Calibration dotting system and method
By adopting a high-precision and intelligent calibration and laying system in the road traffic marking construction, the problem of poor positioning accuracy is solved, and the high accuracy and efficiency of construction calibration is achieved, ensuring the quality and safety of road marking.
Patent Information
- Application Number
- CN202510284370.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-11
- Publication Date
- 2025-04-29
AI Technical Summary
In the construction of existing road traffic markings, the positioning accuracy is poor, especially in poor signal or remote areas, which affects construction quality and safety.
It adopts a high-precision and intelligent calibration and pointing system, including a host, pointing rod, positioning base station and mobile terminal. Through the RTK positioning module, horizontal calibration device, position transmission device and pointing transmission device, precise positioning, real-time transmission and dynamic correction are achieved.
It significantly improves the accuracy and efficiency of construction calibration, ensures the quality and safety of road markings, reduces errors caused by human factors, and improves construction response speed and flexibility.
Smart Images
Figure CN119900210A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of position marking, and in particular to a calibration dot marking system and method. Background Art
[0002] Road traffic markings refer to various markings drawn on the road surface to indicate the direction, position and restrictions of vehicle travel and help regulate traffic flow. Road traffic markings usually use lines, arrows, patterns, etc. of different colors and shapes to convey specific traffic information to improve road traffic safety and efficiency. The drawing of road traffic markings is completed by specialized road traffic marking drawing personnel or mechanical equipment.
[0003] During the road marking construction, dot positioning is required to obtain the path that needs to be marked. Then the dot positioning marks are drawn on the route map to draw the line. The existing positioning is generally carried out through the Internet or GPS. When the signal is poor or in remote areas, the positioning accuracy is poor, so new improvements need to be made to the existing positioning methods. Summary of the invention
[0004] To solve the above problems, the present invention uses the characteristics of high precision, high efficiency and intelligence, and is applied to the calibration and marking before road marking construction. It can not only improve the accuracy and efficiency of construction calibration, but also ensure the quality and safety of road marking. The calibration and marking system and method.
[0005] The technical solution adopted by the present invention is: a calibration dotting system, including a host, a dotting rod, a positioning base station and a mobile terminal; the host includes a positioning device, a horizontal calibration device, a position transmission device, a dotting transmission device and a power supply, the power supply is used to power the positioning device, the horizontal calibration device and the dotting transmission device, the positioning device is used to locate the current position of the host and obtain a positioning mark, one end of the dotting rod is connected to the host, the position transmission device is communicatively connected to the positioning base station, the dotting transmission device is communicatively connected to the mobile terminal and transmits the positioning mark to the mobile terminal, and the horizontal calibration device is used to calibrate the positioning mark.
[0006] A further improvement to the above solution is that a positioning drive element is provided on the host, and the positioning drive element is used to drive the positioning device to mark the current position to obtain a positioning mark.
[0007] A further improvement to the above solution is that the positioning device is an RTK positioning module, and the positioning base station is communicatively connected to the RTK positioning module via a position transmission device.
[0008] A further improvement to the above scheme is that the horizontal calibration device is a horizontal gyroscope, and when the dot rod is tilted, the positioning mark of the host is horizontally calibrated by the horizontal gyroscope.
[0009] A further improvement to the above scheme is that the horizontal calibration device includes a dual-axis inclination sensor and a gyroscope compensation unit, the inclination sensor is directly connected to the host control board through an SPI bus, and the compensation unit is provided with a Kalman filter processing chip, which automatically triggers the mechanical self-balancing mechanism when the dotting rod is tilted.
[0010] A further improvement to the above scheme is that the position transmission device is a dual-mode connection switching module, which can dynamically select radio station direct communication or 4G / 5G network communication for data transmission, and the position transmission device is connected to the positioning base station communication via radio station direct communication or 4G / 5G network communication.
[0011] A further improvement to the above solution is that the dot transmission device is a Bluetooth transmission module or a WIFI transmission module to maintain connection with the mobile terminal.
[0012] A further improvement to the above scheme is that the dotting rod includes a hand-held portion and a telescopic portion, one end of the telescopic portion is telescopically arranged on the hand-held portion, the telescopic portion is composed of a plurality of telescopic rods that are telescopic to each other, and a tip portion is arranged at the end of the telescopic portion.
