Shielded equipment elevation measurement method based on multi-equipment cluster

Abstract

The invention discloses a shielded equipment elevation measurement method based on a multi-equipment cluster, and belongs to the technical field of equipment elevation measurement in construction, the multi-equipment cluster comprises three laser transmitters P, N and M and three laser receivers A, B and X respectively matched with the three equipment, the measurement method comprises the following steps: calculating absolute elevations of A and B based on P, N and M respectively and absolute elevations of X based on N and M; calculating an elevation difference between every two laser receivers based on a certain laser transmitter, and correction values between A and B based on N and M respectively; and introducing the elevation difference and the correction value to calculate the absolute elevation of the X based on the P, namely the elevation of the shielded equipment. According to the method, the measurement precision is remarkably improved, the obtained result is very close to the absolute elevation of X based on P under the condition of no shielding, the method is particularly suitable for pavement paving, roadbed leveling, pavement milling and other constructions in road construction, and the construction quality and the construction efficiency are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment elevation measurement during construction, and specifically relates to an equipment elevation measurement method mainly used in road paving construction, and more particularly to an obstructed equipment elevation measurement method based on a multi-equipment cluster. Background Art

[0002] During the construction process such as road paving, it is often necessary to measure the elevation of some construction equipment to meet the quality inspection requirements for construction quality, such as road flatness. The method of measuring the elevation of equipment mostly uses laser measurement, that is, a laser transmitter is installed at the location where the elevation is determined, and a laser receiver is installed on the equipment to be measured. The laser transmitter continuously emits a line laser or a surface laser (generally by emitting a continuous rotating laser), and the laser receiver receives the laser signal. The elevation of the equipment to be measured is calculated according to relevant parameters. For specific measurement methods, please refer to the invention patent number "202410101213.7" and the name "Dynamic measurement device and method of high-frequency vibration target coordinates based on time-distance conversion" that the applicant has applied for and authorized, which is a prior art.

[0003] In order to achieve higher-precision elevation measurement, in actual applications, multiple laser transmitters and multiple laser receivers are often used to perform elevation measurement on multiple devices. The data measured between laser transmitters and laser receivers that are close to each other has the highest accuracy. The situation where multiple devices (such as pavers, rollers, etc.) work at the same construction site is called a multi-device cluster. In a multi-device cluster scenario, a laser transmitter may need to be used to simultaneously perform elevation measurement on multiple nearby devices that need to work collaboratively, so as to achieve timely information exchange and collaborative work functions.

[0004] In a multi-device cluster scenario, there may be a situation where some devices block the laser, causing the laser receiver on another or more devices to be unable to receive the laser emitted by the nearby laser transmitter, such as Figure 1In a multi-device cluster scenario shown in the figure, a first laser transmitter P and a first laser receiver A, a second laser receiver B, and a third laser receiver X are respectively matched with three devices (i.e., construction equipment, not shown in the figure) close to the first laser transmitter P (referring to being installed on or next to the corresponding equipment). The first laser receiver A and the second laser receiver B can both directly receive the laser emitted by the first laser transmitter P, so they can complete the elevation measurement based on the first laser transmitter P, but the third laser receiver X cannot receive the laser emitted by the first laser transmitter P because it is blocked by the device corresponding to the first laser receiver A, so it cannot complete the elevation measurement based on the first laser. The elevation measurement of the transmitter P may cause the coordination failure or error among the three devices, which will have a great impact on the construction requirements such as the flatness or uniformity of the road paving; although at this time the second laser transmitter M and the third laser transmitter N may be able to directly transmit lasers to the third laser receiver X, the first laser receiver A and the second laser receiver B at a longer distance, but the measurement accuracy is significantly reduced due to the long distance (because there are various environmental factors such as dust at the construction site that affect the measurement accuracy, so the measurement accuracy is significantly reduced when the distance is long), which is difficult to overcome in the prior art. The present invention is to solve this problem. Summary of the invention

