Total station prism capable of being automatically adjusted based on image recognition and use method of total station prism

Abstract

The invention relates to the field of total station prism automatic adjustment, and discloses a total station prism capable of being automatically adjusted based on image recognition and a use method thereof, and the method comprises the following steps: installing the total station prism and initializing, calibrating the total station prism through multi-module linkage, analyzing the initialization condition of the total station prism and feeding back; after initialization is completed, a scene image and a depth image of the wall surface are obtained through an image acquisition module, a wall surface plane equation is obtained through combined analysis, and a wall surface geometric model is established; carrying out reflecting surface orthogonalization on the total station prism, and carrying out measurement pretreatment according to the type of the wall surface; measuring the wall surface after the measurement pretreatment is completed, dynamically correcting a prism constant of the total station through environmental parameters to obtain a prism correction constant, and measuring to obtain wall surface measurement data; and carrying out fine processing on the wall surface measurement data, fusing the wall surface measurement data and removing deviation data, and optimizing and generating a report based on the removed wall surface measurement data.

Description

Technical Field

[0001] The invention relates to the technical field of automatic adjustment of a total station prism, and in particular to a total station prism capable of automatic adjustment based on image recognition and a use method thereof. Background Art

[0002] In the completion survey, the coordinates of the corner points of the building are often measured and set. The measurement accuracy of the total station is relatively high, stable and reliable. The total station and the prism are respectively set up directly above the two points, that is, the measurement reference axis passes through the measurement point and is perpendicular to the horizontal plane. The measurement reference axis is a virtual axis. For the prism equipment in the prior art, it is generally calibrated with the axis of the centering rod, that is, the centering rod is set at the measurement point and the centering rod is made vertical. The total station sends a laser signal to the prism and receives the reflected signal from the prism, thereby measuring the distance between the total station and the prism surface. The distance between the prism reflection surface and the measurement reference axis of the prism is the prism constant. According to the distance and the prism constant, the distance between the two points can be determined;

[0003] In the prior art, since the prism itself has a certain thickness and width, when measuring a wall or a corner, even if the prism is placed close to the wall or the corner, the measurement reference axis of the prism cannot be made close to the wall or the corner. In this case, the distance data measured by the total station is actually the distance between the total station and the measurement reference axis of the prism, and there is still a certain error value between the actual distance to be measured between the total station and the wall or the corner. The prism constant obtained by measuring the distance between the prism reflection surface and the measurement reference axis of the prism cannot effectively compensate for the measurement error caused by different types of walls or corners. It is necessary to dynamically correct the prism constants under different types of walls or corners in combination with environmental parameters to ensure the accuracy of the measurement results, automatically compare the deviation between the wall measurement data and the design drawing data, eliminate the identified abnormal wall measurement data, and optimize the generated report to ensure the authenticity and accuracy of the measurement results. Therefore, it is necessary to provide a total station prism that can be automatically adjusted based on image recognition and a method for using the same. Summary of the invention

[0004] The object of the present invention is to provide a total station prism that can be automatically adjusted based on image recognition and a method for using the same. In order to solve the above-mentioned prior art problems, the present invention is implemented through the following technical solutions:

[0005] In a first aspect, the present invention provides a total station prism that can be automatically adjusted based on image recognition and a method for using the same, comprising the following steps:

[0006] Install the total station prism and initialize it, calibrate the total station prism through multi-module linkage, analyze the initialization of the total station prism and provide feedback;

[0007] After initialization, the scene image and depth image of the wall are obtained through the image acquisition module, and the plane equation of the wall is obtained by combined analysis, and the wall geometric model is established;

[0008] Based on the wall geometry model, the reflection surface of the total station prism is orthogonalized, and measurement preprocessing is performed according to the type of wall;

[0009] After the measurement preprocessing is completed, the wall surface is measured, and the prism constant of the total station is dynamically corrected by the environmental parameters to obtain the prism correction constant and measure the wall surface measurement data;

[0010] The wall measurement data is processed in a refined manner, the wall measurement data is integrated and the deviated data is eliminated, and a report is generated based on the optimized wall measurement data after elimination.

