Precise leveling system and device

Abstract

The invention belongs to the technical field of leveling, and discloses a precise leveling system and device.The system is integrated on an electronic module body, and the electronic module body comprises a main control module, an encoder module, a sensor module, a serial port integrated screen, an RS232 communication module, a rechargeable battery and a voltage stabilizing module; the intelligent leveling instrument can be applied to leveling, integrates the functions of gradient analysis, intervisibility analysis, distance measurement, voice prompt and the like, can replace a traditional measuring instrument, can also help measuring personnel observe and record the walking distance and the uphill and downhill angles through the serial port integrated screen, can feed back more accurate quantitative data to the measuring personnel, and is high in practicability. Errors caused by experience of measuring personnel are reduced, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of level measurement, and more specifically, to a precision level measurement system and device. Background Art

[0002] Leveling, also known as "geometric leveling", is a method of measuring the height difference between two points on the ground using a level and a level rod. A level is placed between two points on the ground, and the level rod erected at the two points is observed, and the height difference between the two points is calculated according to the readings on the rod; leveling can provide accurate elevation data for various engineering construction and scientific research, ensuring the quality and safety of the project, and at the same time providing important basic data for earthquake monitoring, topographic mapping, water conservancy projects, underground resource exploration and other fields. Precision leveling generally refers to national second-class or above leveling, which is the comprehensive basis of national elevation control. Leveling usually starts from the leveling origin or any known elevation point, and measures the elevation of each point station by station along the selected leveling route. The surveyor determines the distance between the leveling origin and the next turning point based on his own experience and the actual situation on site, so the line-setting instrument came into being.

[0003] In recent years, researchers have explored a variety of methods and convenient and fast line-laying equipment in leveling work. In the early stage, manual measuring ropes were used, but the distance was often too long and required two people in front and behind to work together, which caused inconvenience to other pedestrians and vehicles passing by, and was very likely to cause dangerous personal accidents. Later, surveyors developed a small wheeled cart that can be pushed by hand according to the actual needs of leveling measurement. A mechanical dial was added to the bottom of the cart to record the number of circles of the wheel. The circumference of the wheel is 1 meter, so the scale displayed on the dial is also equal to the distance traveled. However, the above methods have certain limitations because the mechanical dial is installed near the wheel and the digital display characters are too small, which makes it inconvenient for the staff to see the specific readings. In addition, when the wheel or cart is replaced, the distance can no longer be accurately displayed. On the other hand, the above methods cannot measure the uphill and downhill angles. The surveyor needs to estimate based on experience to determine the scale insertion point, and the estimation result often has a great impact on the accuracy of the overall level measurement data, resulting in re-measurement or result deviation. Therefore, the above solutions cannot meet the needs of real measurement.

[0004] In view of this, the present invention proposes a precision leveling measurement system and device to solve the above problems. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solutions: A precision leveling measurement system, which is integrated on an electronic module body, wherein the electronic module body includes a main control module, an encoder module, a sensor module, a serial port integrated screen, an RS232 communication module, a rechargeable battery and a voltage stabilizing module; The main control module is an Arduino_Nano development board; The encoder module is an incremental encoder, which includes three pulse output lines and two power lines. The three pulse output lines are phase A, phase B and phase Z. When the incremental encoder is connected to the Arduino_Nano development board, the phase A, phase B and phase Z of the incremental encoder are connected to the D2, D3 and D8 digital input pins of the Arduino_Nano development board respectively. The sensor module is MPU6050, wherein the SCL and SDA pins of MPU6050 are respectively connected to the SCL and SDA pins of the Arduino_Nano development board; The Arduino_Nano development board is interconnected with the RX and TX pins of the RS232 communication module, and the RS232 communication module is interconnected with the RX2 and TX2 pins of the serial port integrated screen; The rechargeable battery is connected to the main control module via a voltage stabilizing module.

[0006] Preferably, the IIC communication protocol is used between the MPU6050 and the Arduino_Nano development board.

[0007] Preferably, the serial port integrated screen is used for graphic display and sound playback, wherein the serial port integrated screen uses 232 protocol for communication.

[0008] Preferably, the display interface of the serial port integrated screen includes a unit name, a data display window, and calibration and reset buttons.

