A method for realizing intelligent millimeter-level height measurement based on laser technology

Abstract

The application discloses a kind of based on laser technology realizes intelligent millimeter level elevation measurement method, comprising: intelligent navigation robot is navigated to measurement point according to measurement task, adjustment horizontal platform is equal to the two-dimensional coordinate of measurement point two-dimensional coordinate, and makes the two-dimensional coordinate of RTK module;Intelligent navigation robot is rotated by horizontal carousel and drives light source installation pole, and laser transmitter finds and aims at laser receiving reference pole axis and projects horizontal laser;AIOT platform informs reference pole movement and receives laser, and records the movement distance value of incremental encoder output and uploads AIOT platform;Open laser ranging sensor and emit vertical laser to measurement point, output measured distance uploads AIOT platform;AIOT platform calculates the millimeter level elevation of the measurement point where intelligent navigation robot is located by expression.This application can realize millimeter level elevation measurement and the automation and digitization of measurement operation.

Description

Technical Field

[0001] This invention belongs to the field of laser measuring instrument technology, and in particular relates to a robot system for achieving millimeter-level elevation measurement based on laser technology. Background Technology

[0002] Elevation measurement is the process of measuring the height of the Earth's surface or an object relative to a reference surface. It is crucial in fields such as land surveying and engineering construction, providing information about the vertical position of the Earth's surface or an object. For example, in road construction, workers need to measure the road's elevation and adjust construction based on the results to ensure the elevation meets design requirements and minimizes construction errors. Currently, achieving millimeter-level precision elevation measurement in various construction fields relies on manual work by professionals using levels or total stations, resulting in high labor costs and low efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a robotic system for millimeter-level elevation measurement based on laser technology. This system, through the coordinated operation of an intelligent navigation robot, a linear laser light source, a laser receiving reference rod, and an AIoT platform, enables unmanned elevation measurement with millimeter-level accuracy in engineering construction. This effectively improves measurement efficiency on construction sites, reduces the need for professional surveyors, and ensures more accurate recording of measurement results.

[0004] To achieve the above objectives, one embodiment of the present invention provides a robot system for millimeter-level elevation measurement based on laser technology, comprising an intelligent navigation robot equipped with a laser emitting device, a laser receiving reference rod for receiving laser light, and an AIOT platform that is communicatively connected to the intelligent navigation robot and the laser receiving reference rod respectively.

[0005] The laser emitting device includes a co-source control platform and a cylindrical light source mounting rod fixedly installed on the co-source control platform. A laser emitter emitting a linear laser beam is fixed on the upper part of the light source mounting rod, and a laser range sensor is fixed on the bottom of the light source mounting rod. The upper and lower parts of the light source mounting rod extend out of the upper and lower surfaces of the horizontal platform in the co-source control platform, respectively. The direction of the linear laser beam emitted by the laser emitter forms a 90-degree angle with the light source mounting rod. The laser beam emitted by the laser range sensor is directed downward along the axis of the light source mounting rod.

[0006] The co-source control platform is fixed on the wire-controlled chassis of the intelligent navigation robot. The co-source control platform is used to keep the linear laser beam emitted by the laser emitter horizontal, keep the linear laser beam emitted by the laser range sensor vertical, and rotate the horizontal linear laser beam emitted by the laser emitter to adjust the direction of illumination. An RTK module is also set on the light source mounting rod. The coordinate position of the RTK module, the position of the laser emitter emission point, and the position of the laser range sensor light source emission point are all set on the axis of the light source mounting rod.

[0007] The laser receiving reference rod includes a liftable upright pole and a ring-shaped laser receiving sensor sleeved on the liftable upright pole.

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

[0009] Furthermore, the homogeneous control platform 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, 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, and the center of the horizontal rotating turntable is fixed and the light source mounting rod is vertically arranged.

[0010] Furthermore, the drive-by-wire chassis has a pre-drilled hole 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 rangefinder can pass through the hole and illuminate the ground whether the robot vehicle tilts or not.

[0011] Furthermore, the laser receiving reference pole also includes a pole controller, a second Internet of Things module, and a power supply mounted on the liftable pole; the liftable pole includes a base and a movable rod mounted on the base, the movable rod being able to extend and retract vertically according to control commands, with an adjustment accuracy of <1 mm.

[0012] Furthermore, the AIoT platform includes an IoT management module, a task collaboration service module, and a data middleware module, and is deployed on a cloud server.

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

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

[0015] Furthermore, the liftable pole base is equipped with a gear that is linked to the extension and retraction of the movable pole, and the extension and retraction height of the movable pole, i.e. the distance the laser receiving sensor moves, is determined by counting the number of teeth rotated by the gear using a counter.

[0016] Furthermore, an incremental encoder is fixedly installed at the center position of the cylinder axis formed by the annular laser receiving sensor sleeve area. The incremental encoder is used to provide the amount of change relative to the initial position, indicating the distance it has moved, that is, the distance the laser receiving sensor has moved.