[0005] The purpose of the present invention is to provide a method for measuring the elevation of an obstructed device based on a multi-device cluster in order to solve the above-mentioned problem. The method can accurately measure the elevation of the obstructed device in real time.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] A method for measuring the elevation of an obstructed device based on a multi-device cluster, wherein the multi-device cluster includes a first laser transmitter P with a fixed elevation (hereinafter referred to as P instead of the first laser transmitter), a second laser transmitter N (hereinafter referred to as N instead of the second laser transmitter), a third laser transmitter M (hereinafter referred to as M instead of the third laser transmitter), and three devices (i.e., three construction devices, such as a paver, a compactor, etc.) are matched (here, matching can mean installing a laser receiver on the corresponding device or installing the laser receiver next to the corresponding device, both of which measure the elevation of the corresponding device through the laser receiver) The conventional hardware matching method of the program includes a first laser receiver A (hereinafter referred to as A replaces the first laser receiver), a second laser receiver B (hereinafter referred to as B replaces the second laser receiver), and a third laser receiver X (hereinafter referred to as X replaces the third laser receiver), A, B and X are all close to P and far away from N and M at the same time, A and B can directly receive the laser emitted by P, X cannot directly receive the laser emitted by P because the laser is blocked, the device matched with X is the blocked device, A, B and X can directly receive the laser emitted by N and M, and the blocked device elevation measurement method based on a multi-device cluster includes the following steps:

[0008] Step 1, start the P, N, M, A, B and X;

[0009] Step 2: Record the corresponding data of A, B and X receiving the laser emitted by P, N and M within the acquisition time t, where the unit of t is seconds and greater than 1 second, and calculate the absolute heights of A and B based on P, N and M respectively through the time-distance conversion algorithm. At the same time, the absolute height of X based on N and M is calculated through the time-distance conversion algorithm

[0010] Step 3: According to Calculate the elevation difference between A and B based on P The elevation difference between A and B based on N The elevation difference between A and B based on M The elevation difference between X and A based on N The elevation difference between X and B based on N The elevation difference between X and A based on M The elevation difference between X and B based on M Then calculate the correction value δ between A and B based on N N→AB , the correction value δ between A and B based on M M→AB ;

[0011] Step 4: According to δ M→AB Calculate the absolute elevation of X associated with N based on P Associate M's X with the absolute elevation of P

[0012] Step 5: According to and Calculate the absolute height of X based on P That is, the elevation of the blocked device.

[0013] Preferably, in step 3, calculate Depend on calculate Depend on calculate Depend on calculate Depend on calculate Depend on calculate Depend on calculate

[0014] δ N→AB Calculated by the following formula:

[0015]

[0016] in, is the measurement error value of A and B based on the measured height of N, is the environmental impact error value of A and B based on the N measurement height, and its positive and negative The positive and negative of are the same, α and β are weight coefficients and satisfy the relationship: α+β=1, the value range of α is 0.7~1.0, the value range of β is 0~0.3, j is the environmental correction coefficient, the value range is [1, 1.5], in general, j=1, and a larger value is taken when the weather conditions are bad. is the average of the distances between A and P and between B and P, in meters, is the average of the distances between A and N and between B and N, in meters, The value range is [1, 10], a is the device accuracy coefficient of N, and the value range is [0.1, 0.2]. The value is determined according to the distance between N and X. The farther the distance, the larger the value, and vice versa. Here a=0.2, c is the device accuracy coefficient of P, and the value range is [0.1, 0.2]. The value is determined according to the distance between P and X. The farther the distance, the larger the value, and vice versa. Here c=0.1, k 1 is the sight distance correction factor of N relative to P, and is proportional to k 2 For k 1 Correlation correction factor, k 1 ≥k 2 And k1 +k 2 =1;

[0017] δ M→AB Calculated by the following formula:

[0018]

[0019]

[0020] in, is the measurement error value of A and B based on the measured height of M, is the environmental impact error value of A and B based on the measured elevation of M, and its positive and negative The positive and negative are the same, is the average of the distances between A and M and between B and M, in meters. The value range is [1, 10], b is the device accuracy coefficient of M, and the value range is [0.1, 0.2]. The value is determined according to the distance between M and X. The farther the distance, the larger the value, and vice versa. Here b = 0.15, k 3 is the sight distance correction coefficient of M relative to P, and is proportional to k 4 For k 3 Correlation correction factor, k 3 ≥k 4 And k 3 +k 4 =1; the above α and β preferably take the following values: and When the distance is less than 200m, The smaller it is, the closer α is to 1. When the distance is greater than 200m, The larger it is, the closer β is to 0.3.