[0009] Preferably, it also includes a main program flow, and the main program flow includes the following steps: S1, start, the encoder module performs program initialization; S2, the sensor module clears the data; S3, the encoder module performs level measurement and the sensor module reads data; S4, the main control module performs numerical calculations; S5. Receive the values ​​calculated by the main control module through the serial port integrated screen and make voice broadcasts at the same time until the level measurement is completed.

[0010] Preferably, after the encoder module performs program initialization, the A and B phase pulse signals of the encoder module are captured and the order of the two is determined. If the A phase is used for triggering, the B phase level is detected during the rising edge, and a high level indicates forward rotation and a low level indicates reverse rotation.

[0011] Preferably, after starting and initializing the sensor module, the gyroscope measurement range and system clock are set, the real-time angle is obtained by calculation and sent to the serial port integrated screen for display through the Arduino_Nano development board.

[0012] A precision leveling measuring device, characterized in that it comprises a mechanical trolley, an electronic module body, and an auxiliary platform for placing the electronic module body, wherein the electronic module body is implemented according to a precision leveling measuring system.

[0013] The technical effects and advantages of a precision leveling measurement system and device of the present invention are as follows: The present invention can be applied to leveling measurement, and a measuring device with integrated functions such as slope analysis, visibility analysis, distance measurement, and voice prompting can replace traditional measuring instruments. It can help surveyors observe and record the distance traveled and the uphill and downhill angles through a serial port integrated screen, and accurately determine the measuring position through voice broadcast prompts. The leveling measurement principle is used to realize the next turning point positioning function, and the measurement of the selected leveling route is completed with a minimum number of turning points. It can provide surveyors with more accurate quantitative data, reduce the mistakes caused by experience of surveyors, and greatly improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a precision leveling measurement system of the present invention; Figure 2 A hardware connection diagram of the encoder module of the present invention; Figure 3 A hardware connection diagram of the sensor module of the present invention; Figure 4 It is a hardware connection diagram of the serial port integrated screen of the present invention; Figure 5 The hardware connection diagram of the rechargeable battery and the voltage stabilizing module of the present invention; Figure 6 It is the main program flow chart of the present invention; Figure 7 It is a flow chart of the encoder subroutine of the present invention; Figure 8 is a flow chart of the sensor subroutine of the present invention; Fig. 9 A structural module diagram of a precision leveling measuring device of the present invention; Fig.10 It is a hardware connection diagram of the main control module of the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example 1

[0016] See also Figures 1 to 8 as well as Fig.10 As shown, a precision leveling measurement system described in this embodiment is integrated on an electronic module body, and the electronic module body includes a main control module, an encoder module, a sensor module (six-axis sensor module), a serial port integrated screen (speaker), an RS232 communication module, a rechargeable battery and a voltage stabilizing module; The main control module is the Arduino_Nano development board; Specifically, the Arduino_Nano processor core is ATmega328P, which has 14 digital input / output ports, 8 analog inputs, a 16MHz crystal oscillator, a mini-B USB port, an ICSP header and a reset button. Fig.10 shown.

[0017] It should be noted that the control part of the measuring device (electronic wire-laying instrument) uses the Arduino development board. Arduino is a convenient, flexible, easy-to-use open source electronic prototype platform, including hardware (Arduino board) and software (Arduino_IDE), with many advantages such as cross-platform, simple and clear, and strong openness; the Arduino board can realize data input through electronic components such as encoders and MPU6050, and realize signal output by controlling devices such as display screens and speakers; Since there are many models of Arduino development boards, such as UNO R3, Nano, Leonardo, MEGA2560 R3, DUE, etc., the model selection is mainly based on performance (clock frequency, Flash, SRAM, EEPROM), features (input and output IO, PWM) and size. By considering the number of connected components used in the electronic measuring instrument and the space occupied by the later integration, Nano has the highest performance ratio, so Arduino_Nano is finally selected.