[0017] The beneficial effects of this invention are as follows:

[0018] 1. This invention, through the cooperation of an intelligent navigation robot, a laser emitting device, a laser receiving reference rod, and an AIOT platform, changes the working mode of manually finding measurement points, manually measuring data, and manually recording data. It only requires setting up the laser receiving reference rod in advance and then inputting the information of each measurement point into the AIOT platform. The intelligent navigation robot can navigate to each measurement point through its autonomous navigation system and automatically complete the elevation measurement and data recording. Moreover, the elevation measurement accuracy can be controlled at the millimeter level, realizing the automation and digitization of measurement operations.

[0019] 2. This invention moves a laser emitter to the latitude and longitude of the measurement point (at different altitudes). The laser emitter emits a horizontal linear laser beam. After the laser receiving sensor on the laser receiving reference rod receives the horizontal linear laser beam, the elevation of the laser emitter is determined by the laser receiving sensor and then the elevation of the laser emitter is calculated. Then, by using the distance relationship between the laser emitter and the laser ranging sensor and the distance from the laser ranging sensor to the ground measurement point, the AIOT platform calculates the elevation of the target ground measurement point. The elevation accuracy can be controlled at the millimeter level.

[0020] 3. This invention constructs a specially designed co-source control platform suitable for the specific needs of this invention. The co-source control platform incorporates four compensating telescopic rods, which provide better compensation for height increase and decrease through the co-source design. Furthermore, the horizontal platform is equipped with two laser light sources via a light source mounting rod fixed at the center of its horizontal rotating turntable. One laser emits a horizontal laser to obtain reference elevation data, while the other emits a vertical laser for ranging. A pre-reserved hole on the intelligent navigation robot's wire-controlled chassis under the co-source control platform allows it to obtain the required elevation data. The ingenious structure ensures accurate and rapid acquisition of elevation data.

[0021] 4. The laser emitter of this invention emits a linear laser beam in the horizontal direction, and a circular laser receiving sensor is set on the laser receiving reference rod. The linear laser beam can greatly improve the construction safety during measurement; while the design of the circular laser receiving sensor can enable the laser receiving sensor to receive the laser signal 360 degrees without blind spots at its setting point, thus expanding the measurement range of the laser receiving reference rod. Attached Figure Description

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

[0023] Figure 2 This is a schematic diagram illustrating the principle of the same-source height increase / decrease compensation of the present invention;

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

[0025] In the picture:

[0026] 1. Drive-by-wire chassis; 2. RTK module; 3. Homogeneous control console; 4. Light source mounting rod; 5. Laser emitter; 6. Laser rangefinder sensor; 7. Liftable pole; 8. Laser receiver sensor; 9. Ground reference point; 10. Hole. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the following description is provided in conjunction with the appendix. Figure 1-3 Further explanation is provided in the examples and embodiments.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0029] Taking the elevation measurement of a road construction project as an example, construction workers need to measure the road's elevation and adjust the road construction based on the measurement results to ensure that the road elevation meets the design requirements and minimizes construction errors. (See attached image) Figure 1As shown, the present invention provides a robot system for achieving 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 comprises a drive-by-wire chassis 1, a battery, a main controller, a first IoT module, and an RTK module 2 (some components are not shown in the diagram). The drive-by-wire chassis 1 is the physical platform of the intelligent navigation robot, supporting the battery, main controller, first IoT module, and RTK module 2, and moving the robot via its four wheels. It also includes drive motors and sensors. The battery provides the robot with power, connecting to the main controller, drive motors, and other components. The main controller is the brain of the intelligent navigation robot, responsible for handling navigation algorithms, collecting and processing sensor data, and motion control. It connects to the drive-by-wire chassis 1, battery, and first IoT module via cables or interfaces, and controls the robot's navigation, motion, and laser emission functions. The main controller and first IoT module communicate with the AIoT platform network via wireless networks (such as Wi-Fi or cellular networks) to achieve remote monitoring, remote operation, and data transmission.

[0031] The laser emitting device includes a co-source control platform 3, a cylindrical light source mounting rod 4, a laser emitter 5, and a laser rangefinder 6 mounted on the co-source control platform 3. The co-source control platform 3, the laser emitter 5, and the laser rangefinder 6 are respectively connected to the main controller to receive control commands. The co-source control platform 3 includes four compensating telescopic rods of equal height, a horizontal platform, and a horizontal rotating turntable. Each compensating telescopic rod is fixed at its bottom to the wire-controlled vehicle chassis 1, and its top is rotatably connected to the lower surface of the horizontal platform via a ball joint. A horizontal rotating turntable is set on the upper surface of the horizontal platform. The center of the horizontal rotating turntable is vertically fixed to a light source mounting rod 4. The upper and lower 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 direction of the linear laser beam emitted by the laser emitter 5 forms a 90-degree angle with the axis of the light source mounting rod 4. That is, when the light source mounting rod 4 is vertical, the laser emitter 5 emits a horizontal linear laser beam. A laser range sensor 6 is fixedly installed at the bottom of the light source mounting rod 4. The laser range sensor 6 emits a linear laser beam downward along the axis of the light source mounting rod 4. That is, when the light source mounting rod 4 is vertical, the laser range sensor 6 emits a linear laser beam that is vertically downward along the axis. The light source emission points of the laser emitter 5 and the laser range sensor 6 are both installed on the axis of the cylindrical light source mounting rod 4. A laser rangefinder sensor is a device that uses laser technology to measure the distance to a target. It calculates the distance between the target object and the sensor by emitting a laser beam and measuring the time it takes for the laser beam to return or by measuring other properties of the beam.