[0013] A further improvement to the above solution is that a mounting bracket is provided on a side of the handheld portion close to the telescopic portion, and a level is provided on the mounting bracket.
[0014] A calibration dot method, comprising the calibration dot system, comprises the following steps: Step S1. Deployment of positioning base station network and establishment of differential positioning reference network; Step S2. The mobile terminal loads the electronic map of the construction area and sets a sequence of calibration points; Step S3. Operate the dot rod to trigger positioning, press the physical switch of the dot rod to trigger the positioning signal, synchronously collect RTK positioning data and gyroscope attitude data, and activate the mechanical self-balancing mechanism to maintain the verticality error of the rod body; Step S4. Calculate the carrier phase double difference observation value to eliminate the common mode error, fuse the barometer altitude data to compensate for the altitude anomaly, and generate a calibration point coordinate data packet with a check code; Step S5. The mobile terminal receives the coordinates of the calibration point and automatically generates a navigation route; Step S6. Optimizing the curvature and connection points of the navigation path according to the terrain features; Step S7: During the calibration process, the path deviation is displayed in real time and dynamically corrected.
[0015] The beneficial effects of the present invention are: Compared with the existing marking construction dotting, the present invention realizes the intelligent construction calibration work through core components such as the host, dotting rod, positioning base station and mobile terminal. The built-in positioning device of the host can accurately obtain the current position information and form a positioning mark. The accuracy and efficiency of construction calibration are greatly improved, and the error caused by human factors is reduced. The horizontal calibration device can finely calibrate the positioning mark to ensure the horizontality of the dotting position, thereby avoiding the tilt or distortion that may occur during the marking construction. The system realizes the real-time transmission of the calibration position through the communication connection between the position transmission device and the positioning base station. It enables construction personnel to quickly obtain the calibration results, adjust the construction plan in time, and improve the construction response speed and flexibility. The communication connection between the dotting transmission device and the mobile terminal enables the positioning mark to be directly transmitted to the mobile terminal, which is convenient for construction personnel to record and analyze data. The present invention uses the characteristics of high precision, high efficiency and intelligence. The application of calibration dotting before road marking construction can not only improve the accuracy and efficiency of construction calibration, but also ensure the quality and safety of road marking.
[0016] The calibration dot method can greatly improve the positioning accuracy and ensure the accuracy of the calibration point by using the differential positioning reference network established by the positioning base station networking deployment. It effectively avoids the problem of line deviation caused by positioning error. The mobile terminal loads the electronic map of the construction area and sets the calibration point sequence, making the calibration work more intuitive and convenient. The operator can clearly see the overall picture of the construction area and flexibly set the calibration points according to actual needs, which improves the flexibility and adaptability of the calibration work. The dot rod triggers the positioning signal by pressing the physical switch, and synchronously collects RTK positioning data and gyroscope attitude data, which not only realizes rapid positioning, but also ensures that the rod body remains vertical, improving the accuracy of the calibration point. The activation of the mechanical self-balancing mechanism effectively reduces the impact of human operation on positioning accuracy. The common mode error is eliminated by solving the double difference observation value of the carrier phase, and the elevation anomaly is compensated by integrating the barometer altitude data to generate a calibration point coordinate data packet with a checksum. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a connection diagram of the calibration dot system of the present invention; Figure 2 for Figure 1 The structural diagram of the marking system; Figure 3 for Figure 1 A structural diagram of the central calibration and dotting system from another perspective; Figure 4 for Figure 1 Connection diagram of the calibration dot system.
[0018] Explanation of the accompanying drawings: main unit 1, positioning device 11, horizontal calibration device 12, position transmission device 13, dot transmission device 14, power supply 15, positioning drive element 16, dot rod 2, hand-held part 21, telescopic part 22, tip part 221, mounting bracket 23, level 231, positioning base station 3, mobile terminal 4. DETAILED DESCRIPTION
[0019] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.
