Method for realizing intelligent millimeter-level elevation measurement based on laser technology

Abstract

The invention discloses a method for realizing intelligent millimeter-level elevation measurement based on a laser technology, which comprises the following steps of: navigating to a measurement point by an intelligent navigation robot according to a measurement task, adjusting a horizontal platform to a horizontal state, and enabling a two-dimensional coordinate of an RTK (Real-Time Kinematic) module to be equal to a two-dimensional coordinate of the measurement point; the intelligent navigation robot drives the light source mounting rod to rotate through the horizontal turntable, so that the laser transmitter searches and aims at the axis of the laser receiving reference rod to project horizontal laser; the AIOT platform notifies the reference rod to move to receive the laser, records a moving distance value output by the incremental encoder and uploads the moving distance value to the AIOT platform; a laser distance measuring sensor is turned on to emit vertical laser to a measuring point, and the measured distance is output and uploaded to the AIOT platform; and the AIOT platform calculates the millimeter-level elevation of the measurement point where the intelligent navigation robot is located through an expression. According to the invention, millimeter-level elevation measurement and automation and digitization of measurement operation can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of laser measuring instruments, and in particular relates to a robot system for realizing millimeter-level elevation measurement based on laser technology. Background Art

[0002] Elevation measurement is a process of measuring the height of the earth's surface or an object relative to a reference surface. In the fields of land surveying and engineering construction, elevation measurement is very important. It provides information about the vertical position of the earth's surface or an object. For example, in road construction projects, construction workers need to measure the elevation of the road and adjust the road construction according to the measurement results to ensure that the road elevation meets the design requirements and the construction error is controlled within the minimum range. However, in various construction and construction fields, the only way to achieve millimeter-level high-precision elevation measurement is to rely on professional personnel using a level or total station for manual work, which has high labor costs and low efficiency. Summary of the invention

[0003] In order to address the deficiencies in the prior art, the present invention provides a robot system for millimeter-level elevation measurement based on laser technology. The system realizes unmanned elevation measurement with millimeter-level precision in engineering construction through the coordinated cooperation of an intelligent navigation robot, a beam-type laser light source, a laser receiving reference rod and an AIOT platform, effectively improving the measurement efficiency at the construction site, reducing the demand for professional surveying personnel, and recording measurement results more accurately.

[0004] In order to achieve the above-mentioned purpose, a robot system for realizing millimeter-level elevation measurement based on laser technology in one embodiment of the present invention comprises an intelligent navigation robot equipped with a laser emitting device, a laser receiving reference rod for receiving laser, and an AIOT platform respectively connected to the intelligent navigation robot and the laser receiving reference rod for communication;

[0005] The laser emitting device comprises a homologous control platform and a cylindrical light source mounting rod fixedly mounted on the homologous control platform, a laser emitter emitting a linear beam laser is fixedly mounted on the upper part of the light source mounting rod, a laser ranging sensor is fixedly mounted on the bottom of the light source mounting rod, the upper part and the bottom of the light source mounting rod respectively extend out of the upper surface and the lower surface of the horizontal platform in the homologous control platform, the direction of the linear beam laser emitted by the laser emitter forms an angle of 90 degrees with the rod body of the light source mounting rod, and the direction of the laser emitted by the laser ranging sensor is to irradiate downward along the axis of the rod body of the light source mounting rod;

[0006] The homologous control console is fixed on the wire-controlled body chassis of the intelligent navigation robot, and is used to realize that the line beam laser emitted by the laser transmitter remains in a horizontal state, the line beam laser emitted by the laser ranging sensor remains in a vertical state, and the horizontal line beam laser emitted by the laser transmitter rotates to adjust the irradiation direction; an RTK module is also arranged on the light source mounting rod, and the coordinate position of the RTK module, the emission point position of the laser transmitter, and the emission point position of the light source of the laser ranging sensor are all arranged on the axis of the light source mounting rod;

[0007] The laser receiving reference rod comprises a liftable vertical rod and an annular laser receiving sensor sleeved on the liftable vertical rod.

[0008] Furthermore, the intelligent navigation robot also includes a battery, a main controller, and a first Internet of Things module. The wire-controlled body chassis is the physical platform of the intelligent navigation robot, which is used to carry various components including the battery, the main controller, the first Internet of Things module and the RTK module, and moves by driving four wheels.

[0009] Furthermore, the homologous control console includes four compensating telescopic rods of equal height, a horizontal platform and a horizontal rotating turntable; the bottom of each compensating telescopic rod is fixed on the chassis of the wire-controlled vehicle body, and the top is rotatably connected to the lower surface of the horizontal platform through a ball joint; a horizontal rotating turntable is fixed on the upper surface of the horizontal platform; the center position of the horizontal rotating turntable is fixed, and the light source mounting rod is vertically arranged.

[0010] Furthermore, a hole is reserved on the chassis of the wire-controlled body, and the hole is located between the bottoms of the four compensating telescopic rods. The hole size is set so that the vertical beam laser emitted by the laser ranging sensor can pass through the hole and illuminate the ground when the robot vehicle is tilted or not.

[0011] Furthermore, the laser receiving reference pole also includes a pole controller, a second Internet of Things module and a power supply arranged on a liftable pole; the liftable pole includes a base and a moving pole arranged on the base, and the moving pole can be extended and retracted up and down according to control instructions, and the adjustment accuracy is <1 mm.

[0012] Furthermore, the AIOT platform includes an IOT management module, a task collaboration service module and a data middle platform module, which are deployed on a cloud server.

[0013] Furthermore, the width of the annular receiving surface of the annular laser receiving sensor is ≤10 mm.

[0014] Furthermore, the laser transmitter is a linear beam laser light source, and the laser light source standard is that after the light is transmitted to the laser receiving reference rod, the spot size is ≤10 mm.

[0015] Furthermore, a gear that is linked to the extension and retraction of the moving rod is arranged in the liftable pole base, and the extension and retraction height of the moving rod, that is, the distance moved by the laser receiving sensor, is determined by counting the number of rotating teeth of the gear through a counter.