[0032] The co-source control platform 3 is used to adjust the posture of the light source mounting rod 4 to maintain the horizontally emitting linear laser beam of the laser emitter 5, the vertically emitting linear laser beam of the laser range sensor 6, and the horizontally emitting linear laser beam, thus adjusting the direction of illumination. The bottom of the four compensating telescopic rods of the co-source control platform 3 is fixed to the wire-controlled vehicle chassis 1, and the top is rotatably connected to the horizontal platform through ball joints. This connection method provides sufficient flexibility, allowing the telescopic rods to move up and down to compensate for the height of the ground where the four wheels are located, thereby correcting the tilt of the horizontal platform and keeping it level. During installation, four support points at wheel heights are located on the upper surface of the wire-controlled chassis 1. These four support points are then connected in pairs to form a first displacement quadrilateral with two diagonals. This results in four first line segments with the intersection of the diagonals and the four wheel height support points as their endpoints. The bottoms of the four compensating telescopic rods are then fixed one-to-one on each of these four first line segments. The distance from the bottom of each compensating telescopic rod to the intersection of the diagonals is proportional to the distance on its corresponding first line segment. That is, if the bottom of one compensating telescopic rod is at half the length of its corresponding first line segment, then the bottoms of the other three compensating telescopic rods are also at half the length of their corresponding first line segments. The purpose of this design is to provide better compensation through a homogeneous design.

[0033] The adjustment of the same-source control console 3 is mainly achieved through the height compensation of the extension and retraction of the four compensating telescopic rods. Taking the height compensation of the extension and retraction of one compensating telescopic rod as an example, the compensation principle is shown in the attached figure. Figure 2 As shown, when the C-end point (wheel height support point) of a horizontal plane AC rises 2cm to point C', points E (located at 1 / 2 AC) and F (located at 3 / 4 AC) on the plane move to points E' and F' respectively. Plane AC' then tilts and is no longer horizontal. If the plane is lowered by approximately 1cm from point E' to point E (or by approximately 1.5cm from point F' to point F), plane AC' returns to plane AC, restoring its horizontal state. Automatic platform leveling control also includes installing tilt sensors, such as accelerometers or tilt sensors, on the platform to measure the tilt angle of the plane. The sensors measure the tilt angle of the platform and transmit this data to the main controller for real-time analysis and processing. Based on the tilt angle measured by the sensors, the main controller adjusts the extension length of the four compensating telescopic rods to keep the plane horizontal.

[0034] When the intelligent navigation robot reaches the measurement point, the ground being measured may be uneven, and the four wheels on the drive-by-wire chassis 1 will be at different heights. Therefore, the drive-by-wire chassis 1 and the horizontal platform, which were originally level, will tilt. This will prevent the laser emitter 5 from emitting a horizontal beam of laser light, affecting the final measurement results. This requires adjustment using the same-source control platform 3 (mainly through the extension and retraction of the four compensating telescopic rods of the aforementioned same-source design, whose extension and retraction range covers the wheel height displacement) to maintain the horizontal platform, ensuring that the laser emitter 5 can emit the horizontal beam of laser light and the laser range sensor 6 can emit the vertical beam of laser light.

[0035] A horizontal rotating turntable is set on the upper surface of the horizontal platform. There are two ways to set the horizontal rotating turntable. The first is to set 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 rods on the upper surface of the horizontal platform, and connect the four support points to form a second displacement quadrilateral with two diagonals. The horizontal rotating turntable is set 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 set at the center of the turntable can obtain minimal displacement when the horizontal platform is adjusted to a horizontal state, which is beneficial for subsequent repositioning and alignment with the coordinates of the ground measurement points after adjustment.

[0036] A light source mounting rod 4 is vertically and fixedly positioned at the center of a horizontally rotating turntable. A laser emitter 5 is mounted on the upper part of the light source mounting rod 4, located above the horizontal platform to ensure unobstructed horizontal laser illumination. The laser emitter 5 is a linear laser source, fixed on the axis of the light source mounting rod 4, emitting a horizontal linear laser beam. The laser source is required to maintain a spot size within 10 millimeters after the emitted light reaches the laser receiving reference rod, ensuring millimeter-level elevation measurements. For example, when measuring the elevation of a target highway, since construction surveys typically require a distance of 1 kilometer, meaning measurements must be taken within 500 meters before and after the laser receiving reference rod, the laser source must maintain a spot size within 10 millimeters after 500 meters of transmission to ensure millimeter-level elevation measurements. A laser rangefinder 6 emitting a vertical linear laser beam is mounted at the bottom of the light source mounting rod 4, also mounted on the axis of the cylindrical light source mounting rod 4, with the bottom of the light source mounting rod 4 protruding from the lower surface of the horizontal platform. A hole 10 is reserved on the chassis 1 of the wire-controlled vehicle. The hole 10 is located between the bottom of the four compensating telescopic rods and can be circular, elliptical, or other shapes. The standard setting of the size of the hole 10 is that the vertical beam laser emitted by the laser range sensor 6 can pass through the hole 10 and illuminate the ground when the robot vehicle tilts or not, depending on the height of the four wheels on the ground.