[0018] The encoder module is an incremental encoder, wherein the incremental encoder includes three pulse output lines and two power lines. The three pulse output lines are A phase, B phase and Z phase respectively. When the incremental encoder is connected to the Arduino_Nano development board, the A phase, B phase and Z phase of the incremental encoder are connected to the D2, D3 and D8 digital input pins of the Arduino_Nano development board respectively. Figure 2 As shown; During measurement, the rotating shaft of the incremental encoder is connected to the rotating shaft of the wheel of the measuring device (electronic pay-off instrument) through a coupling. Then, when the measuring device is pushed forward, the wheel rotates one circle and the rotating shaft of the measuring device (electronic pay-off instrument) also rotates one circle synchronously.

[0019] Specifically, an encoder is a device that compiles and converts signals (such as bit streams) or data into signal forms that can be used for communication, transmission, and storage; an encoder converts angular displacement or linear displacement into electrical signals. The former is called a code disk and the latter is called a code scale.

[0020] It should be noted that the incremental encoder includes a photoelectric code disk with an axis in the center, on which there are annular clear and dark lines, which are emitted by light-emitting diodes and received by photosensitive diode devices to obtain four groups of sinusoidal wave signals combined into A, B, C, and D. Each sinusoidal wave has a phase difference of 90 degrees (relative to one cycle is 360 degrees). The C and D signals are reversed and superimposed on the A and B phases to enhance the stability of the signal; in addition, a Z-phase pulse is output for each rotation to represent the zero reference position; since the A and B phases differ by 90 degrees, the forward and reverse rotation of the encoder can be determined by comparing whether the A phase is in front or the B phase is in front. The zero reference position of the encoder can be obtained through the zero pulse.

[0021] The sensor module is MPU6050, where the SCL and SDA pins of MPU6050 are connected to the SCL and SDA pins of Arduino_Nano development board respectively, and the IIC communication protocol is used between MPU6050 and Arduino_Nano development board, such as Figure 3 shown.

[0022] Specifically, the MPU6050 (six-axis sensor module) integrates a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer. By introducing a six-axis fusion algorithm, the problem of the time axis difference between the gyroscope and the accelerometer can be better solved. The MPU6050 uses three 16-bit ADCs to convert the measured analog quantity into an output digital quantity. In order to accurately track fast and slow movements, the measurement range of the sensor in the sensor module can be set by the user. The gyroscope can measure in the range of ±250, ±500, ±1000, ±2000° / second (dps), and the accelerometer can measure in the range of ±2, ±4, ±8, ±16g. The serial port integrated screen is used to support graphic display and sound playback. The serial port integrated screen uses 232 protocol communication. The Arduino_Nano development board is connected to the RX and TX pins of the RS232 communication module (U4). The RS232 communication module is connected to the RX2 and TX2 pins of the serial port integrated screen (P4). Figure 4 As shown; Specifically, for example, the screen display size of the serial port integrated screen is 154.21mm×85.92mm, supports capacitive touch, has a resolution of 1024×600, an operating temperature range of -30°~70°, and an operating humidity range of 10%-90%. It has the advantages of high reliability and is suitable for field leveling measurement environments; It should be noted that since the serial port integrated screen uses 232 protocol communication, it is incompatible with the Arduino_Nano development board, so the protocol conversion is performed through the RS232-TTL module (U4); in addition, in order to realize the field voice broadcast function, the external speaker is connected to the speak pin of the serial port integrated screen to achieve the effect of sound playback / voice broadcast.

[0023] Furthermore, the display interface of the serial port integrated screen includes unit name, data display window, and calibration and reset buttons, wherein the data display window includes the traveled distance, horizontal distance, vertical distance, and uphill and downhill angles; the unit name displays the distance in two units, "cm" and "m"; among the calibration and reset buttons, the calibration button can initialize the uphill and downhill angles, and the reset button can reset all calculated values.

[0024] Furthermore, the voltage of the rechargeable battery is 12V and the capacity is 3500mAh. The Arduino mainboard, MPU6050, and encoder require a 5V power supply, so the voltage is regulated by a 12V / 5VDC-DC voltage regulator module (U2). The system power supply is controlled by a rocker switch (P3), such as Figure 5 shown.

[0025] Furthermore, it also includes a main program flow, which includes the following steps: S1, start, the encoder module performs program initialization; S2, the sensor module clears the data; S3, the encoder module performs level measurement and the sensor module reads data; S4, the main control module performs numerical calculations; S5. Receive the values ​​calculated by the main control module through the serial port integrated screen and make voice broadcasts at the same time until the level measurement is completed.