[0021] Preferably, in step 4, Calculated by the following formula:

[0022]

[0023] in, is the absolute height of the center of X calculated by combining N and A; is the absolute height of the center of X calculated by combining N and B;

[0024] Calculated by the following formula:

[0025]

[0026]

[0027] in, is the absolute height of the center of X calculated by combining M and A; It is the absolute height of the center of X calculated by combining M and B.

[0028] Preferably, in step 5, Calculated by the following formula:

[0029]

[0030] Among them, e and f are construction interference coefficients with a value range of [0,1], e+f=1. The value is determined according to the severity of the impact of construction interference factors (including vibration, noise, dust, measurement timing, etc.) at N and M. The more severe the impact, the smaller the value, and the milder the impact, the larger the value. In general, e and f are both 0.5.

[0031] The beneficial effects of the present invention are:

[0032] The present invention utilizes the associated elevation measurements of A, B close to the blocked device and between A, B, P, N, and M to calculate the related elevation differences and correction values, and then uses them to calculate the absolute elevation of X based on P, that is, the absolute elevation of the blocked device based on P is obtained. In the calculation process, the phenomenon that the influence of the long-distance measurement elevation on A, B, and X is close is utilized to overcome the problem of low accuracy of the single long-distance measurement of the X elevation, thereby significantly improving the measurement accuracy. The obtained result is very close to the absolute elevation of X based on P measured without blocking. By introducing measurement error values ​​and environmental influence error values ​​with different weights, the absolute elevation of X based on P is corrected. The absolute elevations of N and M are corrected respectively, and then according to the actual interference between N, M and X, the absolute elevations of X based on N and M are weighted, and finally the absolute elevation of X based on P is obtained, which further reduces the measurement error of the X elevation in a long distance measurement in a complex environment, and makes the absolute elevation of the blocked device based on P obtained finally more accurate; the present invention is particularly suitable for construction such as pavement paving, roadbed leveling, and pavement milling in road construction, and is convenient for real-time synchronous and accurate measurement of the elevations of multiple devices (including blocked devices), which is beneficial to the collaborative operation between multiple devices and improves the construction quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the positions of three laser transmitters and three laser receivers in the multi-device cluster described in the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings:

[0035] like Figure 1As shown, the multi-device cluster of the present invention includes a first laser transmitter P, a second laser transmitter N, a third laser transmitter M with a fixed elevation, and a first laser receiver A, a second laser receiver B, and a third laser receiver X respectively matched with the three devices (not shown in the figure). A, B and X are all close to P and away from N and M at the same time. A and B can directly receive the laser emitted by P, and X cannot directly receive the laser emitted by P because the laser is blocked. The device matched with X is the blocked device. A, B and X can directly receive the laser emitted by N and M. The method for measuring the elevation of the blocked device based on the multi-device cluster of the present invention includes the following steps:

[0036] Step 1, start the P, N, M, A, B and X;

[0037] Step 2: Record the corresponding data of A, B and X receiving the laser emitted by P, N and M within the acquisition time t, where the unit of t is seconds and greater than 1 second, and calculate the absolute heights of A and B based on P, N and M respectively through the time-distance conversion algorithm. At the same time, the absolute height of X based on N and M is calculated through the time-distance conversion algorithm The calculation of H is carried out by using the time-distance conversion algorithm of the prior art, specifically referring to the invention patent number "202410101213.7" and the name "Dynamic measurement device and method of high-frequency vibration target coordinates based on time-distance conversion", that is, the calculation of H in the invention is carried out by using the time-distance conversion algorithm of the prior art. G The formula is used to calculate, and the laser signal receiving end in the invention is replaced by the corresponding laser receiver A or B or X in the present application, and the laser signal transmitting end in the invention is replaced by the corresponding laser transmitter P or N or M in the present application, and other parameters are replaced accordingly;