[0020] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figure 1~Figure 4As shown, in one embodiment of the present invention, a calibration and dotting system is involved, including a host 1, a dotting rod 2, a positioning base station 3 and a mobile terminal 4; the host 1 includes a positioning device 11, a horizontal calibration device 12, a position transmission device 13, a dotting transmission device 14 and a power supply 15, the power supply 15 is used to power the positioning device 11, the horizontal calibration device 12 and the dotting transmission device 14, the positioning device 11 is used to locate the current position of the host 1 and obtain the positioning mark, one end of the dotting rod 2 is connected to the host 1, the position transmission device 13 is connected to the positioning base station 3, the dotting transmission device 14 is connected to the mobile terminal 4, and transmits the positioning mark to the mobile terminal 4, and the horizontal calibration device 12 is used to calibrate the positioning mark. This embodiment realizes the intelligentization of construction calibration work through core components such as the host 1, the dotting rod 2, the positioning base station 3 and the mobile terminal 4. The positioning device 11 built into the host 1 can accurately obtain the current position information and form a positioning mark. The accuracy and efficiency of construction calibration are greatly improved, and the errors caused by human factors are reduced. The horizontal calibration device 12 can finely calibrate the positioning mark to ensure the horizontality of the dot position, thereby avoiding the tilt or distortion that may occur during the marking construction. The system realizes the real-time transmission of the calibrated position through the communication connection between the position transmission device 13 and the positioning base station 3. It enables construction personnel to quickly obtain the calibration results and adjust the construction plan in time, thereby improving the construction response speed and flexibility. The communication connection between the dot transmission device 14 and the mobile terminal 4 enables the positioning mark to be directly transmitted to the mobile terminal 4, which is convenient for construction personnel to record and analyze data. This embodiment uses the characteristics of high precision, high efficiency and intelligence. The application of calibration and dot marking before road marking construction can not only improve the accuracy and efficiency of construction calibration, but also ensure the quality and safety of road marking.
[0022] The host 1 is provided with a positioning drive element 16, which is used to drive the positioning device 11 to mark the current position to obtain a positioning mark. In this embodiment, the positioning drive element 16 configured on the host 1 can accurately drive the positioning device 11 to efficiently and accurately mark the current position, thereby quickly obtaining a positioning mark. The accuracy and efficiency of calibration and marking are improved. In practical applications, it can reduce the error of manual operation and ensure that the position of each calibration point is accurate. At the same time, the automated operation process also shortens the time required for calibration and marking, and improves the overall construction efficiency.
[0023] The positioning device 11 is an RTK positioning module, and the positioning base station 3 is connected to the RTK positioning module through a position transmission device 13. In this embodiment, the RTK positioning module can ensure the accuracy of the position information of the calibration point with its high precision and real-time characteristics, greatly improving the accuracy and efficiency of road marking construction. The stable communication between the positioning base station 3 and the RTK positioning module ensures the real-time transmission and processing of the position data, avoiding the calibration error caused by data transmission delay or error. Construction personnel can quickly complete the setting and measurement of the calibration point without complicated operating steps or additional auxiliary equipment. At the same time, the wide application and maturity of RTK positioning technology also ensure the reliability and stability of the solution in practical applications.
[0024] The horizontal calibration device 12 is a horizontal gyroscope. When the dotting rod 2 is tilted, the horizontal gyroscope is used to perform horizontal calibration on the positioning mark of the host 1. In this embodiment, by precisely detecting the tilt state of the dotting rod 2, the positioning mark of the host 1 can be horizontally calibrated in real time and accurately, ensuring that the dotting accuracy reaches an extremely high level. The horizontal gyroscope effectively avoids the influence of environmental factors on the calibration accuracy due to its high stability and anti-interference ability.
[0025] The horizontal calibration device 12 includes a dual-axis tilt sensor and a gyroscope compensation unit. The tilt sensor is directly connected to the host 1 control board via the SPI bus. The compensation unit is provided with a Kalman filter processing chip, which automatically triggers the mechanical self-balancing mechanism when the dotting rod 2 is tilted. In this embodiment, the posture change of the dotting rod 2 can be accurately sensed through the integrated dual-axis tilt sensor, and high-speed data transmission is achieved with the host 1 control board using the SPI bus to ensure the real-time and accuracy of the data. The Kalman filter processing chip built into the gyroscope compensation unit effectively integrates the data of the gyroscope and the tilt sensor, further improving the stability and anti-interference ability of the system. When the dotting rod 2 tilts, the device can quickly identify and automatically trigger the mechanical self-balancing mechanism, adjust the dotting position in time, and ensure the accuracy and consistency of the calibration.