[0011] In a second aspect, the present invention provides a total station prism operating system that can be automatically adjusted based on image recognition, comprising the following modules:

[0012] Initialization module: Sends initialization signal, the microprocessor self-checks each component, connects to the total station to establish a data transmission channel;

[0013] Intelligent calibration module: The piezoelectric ceramic damper at the bottom of the middle pole suppresses external vibration and uses the inverse piezoelectric effect to offset vibration, the image acquisition module white balance calibration, the motor drive system self-checks, and loads the zero reset parameters;

[0014] Image acquisition module: collects scene images and depth images of the measured wall for verification and calibration;

[0015] Feature analysis module: performs edge detection based on the acquired scene images, and uses detection algorithms to locate corner points;

[0016] Measurement preprocessing module: obtain the initial inclination angle, establish an angle compensation function to adjust the prism angle to the target angle, realize the orthogonality of the reflection surface, set different rotation angles according to the wall angle type, and optimize the stress distribution of the L-shaped connector through finite element analysis;

[0017] Measurement correction module: measure the wall surface, dynamically correct the prism constant of the total station through environmental parameters to obtain the prism correction constant and measure the wall surface measurement data;

[0018] Analysis and generation module: refine the wall measurement data, fuse the wall measurement data and eliminate the deviated data, and generate a report based on the optimized wall measurement data after elimination.

[0019] Beneficial effects of the present invention:

[0020] 1. The upper prism assembly, the middle connection assembly and the centering rod assembly can be disassembled and combined, which is convenient for carrying and adapting to different measurement scenarios. Through the L-shaped connection assembly and the rotatable connection piece, the prism can be embedded in the inner and outer corners of the room angle, breaking through the limitation that the traditional prism is only applicable to the plane and reducing the measurement error in complex environments; the positive and negative piezoelectric effects are used to monitor and offset vibration in real time. Compared with the passive vibration reduction of the traditional counterweight, the active compensation of dynamic interference significantly improves the measurement stability, analyzes the vibration energy, accurately matches the reverse force, and optimizes the vibration reduction effect;

[0021] 2. Combine visible light images and depth images to achieve multi-dimensional analysis of wall geometric features, provide edge contours, locate key points, fit the wall plane equation, and complementarily improve model accuracy; dynamically adjust the total station prism posture through the angle compensation function to ensure that the reflective surface is orthogonal to the wall, formulate differentiated strategies for positive angles, negative angles and non-standard angles, and optimize the mechanical stability of L-shaped connectors in combination with FEA; calculate the impact of temperature on the total station prism constant in real time according to temperature changes, so as to compensate for it. Through comprehensive calculation and analysis of the three parts, the corrected total station prism constant is obtained , used for distance measurement, improving the accuracy and reliability of measurement;

[0022] 3. By dynamically adjusting the time series weights, giving priority to the timeliness of recent data, avoiding errors caused by data time series, automatically identifying and eliminating outliers based on the standard deviation calculation of the weighted average, triggering the re-measurement mechanism, and achieving accurate data positioning and traceability through attribute labels, automatically comparing measured values ​​with design values, and automatically marking and feedbacking out-of-limit areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a flowchart of a total station prism that can be automatically adjusted based on image recognition and a method of using the same, provided in Embodiment 1 of the present invention;

[0025] Figure 2 It is a structural schematic diagram of a total station prism operating system that can be automatically adjusted based on image recognition provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0027] Example 1

[0028] like Figure 1 As shown, an embodiment of the present invention provides a total station prism that can be automatically adjusted based on image recognition and a method for using the same, which specifically includes the following steps:

[0029] Step 1: Install the total station prism and initialize it, calibrate the total station prism through multi-module linkage, analyze the initialization of the total station prism and provide feedback;

[0030] First, the specific method of installing the total station prism and initializing it is:

[0031] Set up the total station and perform preliminary leveling to ensure that the total station is in a stable measurement state;

[0032] Install the total station prism on the centering rod through the lower assembly, and use the centering device of the centering rod to make the prism accurately located above the measuring point;

[0033] The total station prism includes: an upper prism assembly, a middle connection assembly and a centering rod assembly;