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

[0038] Firstly, since the engineering work surfaces to be measured are not all level, when the intelligent navigation robot drives to the measurement point, the vertically erected light source mounting rod 4 on the drive-by-wire chassis 1 may be tilted due to the unevenness of the road surface, which will cause the linear laser emitted by the laser emitter 5 to not maintain a horizontal illumination state. Therefore, by adjusting the state of the same source control platform 3, the horizontal platform can be kept level and the light source mounting rod 4 can be kept vertical, thereby achieving the goal of keeping the linear laser in a horizontal illumination state.

[0039] Secondly, after the light source mounting rod 4 is kept vertical, the laser rangefinder 6 at its bottom can also vertically emit a beam-type laser to the measurement point on the ground to perform sub-millimeter laser ranging.

[0040] Thirdly, because the laser emitter 5 of this invention emits a linear laser beam rather than a surface laser beam, it is necessary to enable the linear laser beam to find the axis of the laser receiving reference rod by adjusting the horizontal irradiation angle, and to accurately project onto the annular laser receiving sensor 8 on it. This requires providing a rotation function for the light source mounting rod 4 where the laser emitter 5 is located. The light source mounting rod 4 is vertically fixed on the same source control platform 3. By rotating the horizontal rotating turntable on the same source control platform 3, the light source mounting rod 4 fixed on it is driven to rotate, thereby enabling the linear laser beam of the laser emitter 5 to rotate as needed in the horizontal direction, realizing the change of the irradiation angle in the horizontal direction. This allows the linear laser beam to be positioned by the latitude and longitude coordinates of the axis of the laser receiving reference rod. The laser receiving reference rod is then raised and lowered to achieve accurate finding and projection of the horizontal linear laser beam onto the annular laser receiving sensor 8 on the laser receiving reference rod.

[0041] This invention uses a linear laser beam instead of a surface laser beam, a decision made after special consideration:

[0042] When surveying elevations on construction roads or in other engineering scenarios, workers performing other tasks at the road's outer edge may also be present on-site. If a surface laser is used, the large area of ​​laser irradiation could cause safety hazards to the eyes and other parts of the body when workers inadvertently squat, look up, or turn their heads. Therefore, by using a linear laser, such personal safety hazards can be avoided simply by ensuring that other workers are not within the extremely small straight-line area between the emission and reception points through on-site construction reminders and other means.

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

[0044] In one embodiment of the present invention: the RTK module 2 is fixed to the top of the light source mounting rod 4, and the laser emitter 5 is fixed to the upper part of the light source mounting rod 4 below the RTK module 2. The system structure diagram is shown in the attached figure. Figure 3 As shown.

[0045] In another embodiment of the present invention: the RTK module 2 is fixed at the center of the turntable, which is the intersection of the diagonals of the second displacement quadrilateral, and the laser emitter 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 and the range of its coordinate changes when the horizontal platform is being adjusted horizontally, thus reducing (or eliminating) the need for the robot to adjust its movement distance. A schematic diagram of the system structure is attached. Figure 1 As 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 same-source control platform 3, so as to enable the intelligent navigation robot to accurately reach the measurement point and control the adjustment of the same-source control platform 3, including turning, positioning the laser irradiation direction, and maintaining horizontal and vertical irradiation functions respectively.

[0047] The laser receiving reference rod includes a cylindrical, liftable upright pole 7, a ring-shaped laser receiving sensor 8, a pole controller, a second IoT module, and a power supply. The liftable upright pole 7 includes a base and a movable rod on the base. The base is equipped with a leveling structure and a lifting structure. The movable rod can be adjusted up and down according to the instructions of the pole controller, with an adjustment accuracy within 1mm. The ring-shaped laser receiving sensor 8 is horizontally sleeved on the upper part of the movable rod. The axis of the cylinder formed by the ring-shaped laser receiving sensor 8 coincides with the axis of the cylindrical movable rod. It is responsible for receiving and processing laser signals. The ring structure allows the laser receiving sensor to receive laser signals without blind spots within a 360-degree horizontal range, expanding the measurement range. The diameter of the ring laser receiver sensor 8 is greater than 10cm. While the RTK module 2 product typically offers an accuracy of ±3cm, actual testing revealed a maximum deviation of ±5cm. Therefore, the laser projection result may be inaccurate when calculating coordinates. Furthermore, the closer the robot is to the receiver rod, the smaller the light spot becomes, potentially becoming a tiny dot. Thus, the deviation in the receiving range needs to be controlled to be greater than or equal to 5cm to the left and right of the axis. In other words, setting the diameter of the ring laser receiver sensor 8 to greater than or equal to 10cm ensures effective laser reception. In engineering surveying, the accuracy requirement for ground measurement point positions is at the centimeter level; therefore, the RTK positioning accuracy fully meets the requirements of engineering operations.