[0016] Furthermore, an incremental encoder is fixedly arranged at the center position of the cylindrical axis formed by the annular laser receiving sensor setting area, and the incremental encoder is used to provide a change relative to an initial position, indicating its moving distance, that is, the moving distance of the laser receiving sensor.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention changes the working mode of manually finding measurement points, manually measuring data, and recording data through the cooperation of intelligent navigation robots, laser emitting devices, laser receiving reference poles, and AIOT platforms. It only needs to set up laser receiving reference poles in advance, and then input the information of each measurement point into the AIOT platform. The autonomous navigation system of the intelligent navigation robot can navigate to each measurement point and automatically complete the elevation measurement and data recording. The elevation measurement accuracy can be controlled at the millimeter level, realizing the automation and digitization of the measurement operation.

[0019] 2. The present invention moves the laser transmitter to the longitude and latitude of the measuring point (at different altitudes), and the laser transmitter emits a horizontal line beam laser. After the laser receiving sensor on the laser receiving reference rod receives the horizontal line beam laser, the elevation of the laser receiving sensor is determined, and then the elevation of the laser transmitter is inferred. The distance relationship between the laser transmitter and the laser ranging sensor and the distance to the ground measuring point measured by the laser ranging sensor are used, and finally the elevation of the target ground measuring point is calculated by the AIOT platform, and the elevation accuracy can be controlled at the millimeter level.

[0020] 3. The present invention constructs a specially designed homologous control console suitable for the specific demand scenarios of the present invention. Four compensation telescopic rods are homologously designed in the homologous control console, and a better compensation effect of height lifting is provided through the homologous design; and the horizontal platform is provided with two laser light sources through the light source mounting rod fixed on the center of its horizontal rotating turntable, one for emitting laser in the horizontal direction to obtain reference elevation data; the other for emitting laser ranging in the vertical direction, and in conjunction with the reserved hole on the chassis of the intelligent navigation robot controlled by wire body under the homologous control console to illuminate the ground, it is used to obtain the required elevation data. The structure is ingenious, and the elevation data can be obtained accurately and quickly;

[0021] 4. The laser transmitter for emitting horizontal laser in the present invention emits a linear beam laser, and a circular ring-shaped laser receiving sensor is arranged on the laser receiving reference rod. The linear beam laser can greatly improve the construction safety during measurement; and the design of the circular ring-shaped laser receiving sensor can enable the laser receiving sensor to receive laser signals 360 degrees without dead angles at its setting location, thereby expanding the measurement range of the laser receiving reference rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of an application state of an embodiment of a robot system for realizing millimeter-level elevation measurement based on laser technology of the present invention;

[0023] Figure 2 It is a schematic diagram of the principle of homologous height lifting compensation of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of a robot system in which an RTK module is arranged on the top of a light source mounting pole according to an embodiment of the present invention.

[0025] In the figure:

[0026] Wire-controlled vehicle chassis 1, RTK module 2, homologous control console 3, light source mounting pole 4, laser transmitter 5, laser ranging sensor 6, liftable pole 7, laser receiving sensor 8, ground reference point 9, hole 10. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions and advantages of the present invention clearer, the following Figure 1-3 The invention is further described with examples.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0029] Taking the engineering elevation measurement of a section of road construction as an example, the construction personnel need to measure the elevation of the road and adjust the road construction according to the measurement results to ensure that the road elevation meets the design requirements and the construction error is controlled within the minimum range. Figure 1As shown, the present invention provides a robot system for realizing millimeter-level elevation measurement based on laser technology, which includes an intelligent navigation robot, a laser emitting device, a laser receiving reference rod and an AIOT platform.

[0030] The intelligent navigation robot includes a wire-controlled chassis 1, a battery, a main controller, a first IoT module and an RTK module 2 (some components are not shown in the figure). The wire-controlled chassis 1 is the physical platform of the intelligent navigation robot, which is used to carry various components such as the battery, the main controller, the first IoT module and the RTK module 2 and move by driving four wheels. It also includes a drive motor, a sensor, etc. The battery is used to provide the power needs of the robot and is connected to the main controller, the drive motor and other components for power supply. The main controller is the brain of the intelligent navigation robot, responsible for processing navigation algorithms, sensor data collection and processing, motion control, etc. It is connected to the wire-controlled chassis 1, the battery, the first IoT module and other components through cables or interfaces, and is responsible for controlling the robot's navigation, motion and laser emission functions. The main controller and the first IoT module communicate with the AIOT platform network through wireless networks (such as Wi-Fi, cellular networks, etc.) to realize remote monitoring, remote operation, data transmission and other functions.

[0031] The laser emitting device includes a homologous control platform 3 and a cylindrical light source mounting rod 4, a laser emitter 5 and a laser ranging sensor 6 installed on the homologous control platform 3. The homologous control platform 3, the laser emitter 5 and the laser ranging sensor 6 are respectively connected to the main controller to receive control instructions. The homologous control platform 3 includes 4 compensation telescopic rods of equal height, a horizontal platform and a horizontal rotating turntable. The bottom of each compensating telescopic rod is fixed on the chassis 1 of the wire-controlled vehicle body, and the top is rotatably connected to the lower surface of the horizontal platform through a ball joint. A horizontal rotating turntable is arranged on the upper surface of the horizontal platform, and the center position of the horizontal rotating turntable is vertical and fixed with a light source mounting rod 4. The upper and bottom parts of the light source mounting rod 4 extend out of the upper and lower surfaces of the horizontal platform respectively. A laser emitter 5 is fixedly installed on the upper part of the light source mounting rod 4. The irradiation direction of the line beam laser emitted by the laser emitter 5 is at an angle of 90 degrees to the axis of the rod body of the light source mounting rod 4, that is, when the rod body of the light source mounting rod 4 is vertical, the laser emitter 5 emits a horizontal line beam laser; a laser ranging sensor 6 is fixedly installed on the bottom of the light source mounting rod 4, and the laser ranging sensor 6 emits a line beam laser downward along the axis direction of the rod body of the light source mounting rod 4, that is, when the rod body of the light source mounting rod 4 is vertical, the laser ranging sensor 6 emits a line beam laser vertically downward along the axis direction. The light source emitting point of the laser emitter 5 and the light source emitting point of the laser ranging sensor 6 are both installed on the axis of the cylindrical light source mounting rod 4. The laser rangefinder sensor 6 is a device that uses laser technology to measure the distance of a target. It calculates the distance between the target object and the sensor by emitting a laser beam and measuring the time or other properties of the laser beam returning.