[0034] The upper prism assembly comprises: a prism and a prism bracket, the prism is rotatably connected to the top of the prism bracket, a prism bracket level is installed on the prism bracket, and a first fixed column is arranged at the bottom of the prism bracket;

[0035] The middle connecting assembly is an L-shaped connecting assembly, which is convenient for embedding into the inner and outer corners of the room angle. The bottom of the first fixed column is connected to the top of the second fixed column through a rotatable connecting piece. The rotatable connecting piece is used to realize the rotatable adjustment and fixation of the upper prism assembly above the middle connecting assembly. Conversion connecting rods are arranged on both sides of the second fixed column.

[0036] The centering rod assembly includes: a lower support assembly and a centering rod;

[0037] Turn on the total station, the image acquisition module on the total station prism, the microprocessor, the motor drive system, the electronic bubble sensor and the piezoelectric ceramic damper;

[0038] The total station sends an initialization signal to the total station prism, and the microprocessor performs self-checks on each component to ensure the normal operation of the equipment; searches and connects to the total station and establishes a data transmission channel;

[0039] Function 1: The upper prism assembly, the middle connection assembly and the centering rod assembly can be disassembled and combined, which is convenient for carrying and adapting to different measurement scenarios. Through the L-shaped connection assembly and the rotatable connection piece, the prism can be embedded in the inner and outer corners of the room angle, breaking through the limitation that traditional prisms are only applicable to planes, and reducing measurement errors in complex environments;

[0040] The second specific method of calibrating the total station prism through multi-module linkage is:

[0041] The piezoelectric ceramic damper is integrated at the bottom of the total station prism center pole to suppress external vibration;

[0042] Specifically, when external vibration occurs, the rod in the prism is affected by the vibration and produces displacement or acceleration changes. The piezoelectric ceramic material in the piezoelectric ceramic damper has a piezoelectric effect. When the piezoelectric ceramic is subjected to mechanical stress, its internal polarization state changes, thereby generating electric charges on the surface of the piezoelectric ceramic, converting the mechanical vibration signal into a vibration electrical signal.

[0043] The piezoelectric ceramic damper is connected to a control circuit, which receives the vibration electrical signal generated by the piezoelectric ceramic. , and perform band-pass filtering to eliminate environmental noise;

[0044] The control circuit determines the frequency and amplitude characteristics of the vibration based on the received vibration electrical signal after processing and analysis;

[0045] Specifically, the time domain signal of the vibration electrical signal Convert to frequency domain , extract the dominant vibration frequency and obtain the vibration energy through Parseval's theorem;

[0046] It should be noted that Parseval's theorem refers to Parseval's theorem, which shows that the energy of a function in the time domain is equal to the energy in the frequency domain, reflecting the idea of ​​energy conservation;

[0047] Based on the comparison between the obtained vibration energy and the preset vibration energy threshold, if the vibration energy is greater than or equal to the preset vibration energy threshold, the control circuit applies a reverse electrical signal to the piezoelectric ceramic;

[0048] It should be noted that due to the inverse piezoelectric effect of piezoelectric ceramics, when piezoelectric ceramics are acted upon by electrical signals, they will produce mechanical deformation in the opposite direction of the original vibration, thereby generating a reverse force;

[0049] The reverse force generated by the piezoelectric ceramic acts on the rod in the prism, counteracting the force generated by external vibration;

[0050] Exemplarily, external vibration causes the middle rod to move upward, and the reverse force generated by the piezoelectric ceramic damper causes the middle rod to move downward, thereby reducing or eliminating the vibration displacement of the middle rod;

[0051] Perform white balance calibration through the image acquisition module;

[0052] After the white balance calibration is completed, the motor drive system is started to perform a self-test to check the hardware status of the system, including: whether the power supply is stable, whether the sensor is working properly, and whether the motor winding is short-circuited or open-circuited;

[0053] If the self-check finds an abnormality, the system will sound an alarm and stop the reset operation, waiting for maintenance personnel to handle it;

[0054] Upon completion of the self-check procedure, the drive system loads the preset zero point reset related parameters, which include but are not limited to: reset speed, direction and preset error range;

[0055] It should be noted that the zero reset related parameters are set by professional technicians in the field of the present invention according to the type of motor, application scenario and control requirements;

[0056] Specifically, the system controls the motor to start running at a preset low speed to ensure smooth operation of the motor and confirm the zero reference signal;

[0057] Install a limit switch at the zero point. When the motor runs to the zero point, the limit switch is triggered. The limit switch sends a zero point reference signal to the drive system, indicating that it has reached the vicinity of the zero point.