[0048] An incremental encoder is fixedly installed at the midpoint of the cylindrical axis (coinciding with the axis of the moving rod) formed by the area where the annular laser receiver sensor 8 is mounted. The incremental encoder provides the change or increment relative to the initial position. After each movement stops, the encoder outputs an incremental signal indicating the distance moved, which is also the distance moved by the laser receiver sensor 8. The annular receiving surface of the laser receiver sensor 8 covers the entire surface of the rod within the mounting area, ensuring 360-degree horizontal reception of the linear laser signal around the rod. The vertical width of the annular receiving surface is ≤10 mm. Because the vertical width of the annular receiving surface is ≤10 mm, after the annular laser receiver sensor receives the light spot (which may be in different areas of the annular receiving surface), the coordinates of the central incremental encoder are used as the laser receiving positioning point, ensuring millimeter-level elevation measurement. The standard for the extension length of the moving rod is that the receiving displacement range of the annular laser receiver sensor 8 mounted on it can cover the vertical displacement range of the horizontal linear laser emitted by the laser emitter 5.

[0049] The pole controller is connected to the liftable pole 7, the laser receiving sensor 8, and the second IoT module via wired or wireless means. It controls the height adjustment of the liftable pole 7, processes data from the laser sensor, and handles data from the second IoT module. The pole controller and the second IoT module are mounted on the laser receiving reference pole and communicate with the AIoT platform. A power supply provides power to all components of the laser receiving reference pole.

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

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

[0052] The IoT management module is primarily responsible for managing IoT devices. It connects to the first and second IoT modules via communication protocols (such as Wi-Fi, LoRa, 3G / 4G / 5G signals, etc.) and monitors the status and data of these devices in real time. The IoT management module typically includes functions such as device registration, device connection, device status monitoring, and remote control, allowing users to easily manage and control IoT devices.

[0053] The task collaboration service module is primarily responsible for coordinating and managing various tasks. It receives task requests from users or other system components and then assigns them to appropriate devices for execution based on task type, priority, and other information. The task collaboration service module typically includes functions such as task scheduling, task allocation, and task execution monitoring, enabling automated task management and execution.

[0054] The data platform module is primarily responsible for data management and analysis. It collects data from the first and second IoT modules, the main controller, and the pole controllers, then stores, processes, and analyzes it, ultimately generating various data analysis results. Through these functions, effective data management and utilization can be achieved.

[0055] The AIoT platform enables the management, collaborative execution of tasks, and management and analysis of data from multiple modules, including IoT management, task collaboration services, and a data platform.

[0056] In practical applications, the robot system provided by this invention, which achieves millimeter-level elevation measurement based on laser technology, includes the following method for elevation measurement:

[0057] S1. Perform robot system initialization, which includes initialization of the laser receiving reference rod, intelligent navigation robot, and laser emitting device, specifically as follows:

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

[0059] S111. Determine the ground benchmark: Based on the leveling points provided by the state, use instruments such as total station and level to measure the known three-dimensional coordinates of the ground benchmark 9 used in the project construction, and use it as a reference for construction.

[0060] S112. Setting up the laser receiving reference pole: Install the laser receiving reference pole perpendicular to the ground at a determined ground reference point (whose latitude and longitude coordinates (X0, Y0) are known). The axis of the cylindrical laser receiving reference pole is located on the coordinate (X0, Y0). When setting up the laser receiving reference pole, the pole is manually buried vertically or adjusted to be vertical using the leveling mechanism on the base.

[0061] Furthermore, the moving rod is adjusted to its initial, non-extended state, which means that the ring laser receiving sensor mounted on it is at its lowest point of movement range, that is, the coordinate height of the incremental encoder on the internal axis of the ring laser receiving sensor is its lowest point.

[0062] The distance between the incremental encoder at the center point of the ring laser receiver sensor shaft and the ground reference point is measured, and the initial elevation h1 of the incremental encoder is obtained and sent to the AIOT platform.

[0063] S12. Initialize the intelligent navigation robot;

[0064] The initialization of the intelligent navigation robot includes maintaining the robot's wire-controlled chassis level in the initial state before the robot departs. The RTK module measures and obtains the initial WG84 coordinates (x0, y0, z0) of the module's center point through the GNSS system and sends them to the main controller. It also measures and sends the distance h2 from the laser emitter's emission point to the laser range sensor's emission point to the AIOT platform.

[0065] S13. Initialize the laser emitting device;

[0066] The initialization of the laser emitting device includes maintaining the horizontal platform of the same source control table level and ensuring that the light source mounting rod fixed at the center of the horizontal rotating turntable is in a vertical state. The linear laser emitted by the laser emitter at the top of the light source mounting rod is in a horizontal state, and the linear laser emitted by the laser ranging sensor at the bottom of the light source mounting rod is in a vertical and downward state that coincides with the axis of the rod. Furthermore, the extension height of the four compensating telescopic rods under the horizontal platform can be about halfway extended. In this way, when the robot arrives at the measurement point, regardless of whether the ground where the four wheels of the robot are located is high or low, the four compensating telescopic rods of the same source design can be easily extended or retracted accordingly to adjust the horizontal state of the horizontal platform and quickly achieve the target level of the platform.

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

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

[0069] S3. The intelligent navigation robot automatically navigates to the measurement point based on the received task information coordinates (X1,Y1) and the known initial coordinates (x0,y0) of the RTK module. 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 a general process by which an intelligent navigation robot automatically navigates 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 location positioning. The main controller uses a path planning algorithm to calculate the optimal navigation path. Path planning takes into account factors such as avoiding obstacles, the shortest path, and terrain features to ensure that the robot reaches the target point safely and efficiently.