[0032] The homologous control console 3 is used to adjust the posture of the light source mounting rod 4 to keep the laser emitter 5 emitting horizontal beam lasers, the laser ranging sensor 6 emitting vertical beam lasers, and the horizontally emitted beam lasers rotating to adjust the irradiation direction. The bottom of the four compensating telescopic rods of the homologous control console 3 is fixed on the wire-controlled vehicle chassis 1, and the top is rotatably connected to the horizontal platform through a ball joint. This connection method can provide sufficient flexibility, so that the telescopic rods can be under the horizontal platform, according to the height of the ground where the four wheels are located, and move up and down in a compensatory manner, thereby correcting the tilt state of the horizontal platform and keeping the horizontal platform level. During installation, four wheel height support points are found on the upper surface of the wire-controlled vehicle chassis 1, and the four wheel height support points are connected in pairs to form a first displacement quadrilateral with two diagonals, thereby obtaining four first line segments with the intersection of the diagonals and the four wheel height support points as two end points. The bottoms of the four compensating telescopic rods are fixedly installed on the four first line segments one by one, and the distance from the bottom of each compensating telescopic rod to the intersection of the diagonals is equal to the proportion of the first line segment in which it is located, that is, if the bottom of one compensating telescopic rod is at 1 / 2 of the first line segment in which it is located, the bottoms of the remaining three compensating telescopic rods are also at 1 / 2 of the first line segment in which they are located. The purpose of this design is to provide a better compensation effect through a homologous design.

[0033] The adjustment of the homologous control console 3 is mainly achieved through the telescopic height compensation of the four compensation telescopic rods. Taking the telescopic height compensation of one compensation telescopic rod as an example, the compensation principle is as shown in the attached figure. Figure 2 As shown, when the C end point (wheel height support point) of a horizontal plane AC rises 2 cm to point C', point E (located at 1 / 2AC) and point F (located at 3 / 4AC) on the plane move with the plane to points E' and F', and plane AC' becomes tilted and no longer remains horizontal. At this time, if the plane is lowered about 1 cm from point E' to point E (or about 1.5 cm from point F' to point F), plane AC' returns to plane AC and returns to a horizontal state. Realizing automatic control of the platform level also includes: installing a tilt sensor on the platform, such as an accelerometer or a tilt sensor, to measure the tilt angle of the plane. The sensor measures the tilt angle of the platform and transmits the data to the main controller for real-time analysis and processing. According to the tilt angle measured by the sensor, the main controller adjusts the telescopic length of the four compensation telescopic rods to keep the plane horizontal.

[0034] When the intelligent navigation robot drives to the measuring point, because the measured ground may be uneven, the four wheels on the wire-controlled body chassis 1 are at different ground heights. Therefore, the wire-controlled body chassis 1 and the horizontal platform, which were originally in a horizontal state, will tilt, so that the linear laser emitted by the laser emitter 5 set thereon cannot be horizontally irradiated, affecting the final measurement result. This requires the adjustment of the homologous control console 3 (mainly through the extension and contraction of the four compensating telescopic rods of the homologous design mentioned above, and at the same time, the extension range of the compensating telescopic rod can cover the wheel height displacement.) to keep the horizontal platform horizontal, so as to keep the laser emitter 5 able to emit the linear laser horizontally, and the laser ranging sensor 6 able to emit the linear laser vertically.

[0035] A horizontal rotating turntable is arranged on the upper surface of the horizontal platform. There are two ways to arrange the horizontal rotating turntable. The first is to arrange the horizontal rotating turntable at the center of the upper surface of the horizontal platform. The second is to find four support points at the height of the telescopic rod on the upper surface of the horizontal platform, and connect the four support points at the height of the telescopic rod to form a second displacement quadrilateral with two diagonals. The horizontal rotating turntable is arranged with the intersection of the diagonals of the second displacement quadrilateral as the center of the turntable. The advantage of this design is that the RTK module 2 on the light source mounting rod 4 arranged on the center of the turntable can obtain the minimum displacement when the horizontal platform is adjusted to a horizontal state, which is conducive to repositioning and aligning the coordinates of the ground measurement point after subsequent adjustment.

[0036] The light source mounting rod 4 is fixedly arranged vertically at the center of the horizontal rotating turntable. A laser emitter 5 is installed on the upper part of the light source mounting rod 4. The laser emitter 5 is located above the horizontal platform to ensure that the laser will not be blocked when irradiated horizontally. The laser emitter 5 is a line beam laser light source, fixed on the axis of the light source mounting rod 4, and emits a line beam laser horizontally. The laser light source requires that the spot size can be controlled within 10 mm after the emitted light is transmitted to the laser receiving reference rod to ensure millimeter-level elevation measurement. For example, when measuring the elevation of the target highway, because the general requirement for construction measurement is 1 kilometer, that is, the measurement must be carried out 500 meters before and after the laser receiving reference rod, the laser light source requires that the spot size can still be controlled within 10 mm after the emitted light is transmitted 500 meters (transmitted to the laser receiving reference rod) to ensure millimeter-level elevation measurement. A laser ranging sensor 6 that emits a vertical line beam laser is installed at the bottom of the light source mounting rod 4. The laser ranging sensor 6 is also installed on the axis of the cylindrical light source mounting rod 4, and the bottom of the light source mounting rod 4 protrudes from the lower surface of the horizontal platform. A hole 10 is reserved on the wire-controlled body chassis 1. The hole 10 is located between the bottoms of the four compensating telescopic rods and can be circular, elliptical, etc. The size setting standard of the hole 10 is: the vertical beam laser emitted by the laser ranging sensor 6 can pass through the hole 10 and irradiate the ground when the robot vehicle is tilted or not due to the ground height conditions where the four wheels are located.

[0037] The functions of homology control station 3 are mainly reflected in the following three aspects:

[0038] First, because the engineering work road surface that needs to be measured is not always horizontal, when the intelligent navigation robot drives to the measuring point, the vertically erected light source mounting rod 4 on the wire-controlled body chassis 1 may be tilted due to the uneven road surface, resulting in the linear beam laser emitted by the laser transmitter 5 cannot maintain a horizontal irradiation state. Therefore, by adjusting the state of the homologous control console 3, the horizontal platform can be kept horizontal and the light source mounting rod 4 can be kept vertical, thereby achieving the horizontal irradiation state of the linear beam laser.

[0039] Secondly, after the light source mounting rod 4 is kept in a vertical state, the laser ranging sensor 6 at the bottom thereof can also emit a linear beam laser vertically to a measuring point on the ground to perform sub-millimeter laser ranging.