[0058] Based on the obtained zero point reference signal, the motor reduces the speed based on the preset low speed to determine the position close to the zero point. The system adjusts the position of the motor according to the precise position data of the encoder.

[0059] By comparing the deviation between the current position and the zero position, the rotation angle of the motor is adjusted to make the motor stop at the zero position;

[0060] Based on the obtained zero position, the drive system records the encoder value and marks it as the zero position reference value;

[0061] Based on the completion of the calibration of the total station prism, a calibration completion signal is generated, indicating that the calibration reset is successful;

[0062] Function 2: Use the positive and negative piezoelectric effects to monitor and offset vibrations in real time. Compared with the passive vibration reduction of traditional counterweights, it actively compensates for dynamic interference, significantly improves measurement stability, analyzes vibration energy, accurately matches the reverse force, and optimizes the vibration reduction effect.

[0063] Step 2: After initialization, the scene image and depth image of the wall are obtained through the image acquisition module, the plane equation of the wall is obtained by combined analysis, and the wall geometric model is established;

[0064] First, the specific method of combining analysis to obtain the wall plane equation and establish the wall geometric model is:

[0065] Use a visible light camera to collect scene images, and the acquired image data will be used for edge detection and corner location;

[0066] Specifically, the Canny algorithm is used to perform edge detection on visible light images;

[0067] It should be noted that the Canny algorithm is a classic edge detection algorithm. It uses Gaussian filtering to smooth the image to reduce the influence of noise, calculates the gradient amplitude and direction of the image, applies non-maximum suppression to refine the edge, uses a double threshold algorithm to determine the true edge points and connect them into edge lines. Through the Canny algorithm, the edge information of objects in the image can be accurately extracted, providing a basis for subsequent analysis.

[0068] Use Harris corner detection algorithm to locate corners in visible light images; Harris corner detection detects corners based on the change of local grayscale of the image;

[0069] If at a certain pixel point, when the window moves in two perpendicular directions, the gray value changes greatly, then this pixel point is considered a corner point; if the gray value changes greatly in one direction and changes less in other directions, it is considered an edge point; if the gray value changes very little in all directions, it is considered a point in a flat area;

[0070] It should be noted that the Harris corner detection algorithm is a classic corner detection algorithm. It selects a small window around each pixel of the image and then observes the change of the gray value when the window moves in different directions. The accuracy of the algorithm reaches ±1 pixel, accurately determining the position of the corner points in the image. Corner points play an important role in subsequent image matching and feature extraction tasks.

[0071] For example, for a pixel in an image , the gray value change in the small window around the pixel is described by the following formula: ,in, Indicates that the window is The grayscale change energy after moving in the direction, It is a Gaussian function that assigns different weights to the pixels in the window. It means that the image is The gray value at The image is The gray value at ;

[0072] Through Perform Taylor expansion and simplification to obtain a matrix form: ,in, It means a The matrix is ​​called the autocorrelation matrix, and its elements are: ,in, and They are images exist and First-order partial derivatives in direction;

[0073] The ToF camera is used to obtain the depth image information of the wall and obtain 3D point cloud data with a resolution of 640×480. The ToF camera measures the time it takes for light to travel from the camera to the object and then back, and calculates the distance between the object and the camera, thereby obtaining the depth information of the scene.

