. The X-axis coordinate of the actual center of gravity position is the ratio of the first resultant moment to the sum of the pressure values ​​of all pressure sensors, and the Y-axis coordinate of the actual center of gravity position is the ratio of the second resultant moment to the sum of the pressure values ​​of all pressure sensors.

[0049] In a specific embodiment, the controller considers the influence of the Z-axis direction on the center of gravity position of the surveying instrument positioning device, and considers the influence of the X-axis direction, the Y-axis direction and the Z-axis direction on the center of gravity position of the surveying instrument positioning device. Specifically, the controller determines the first resultant torque in the X-axis direction, the second resultant torque in the Y-axis direction and the third resultant torque in the Z-axis direction according to the position information of the several pressure sensors, and jointly determines the actual center of gravity position of the surveying instrument according to the first resultant torque, the second resultant torque and the third resultant torque. The position information of the several pressure sensors includes the position information of the X-axis, the Y-axis and the Z-axis in the three-dimensional space, and the first center of gravity model is reconstructed according to the three-dimensional space position information. The controller establishes a three-dimensional rectangular coordinate system with the bottom center of the fixed base 2 as the origin (0, 0, 0). In this coordinate system, the position information of each pressure sensor is determined, that is, the coordinate value of each sensor on the X-axis, the Y-axis and the Z-axis, and the pressure value corresponding to each pressure sensor obtained by the pressure sensor is obtained. The first resultant moment is the sum of the components of the pressure values ​​of all pressure sensors in the X-axis direction; the second resultant moment is the sum of the components of the pressure values ​​of all pressure sensors in the Y-axis direction, the third resultant moment is the sum of the components of the pressure values ​​of all pressure sensors in the Z-axis direction, the X-axis coordinate of the actual center of gravity position is the ratio of the first resultant moment to the sum of the pressure values ​​of all pressure sensors, the Y-axis coordinate of the actual center of gravity position is the ratio of the second resultant moment to the sum of the pressure values ​​of all pressure sensors, and the Z-axis coordinate of the actual center of gravity position is the ratio of the third resultant moment to the sum of the pressure values ​​of all pressure sensors.

[0050] In a specific embodiment, the controller considers the influence of the Z-axis direction on the center of gravity position of the surveying and mapping instrument positioning device, and the controller determines the first deviation value in the X-axis direction, the second deviation value in the Y-axis direction, and the third deviation value in the Z-axis direction according to the actual center of gravity position and the preset center of gravity position, and determines the adjustment method of the actual center of gravity position according to the first deviation value, the second deviation value, the third deviation value and the first center of gravity model. Specifically, the controller compares the first deviation value, the second deviation value, the third deviation value and the preset deviation, and determines the adjustment method of the actual center of gravity position according to the comparison result, wherein, If any one or more of the first deviation value, the second deviation value, and the third deviation value is greater than the preset deviation, the length of the chain 402 is adjusted; If any one or more of the first deviation value, the second deviation value, and the third deviation value is less than or equal to the preset deviation, there is no need to adjust the length of the chain 402 .

[0051] The controller of the present invention can accurately calculate the actual center of gravity position of the surveying instrument positioning device based on the position information and pressure data of the pressure sensor, thereby improving the accuracy and efficiency of determining the center of gravity position, thereby providing reliable data support for subsequent center of gravity adjustment, further enhancing the stability of the surveying instrument positioning device, further improving the surveying and mapping accuracy, and improving the reliability and practicality of the surveying and mapping results.

[0052] Specifically, the controller determines a first deviation value in the X-axis direction and a second deviation value in the Y-axis direction according to the actual center of gravity position and the preset center of gravity position, and determines an adjustment method for the actual center of gravity position according to the first deviation value, the second deviation value and the first center of gravity model.

[0053] In a specific embodiment, the preset center of gravity position is the center of gravity position of the surveying and mapping instrument positioning device in a naturally balanced state under a certain position environment after being stabilized and not disturbed by external forces. In implementation, the value range and preferred value of the preset center of gravity position can be determined according to actual conditions, and no specific limitation is made here and no further elaboration is given.

[0054] In a specific embodiment, when (0, 0) is set as the geometric center position of the bottom plane of the fixed base 2, the first deviation value is the X-axis coordinate value of the actual center of gravity position, and the second deviation value is the Y-axis coordinate value of the actual center of gravity position. The controller determines the adjustment method of the actual center of gravity position based on the first deviation value, the second deviation value and the established first center of gravity model, that is, how much length each chain 402 needs to be adjusted to achieve the purpose of returning the actual center of gravity position to the preset center of gravity position (0, 0).

[0055] Specifically, the controller determines a first center of gravity model between the length of the chain 402 and the center of gravity position according to the length data of the chain 402 and the actual center of gravity position corresponding to the positioning device of the surveying instrument during the process of randomly adjusting the length of at least three chains 402 for several times.