[0026] Specifically, the above steps are the main program flow of the precision level measurement method. The main program flow includes: the encoder module performs the initialization program, the sensor module performs data clearing, the encoder module performs measurement and the sensor module reads data, the main control module performs numerical calculations, and the numerical values ​​calculated by the main control module are received through the serial port integrated screen, and voice broadcast is performed at the same time until the level measurement is completed. Among them, the main program flow is written and developed for Arduino_Nano through Arduino_IDE, such as Figure 6 shown.

[0027] Furthermore, it also includes an encoding subroutine process. After initializing the encoder, the encoding subroutine process captures the A and B phase pulse signals and determines the order of the two. If the A phase is used for triggering, the B phase level is detected during the rising edge, and the high level is forward rotation and the low level is reverse rotation; the incremental encoder of the encoder module obtains 500 pulses in one rotation, and at least 5 pulses are selected to calculate the distance once, and the number of pulses / 500 is used to obtain the number of rotations. Because the screen displays two decimal places, it needs to be expanded 100 times for transmission and converted into centimeters. It can be concluded that the distance traveled = (number of pulses / 500)*100*100*circumference=number of pulses*20*circumference; in this program flow, the distance traveled is set to the sum of the cumulative distance and the absolute value of the increase and decrease distance, that is, the default mechanical trolley is always moving in the forward direction; when the distance traveled increases by 10m, a voice digital broadcast is performed once. The encoder subroutine flow chart is as follows Figure 7 shown.

[0028] Furthermore, it also includes a sensor subroutine process. After the sensor module is started and initialized, the sensor subroutine process sets the gyroscope measurement range and system clock, obtains the real-time angle through calculation, and sends it to the serial port integrated screen for display through the Arduino_Nano development board.

[0029] Specifically, the vertical and horizontal distances traveled by the robot trolley can be further calculated based on the traveled distance output by the encoder module and the real-time angle measured by the MPU6050 of the sensor module. In order to eliminate the external horizontal error caused by the placement of the MPU6050, a calibration function is added to the MPU6050 subroutine flow chart. At the beginning of the measurement, touch the "Calibration" button on the serial port integrated screen to return the initial angle to zero.

[0030] It should be noted that the height of the level bracket is usually 1.6m. According to the national first-class leveling measurement specifications, the solid below 0.65m of the scale is obviously affected by moisture, and the bending difference above 2.8m is large. Therefore, during the measurement process, the effective reading range of the scale is 0.65m~2.8m. Therefore, when measuring uphill, the vertical distance of the observable position relative to the rear scale is up to 1.2m, and when measuring downhill, the vertical distance of the observable point position relative to the rear scale is up to 0.95m; further, in this program, when the vertical distance reached 1.2m, a signal is sent to the Arduino_Nano development board to make the serial port integrated screen display "uphill height 1.2m" and voice broadcast "reached the high point", and when the vertical distance reached -0.95m, it displays "downhill height 0.95m" and voice broadcast "reached the low point"; the sensor subroutine flow chart of MPU6050 is as follows Figure 8 shown.

[0031] In this embodiment, the system can be applied to leveling measurement, and measuring devices with integrated functions such as slope analysis, visibility analysis, distance measurement, and voice prompts can replace traditional measuring instruments. It can help surveyors observe and record the distance traveled and the uphill and downhill angles through the serial port integrated screen, and accurately determine the measurement position through voice broadcast prompts. The leveling measurement principle is used to realize the next turning point positioning function, and the selected leveling route measurement work is completed with the least number of turning points. It can provide surveyors with more accurate quantitative data, reduce the mistakes caused by experience of surveyors, and greatly improve work efficiency. Example 2