[0074] Based on the acquired three-dimensional point cloud data, the local plane equation of the wall is constructed; by using fitting algorithms such as the least square method, the point cloud data acquired based on the depth image is processed, the parameters representing the wall plane are analyzed, and the wall plane equation is determined;

[0075] Based on the wall plane equation, get the wall normal vector and the horizontal reference vector By calculating the dot product of the two vectors, dividing by the product of their moduli, and then taking the inverse cosine, we can get the angle between the wall and the horizontal reference direction. ;

[0076] Calculate the wall angle The formula is ;

[0077] For example, the wall normal vector obtained by the point cloud fitting method is , the horizontal reference vector In the Y-axis direction of the total station coordinate system, the horizontal reference vector modulus is , calculate the normal vector Length of mold , substitute into calculate the wall angle The formula is , indicating that the wall is tilted relative to the horizontal reference direction ;

[0078] Based on the obtained wall plane equation and wall angle, a wall geometric model is established;

[0079] Specifically, the wall data in the design drawing is obtained to determine the wall boundary, the wall plane equation is input based on the 3D modeling interface, and the wall geometric model is generated based on the wall angle, the wall boundary and the wall plane equation;

[0080] Function 3: Combining visible light images and depth images to achieve multi-dimensional analysis of wall geometric features, provide edge contours, locate key points, fit wall plane equations, and complementarily improve model accuracy;

[0081] Step 3: Based on the wall geometry model, orthogonalize the reflection surface of the total station prism and perform measurement preprocessing according to the type of wall;

[0082] First, the specific method for orthogonalizing the reflection surface of the total station prism is:

[0083] Establish the angle compensation function, through the formula Get the angle compensation value ,in, It represents the initial inclination of the total station prism, which is measured in real time by the inertial measurement unit IMU. It represents the target angle determined by calculating the wall angle. It represents the mechanical hysteresis caused by temperature, which affects the angle of the total station prism;

[0084] It should be noted that the inertial measurement unit senses the posture changes of the total station prism in space and accurately obtains the initial tilt angle information of the prism through internal sensors such as accelerometers and gyroscopes;

[0085] Using a harmonic reduction stepper motor as the actuator, the angle compensation value is calculated After that, the control system sends an adjustment command to the harmonic reduction stepper motor to drive the total station prism to adjust the angle in the pitch direction, so that the total station prism reaches the target angle, thereby achieving the purpose of orthogonalization of the reflection surface;

[0086] The second specific method for measurement preprocessing according to the type of wall is:

[0087] Based on the orthogonalization of the reflection surface, when measuring the positive angle, in order to make the center of the total station prism accurately align with the diagonal of the wall corner, the rotation angle Set to , ensuring that the measurement light emitted by the total station is reflected along the ideal path, improving the accuracy of the measurement;

[0088] When measuring the internal angle, the total station prism is directly attached to the wall for measurement. Set to , so that the prism fits closely to the wall surface and obtains accurate wall measurement data;

[0089] When measuring non-standard angles, that is, the actual angle of the corner According to the principle of geometric symmetry, the rotation angle Set to , ensure that the prism is measured in a symmetrical and reasonable posture at non-standard angles, minimizing measurement errors;

[0090] The stress distribution of the L-shaped connector was optimized through finite element analysis (FEA). The L-shaped connector was divided into e units. The stress and strain of each unit were calculated and the mechanical properties of the entire structure were analyzed. After optimization, it was ensured that When the L-shaped connector has a maximum deformation of less than 0.01 mm, the total station prism can be Stability and measurement accuracy under high temperature and high pressure;

[0091] Function 4: Dynamically adjust the total station prism posture through the angle compensation function to ensure that the reflection surface is orthogonal to the wall, formulate differentiated strategies for positive angles, negative angles and non-standard angles, and optimize the mechanical stability of the L-shaped connector in combination with FEA;

[0092] Step 4: After the measurement preprocessing is completed, the wall is measured, and the prism constant of the total station is dynamically corrected by the environmental parameters to obtain the prism correction constant and measure the wall measurement data;

[0093] In step four:

[0094] First, the specific method for dynamically correcting the prism constant of the total station based on environmental parameters is:

[0095] The dynamic correction of the prism constant K adopts the correction formula Get the corrected prism correction constant ,in, is the preset initial constant of the total station prism, Indicates the target angle The secant function of is the geometric projection correction value, which is due to the prism angle The change in the light path in the prism changes, thus affecting the measured distance. and The product of , obtains the geometric projection correction value of the total station prism constant caused by the geometric projection change; is the temperature compensation term, is the influence coefficient of temperature on the total station prism constant, is the current ambient temperature, is the reference temperature;

[0096] Based on the calculated prism correction constant Add the original distance measured by the total station to obtain the wall measurement data;

[0097] Function 5: According to the temperature change, the influence of temperature on the total station prism constant is calculated in real time, so as to compensate for it. Through the comprehensive calculation and analysis of the three parts, the corrected total station prism constant is obtained. , used for distance measurement, improving the accuracy and reliability of measurement;

[0098] Step 5: Refine the wall measurement data, fuse the wall measurement data and eliminate the deviated data, and generate a report based on the optimized wall measurement data after elimination;

[0099] In step five:

[0100] First, the specific method for fine processing of wall measurement data is as follows:

[0101] The weighted average method is used to process the P consecutive measurement values, and different weight coefficients are assigned to the P measurement values ​​according to the time series;

[0102] It should be noted that the measured values ​​with later measurement time reflect the current actual situation and are true and valid, so they are given relatively large weights. For example, the earliest measured value has a weight of 0.1, and the latest measured value has a weight of 0.3.

[0103] Based on the obtained P consecutive measurement values, a weighted average measurement value is obtained by weighted average method;

[0104] Obtain all weighted average measurement values, and calculate the data standard deviation of the weighted average measurement value data;

[0105] According to the Laida criterion, the deviation of a single measurement value from the weighted average is greater than , then the measured value is judged to be a deviation data, Set to 2mm and adjust flexibly according to the measurement accuracy requirements;

[0106] If deviation data is detected, the system automatically triggers the re-measurement process to obtain accurate wall measurement data, avoiding errors in subsequent analysis and application caused by measurement errors that are significantly deviated from the true value;

[0107] The second specific method for optimizing and generating reports based on the wall measurement data after elimination is as follows:

[0108] Import the wall measurement data directly into the BIM software. During the import process, attribute tags are given to the wall measurement data. The attribute tags include but are not limited to: measurement location, measurement time and measurement accuracy. Through attribute tags, the wall measurement data can be accurately identified and located in the BIM model.

[0109] By using the built-in comparison function of the BIM software and setting the deviation threshold, the system will automatically compare the wall measurement data with the corresponding position and size information in the design drawing point by point. If the deviation between the measured value and the design value exceeds the preset deviation threshold range, the deviation exceeding limit area will be automatically marked and feedback will be given.

[0110] The technical solution of the embodiment of the present invention is as follows: the upper prism assembly, the middle connection assembly and the centering rod assembly can be disassembled and combined, which is convenient for carrying and adapting to different measurement scenarios. Through the L-shaped connection assembly and the rotatable connection piece, the prism can be embedded in the inner and outer corners of the room angle, breaking through the limitation that the traditional prism is only applicable to planes and reducing the measurement error in complex environments; the positive and negative piezoelectric effects are used to monitor and offset vibrations in real time, and compared with the passive vibration reduction of the traditional counterweight block, the dynamic interference is actively compensated, the measurement stability is significantly improved, the vibration energy is analyzed, the reverse force is accurately matched, and the vibration reduction effect is optimized; the visible light image and the depth image are combined to realize the multi-dimensional analysis of the geometric features of the wall, provide the edge contour, locate the key points, fit the wall plane equation, and complementarily improve the model accuracy; the prism posture of the total station is dynamically adjusted through the angle compensation function to ensure that the reflection surface is orthogonal to the wall, and differentiated strategies are formulated for the outer corner, the inner corner and the non-standard angle, and the mechanical stability of the L-shaped connection piece is optimized in combination with FEA; the influence of temperature on the prism constant of the total station is calculated in real time according to the temperature change, so as to compensate for it, and the corrected prism constant of the total station is obtained through the comprehensive calculation and analysis of the three parts. , used for distance measurement, improving the accuracy and reliability of measurement; by dynamically adjusting the time series weight, giving priority to the timeliness of recent data, avoiding errors caused by data time series, calculating the standard deviation based on the weighted average, automatically identifying and eliminating outliers, triggering the re-measurement mechanism, and realizing accurate data positioning and tracing through attribute labels, automatically comparing the measured values ​​with the design values, and automatically marking and feedbacking the out-of-limit areas.

