Image control point layout and coordinate acquisition integrated equipment and acquisition method thereof

Abstract

The invention discloses and provides an image control point layout and coordinate acquisition integrated device and an acquisition method thereof, and relates to the field of surveying and mapping, the image control point layout and coordinate acquisition integrated device comprises a base, a control panel is arranged on the surface of the base, a first GNSS receiver and a second GNSS receiver are fixedly connected to the surface of the base, a laser range finder is fixedly connected to the side surface of the base, and the laser range finder is fixedly connected to the control panel. A spray painting mechanism is embedded in the base, a spray painting plate is arranged below the spray painting mechanism, and a lifting mechanism for driving the spray painting plate to lift is arranged at the bottom of the base. The inkjet mechanism and the measuring equipment are integrated on one piece of integrated equipment, measurement operation is carried out while inkjet is carried out, a closed inkjet structure is adopted, the overall efficiency is improved, meanwhile, a measurer is prevented from inhaling harmful gas, the health of the measurer is protected, and multiple purposes are achieved at one stroke.

Description

Technical Field

[0001] The present disclosure relates to the field of surveying and mapping technology, and in particular to an integrated device for image control point placement and coordinate acquisition and an acquisition method thereof. Background Art

[0002] At present, in surveying and mapping operations, the layout of image control points and the acquisition of coordinates are two relatively independent steps. Usually, manual spray painting is required to complete the layout of image control points, and then handheld RTK is used to collect the coordinates of image control points. The traditional method has the problems of surveyors easily inhaling harmful gases when spraying paint, which is harmful to the health of surveyors. At the same time, the overall efficiency is low and the operation is complicated. Especially in high temperature outdoor environments, the difficulty and cost of the operation are significantly increased. Summary of the invention

[0003] The present disclosure provides an integrated device for image control point placement and coordinate acquisition and an acquisition method thereof to solve one of the technical problems recognized by the inventor.

[0004] The present disclosure provides an integrated device for image control point layout and coordinate collection and a collection method thereof, comprising a base, a control panel is arranged on the surface of the base, a first GNSS receiver and a second GNSS receiver are fixedly connected to the surface of the base, a laser rangefinder is fixedly connected to the side of the base, a spray painting mechanism is embedded in the interior of the base, a spray painting board is arranged below the spray painting mechanism, and a lifting mechanism for driving the spray painting board to rise and fall is arranged at the bottom of the base.

[0005] Preferably, the spray painting mechanism includes a paint box, a paint pump and a diverter, the paint box is fixedly connected to the bottom of the base, the diverter is fixedly connected to the bottom of the paint box, the input end of the paint pump is connected to the paint box through a pipeline, the output end of the paint pump is connected to the input end of the diverter, a plurality of paint spray holes are opened at the bottom of the diverter, and a spray head is fixedly connected to the paint spray holes.

[0006] Preferably, the lifting mechanism includes a guide groove fixedly connected to the bottom of the base, a lifting plate movably connected in the guide groove, a slot fixedly connected to the bottom of the lifting plate, the inkjet printing plate is embedded in the slot, a lead screw stepper motor is fixedly connected to the bottom of the base, a lead screw nut is threadedly connected to the output end of the lead screw stepper motor, a strip hole is provided on one side of the guide groove close to the lead screw stepper motor, a connecting plate is fixedly connected to the side of the lifting plate, the connecting plate passes through the strip hole and is fixedly connected to the lead screw nut.

[0007] Preferably, a pressure sensor is embedded in the bottom of the lifting plate.

[0008] Preferably, a touch screen is embedded in the surface of the control panel, a control circuit board is arranged inside the control panel, and the control circuit board integrates a computing module, a storage module and a communication module.

[0009] Preferably, a connecting column is rotatably connected to the surface of the base, a mounting bracket is hinged on the top of the connecting column, a control panel is fixedly connected to the mounting bracket, and casters are fixedly connected around the bottom of the base.