[0056] It is understandable that the first center of gravity model between the chain 402 length and the center of gravity position can be used to predict the actual center of gravity position of the surveying instrument positioning device under different corresponding chain 402 lengths, and guide the controller to make precise chain 402 length adjustments to achieve balance and stability of the center of gravity.

[0057] In a specific embodiment, during the process of randomly adjusting the length of at least three chains 402 for several times, for example, under different observation heights and different wind directions and wind conditions, the position and height of the counterweight block 401 are adjusted by changing the length of the chain 402 so that the center of gravity position is balanced, and the length data of the chain 402 after each adjustment is recorded. At the same time, the actual center of gravity position of the surveying instrument positioning device is monitored in real time using a pressure sensor, and the corresponding data is recorded. A first center of gravity model is constructed using a linear regression model based on the actual center of gravity position and the length data of the chain 402, and the relationship between the X-axis center of gravity position of the surveying instrument positioning device and the length of each chain 402 is obtained, as well as the relationship between the Y-axis center of gravity position of the surveying instrument positioning device and the length of each chain 402. In implementation, the method for determining the first center of gravity model can be selected according to actual conditions, which is not specifically limited here and will not be repeated.

[0058] The present invention determines the position deviation according to the actual center of gravity position and the preset center of gravity position, and intelligently adjusts the length of each chain 402 through the position deviation and the first center of gravity model to achieve accurate control of the center of gravity of the surveying and mapping instrument positioning device, further enhance the stability of the surveying and mapping instrument positioning device, further improve the surveying and mapping accuracy, and improve the reliability and practicality of the surveying and mapping results.

[0059] Specifically, the controller compares the first deviation value, the second deviation value and the preset deviation, and determines the adjustment method for the actual center of gravity position according to the comparison result, wherein: If the first deviation value and / or the second deviation value is greater than the preset deviation, the length of the chain 402 is adjusted; If the first deviation value and / or the second deviation value is less than or equal to the preset deviation, there is no need to adjust the length of the chain 402 .

[0060] Specifically, if the first deviation value and / or the second deviation value is less than or equal to the preset deviation, the positioning sensor acquires the three-dimensional geographic location of the surveying instrument; It can be understood that if the first deviation value and / or the second deviation value is less than or equal to the preset deviation, it means that the deviation between the actual center of gravity position of the surveying instrument and the preset center of gravity position is small. At this time, there is no need to adjust the length of the chain 402 to adjust the center of gravity in order to allow the surveying instrument to work. Therefore, when the deviation is qualified, the positioning sensor is triggered to measure and obtain the three-dimensional geographic location of the surveying instrument.

[0061] In a specific embodiment, the preset deviation is a position deviation within a tolerable range between the actual center of gravity position and the preset center of gravity position. The value range of the preset deviation is 1 mm to 3 mm, and preferably, the preset deviation is 2 mm. In implementation, the value range and preferred value of the preset deviation can be determined according to actual conditions, and are not specifically limited here and will not be described in detail.

[0062] Specifically, the controller determines the length adjustment amount of each chain 402 according to the actual length data of each chain 402 , the first deviation value and the second deviation value.

[0063] In a specific embodiment, the controller determines the ideal length data of each chain 402 according to the first deviation value, the second deviation value, the preset center of gravity position and the first center of gravity model, and determines the respective length adjustment amount by the difference between the corresponding actual length data and the ideal length data.

[0064] The present invention accurately determines the lengths of at least three chains 402 according to the first deviation, the second deviation and the first center of gravity model, and further determines the length adjustment amount to achieve the balance and stability of the center of gravity of the surveying and positioning device, further improve the surveying and mapping accuracy, and improve the reliability and practicality of the surveying and mapping results.

[0065] Specifically, the controller determines the number of rolling circles and the rolling direction of the rolling wheels 4031 corresponding to each of the chains 402 according to the length adjustment amount, and determines the engaging position of the corresponding engaging portion according to the number of rolling circles and the rolling direction.

[0066] It is understandable that after the respective rolling wheels 4031 of at least three chains 402 rotate according to their respective corresponding rolling circles, the length of the chain 402 will change, and the clamping position of the chain 402 will also change. Therefore, it is necessary to determine the clamping position of the corresponding clamping part according to the said rolling circles so that the length of the chain 402 is fixed and the center of gravity is stable.

[0067] In a specific embodiment, the number of rolling turns of the rolling wheels 4031 corresponding to the at least three chains 402 is the ratio of the length adjustment amount corresponding to each other to the circumference of the cross section of the guide groove 4032 of the rolling wheel 4031. When the length adjustment amount is greater than 0, the rolling direction is the direction that shortens the length of the chain 402, and when the length adjustment amount is less than 0, the rolling direction is the direction that lengthens the length of the chain 402. In implementation, the number of rolling turns and the rolling direction can be determined according to actual conditions, and are not specifically limited here and will not be described in detail.

[0068] The present invention determines the number of rolling circles of the corresponding rolling wheels 4031 according to the corresponding length adjustment amount of the chains 402, and determines the clamping position of the corresponding clamping parts according to the number of rolling circles, thereby fixing the length of the chains 402, and further achieving the balance and stability of the center of gravity of the surveying and mapping positioning device, further improving the surveying and mapping accuracy, and improving the reliability and practicality of the surveying and mapping results.