[0111] Example 2

[0112] like Figure 2 As shown, an embodiment of the present invention provides an automatic adjustable total station prism operating system based on image recognition, which specifically includes the following modules:

[0113] Initialization module: Sends initialization signal, the microprocessor self-checks each component, connects to the total station to establish a data transmission channel;

[0114] Intelligent calibration module: The piezoelectric ceramic damper at the bottom of the middle pole suppresses external vibration and uses the inverse piezoelectric effect to offset vibration, the image acquisition module white balance calibration, the motor drive system self-checks, and loads the zero reset parameters;

[0115] Image acquisition module: collects scene images and depth images of the measured wall for verification and calibration;

[0116] Feature analysis module: performs edge detection based on the acquired scene images, and uses detection algorithms to locate corner points;

[0117] Measurement preprocessing module: obtain the initial inclination angle, establish an angle compensation function to adjust the prism angle to the target angle, realize the orthogonality of the reflection surface, set different rotation angles according to the wall angle type, and optimize the stress distribution of the L-shaped connector through finite element analysis;

[0118] Measurement correction module: measure the wall surface, dynamically correct the prism constant of the total station through environmental parameters to obtain the prism correction constant and measure the wall surface measurement data;

[0119] Analysis and generation module: refine the wall measurement data, fuse the wall measurement data and eliminate the deviated data, and generate a report based on the optimized wall measurement data after elimination.

[0120] An embodiment of the present invention is described in detail above, but the content described is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention; the above formulas are all dimensionless and numerical calculations, and the formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions and historical experience, and can be adjusted according to actual conditions; the above description is only a preferred embodiment of the present invention and is not used to limit the present invention. All equal changes and improvements made according to the scope of application of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A total station prism that can be automatically adjusted based on image recognition and a method of using the same, characterized in that: The following steps are involved: Install the total station prism and initialize it, calibrate the total station prism through multi-module linkage, analyze the initialization of the total station prism and provide feedback; After initialization, the scene image and depth image of the wall are obtained through the image acquisition module, and the plane equation of the wall is obtained by combined analysis, and the wall geometric model is established; Based on the wall geometry model, the reflection surface of the total station prism is orthogonalized, and measurement preprocessing is performed according to the type of wall; After the measurement preprocessing is completed, the wall surface is measured, and the prism constant of the total station is dynamically corrected by the environmental parameters to obtain the prism correction constant and measure the wall surface measurement data; The wall measurement data is processed in a refined manner, the wall measurement data is integrated and the deviated data is eliminated, and a report is generated based on the optimized wall measurement data after elimination.

2. The total station prism that can be automatically adjusted based on image recognition and the method of using the same according to claim 1, characterized in that: The process of installing the total station prism and initializing it is as follows: The total station sends an initialization signal to the total station prism, and the microprocessor performs self-checks on the components of the total station prism to ensure the normal operation of the equipment; searches and connects to the total station and establishes a data transmission channel; The upper prism assembly comprises: a prism and a prism bracket, the prism is rotatably connected to the top of the prism bracket, a prism bracket level is installed on the prism bracket, and a first fixed column is arranged at the bottom of the prism bracket; The middle connecting assembly is an L-shaped connecting assembly, which is convenient for embedding into the inner and outer corners of the room angle. The bottom of the first fixed column is connected to the top of the second fixed column through a rotatable connecting piece. The rotatable connecting piece is used to realize the rotatable adjustment and fixation of the upper prism assembly above the middle connecting assembly. Conversion connecting rods are arranged on both sides of the second fixed column. The centering rod assembly includes: a lower supporting assembly and a centering rod.