[0040] On the third aspect, because the laser emitter 5 of the present invention emits a line beam laser instead of a surface laser, it is necessary to enable the line beam laser to find the axis of the laser receiving reference rod by adjusting the horizontal irradiation angle and accurately project the annular laser receiving sensor 8 thereon. This requires providing a rotation function for the light source mounting rod 4 where the laser emitter 5 is located, and the light source mounting rod 4 is vertically fixed on the homologous control table 3. The rotation of the horizontal rotating turntable on the homologous control table 3 drives the rotation of the light source mounting rod 4 fixed thereon, so that the line beam laser of the laser emitter 5 can be rotated in the horizontal direction as needed to achieve a change in the irradiation angle in the horizontal direction, so that the line beam laser can be positioned by the longitude and latitude coordinates of the axis of the laser receiving reference rod, and the laser receiving reference rod is then lifted and lowered to achieve accurate search and projection of the horizontal line beam laser on the annular laser receiving sensor 8 on the laser receiving reference rod.

[0041] The present invention uses a linear laser instead of a surface laser after special consideration:

[0042] Because when surveying the elevation of a construction road or other engineering scenes, there will be workers performing other tasks at the outer edge of the road and other places working on site. If it is a surface laser, then large-area laser irradiation may cause safety hazards to the eyes and other parts of the human body when the workers squat, raise their heads, turn their heads, etc. Therefore, after using a linear beam laser, it is only necessary to ensure that other workers are not in the extremely small straight line area between the two points of the transmitting point and the receiving point through on-site construction reminders and other means to avoid such personal safety hazards.

[0043] The RTK module 2 is arranged on the light source mounting rod 4, and the RTK module 2 is also arranged on the axis of the light source mounting rod 4. The RTK module 2 is used to provide high-precision positioning information, which is connected to the main controller of the intelligent navigation robot to achieve accurate navigation and positioning.

[0044] As an implementation mode of the present invention, the RTK module 2 is fixed on the top of the light source mounting rod 4, and the laser transmitter 5 is fixed on the upper part of the light source mounting rod 4 below the RTK module 2. At this time, the system structure diagram is as shown in the attached figure. Figure 3 shown.

[0045] As another embodiment of the present invention: the RTK module 2 is fixed at the center of the turntable, that is, the intersection of the diagonal lines of the second displacement quadrilateral, and the laser transmitter 5 is fixed on the upper part of the RTK module 2. The purpose of this design is to minimize the displacement of the RTK module 2 when the horizontal platform is adjusted horizontally, and the amplitude of its coordinate change is also minimized, so the robot can reduce (or do not need to) adjust the moving distance. At this time, the system structure diagram is as shown in the attached figure. Figure 1 shown.

[0046] The main controller of the intelligent navigation robot is responsible for coordinating the work of all components, including navigation, positioning, laser emission and adjustment of the homologous control console 3, so as to enable the intelligent navigation robot to accurately reach the measurement point and control the adjustment of the homologous control console 3, including steering, positioning the laser irradiation direction, and maintaining the horizontal and vertical irradiation functions respectively.

[0047] The laser receiving reference pole includes a cylindrical liftable pole 7, an annular laser receiving sensor 8, a pole controller, a second Internet of Things module and a power supply. Among them, the liftable pole 7 includes a base and a moving pole on the base, and a leveling structure and a lifting structure are arranged on the base. The moving pole can be adjusted up and down according to the command of the pole controller, and the adjustment accuracy is within 1mm. The annular laser receiving sensor 8 is horizontally sleeved on the upper part of the moving pole body. The axis of the cylinder formed by the annular laser receiving sensor 8 coincides with the axis of the cylindrical moving pole body, and is responsible for receiving and processing laser signals. The annular structure enables the laser receiving sensor to receive laser signals without dead angles within a horizontal range of 360 degrees, thereby expanding the measurement range. The diameter of the annular laser receiving sensor 8 is greater than 10cm, because the accuracy given by the RTK module 2 product is generally ±3cm, but in actual testing, it is found that there is a maximum deviation of ±5cm, so the laser projection result may be biased when calculating the coordinates, and the closer the distance between the robot and the receiving rod, the smaller the light spot, which may be a very small point, so it is necessary to control the deviation receiving range at this time to be greater than or equal to 5cm on the left and right of the axis, that is, to set the diameter of the annular laser receiving sensor 8 to be greater than or equal to 10cm to ensure that the laser is effectively received. In engineering measurement, the position accuracy requirement for ground measurement points is at the centimeter level, so the RTK positioning accuracy can fully meet the requirements of engineering business.

[0048] An incremental encoder is fixedly set at the middle position of the cylindrical axis (coinciding with the axis of the moving rod body) formed in the area where the annular laser receiving sensor 8 is set. The incremental encoder is used to provide the change or increment relative to the initial position. After each movement stops, the encoder will output an incremental signal to indicate the distance it has moved, that is, the distance the laser receiving sensor 8 has moved. The annular receiving surface of the laser receiving sensor 8 covers the surface of the rod body in the entire set area to ensure that the linear laser signal can be received 360 degrees in the horizontal direction around the rod body, and the upper and lower widths of the annular receiving surface are ≤10 mm. Because the upper and lower widths of the annular receiving surface are ≤10 mm, after the annular laser receiving sensor receives the light spot (the light spot may be in different areas of the annular receiving surface), the coordinate point of its central incremental encoder is used as the laser receiving positioning point, which can ensure millimeter-level elevation measurement. The standard for the extension length of the moving rod is: the receiving displacement range of the annular laser receiving sensor 8 set thereon can cover the upper and lower displacement range of the horizontal linear laser emitted by the laser transmitter 5.

[0049] The pole controller is connected to the liftable pole 7, the laser receiving sensor 8, and the second IoT module through wired or wireless connections, and is used to control the liftable pole 7 to adjust its height, process the data of the laser sensor, the data of the second IoT module, etc. The pole controller and the second IoT module are arranged on the laser receiving reference pole, and are respectively connected to the AIOT platform for communication. The power supply provides power to the components of the laser receiving reference pole.

[0050] As another embodiment of the present invention, the displacement of the annular laser receiving sensor can also be obtained by setting a gear in the base of the liftable vertical pole that is linked to the extension and retraction of the moving rod, and calculating the number of rotating teeth of the gear through a counter to determine the extension and retraction height of the moving rod, that is, the distance moved by the laser receiving sensor (during initialization, the elevation from the ground reference point to the center position of the axis of the annular laser receiving sensor is measured, and then the number of rotating teeth of the gear is calculated through a counter to determine the distance moved by the center position of the laser receiving sensor, to calculate the final required elevation).