[0010] A method for arranging image control points and acquiring coordinates comprises the following steps:

[0011] S1. Move the integrated equipment to the designated location;

[0012] S2. Spray the image control point mark at the designated position through the integrated device;

[0013] S3, collecting receiver phase center coordinates through the first GNSS receiver and the second GNSS receiver on the integrated device;

[0014] S4, measuring the vertical heights of the first GNSS receiver and the second GNSS receiver relative to the ground by a laser rangefinder;

[0015] S5. Calculate the image control point coordinates using the image control point coordinate algorithm built into the control panel;

[0016] S6, calculating the coordinates of points GT1 and GT2 projected onto the ground by the first GNSS receiver and the second GNSS receiver along the vertical direction of the ground;

[0017] S7, calculating the elevation of the image control point P;

[0018] S8, calculating the plane coordinates of the image control point P;

[0019] S9. Store the collected data and calculated data and send them to the back-end processing system.

[0020] Preferably, the calculation formula for the coordinates of GT1 and GT2 in step S6 is:

[0021]

[0022] In the formula, α and β are the attitude angles of the receiver IMU, and L is the vertical height of the receiver relative to the ground measured by the laser rangefinder. is the receiver phase center coordinate, where i=1 or 2.

[0023] Preferably, the calculation formula for the elevation of the image control point P in step 7 is:

[0024] S22=S21·cosδ

[0025]

[0026] In the formula, S1 is the slant distance from GT1 to point P, δ is the angle between line GT1-GT2 and line GT1-P, S is the slant distance from GT1 to GT2, and S2 is the projection of S1 on line GT1-GT2.

[0027] Preferably, the plane coordinate calculation formula of the image control point P in step S8 is:

[0028]

[0029]

[0030]

[0031] In the formula, is the coordinate increment from GT1 to GT2, is the coordinate azimuth from GT1 to GT2, is the coordinate azimuth from GT1 to P, is the horizontal distance from GT1 to P, x P ,y P is the coordinate of point P.

[0032] The beneficial effects of the present disclosure are mainly as follows: the present invention integrates the inkjet printing mechanism and the measuring device into an integrated device, performs measuring operations while inkjet printing, and adopts a closed inkjet printing structure, which improves the overall efficiency while preventing the surveyor from inhaling harmful gases and protecting the health of the surveyor, achieving multiple goals at one stroke.

[0033] It should be understood that both the foregoing general description and the following specific embodiments are for the purpose of example and illustration and do not necessarily limit the present disclosure. The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate the subject matter of the present disclosure. At the same time, the specification and the drawings are used to explain the principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the integrated device according to an embodiment of the present disclosure;

[0036] Figure 2 A cross-sectional view of the internal structure of the base according to an embodiment of the present disclosure;

[0037] Figure 3 A schematic diagram of the positions of the first GNSS receiver and the second GNSS receiver and the ground according to an embodiment of the present disclosure;

[0038] Figure 4 Schematic diagram of the relative position relationship between the receiver phase center projection point and the image control point P in an embodiment of the present disclosure;

[0039] Icons: 1-base; 11-castors; 2-control panel; 21-connecting column; 22-mounting bracket; 3-first GNSS receiver; 4-second GNSS receiver; 5-laser rangefinder; 61-paint box; 62-paint pump; 63-diverter; 64-spray head; 71-guide groove; 72-lifting plate; 73-slot; 74-screw stepper motor; 75-screw nut; 76-connecting plate; 8-spraying board. DETAILED DESCRIPTION

[0040] The technical solution of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0041] Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present disclosure.

[0042] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0044] Example

[0045] like Figure 1-4As shown, the present embodiment provides an integrated device for image control point layout and coordinate collection and a collection method thereof, comprising a base 1, a control panel 2 is installed on the surface of the base 1, a first GNSS receiver 3 and a second GNSS receiver 4 are fixedly connected by bolts on the surface of the base 1, the first GNSS receiver 3 and the second GNSS receiver 4 are respectively arranged at two diagonal positions of the base 1, a laser rangefinder 5 is arranged on the side of the base 1, the height of the laser rangefinder 5 is the same as that of the first GNSS receiver 3 and the second GNSS receiver 4, a spray painting mechanism is arranged inside the base 1, a spray painting plate 8 is arranged below the spray painting mechanism, a hollow is arranged on the spray painting plate 8, and the shape of the hollow is the same as the shape of the image control point mark to be sprayed, a lifting mechanism for driving the spray painting plate 8 to lift and lower is arranged at the bottom of the base 1, and casters 11 are fixedly installed around the bottom of the base 1 to facilitate the movement of the equipment. In this embodiment, the surveyor moves the equipment to the designated position to be surveyed and operates through the control panel 2. The image control point shape parameters (relative position relationship between the image control point and the receiver) are preset in the control panel 2. The image control point shape parameters are input in the control panel 2, and then the surveying operation is started. The surveying board is driven downward to a position close to the ground by the lifting mechanism, and the printing mechanism performs printing. At the same time, the first GNSS receiver 3 and the second GNSS receiver 4 collect the phase center coordinates of the receiver, and the laser rangefinder 5 measures the height data of the receiver from the ground. According to the collected data information, the image control point coordinates are calculated by the algorithm preset in the control panel 2.