[0026] The position transmission device 13 is a dual-mode connection switching module, which can dynamically select radio station direct communication or 4G / 5G network communication for data transmission. The position transmission device 13 is connected to the positioning base station 3 through radio station direct communication or 4G / 5G network communication. This embodiment can dynamically select radio station direct communication or 4G / 5G network communication for data transmission according to actual environmental conditions and needs. At the construction site, if there is poor network coverage or signal interference, the system can automatically switch to radio station direct communication to ensure the stability and reliability of data transmission. On the contrary, in areas with good network environment, faster and more convenient data interaction can be achieved through 4G / 5G network communication. It not only simplifies the communication steps in the calibration and marking process, but also greatly improves the real-time and accuracy of data transmission. For road marking construction, this means that the marking position can be determined more accurately, construction errors can be reduced, and project quality can be improved.
[0027] The dotting transmission device 14 is a Bluetooth transmission module or a WIFI transmission module to maintain connection with the mobile terminal 4. In this embodiment, the dotting transmission device 14 is allowed to establish a stable connection with the mobile terminal 4 to achieve real-time data synchronization and remote control. At the construction site, operators can flexibly use mobile devices to receive dotting information, adjust construction parameters in real time, and ensure that the marking position is accurate. The Bluetooth transmission module is suitable for calibration operations in small, closed or complex environments due to its low power consumption and short-distance efficient communication characteristics. The WIFI transmission module, with its long-distance and high-speed data transmission capabilities, is more suitable for open areas or large-scale construction projects that require multi-device collaboration.
[0028] The dotting rod 2 includes a handheld portion 21 and a telescopic portion 22, one end of the telescopic portion 22 is telescopically arranged on the handheld portion 21, the telescopic portion 22 is composed of a plurality of telescopic rods that are telescopic to each other, and a tip portion 221 is arranged at the end of the telescopic portion 22. Specifically, a mounting bracket 23 is arranged on the side of the handheld portion 21 close to the telescopic portion 22, and a level 231 is arranged on the mounting bracket 23. In this embodiment, the handheld portion 21 of the dotting rod 2 is designed to facilitate the construction personnel to hold it stably, ensuring the accuracy of the operation. The telescopic portion 22 is composed of a plurality of telescopic rods that are telescopic to each other, and the length can be flexibly adjusted to meet the needs of different road marking operations, greatly improving the work efficiency. The tip portion 221 arranged at the end of the telescopic portion 22 makes the dotting more accurate, and can easily penetrate the ground, leaving a clear marking point, providing a reliable reference for subsequent marking. At the same time, a level meter 231 is integrated on the mounting bracket 23 arranged on the side of the handheld part 21 close to the telescopic part 22. This design enables construction workers to observe the horizontal state in real time during the marking process to ensure the accuracy and consistency of the marking position.
[0029] A method for calibration and marking, including the calibration and marking system, comprises the following steps: step S1. 3 positioning base stations are networked and deployed to establish a differential positioning reference network; step S2. 4 mobile terminal loads the electronic map of the construction area and sets the sequence of calibration points; step S3. 2 operating the marking rod 2 to trigger positioning, pressing the physical switch of the marking rod 2 to trigger the positioning signal, synchronously collecting RTK positioning data and gyroscope attitude data, activating the mechanical self-balancing mechanism to maintain the verticality error of the rod body; step S4. solving the double difference observation value of the carrier phase to eliminate the common mode error, integrating the barometer height data to compensate for the elevation anomaly, and generating a calibration point coordinate data packet with a check code; step S5. 4 mobile terminal receives the calibration point coordinates and automatically generates a navigation route; step S6. Optimize the curvature and connection points of the navigation path according to the terrain features; step S7. Real-time display of the path deviation and dynamic correction during the calibration process. In this embodiment, the differential positioning reference network established by the network deployment of the positioning base station 3 can greatly improve the positioning accuracy and ensure that the position of the calibration point is accurate. The problem of line deviation caused by positioning error is effectively avoided. The mobile terminal 4 loads the electronic map of the construction area and sets the sequence of calibration points, making the calibration work more intuitive and convenient. The operator can clearly see the overall picture of the construction area and flexibly set the calibration points according to actual needs, which improves the flexibility and adaptability of the calibration work. The dot rod 2 triggers the positioning signal by pressing the physical switch, and synchronously collects RTK positioning data and gyroscope attitude data, which not only achieves rapid positioning, but also ensures that the rod body remains vertical, thereby improving the accuracy of the calibration points. The activation of the mechanical self-balancing mechanism effectively reduces the impact of human operation on positioning accuracy. The common mode error is also eliminated by solving the double difference observation value of the carrier phase, and the barometer altitude data is integrated to compensate for the elevation anomaly, generating a calibration point coordinate data packet with a checksum.