[0051] The AIOT platform is a software cloud platform that includes modules such as IOT management, task collaboration services, and data middle platform, which can be deployed on cloud servers. The AIOT platform is an artificial intelligence Internet of Things (AIoT) platform, which is a comprehensive platform that combines artificial intelligence (AI) and Internet of Things (IoT) technologies. It includes multiple modules such as IOT management, task collaboration services, and data middle platform. Here is how these modules work:

[0052] The IOT management module is mainly responsible for managing IoT devices. It will connect to the first IoT module and the second IoT module through communication protocols (such as Wi-Fi, LoRa, 3G\4G\5G signals, etc.) and monitor the status and data of these devices in real time. The IOT management module usually includes functions such as device registration, device connection, device status monitoring, and remote control. Through these functions, users can easily manage and control IoT devices.

[0053] The task coordination service module is mainly responsible for coordinating and managing various tasks. It can receive task requests from users or other systems, and then assign them to appropriate devices for execution based on the type, priority and other information of the task. The task coordination service module usually includes functions such as task scheduling, task allocation, and task execution monitoring. Through these functions, the automated management and execution of tasks can be achieved.

[0054] The data middle platform module is mainly responsible for data management and analysis. It collects data from the first and second IoT modules, the main controller, and the rod controller, and then stores, processes, and analyzes them, and finally generates various data analysis results. Through these functions, effective management and utilization of data can be achieved.

[0055] The AIOT platform achieves the management of IoT devices such as intelligent navigation robots, laser emitting devices and laser receiving reference poles, the collaborative execution of tasks and the management and analysis of data through the collaborative work of multiple modules such as IOT management, task collaboration services and data middle platform.

[0056] In actual use, the present invention provides a robot system for realizing millimeter-level elevation measurement based on laser technology, and the method for performing elevation measurement includes:

[0057] S1. Initialize the robot system, including initializing the laser receiving reference rod, the intelligent navigation robot and the laser emitting device, specifically:

[0058] S11, initializing the laser receiving reference rod, including:

[0059] S111. Determine the ground reference point: Based on the leveling points provided by the state, use instruments such as a total station and a level to measure the ground reference point 9 with known three-dimensional coordinates used in engineering construction, which will serve as a reference for construction;

[0060] S112. Laying out the laser receiving reference pole: Install and lay out the laser receiving reference pole perpendicular to the ground at a determined ground reference point (whose longitude and latitude coordinates (X0, Y0) are known). The axis of the cylindrical laser receiving reference pole is located at the coordinates (X0, Y0). When the laser receiving reference pole is set, the pole body is manually buried vertically or adjusted to verticality by the leveling mechanism on the base.

[0061] Furthermore, the movable rod is adjusted to be in an initial state of not being extended, that is, the annular laser receiving sensor mounted thereon is at the lowest point of its moving range, that is, the coordinate height of the incremental encoder on the inner axis of the annular laser receiving sensor is at its lowest point.

[0062] By measuring the distance between the incremental encoder at the center point of the annular laser receiving sensor and the ground reference point, the initial elevation h1 of the incremental encoder is obtained and sent to the AIOT platform.

[0063] S12, initializing the intelligent navigation robot;

[0064] The initialization of the intelligent navigation robot includes keeping the robot's wire-controlled body chassis level in the initial state before the robot sets off. The RTK module measures and obtains the WG84 initial coordinates (x0, y0, z0) of the module center point through the GNSS system and sends it to the main controller. The distance h2 from the laser transmitter emission point to the laser ranging sensor laser emission point is measured and sent to the AIOT platform.

[0065] S13, initializing the laser emitting device;

[0066] Initialization of the laser emitting device includes keeping the horizontal platform of the homologous control console horizontal and the light source mounting rod fixedly arranged at the center of the horizontal rotating turntable in a vertical state, the line-beam laser emitted by the laser emitter on the upper part of the light source mounting rod is in a horizontal state, and the line-beam laser emitted by the laser ranging sensor at the bottom of the light source mounting rod is in a vertical, downward state coinciding with the rod axis; further, the telescopic height of the four compensating telescopic rods under the horizontal platform can be extended to about half, so that when the robot reaches the measuring point, no matter whether the ground on which the four wheels of the vehicle are located is high or low, the four compensating telescopic rods of the homologous design can be easily retracted and retracted accordingly to adjust the horizontal state of the horizontal platform and quickly reach the platform horizontal target.

[0067] S2. Set and send a specific measurement task to the intelligent navigation robot through the AIOT platform to start the measurement. The measurement task includes the coordinates of the first measurement point to be measured (X1, Y1) and the initial coordinates of the incremental encoder (X0, Y0).

[0068] The AIOT platform sends a measurement task to the intelligent navigation robot. The measurement task includes a coordinate data set of each measurement point. The data set includes the coordinates of the first measurement point to be measured (X1, Y1) and the initial coordinates of the incremental encoder on the laser receiving reference rod (X0, Y0).

[0069] S3, the intelligent navigation robot automatically navigates to the measurement point according to the received task information coordinates (X1, Y1) and the known initial coordinates of the RTK module (x0, y0). At this time, the current two-dimensional coordinates (x1, y1) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measurement point;

[0070] The following is the general process of an intelligent navigation robot automatically navigating to the point to be measured based on the received coordinate information:

[0071] Path planning: After receiving the coordinates (X1, Y1) of the measurement point, the intelligent navigation robot uses the coordinates (x0, y0) provided by the RTK module to determine its current position and orientation for current positioning. The main controller uses the path planning algorithm to calculate the best navigation path. When planning the path, factors such as avoiding obstacles, the shortest path, and terrain features are considered to ensure that the robot reaches the target point safely and efficiently.

[0072] Motion control: The main controller controls the movement of the robot according to the path planning results, including adjusting the rotation speed and direction of the wheels to move along the planned path.

[0073] Real-time correction: Since RTK provides high-precision positioning information, the robot can perform real-time corrections during movement to ensure the accuracy of its position and orientation. This can be achieved by continuously updating the robot's position information and adjusting the navigation path according to actual conditions.

[0074] Arrival at the measuring point: When the robot arrives at the measuring point, the current two-dimensional coordinates (x1, y1) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measuring point, and the wheels of the intelligent navigation robot stop moving.