[0046] Specifically, the spray painting mechanism includes a paint box 61, a paint pump 62 and a diverter 63, wherein the paint box 61 is fixedly connected to the bottom of the base 1, and the diverter 63 is fixedly connected to the bottom of the paint box 61. The input end of the paint pump 62 is connected to the paint box 61 through a pipeline, and the output end of the paint pump 62 is connected to the input end of the diverter 63. The bottom of the diverter 63 is provided with a plurality of paint spraying holes, and the paint spraying holes are fixedly connected with a nozzle 64. In this embodiment, the paint box 61 is filled with paint, and the paint in the paint box 61 is transported to the diverter 63 by the paint pump 62, and sprayed out through the nozzle 64 at the bottom of the diverter 63, and the paint passes through the hollow position of the spray painting board 8 below to complete the spray painting operation.

[0047] Specifically, the lifting mechanism includes a guide groove 71 fixedly connected to the bottom of the base 1, and the guide groove 71 is arranged around the inkjet printing mechanism. A lifting plate 72 is movably connected in the guide groove 71, and a slot 73 is fixedly connected to the bottom of the lifting plate 72. One end of the slot 73 is open, and the inkjet printing plate 8 is embedded in the slot 73. The inkjet printing plate 8 can be replaced according to the image control logo pattern. A lead screw stepper motor 74 is fixedly connected to the bottom of the base 1, and a lead screw nut 75 is threadedly connected to the output end of the lead screw stepper motor 74. A strip hole is opened on the side of the guide groove 71 close to the lead screw stepper motor 74, and a connecting plate 76 is fixedly connected to the side of the lifting plate 72. The connecting plate 76 passes through the strip hole and is fixedly connected to the lead screw nut 75. During printing, the screw stepper motor 74 first drives the screw nut 75 to move downward, driving the lifting plate 72 and the printing plate 8 to move downward. When the printing plate 8 moves to the ground, the screw stepper motor 74 stops working, and the printing mechanism can be used for printing. After the printing is completed, the screw stepper motor 74 reverses to drive the printing plate 8 to reset. In addition, the lifting plate 72 and the printing plate 8 surround the printing mechanism to perform a closed printing operation, thereby preventing the surveyor from inhaling harmful gases and protecting the health of the surveyor.

[0048] Furthermore, a pressure sensor is embedded in the bottom of the lifting plate 72. When the lifting plate 72 contacts the ground, the pressure sensor detects the pressure, and the screw stepper motor 74 stops working at this time to avoid damage caused by collision between the lifting plate 72 and the ground.

[0049] Specifically, a touch screen is embedded on the surface of the control panel 2, and a control circuit board is arranged inside the control panel 2, and the control circuit board integrates a computing module, a storage module and a communication module. Through the touch screen, the surveyor can intuitively observe and input parameters, the computing module is provided with an algorithm for calculating the coordinates of the image control points, the storage module is used to store the image control identification data, etc., and the communication module is a wireless communication module in the prior art, which is used to send the measured data to the back-end processor for the convenience of observation by the back-end personnel.

[0050] Specifically, a connecting column 21 is rotatably connected to the surface of the base 1, a mounting bracket 22 is hinged at the top of the connecting column 21, and a control panel 2 is fixedly connected to the mounting bracket 22. The control panel 2 is installed through the connecting column 21 and the mounting bracket 22, and the surveyor can rotate the connecting column 21 or flip the mounting bracket 22 according to the needs to adjust the position of the control panel 2 for easy operation.