[0072] Motion control: The main controller controls the robot's movement based on the path planning results, including adjusting the rotation speed and direction of the wheels, so that it can move along the planned path.

[0073] Real-time correction: Because 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 is achieved by continuously updating the robot's position information and adjusting the navigation path according to the actual situation.

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

[0075] S4. Detect the status of the horizontal platform. If the platform is not horizontal, proceed to step S5. If the platform is horizontal, proceed to step S6.

[0076] The tilt sensor installed on the horizontal platform detects the status of the horizontal platform. If the platform is not horizontal, step S5 is executed; if the platform is horizontal, step S6 is executed.

[0077] S5. The intelligent navigation robot adjusts the horizontal platform to a horizontal position using the same source control platform, 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 measurement point. If they are equal, proceed to step S6; otherwise, maintain the horizontal position of the platform and automatically navigate and 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 measurement point. That is, the laser beam emitted by the laser range sensor at the bottom of the light source mounting rod can be projected vertically and downward onto the measurement point. Then, proceed to step S6.

[0078] Specifically, when the robot reaches the measurement point, the different ground heights of the four wheels under the robot's drive-by-wire chassis cause the support points for the wheel height on the upper surface of the chassis to shift due to the rise or fall of the height. This causes the drive-by-wire chassis to tilt, which in turn causes the horizontal platform at the top of the compensating telescopic rod to tilt as well. (Taking the ground height of one wheel as an example, the support point for that wheel's height rises, i.e., one corner vertex of the first displacement quadrilateral rises, and the plane of the first displacement quadrilateral on the upper surface of the drive-by-wire chassis tilts, causing the second displacement quadrilateral on the horizontal platform, which is parallel to the first displacement quadrilateral, to tilt at the same angle. At this time, the extension height of the compensating telescopic rod is adjusted so that the top of the compensating telescopic rod, assuming it is located at point E', falls to point E (or to point F if it is located at point F'). The drive-by-wire chassis still tilts, but the horizontal platform on the compensating telescopic rod returns to horizontal. This allows the laser beam emitted by the laser emitter fixed on the upper part of the light source mounting rod on the horizontal platform to achieve horizontal illumination, and the laser range sensor at the bottom of the light source mounting rod to achieve vertical downward illumination, without affecting the final measurement results.)

[0079] Furthermore, after adjusting the horizontal platform to be level, 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 measurement point, the horizontal platform is kept level, and the robot is controlled to move accordingly, so that the RTK module coordinates are positioned on the two-dimensional coordinates (X1, Y1) of the measurement point. One way to maintain the level of the horizontal platform is to use a tilt sensor installed on the platform and a closed-loop control system to monitor the tilt angle of the plane in real time and adjust the compensation telescopic rod to keep the plane level in real time.

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

[0081] S6. Based on the initial coordinates (X0, Y0) of the incremental encoder, the robot calculates the latitude and longitude 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 rotating turntable, the light source mounting rod fixed on it is rotated, so that the laser beam of the laser emitter finds and aligns with the projection direction of the axis of the rotating reference rod.

[0082] S7. Turn on the horizontal laser source and emit laser to the axis of the laser receiving reference pole. At the same time, send a message to the AIOT platform to notify that the laser has been emitted and send the height coordinate z1 of the RTK terminal to the AIOT platform.

[0083] Before firing the horizontal laser, provide on-site safety reminders and remove any obstructing objects to ensure that there are no people or other obstructing objects in the straight line area between the robot and the reference pole.

[0084] S8, the AIOT platform notifies the reference rod to move upwards 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 ranging sensor to emit a laser to the measurement point, output the measured distance △h2, and upload the value of △h2 to the AIoT platform through the first IoT module.

[0086] Both the laser rangefinder and the incremental encoder output distance values ​​with sub-millimeter accuracy, ensuring the millimeter-level elevation measurement requirements of this invention.

[0087] The S10 AIOT platform calculates the elevation H1 of the first measurement point where the intelligent navigation robot is located using the expression H1=(h1+△h1)-(h2+△h2).

[0088] Furthermore, when measuring the elevation of the second measurement point, the following steps shall be taken:

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

[0090] P2. Detect the horizontal platform status. If the platform is not horizontal, proceed to step S5. If the platform is horizontal, proceed to step S6.

[0091] The tilt sensor installed on the horizontal platform detects the status of the horizontal platform. If the platform is not horizontal, step S5 is executed; if the platform is horizontal, step S6 is executed.

[0092] P3. The intelligent navigation robot adjusts the horizontal platform to a horizontal position using the same source control platform, 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 measurement point. If they are equal, proceed to step S6; otherwise, maintain the horizontal position of the platform and proceed to 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 measurement point. That is, after the laser beam emitted by the laser range sensor at the bottom of the light source mounting rod can be projected vertically and downward onto the measurement point, proceed to step S6.

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

[0094] P5. Turn on the horizontal laser source and emit laser light to the laser receiving reference pole. At the same time, send a message to the AIOT platform to notify that the laser has been emitted and send the current height coordinate z2 of the RTK terminal to the AIOT platform.

[0095] Before firing the horizontal laser, provide on-site safety reminders and remove any obstructing objects to ensure that there are no people or other obstructing objects in the straight line area between the robot and the reference pole.