[0075] S4, check the horizontal platform state, if the platform is not in a horizontal state, execute step S5, if the platform is in a horizontal state, execute step S6;

[0076] The state of the horizontal platform is detected by a tilt sensor installed on the horizontal platform. If the platform is not in a horizontal state, step S5 is executed; if the platform is in a horizontal state, step S6 is executed.

[0077] S5. The intelligent navigation robot adjusts the horizontal platform to a horizontal level through the homologous control console, and then obtains the current two-dimensional coordinates (x1*, y1*) of the RTK module, and determines whether (x1*, y1*) is equal to the two-dimensional coordinates (X1, Y1) of the measuring point. If so, execute step S6; if not, keep the platform horizontal and automatically navigate to adjust the position until the current two-dimensional coordinates (x1*, y1*) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measuring point, that is, the linear laser emitted by the laser ranging sensor at the bottom of the light source installation rod can be vertically and downwardly projected onto the measuring point, and then execute step S6;

[0078] Specifically, when driving to the measuring point, because the heights of the ground at which the four wheels under the robot's wire-controlled body chassis are located are different, the support point of the wheel height on the upper surface of the wire-controlled body chassis is displaced due to the increase or decrease in height, thereby causing the wire-controlled body chassis to tilt, driving the horizontal platform at the top of the compensation telescopic rod to tilt (taking the increase in the ground where one wheel is located as an example, the wheel height support point corresponding to the wheel rises, that is, one corner vertex of the first displacement quadrilateral rises, and the plane of the first displacement quadrilateral on the upper surface of the wire-controlled body chassis tilts, driving the second displacement quadrilateral on the horizontal platform parallel to the first displacement quadrilateral to tilt at the same angle. At this time, the telescopic height of the compensation telescopic rod is adjusted so that the top of the compensation telescopic rod assumed to be located at point E' drops to point E (if it is located at point F', it drops to point F), then the wire-controlled body chassis is still tilted, but the horizontal platform above the compensation telescopic rod returns to the horizontal state, so that the linear beam laser emitted by the laser transmitter fixed on the upper part of the light source mounting rod of the horizontal platform can be horizontally irradiated, and the laser ranging sensor at the bottom of the light source mounting rod can be vertically irradiated downward, which does not affect the final measurement result.

[0079] Furthermore, after the horizontal platform is adjusted to be horizontal, the current two-dimensional coordinates (x1*, y1*) of the RTK module need to be obtained again. If it is found that (x1*, y1*) is not equal to the two-dimensional coordinates (X1, Y1) of the measuring point, the horizontal state of the horizontal platform is maintained, and the robot is controlled to move accordingly, so that the coordinates of the RTK module are positioned on the two-dimensional coordinates (X1, Y1) of the measuring point. One way to maintain the horizontal state of the horizontal platform is to use a tilt sensor installed on the platform, adopt a closed-loop control system, monitor the tilt angle of the plane in real time, and adjust the compensation telescopic rod to keep the plane horizontal in real time.

[0080] At this point, the longitude and latitude coordinates of the center of the RTK module (i.e., the coordinates of the module itself acquired by RTK), the longitude and latitude coordinates of the laser transmitter launch point, and the longitude and latitude coordinates of the laser ranging sensor launch point are consistent with the longitude and latitude coordinates of the measurement point (X1, Y1).

[0081] S6. Based on the initial coordinates (X0, Y0) of the incremental encoder, the robot calculates the longitude and latitude coordinates (X0′, Y0′) of the incremental encoder (actually the axis of the reference rod) relative to the coordinates of the RTK terminal at this time; by rotating the horizontal turntable, the light source mounting rod fixed on it is driven to rotate, so that the laser transmitter linear beam laser searches for and aligns with the projection direction of the axis of the rotating reference rod.

[0082] S7, turn on the horizontal laser light source, emit laser to the axis of the laser receiving reference rod, send a message to notify the AIOT platform that the laser has been emitted, and send the RTK terminal height coordinate z1 at this time to the AIOT platform;

[0083] Before launching the horizontal laser, make safety reminders on site and remove obstructions to ensure that there are no people or other obstructions in the straight line area between the robot and the reference pole.

[0084] S8, the AIOT platform notifies the reference rod to move upward until the laser receiving sensor receives the laser, and records the moving distance value △h1 output by the incremental encoder, and uploads the value of △h1 to the AIOT platform through the second IoT module.

[0085] S9. Turn on the laser distance measuring sensor to emit laser to the measuring point, output the measured distance △h2, and upload the value of △h2 to the AIOT platform through the first IoT module.

[0086] The accuracy of the distance values ​​output by the laser distance measuring sensor and the incremental encoder is sub-millimeter, which can meet the millimeter-level elevation measurement requirements of the present invention.

[0087] S10. The result calculated by the AIOT platform through the expression H1=(h1+△h1)-(h2+△h2) is the elevation H1 of the first measuring point where the intelligent navigation robot is located.

[0088] Furthermore, when subsequently measuring the elevation of the second measuring point, proceed as follows:

[0089] P1. The intelligent navigation robot automatically navigates to the second measurement point according to the received coordinates of the second measurement point (X2, Y2) and the current coordinates of the RTK module (that is, the coordinates of the first measurement point). At this time, the current two-dimensional coordinates of the RTK module (x2, y2) are equal to the two-dimensional coordinates of the two measurement points (X2, Y2);

[0090] P2, check the horizontal platform state, if the platform is not horizontal, execute step S5, if the platform is horizontal, execute step S6;

[0091] The state of the horizontal platform is detected by a tilt sensor installed on the horizontal platform. If the platform is not in a horizontal state, step S5 is executed; if the platform is in a horizontal state, step S6 is executed.