[0030] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.
Claims
1. A calibration dot system, characterized in that: It includes a host, a dotting rod, a positioning base station and a mobile terminal; the host includes a positioning device, a horizontal calibration device, a position transmission device, a dotting transmission device and a power supply, the power supply is used to power the positioning device, the horizontal calibration device and the dotting transmission device, the positioning device is used to locate the current position of the host and obtain a positioning mark, one end of the dotting rod is connected to the host, the position transmission device is communicatively connected to the positioning base station, the dotting transmission device is communicatively connected to the mobile terminal and transmits the positioning mark to the mobile terminal, and the horizontal calibration device is used to calibrate the positioning mark.
2. The marking system according to claim 1, characterized in that: The host is provided with a positioning drive element, and the positioning drive element is used to drive the positioning device to mark the current position to obtain a positioning mark.
3. The marking system according to claim 1, characterized in that: The positioning device is an RTK positioning module, and the positioning base station is communicatively connected with the RTK positioning module via a position transmission device.
4. The marking system according to claim 1, characterized in that: The horizontal calibration device is a horizontal gyroscope. When the dot rod is tilted, the positioning mark of the host is horizontally calibrated through the horizontal gyroscope.
5. The marking dot system according to claim 1, characterized in that: The horizontal calibration device includes a dual-axis tilt sensor and a gyroscope compensation unit. The tilt sensor is directly connected to the host control board through an SPI bus. The compensation unit is provided with a Kalman filter processing chip, which automatically triggers a mechanical self-balancing mechanism when the dotting rod is tilted.
6. The marking dot system according to claim 1, characterized in that: The position transmission device is a dual-mode connection switching module, which can dynamically select wireless radio station direct communication or 4G / 5G network communication for data transmission. The position transmission device is connected to the positioning base station through wireless radio station direct communication or 4G / 5G network communication.
7. The marking dot system according to claim 1, characterized in that: The dot transmission device is a Bluetooth transmission module or a WIFI transmission module to maintain connection with the mobile terminal.
8. The marking dot system according to claim 1, characterized in that: The dotting rod comprises a hand-held portion and a telescopic portion, one end of the telescopic portion is telescopically arranged on the hand-held portion, the telescopic portion is composed of a plurality of telescopic rods that are telescopic to each other, and a tip portion is arranged at the end of the telescopic portion.
9. The marking dot system according to claim 8, characterized in that: A mounting bracket is arranged on one side of the hand-held part close to the telescopic part, and a level is arranged on the mounting bracket.
10. A calibration dot method, characterized in that: The method comprises the following steps: Step S1. Deployment of positioning base station network and establishment of differential positioning reference network; Step S2. The mobile terminal loads the electronic map of the construction area and sets a sequence of calibration points; Step S3. Operate the dot rod to trigger positioning, press the physical switch of the dot rod to trigger the positioning signal, synchronously collect RTK positioning data and gyroscope attitude data, and activate the mechanical self-balancing mechanism to maintain the verticality error of the rod body; Step S4. Calculate the carrier phase double difference observation value to eliminate the common mode error, fuse the barometer altitude data to compensate for the altitude anomaly, and generate a calibration point coordinate data packet with a check code; Step S5. The mobile terminal receives the coordinates of the calibration point and automatically generates a navigation route; Step S6. Optimizing the curvature and connection points of the navigation path according to the terrain features; Step S7: During the calibration process, the path deviation is displayed in real time and dynamically corrected.