[0032] See also Fig. 9 As shown, a precision leveling measuring device described in this embodiment includes a mechanical trolley, an electronic module body, and an auxiliary platform for placing the electronic module body, wherein the mechanical trolley includes a push rod, wheels, and retractable auxiliary wheels; the Arduino nano main control module, encoder module, MPU6050 module, serial port integrated screen (speaker), RS232 communication module, rechargeable battery, voltage stabilizing module and other modules are integrated and welded in a designed shell package to obtain a measuring device (electronic wire-laying instrument); The measuring device (electronic laying-out instrument) consists of a push rod, wheels, retractable auxiliary wheels and an auxiliary platform for placing the main body of the electronic module, and each part is welded together. This measuring device (electronic laying-out instrument) fully considers the actual situation of field work and is tailor-made according to the needs of surveyors; Among them, the push rod can be designed as a telescopic rod, which can be adjusted to the optimal length according to the different heights of the measurement personnel; and a ball and a spring are installed in the middle part of the push rod. By pushing the spring hard, the push rod is fixed at different angles to meet the corresponding requirements of the inclination of the push rod when going uphill and downhill; the single wheel is more labor-saving in actual measurement work. After adding the auxiliary bottom wheel, a triangular structure is formed with the single wheel, which on the one hand enhances the stability of the instrument when moving forward or backward; on the other hand, an auxiliary platform for placing the main body of the electronic module can be constructed; by considering the working principle of the encoder and MPU6050 module in the measuring device (electronic wire-laying instrument), the wire-laying instrument system must be installed on a rotating structure with a fixed platform for use. The electronic integrated module is fixed as a whole on the auxiliary platform to realize the monitoring of the measurement angle as the uphill and downhill changes.

[0033] In this embodiment, the measuring device can save space and is easy to put into practical use. The hardware of the measuring device (electronic wire-laying instrument) adopts an integrated design, with the electronic module body (printed circuit board) as a carrier, and the line connection and function realization between various electronic components are achieved through soldering.

[0034] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0035] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only one, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0036] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0037] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A precision leveling measurement system, which is integrated on an electronic module body, characterized in that: The electronic module body includes a main control module, an encoder module, a sensor module, a serial port integrated screen, an RS232 communication module, a rechargeable battery and a voltage stabilizing module; The main control module is an Arduino_Nano development board; The encoder module is an incremental encoder, which includes three pulse output lines and two power lines. The three pulse output lines are phase A, phase B and phase Z. When the incremental encoder is connected to the Arduino_Nano development board, the phase A, phase B and phase Z of the incremental encoder are connected to the D2, D3 and D8 digital input pins of the Arduino_Nano development board respectively. The sensor module is MPU6050, wherein the SCL and SDA pins of MPU6050 are respectively connected to the SCL and SDA pins of the Arduino_Nano development board; The Arduino_Nano development board is interconnected with the RX and TX pins of the RS232 communication module, and the RS232 communication module is interconnected with the RX2 and TX2 pins of the serial port integrated screen; The rechargeable battery is connected to the main control module via a voltage stabilizing module.

2. A precision leveling measurement system according to claim 1, characterized in that: The IIC communication protocol is used between the MPU6050 and the Arduino_Nano development board.

3. A precision leveling measurement system according to claim 1, characterized in that: The serial port integrated screen is used for graphic display and sound playback, wherein the serial port integrated screen uses 232 protocol for communication.

4. A precision leveling system according to claim 1, characterized in that: The display interface of the serial port integrated screen includes a unit name, a data display window, and calibration and reset buttons.

5. A precision leveling measurement system according to claim 1, characterized in that: It also includes a main program flow, which includes the following steps: S1, start, the encoder module performs program initialization; S2, the sensor module clears data; S3, the encoder module performs level measurement and the sensor module reads data; S4, the main control module performs numerical calculations; S5. Receive the values ​​calculated by the main control module through the serial port integrated screen and make voice broadcasts at the same time until the level measurement is completed.

6. A precision leveling system according to claim 5, characterized in that: After the encoder module is initialized, the A and B phase pulse signals of the encoder module are captured and the order of the two is determined. If the A phase is used for triggering, the B phase level is detected during the rising edge. The high level indicates forward rotation and the low level indicates reverse rotation.

7. A precision leveling measurement system according to claim 6, characterized in that: After starting and initializing the sensor module, the gyroscope measurement range and system clock are set, and the real-time angle is obtained by calculation and sent to the serial port integrated screen for display through the Arduino_Nano development board.

8. A precision leveling device, characterized in that: It comprises a mechanical trolley, an electronic module body, and an auxiliary platform for placing the electronic module body, wherein the electronic module body is implemented according to a precision leveling measurement system according to any one of claims 1-7.

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