3. The total station prism that can be automatically adjusted based on image recognition and the method of using the same according to claim 2, characterized in that: The process of multi-module linkage calibration of the total station prism is as follows: The mechanical vibration signal generated by the vibration of the prism middle rod is converted into a vibration electrical signal through piezoelectric ceramics, the time domain signal of the vibration electrical signal is converted into the frequency domain, and the dominant vibration frequency is extracted to calculate the vibration energy; based on the comparison between the obtained vibration energy and the preset vibration energy threshold, the reverse force generated by the piezoelectric ceramics acts on the prism middle rod, offsetting the force generated by the external vibration.

4. The total station prism capable of automatic adjustment based on image recognition and the method for using the same according to claim 1, characterized in that: The process of combining the analysis to obtain the wall plane equation is: The scene image and depth image of the wall are collected, edge detection is performed and corner points are located, the local plane equation of the wall is constructed, and the least squares fitting algorithm is used to process the point cloud data obtained based on the depth image to obtain the parameters representing the wall plane and determine the wall plane equation.

5. The total station prism capable of automatic adjustment based on image recognition and the method for using the same according to claim 4, characterized in that: The process of establishing the wall geometry model is as follows: Based on the wall plane equation, get the wall normal vector and the horizontal reference vector , the wall angle is obtained by calculation , obtain the wall data in the design drawing to determine the wall boundary, based on the 3D modeling interface, input the wall plane equation, and generate the wall geometry model based on the wall angle, wall boundary and wall plane equation.

6. The total station prism capable of automatic adjustment based on image recognition and the method of using the same according to claim 1, characterized in that: The measurement preprocessing process is as follows: The initial inclination angle of the total station prism is obtained, and the prism angle is adjusted to reach the target angle by establishing an angle compensation function to achieve orthogonalization of the reflection surface. Different rotation angles are set according to the type of wall corner, and the stress distribution of the L-shaped connector is optimized through finite element analysis.

7. The total station prism capable of automatic adjustment based on image recognition and the method of using the same according to claim 1, characterized in that: The process of dynamic correction of the total station prism constant is as follows: The target wall is measured based on measurement preprocessing, the total station prism constant obtained by measurement preprocessing is dynamically corrected according to environmental parameters, and the corrected prism correction constant is calculated using a compensation formula.

8. The total station prism capable of automatic adjustment based on image recognition and the method of using the same according to claim 1, characterized in that: The process of fusing the wall measurement data and eliminating the deviating data is as follows: The weighted average method is used to process continuous measurement values, the data standard deviation is calculated, the deviating data is eliminated according to the Laida criterion, and the re-measurement process is triggered based on the deviating data.

9. The total station prism capable of automatic adjustment based on image recognition and the method of using the same according to claim 1, characterized in that: The process of optimizing and generating reports is as follows: Import the wall measurement data into the BIM software, assign attribute labels, and use the BIM software comparison function to mark the areas where the deviation exceeds the limit and provide feedback.

10. A total station prism operating system capable of automatic adjustment based on image recognition, applied to a total station prism capable of automatic adjustment based on image recognition and a method of using the same as described in any one of claims 1 to 9, characterized in that: include: Initialization module: Sends initialization signal, the microprocessor self-checks each component, connects to the total station to establish a data transmission channel; Intelligent calibration module: The piezoelectric ceramic damper at the bottom of the middle pole suppresses external vibration and uses the inverse piezoelectric effect to offset vibration, the image acquisition module white balance calibration, the motor drive system self-checks, and loads the zero reset parameters; Image acquisition module: collects scene images and depth images of the measurement wall for verification and calibration; Feature analysis module: performs edge detection based on the acquired scene images, and uses detection algorithms to locate corner points; Measurement preprocessing module: obtain the initial inclination angle, establish an angle compensation function to adjust the prism angle to the target angle, realize the orthogonality of the reflection surface, set different rotation angles according to the wall angle type, and optimize the stress distribution of the L-shaped connector through finite element analysis; Measurement correction module: measure the wall surface, dynamically correct the prism constant of the total station through environmental parameters to obtain the prism correction constant and measure the wall surface measurement data; Analysis and generation module: refine the wall measurement data, fuse the wall measurement data and eliminate the deviated data, and generate a report based on the optimized wall measurement data after elimination.

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