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

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

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

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

[0100] If z1 = z2, then 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 in RTK (Real-Time Measurement), and because the Earth is not a perfect circle, different reference points at the center result in different coordinate systems. Elevation errors between different coordinate systems depend on various factors, including the measurement methods used, the Earth model, and atmospheric conditions. During the measurement process, the coordinates of the ground reference points and the target measurement points must use the same Earth model coordinate system, generally the coordinate system adopted in the engineering construction design drawings.

[0102] When intelligent robots use RTK positioning for path planning and navigation, corresponding coordinate system transformations are required. However, RTK data cannot be directly used to accurately obtain the elevation values ​​of target measurement points needed for engineering projects. Nevertheless, the trends of numerical changes across different systems are consistent. This is because even under different coordinate systems, the actual changes in terrain are relatively consistent. That is, if the elevation coordinates of two points before and after the RTK move downwards, then the movement trend in the coordinate system used for engineering measurements of these two points will also be downwards. Therefore, by using the RTK elevation coordinate change trend after the horizontal platform of the two measurement points is leveled, the elevation coordinate change trend of the horizontal laser beam emission point fixed on the same pole as the RTK can be predicted. This allows the direction of movement of the ring laser receiving sensor to quickly receive the laser, improving the working efficiency of the measurement system.

[0103] P7. The laser receiving sensor detects whether it receives laser light. If it detects that it receives laser light, it notifies the AIOT platform that the elevation of the second measurement point is the same as that of the first measurement point. If it detects that it does not receive laser light, the reference rod moves according to the direction notified by the AIOT platform until the laser receiving sensor receives laser light. The moving distance value △h1 output by the incremental encoder is recorded and the value of △h1 is uploaded to the AIOT platform through the second IoT module.

[0104] As an abnormal situation, if the laser receiving sensor does not receive laser light when moving along the reference pole to the endpoint according to the direction notified by the AIoT platform, then move in the opposite direction from the endpoint until the laser light is received, and report the abnormal situation for future reference.

[0105] In addition, when certain components malfunction or signal problems prevent the intelligent navigation robot from transmitting, receiving, or feeding back measurement data within the horizontal laser calibration time, the intelligent navigation robot reports a system problem to the AIOT platform. The calibration time is twice the 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 ranging sensor to emit a laser to the measurement 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 using the formula H2=(h1+△h1)-(h2+△h2) is the elevation H2 of the second measurement point where the intelligent navigation robot is located.

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

[0109] This invention utilizes the principle of rectilinear propagation of light. After setting up a reference pole at a point with known elevation, an AIOT platform enables communication and collaboration between an intelligent navigation robot and the reference pole. The intelligent navigation robot carries a laser emitter to the target measurement point and emits a laser beam onto the reference pole. The elevation corresponding to the laser beam on the reference pole is then confirmed by adjusting the height of the laser receiver on the reference pole, thus achieving high-precision elevation measurement. Simultaneously, information and measurement data from the entire operation are collected and analyzed through the AIOT platform, automating and digitizing the measurement work. Compared to traditional measurement processes, this invention reduces the manual search for measurement points and the manual measurement and data recording. Only the reference pole needs to be set up in advance, and the measurement point information needs to be input into the AIOT platform. The robot's autonomous navigation system can then navigate to the measurement point and automatically complete the elevation measurement and data recording, with measurement accuracy controllable at the millimeter level.