[0092] P3. The intelligent navigation robot adjusts the horizontal platform to a horizontal level through the homologous control console, and then obtains the current two-dimensional coordinates (x2*, y2*) of the RTK module, and determines whether (x2*, y2*) is equal to the two-dimensional coordinates (X2, Y2) of the measuring point. If so, execute step S6; if not, keep the platform horizontal and execute step S3 until the current two-dimensional coordinates (x2*, y2*) of the RTK module are equal to the two-dimensional coordinates (X2, Y2) of the measuring point, that is, after the linear beam laser emitted by the laser ranging sensor at the bottom of the light source installation rod can be projected vertically and downward onto the measuring point, execute step S6;

[0093] P4. Based on the initial coordinates (X0, Y0) of the incremental encoder, the robot calculates the longitude and latitude coordinates (X0′, Y0′) of the incremental encoder (actually the axis of the reference rod) relative to the RTK terminal coordinates; through the rotation of the horizontal rotating turntable, the light source mounting rod fixed on it is driven to rotate, so that the laser emitter linear laser finds the projection direction aligned with the axis of the rotating reference rod;

[0094] P5, turn on the horizontal laser light source, emit laser to the laser receiving reference rod body, send a message to notify the AIOT platform that the laser has been emitted, and send the RTK terminal height coordinate z2 at this time to the AIOT platform;

[0095] Before launching the horizontal laser, make safety reminders on site and remove obstructions to ensure that there are no people or other obstructions in the straight line area between the robot and the reference pole.

[0096] P6, AIOT platform notifies the benchmark pole to move and informs it of the direction of movement;

[0097] The moving direction of the reference pole is determined by the relationship between the RTK terminal height coordinates z1 and z2:

[0098] If z1>z2, the moving direction of the reference rod is downward;

[0099] If z1>z2, the moving direction of the reference rod is upward;

[0100] If z1=z2, the reference rod does not need to be moved.

[0101] Because the design coordinates used in the project are not the same coordinate system as those used by RTK, and because the earth is not a circle, different reference points at the center of the circle are different coordinate systems. The elevation error between different coordinate systems depends on many factors, including the measurement method used, the earth model, and atmospheric conditions. During the measurement process, the coordinates of the ground reference point and the coordinates of the measurement target point must use the same earth model coordinate system, generally in accordance with the coordinate system used in the engineering construction design drawings.

[0102] When the intelligent robot performs path planning and navigation through RTK positioning, it needs to perform corresponding coordinate system conversion, but it cannot directly use RTK and other data to accurately obtain the elevation value of the target measurement point required for the project. However, the trend of numerical changes in each system is consistent. This is because even in different coordinate systems, the actual change of the terrain is relatively consistent, that is, if the height coordinates of the two points before and after RTK are moving downward, then the movement trend of the coordinate system used for the engineering measurement of these two points must also be downward. Therefore, by using the RTK height coordinate change trend after the horizontal platform of the two measurement points before and after is leveled, it is possible to predict the height coordinate change trend of the horizontal laser ray emission point fixed on the same pole as the RTK, thereby determining the direction in which the annular laser receiving sensor needs to move in order to quickly receive the laser and improve the working efficiency of the measurement system.

[0103] P7, the laser receiving sensor detects whether the laser is received. If it is detected that the laser is received, the AIOT platform is notified, and the elevation of the second measuring point is the same as the first measuring point; if it is detected that the laser is not received, the benchmark rod moves according to the direction notified by the AIOT platform until the laser receiving sensor receives the laser, and records the moving distance value △h1 output by the incremental encoder, and uploads the value of △h1 to the AIOT platform through the second IoT module;

[0104] As an abnormal situation, if you move to the end point along the benchmark pole according to the direction notified by the AIOT platform, and the laser receiving sensor does not receive the laser, you will move in the opposite direction from the end point until you receive the laser, and report the abnormal situation for future reference.

[0105] In addition, when certain components fail or signal problems occur and the intelligent navigation robot is unable to transmit, receive, or feedback measurement data within the horizontal laser calibration time, the intelligent navigation robot reports the system problem to the AIOT platform. The calibration time is twice the length of time it takes for the laser receiving reference rod to extend from the lowest point to the highest point under normal conditions.

[0106] P8. Turn on the laser distance sensor to emit laser to the measuring point, output the measured distance △h2, and upload the value of △h2 to the AIOT platform through the first IoT module;

[0107] P9. The result calculated by the AIOT platform through the formula H2=(h1+△h1)-(h2+△h2) is the elevation H2 of the second measuring point where the intelligent navigation robot is located.

[0108] Repeat the above steps P1 to P9 to obtain the elevation data of subsequent measuring points.

[0109] The technical solution of the present invention utilizes the principle of rectilinear propagation of light. After setting up a benchmark pole at a point with known elevation, the AIOT platform is used to realize communication and coordination between the intelligent navigation robot and the benchmark pole. After the intelligent navigation robot carries the laser emission source to the target measurement point, it emits the laser to the benchmark pole, and then confirms the elevation corresponding to the laser on the benchmark pole by adjusting the laser receiver height of the benchmark pole, thereby realizing high-precision elevation measurement; at the same time, the information and measurement data of the entire operation process are collected and analyzed through the AIOT platform, realizing the automation and digitization of the measurement operation. Compared with the traditional measurement process, the present invention reduces the work of manually finding measurement points, manually measuring data, and recording data; it only needs to set up the benchmark pole in advance, and then input the information of the measurement point into the AIOT platform, and the robot's autonomous navigation system can be used to navigate to the measurement point and automatically complete the elevation measurement and data recording, and the measurement elevation accuracy can be controlled at the millimeter level.

[0110] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0111] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. A method for realizing intelligent millimeter-level elevation measurement based on laser technology, characterized in that: This is achieved through a robotic system for millimeter-level elevation measurement, which includes the following steps: S1. Initialize the robot system; S2. Send a measurement task to the intelligent navigation robot in the robot system through the AIOT platform. The measurement task includes the coordinates of the first measurement point to be measured (X1, Y1) and the initial coordinates of the incremental encoder (X0, Y0); S3, the intelligent navigation robot automatically navigates to the measurement point according to the received task information coordinates (X1, Y1) and the known initial coordinates of the RTK module (x0, y0). At this time, the current two-dimensional coordinates (x1, y1) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measurement point; S4, detecting the horizontal platform state of the intelligent navigation robot, if the horizontal platform is not in a horizontal state, executing step S5; if the horizontal platform is in a horizontal state, executing step S6; S5. The intelligent navigation robot adjusts the horizontal platform to a horizontal level through the homologous control console, and then obtains the current two-dimensional coordinates (x1*, y1*) of the RTK module, and determines whether (x1*, y1*) is equal to the two-dimensional coordinates (X1, Y1) of the measuring point. If so, execute step S6; if not, keep the platform horizontal and automatically navigate to adjust the position until the current two-dimensional coordinates (x1*, y1*) of the RTK module are equal to the two-dimensional coordinates (X1, Y1) of the measuring point, that is, the linear laser emitted by the laser ranging sensor at the bottom of the light source installation rod can be vertically and downwardly projected onto the measuring point, and then execute step S6; S6. Based on the initial coordinates (X0, Y0) of the incremental encoder, the intelligent navigation robot calculates the longitude and latitude coordinates (X0′, Y0′) of the incremental encoder relative to the coordinates of the RTK terminal at this time; the rotation of the light source mounting rod is driven by the rotation of the horizontal rotating turntable, so that the laser transmitter linear beam laser finds and aligns with the projection direction of the axis of the laser receiving reference rod; S7, turn on the horizontal laser light source, emit laser to the axis of the laser receiving reference rod, send a message to notify the AIOT platform that the laser has been emitted, and send the RTK terminal height coordinate z1 at this time to the AIOT platform; S8, the AIOT platform notifies the reference rod to move upward until the laser receiving sensor receives the laser, and records the moving distance value △h1 output by the incremental encoder, and uploads the value of △h1 to the AIOT platform; S9, turn on the laser distance sensor to emit laser to the measuring point, output the measured distance △h2, and upload the value of △h2 to the AIOT platform; S10. The result calculated by the AIOT platform through the expression H1=(h1+△h1)-(h2+△h2) is the elevation H1 of the first measuring point where the intelligent navigation robot is located.

2. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 1 is characterized in that: The step S1, initializing the robot system, is specifically as follows: S11, initializing the laser receiving reference rod, including: S111, determining a ground reference point; According to the leveling measurement points, the ground reference points with known three-dimensional coordinates are measured; S112, laying out laser receiving reference poles; A laser receiving reference rod is installed and arranged perpendicular to the ground at the latitude and longitude coordinates (X0, Y0) of a determined ground reference point, and the axis of the cylindrical laser receiving reference rod is located at the coordinates (X0, Y0); By measuring the distance between the incremental encoder at the center of the axis of the ring laser receiving sensor and the ground reference point, the initial elevation h1 of the incremental encoder is obtained and sent to the AIOT platform; S12, initializing the intelligent navigation robot; The initialization of the intelligent navigation robot includes keeping the robot's wire-controlled chassis level in the initial state before the robot sets off, the RTK module obtains the WG84 initial coordinates (x0, y0, z0) of the module center point and sends it to the main controller, and measures the distance h2 from the laser transmitter's emission point to the laser ranging sensor's laser emission point and sends it to the AIOT platform; S13, initializing the laser emitting device; The initialization of the laser emitting device includes keeping the horizontal platform of the homologous control console horizontal and the light source mounting rod fixed at the center of the horizontal rotating turntable in a vertical state, the line beam laser emitted by the laser emitter on the upper part of the light source mounting rod is in a horizontal state, and the line beam laser emitted by the laser ranging sensor at the bottom of the light source mounting rod is in a vertical, downward state coinciding with the axis of the rod.

3. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 2 is characterized in that: In the step S112, when the laser receiving reference rod is arranged, the moving rod is adjusted to be in an initial state of not extending, that is, the coordinate height of the incremental encoder on the inner axis of the annular laser receiving sensor is made to be its lowest point.

4. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 2 is characterized in that: In step S13, when the laser emitting device is initialized, the telescopic height of the four compensating telescopic rods under the horizontal platform is extended by about 1 / 2, so that when the robot reaches the measuring point, no matter where the four wheels of the vehicle are located, the four compensating telescopic rods of the same design can compensate and extend more quickly to achieve the horizontal state target of the horizontal platform.

5. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 1 is characterized in that: In the method, before the intelligent navigation robot launches the laser, the longitude and latitude coordinates of the RTK module, the longitude and latitude coordinates of the laser transmitter launch point, and the longitude and latitude coordinates of the laser ranging sensor launch point are consistent with the longitude and latitude coordinates of the measurement point.

6. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 1, characterized in that: The method also includes: before the laser transmitter emits the horizontal laser, making on-site safety reminders and removing obstructing objects to ensure that there are no potential safety hazards or obstructions in the straight line area between the robot and the reference pole.

7. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 1 is characterized in that: The method further includes: when subsequently measuring the elevation of the second measurement point, the moving direction of the reference rod is determined by the relationship between the height coordinates z1 and z2 before and after the RTK terminal: If z1>z2, the moving direction of the reference rod is downward; If z1>z2, the moving direction of the reference rod is upward; If z1=z2, the reference rod does not need to be moved.

8. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 1 is characterized in that: The method also includes: when certain components fail or have signal problems and the intelligent navigation robot is unable to transmit, receive, or feedback measurement data within the horizontal laser calibration time, the intelligent navigation robot reports the system problem to the AIOT platform. The calibration time is twice the length of time it takes for the laser receiving reference rod to extend from the lowest point to the highest point under normal conditions.

9. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 1, characterized in that: The robot system for millimeter-level elevation measurement includes an intelligent navigation robot equipped with a laser emitting device, a laser receiving reference rod for receiving laser, and an AIOT platform that is communicatively connected to the intelligent navigation robot and the laser receiving reference rod respectively.

10. The method for realizing intelligent millimeter-level elevation measurement based on laser technology according to claim 9, characterized in that: The laser emitting device comprises a homologous control platform and a cylindrical light source mounting rod fixedly mounted on the homologous control platform, a laser emitter emitting a linear beam laser is fixedly mounted on the upper part of the light source mounting rod, a laser ranging sensor is fixedly mounted on the bottom of the light source mounting rod, the upper part and the bottom of the light source mounting rod respectively extend out of the upper surface and the lower surface of the horizontal platform in the homologous control platform, the direction of the linear beam laser emitted by the laser emitter is at an angle of 90 degrees to the rod body of the light source mounting rod, and the direction of the laser emitted by the laser ranging sensor is to irradiate downward along the axis of the rod body of the light source mounting rod; The homologous control console is fixed on the wire-controlled body chassis of the intelligent navigation robot, and is used to realize that the line beam laser emitted by the laser transmitter remains in a horizontal state, the line beam laser emitted by the laser ranging sensor remains in a vertical state, and the horizontal line beam laser emitted by the laser transmitter is rotated to adjust the irradiation direction; an RTK module is also arranged on the light source mounting rod, and the coordinate position of the RTK module, the emitting point position of the laser transmitter and the emitting point position of the light source of the laser ranging sensor are all arranged on the axis of the light source mounting rod; The laser receiving reference rod comprises a liftable vertical rod and an annular laser receiving sensor sleeved on the liftable vertical rod.

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