[0051] A method for arranging image control points and acquiring coordinates comprises the following steps:

[0052] S1. Move the integrated equipment to the designated location;

[0053] S2. Use the integrated device to spray the image control point mark at the specified position;

[0054] S3, collecting receiver phase center coordinates through the first GNSS receiver 3 and the second GNSS receiver 4 on the integrated device;

[0055] S4, measuring the vertical heights of the first GNSS receiver 3 and the second GNSS receiver 4 relative to the ground by using the laser rangefinder 5;

[0056] S5, calculating the image control point coordinates by using the image control point coordinate algorithm built into the control panel 2;

[0057] S6, calculating the coordinates of the points GT1 and GT2 projected onto the ground by the first GNSS receiver 3 and the second GNSS receiver 4 along the vertical direction of the ground;

[0058] S7, calculating the elevation of the image control point P;

[0059] S8, calculating the plane coordinates of the image control point P;

[0060] S9. Store the collected data and calculated data and send them to the back-end processing system.

[0061] In this embodiment, the surveyor moves the integrated device to the specified position, and then inputs the image control identification pattern on the control panel 2, and the integrated device automatically completes the operations of printing, measuring data and calculating coordinates. The specific calculation method is as follows:

[0062] First, the coordinates of the points GT1 and GT2 projected from the first GNSS receiver 3 and the second GNSS receiver 4 along the vertical direction of the ground are calculated. The calculation formula is:

[0063]

[0064] In the formula, α and β are the attitude angles of the receiver IMU, and L is the vertical height of the receiver relative to the ground measured by the laser rangefinder 5. is the receiver phase center coordinate, where i = 1 or 2, such as Figure 3 As shown, Figure 3 Schematic diagram of the positions of the first GNSS receiver 3, the second GNSS receiver 4 and the ground.

[0065] Second, calculate the elevation of the image control point P; the calculation formula is:

[0066] S22S1·cosδ

[0067]

[0068] In the formula, S1 is the slope distance from GT1 to point P, δ is the angle between line GT1-GT2 and line GT1-P, S is the slope distance from GT1 to GT2, and S2 is the projection of S1 on line GT1-GT2. All of them are known parameters of the equipment, such as Figure 4 As shown, Figure 4 It is a schematic diagram of the relative position relationship between the receiver phase center projection point and the image control point P.

[0069] Third, calculate the plane coordinates of the image control point P; the calculation formula is:

[0070]

[0071]

[0072]

[0073] In the formula, is the coordinate increment from GT1 to GT2, is the coordinate azimuth from GT1 to GT2, is the coordinate azimuth from GT1 to P, is the horizontal distance from GT1 to P, x P ,y P is the coordinate of point P.

[0074] After the coordinates of the image control point P are calculated, the data is stored through the storage module, and the information is sent to the back-end processor in a timely manner through the communication module.

[0075] Working principle of the present invention: The present invention integrates the inkjet printing mechanism and the first GNSS receiver 3 for measuring coordinates, the second GNSS receiver 4 and the laser rangefinder 5 into an integrated device. The surveyor moves the device to the designated position to be surveyed and operated through the control panel 2. The image control point shape parameters (relative position relationship between the image control point and the receiver) are preset in the control panel 2. The image control point shape parameters are input in the control panel 2, and then the surveying operation is started. When spraying, the screw nut 75 is first driven downward by the screw stepper motor 74 to drive the lifting plate 72 and the inkjet printing plate 8 to move downward. When the inkjet printing plate 8 moves to the ground, the screw stepper motor 74 stops working. At this time, the inkjet printing operation can be performed through the inkjet printing mechanism. After the inkjet printing is completed, the screw stepper motor 74 reverses to drive the inkjet printing plate 8 to reset. In addition, the inkjet printing mechanism is surrounded by the lifting plate 72 and the inkjet printing plate 8 to perform a closed inkjet printing operation to prevent the surveyor from inhaling harmful gases and protect the health of the surveyor. While printing, coordinate information is collected through the first GNSS receiver 3, the second GNSS receiver 4 and the laser rangefinder 5, and the coordinates of the image control point P are calculated through a specific algorithm, thereby completing the surveying and coordinate collection.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An integrated device for image control point layout and coordinate acquisition, characterized in that: The invention comprises a base, the surface of which is provided with a control panel, the surface of which is fixedly connected with a first GNSS receiver and a second GNSS receiver, the side of which is fixedly connected with a laser rangefinder, a spray painting mechanism is embedded in the interior of the base, a spray painting board is arranged below the spray painting mechanism, and a lifting mechanism for driving the spray painting board to rise and fall is arranged at the bottom of the base.