[0069] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A surveying instrument positioning device for engineering surveying, characterized in that: include: A mounting platform, which is used to mount a fixed surveying instrument and enable the surveying instrument to rotate horizontally; A fixed base, which is connected to the bottom of the mounting platform and serves as a basis for positioning the surveying instrument; A positioning bracket, comprising at least three supporting telescopic columns distributed at equal intervals near the bottom edge of the fixed base, for adjusting the observation height of the surveying instrument; A plurality of pressure sensors, which are evenly distributed on the bottom surface of the mounting platform and are used to monitor the pressure data of the surveying instrument on the mounting platform in real time; A positioning sensor, which is arranged at the center of the mounting platform and is used to determine the three-dimensional geographic location of the surveying instrument; The center of gravity adjustment mechanism is arranged at the bottom of the fixed base, and includes a controller, a counterweight block, and a chain mechanism, wherein: The counterweight block is connected to the fixed base through the chain mechanism to balance and stabilize the actual center of gravity position; The chain mechanism includes at least three chains with adjustable lengths and at least three length adjusters for adjusting the position and height of the counterweight; The controller is used to determine the actual center of gravity position of the surveying instrument according to the pressure data of the pressure sensor, and to determine a first center of gravity model between the chain length and the actual center of gravity position according to the actual center of gravity position and the chain length data during several operations, and to determine an adjustment method for the actual center of gravity position according to the actual center of gravity position, the preset center of gravity position and the first center of gravity model.

2. The surveying and positioning device for engineering surveying and mapping according to claim 1, characterized in that: The controller is also used to determine a second center of gravity model based on several adjustments from the actual center of gravity position to the preset center of gravity position according to the length adjustment amount of each chain, the actual center of gravity position and the preset center of gravity position, and determine the optimal length adjustment amount of each chain according to the second center of gravity model.

3. The surveying instrument positioning device for engineering surveying and mapping according to claim 1 or 2, characterized in that: The counterweight block comprises: At least three arc grooves, the arc grooves are evenly and vertically opened on the side of the counterweight, and the shape of the arc grooves is consistent with the side of the support column; At least three hooks corresponding to the arc grooves are evenly spaced and distributed near the top edge of the counterweight block for connection with the chain.

4. The surveying instrument positioning device for engineering surveying and mapping according to claim 3, characterized in that: One end of the chain is fixedly connected to the hook, and the other end is movably connected to the length adjuster; Wherein, the length adjuster comprises: A rolling wheel, which is used to adjust the chain length by rotation; Meter, which is used to detect the length of the chain; A motor, wherein an output shaft of the motor is connected to the rolling wheel to drive the rolling wheel to rotate; A fixed end, which is arranged on the side of the rolling wheel and is used to fix one end of the chain; A guide groove, which is arranged inside the middle of the rolling wheel and is used to guide the chain to move along a predetermined path; The clamping part is arranged on one side of the guide groove and is used for clamping the chain on the guide groove.

5. The surveying instrument positioning device for engineering surveying and mapping according to claim 4, characterized in that: The controller establishes a two-dimensional coordinate system with the bottom center of the fixed base as the origin, and determines the position information of the plurality of pressure sensors according to the two-dimensional coordinate system.

6. The surveying instrument positioning device for engineering surveying and mapping according to claim 5, characterized in that: The controller determines a first resultant moment in the X-axis direction and a second resultant moment in the Y-axis direction according to the position information of the pressure sensors, and determines the actual center of gravity position of the surveying instrument according to the first resultant moment, the second resultant moment and pressure data.

7. The surveying instrument positioning device for engineering surveying and mapping according to claim 6, characterized in that: The controller determines a first deviation value in the X-axis direction and a second deviation value in the Y-axis direction according to the actual center of gravity position and the preset center of gravity position, and determines an adjustment method for the actual center of gravity position according to the first deviation value, the second deviation value and the first center of gravity model.

8. The surveying instrument positioning device for engineering surveying and mapping according to claim 7, characterized in that: The controller determines a first center of gravity model between the chain length and the center of gravity position according to the chain length data and the actual center of gravity position corresponding to the positioning device of the surveying instrument during the process of randomly adjusting the length of at least three chains for several times.

9. The surveying and positioning device for engineering surveying and mapping according to claim 8, characterized in that: The controller compares the first deviation value, the second deviation value and the preset deviation, and determines the adjustment method for the actual center of gravity position according to the comparison result, wherein: If the first deviation value and / or the second deviation value is greater than the preset deviation, adjusting the chain length; If the first deviation value and / or the second deviation value is less than or equal to the preset deviation, there is no need to adjust the chain length.

10. The surveying and positioning device for engineering surveying and mapping according to claim 9, characterized in that: The controller determines the length adjustment amount of each chain according to the actual length data of each chain, the first deviation value and the second deviation value.

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