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

[0111] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A method for implementing intelligent millimeter-level height measurement based on laser technology, characterized in that, It is realized by a robot system of millimeter level elevation measurement, comprising the following steps: S1, robot system initialization is performed; S2, the AIOT platform issues a measurement task to the intelligent navigation robot in the robot system, including the coordinates (X1, Y1) of the first measurement point to be measured and the initial coordinates (X0, Y0) of the incremental encoder; S3, the intelligent navigation robot automatically navigates to the measurement point according to the received task information coordinates (X1, Y1) and the known RTK module initial coordinates (x0, y0), at this time the RTK module present two-dimensional coordinates (x1, y1) is equal to the two-dimensional coordinates (X1, Y1) of the measurement point; S4, the state of the horizontal platform of the intelligent navigation robot is detected, if the horizontal platform is not in a horizontal state, step S5 is executed; if the horizontal platform is in a horizontal state, step S6 is executed; S5, the intelligent navigation robot adjusts the horizontal platform to be horizontal through the homologous control console, and then obtains the RTK module present two-dimensional coordinates (x1*, y1*), and judges whether (x1*, y1*) is equal to the two-dimensional coordinates (X1, Y1) of the measurement point, if yes, step S6 is executed; if no, the horizontal state of the platform is maintained and the position is automatically adjusted until the RTK module present two-dimensional coordinates (x1*, y1*) is equal to the two-dimensional coordinates (X1, Y1) of the measurement point, that is, the line bundle type laser emitted by the laser ranging sensor at the bottom of the light source mounting rod can be vertically and downwardly projected on the measurement point, then step S6 is executed; S6, according to the initial coordinates (X0, Y0) of the incremental encoder, the intelligent navigation robot calculates the latitude and longitude coordinates (X0', Y0') of the incremental encoder relative to the RTK terminal coordinates at this time; the rotation of the horizontal rotating disc drives the rotation of the light source mounting rod, so that the line bundle type laser of the laser emitter finds and aligns the projection direction of the laser receiving reference rod axis; S7, the horizontal laser light source is turned on, the laser is emitted to the laser receiving reference rod axis, at the same time, a message is sent to inform the AIOT platform that the laser has been emitted, and the RTK terminal height coordinate z1 at this time is sent to the AIOT platform; S8, the AIOT platform informs 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 Internet of Things module of the laser receiving reference rod; S9, the laser ranging sensor is turned on to emit laser to the measurement point, and the measured distance △h2 is output, and the value of △h2 is uploaded to the AIOT platform through the first Internet of Things module of the intelligent navigation robot; S10, the AIOT platform calculates the result of the expression H1= (h1+△h1)-(h2+△h2) as the elevation H1 of the first measurement point of the intelligent navigation robot; wherein, h1 is the initial elevation of the incremental encoder, and h2 is the distance from the laser emitter to the laser ranging sensor laser emitter; The millimeter-level elevation measurement robot system comprises an intelligent navigation robot configured with a laser emitting device, a laser receiving reference rod for receiving the laser, and an AIOT platform in communication connection with the intelligent navigation robot and the laser receiving reference rod respectively. 2.The method of claim 1, wherein, The step S1 comprises: S11, initializing the laser receiving reference rod, comprising: S111, determining a ground reference point; According to the leveling point, a ground reference point with a known three-dimensional coordinate is measured; S112, laying the laser receiving reference rod; A cylindrical laser receiving reference rod is installed vertically at the latitude and longitude coordinates (X0, Y0) of a determined ground reference point, with the axis of the cylindrical laser receiving reference rod located at the coordinates (X0, Y0); The distance between the incremental encoder of the center point of the ring-shaped laser receiving sensor and the ground reference point is measured, and the initial elevation h1 of the incremental encoder is sent to the AIOT platform; S12, initializing the intelligent navigation robot; The intelligent navigation robot initialization comprises keeping the robot line-controlled vehicle body chassis horizontal at the initial state before the robot starts, acquiring the WG84 initial coordinates (x0, y0, z0) of the module center point by the RTK module and sending them to the main controller, and measuring the distance h2 from the laser emitter to the laser ranging sensor and sending it to the AIOT platform; S13, initializing the laser emitting device; The laser emitting device initialization comprises 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 disc in a vertical state, the linear bundle laser emitted by the laser emitter at the upper part of the light source mounting rod in a horizontal state, and the linear bundle laser emitted by the laser ranging sensor at the bottom of the light source mounting rod in a vertical and downward state coinciding with the rod axis. 3.The method of claim 2, wherein, In the step S112, when laying the laser receiving reference rod, the moving rod is adjusted to be in the initial state of not being stretched out, that is, the coordinate height of the incremental encoder on the internal axis of the ring-shaped laser receiving sensor is the lowest point. 4.The method of claim 2, wherein, In the step S13, when initializing the laser emitting device, the extension height of the four compensation telescopic rods under the horizontal platform is about 1 / 2, which is used to compensate the height of the four wheels of the robot when it reaches the measurement point, so that the four compensation telescopic rods of the homologous design can be compensated more quickly to achieve the horizontal state of the horizontal platform.

5. The method for realizing intelligent millimeter-level height measurement based on laser technology according to claim 1, characterized in that, The method further comprises: before the horizontal laser emission of the laser emitter, a field safety reminder is given and the shielding obstacle is removed to ensure that there is no personnel or shielding object in the straight line region between the robot and the reference rod. 6.The method of claim 1, wherein, The method further comprises: when some components fail or have signal problems, the intelligent navigation robot cannot emit, receive, and feedback measurement data within the horizontal laser calibration time of the intelligent navigation robot, the intelligent navigation robot reports the system problem failure to the AIOT platform, and the calibration time is twice the time from the lowest point to the highest point of the laser receiving reference rod in the normal state. 7.The method of claim 1, wherein, The laser emitting device comprises a homologous control platform and a cylindrical light source mounting rod fixedly installed on the homologous control platform, a laser emitter emitting a linear laser beam is fixedly arranged on the upper portion of the light source mounting rod, a laser ranging sensor is fixedly arranged on the bottom of the light source mounting rod, the upper portion and the bottom of the light source mounting rod respectively extend out of the upper surface and the lower surface of a horizontal platform in the homologous control platform, the direction of the linear laser beam emitted by the laser emitter forms a 90-degree angle with the light source mounting rod, and the direction of the laser emitted by the laser ranging sensor is downward along the axis of the light source mounting rod; The homologous control platform is fixedly arranged on a chassis of a line control vehicle body of the intelligent navigation robot, and is used to keep the linear laser beam emitted by the laser emitter in a horizontal state, keep the linear laser beam emitted by the laser ranging sensor in a vertical state, and rotate and adjust the direction of the linear laser beam emitted by the laser emitter in the horizontal state; an RTK module is further arranged on the light source mounting rod, and the coordinate position of the RTK module, the emitting point position of the laser emitter and the light source emitting point position 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 a ring-shaped laser receiving sensor sleeved on the liftable vertical rod.

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