2. The integrated device for image control point placement and coordinate acquisition according to claim 1, characterized in that: The spray painting mechanism includes a paint box, a paint pump and a diverter. The paint box is fixedly connected to the bottom of the base, the diverter is fixedly connected to the bottom of the paint box, the input end of the paint pump is connected to the paint box through a pipeline, the output end of the paint pump is connected to the input end of the diverter, and a plurality of paint spray holes are opened at the bottom of the diverter, and the paint spray holes are fixedly connected to spray heads.

3. The integrated device for image control point placement and coordinate acquisition according to claim 1, characterized in that: The lifting mechanism includes a guide groove fixedly connected to the bottom of the base, a lifting plate movably connected in the guide groove, a slot fixedly connected to the bottom of the lifting plate, the inkjet printing plate is embedded in the slot, a lead screw stepper motor is fixedly connected to the bottom of the base, a lead screw nut is threadedly connected to the output end of the lead screw stepper motor, a strip hole is provided on one side of the guide groove close to the lead screw stepper motor, a connecting plate is fixedly connected to the side of the lifting plate, the connecting plate passes through the strip hole and is fixedly connected to the lead screw nut.

4. The integrated device for image control point placement and coordinate acquisition according to claim 3, characterized in that: A pressure sensor is embedded at the bottom of the lifting plate.

5. The integrated device for image control point placement and coordinate acquisition according to claim 1, characterized in that: A touch screen is embedded on the surface of the control panel, and a control circuit board is arranged inside the control panel. The control circuit board integrates a computing module, a storage module and a communication module.

6. The integrated device for image control point placement and coordinate acquisition according to claim 1, characterized in that: The surface of the base is rotatably connected with a connecting column, the top end of the connecting column is hinged with a mounting bracket, the mounting bracket is fixedly connected with a control panel, and casters are fixedly connected around the bottom of the base.

7. A method for arranging image control points and acquiring coordinates, comprising the integrated device according to claims 1-6, characterized in that: The following steps are involved: S1. Move the integrated equipment to the designated location; S2. Use the integrated device to spray the image control point mark at the specified position; S3, collecting receiver phase center coordinates through the first GNSS receiver and the second GNSS receiver on the integrated device; S4, measuring the vertical heights of the first GNSS receiver and the second GNSS receiver relative to the ground by a laser rangefinder; S5. Calculate the image control point coordinates using the image control point coordinate algorithm built into the control panel; S6, calculating the coordinates of points GT1 and GT2 projected onto the ground by the first GNSS receiver and the second GNSS receiver along the vertical direction of the ground; S7, calculating the elevation of the image control point P; S8, calculating the plane coordinates of the image control point P; S9. Store the collected data and calculated data and send them to the back-end processing system.

8. The method for arranging image control points and acquiring coordinates according to claim 7, characterized in that: The calculation formula of the coordinates of GT1 and GT2 in step S6 is: In the formula, α and β are the attitude angles of the receiver IMU, and L is the vertical height of the receiver relative to the ground measured by the laser rangefinder. is the receiver phase center coordinate, where i=1 or 2.

9. The method for arranging image control points and acquiring coordinates according to claim 7, characterized in that: The calculation formula for the elevation of the image control point P in step 7 is: S2=S1·cosδ In the formula, S1 is the slope distance from GT1 to point P, δ is the angle between line GT1-GT2 and line GT1-P, S is the slope distance from GT1 to GT2, and S2 is the length of the projection of S1 on line GT1-GT2.

10. The method for arranging image control points and acquiring coordinates according to claim 7, characterized in that: The plane coordinate calculation formula of the image control point P in step S8 is: In the formula, is the coordinate increment from GT1 to GT2, is the coordinate azimuth from GT1 to GT2, is the coordinate azimuth from GT1 to P, is the horizontal distance from GT1 to P, x P ,y P is the coordinate of point P.

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