[0038] Step 3: Calculate the elevation difference between A and B based on P Depend on Calculate the elevation difference between A and B based on N Depend on Calculate the elevation difference between A and B based on M Depend on Calculate the elevation difference between X and A based on N Depend on Calculate the elevation difference between X and B based on N Depend on Calculate the elevation difference between X and A based on M Depend on Calculate the elevation difference between X and B based on M

[0039] Then calculate the correction value δ between A and B based on N by the following formula: N→AB :

[0040]

[0041] in, is the measurement error value of A and B based on the measured height of N, is the environmental impact error value of A and B based on the N measurement height, and its positive and negative The positive and negative of are the same, α and β are weight coefficients and satisfy the relationship: α+β=1, the value range of α is 0.7~1.0, the value range of β is 0~0.3, j is the environmental correction coefficient, the value range is [1, 1.5], in general, j=1, and a larger value is taken when the weather conditions are bad. is the average of the distances between A and P and between B and P, in meters, is the average of the distances between A and N and between B and N, in meters, The value range is [1, 10], a is the device accuracy coefficient of N, and the value range is [0.1, 0.2]. The value is determined according to the distance between N and X. The farther the distance, the larger the value, and vice versa. Here a=0.2, c is the device accuracy coefficient of P, and the value range is [0.1, 0.2]. The value is determined according to the distance between P and X. The farther the distance, the larger the value, and vice versa. Here c=0.1, k 1 is the sight distance correction factor of N relative to P, and is proportional to k 2 For k 1 Correlation correction factor, k 1 ≥k 2 And k 1 +k 2 =1;

[0042] Then calculate the correction value δ between A and B based on M by the following formula: M→AB ;

[0043]

[0044]

[0045] in, is the measurement error value of A and B based on the measured height of M, is the environmental impact error value of A and B based on the measured elevation of M, and its positive and negative The positive and negative are the same, is the average of the distances between A and M and between B and M, in meters. The value range is [1, 10], b is the device accuracy coefficient of M, and the value range is [0.1, 0.2]. The value is determined according to the distance between M and X. The farther the distance, the larger the value, and vice versa. Here b = 0.15, k 3 is the sight distance correction coefficient of M relative to P, and is proportional to k 4 For k 3 Correlation correction factor, k 3 ≥k 4 And k 3 +k 4 =1; the above α and β preferably take the following values: and When the distance is less than 200m, The smaller it is, the closer α is to 1. When the distance is greater than 200m, The larger it is, the closer β is to 0.3;

[0046] Step 4: Calculate the absolute elevation of X based on P associated with N using the following formula:

[0047] in, is the absolute height of the center of X calculated by combining N and A; is the absolute height of the center of X calculated by combining N and B;

[0048] The absolute elevation of X associated with M based on P is calculated by the following formula:

[0049]

[0050]

[0051] in, is the absolute height of the center of X calculated by combining M and A; is the absolute height of the center of X calculated by combining M and B;

[0052] Step 5: Calculate the absolute elevation of X based on P using the following formula: That is the elevation of the blocked device:

[0053]

[0054] Among them, e and f are construction interference coefficients with a value range of [0,1], e+f=1. The value is determined according to the severity of the impact of construction interference factors (including vibration, noise, dust, measurement timing, etc.) at N and M. The more severe the impact, the smaller the value, and the milder the impact, the larger the value. In general, e and f are both 0.5.

[0055] Description: The laser transmitter of the present invention has the function of emitting line laser and being able to rotate (the rotation angle is preferably 360°), and the laser receiver has the function of receiving line lasers in multiple directions (preferably 360° omnidirectional) to meet the needs of more reliable laser emission and reception. Specifically, the laser signal receiving end and laser signal transmitting end in the invention patent with patent number "202410101213.7" and name "High-frequency vibration target coordinate dynamic measurement device and method based on time-distance conversion" can be adopted.

[0056] The above embodiments are only preferred embodiments of the present invention and are not limitations of the technical solutions of the present invention. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present invention.

Claims

1. A method for measuring the elevation of an obstructed device based on a multi-device cluster, wherein the multi-device cluster comprises a first laser transmitter P, a second laser transmitter N, a third laser transmitter M with a fixed elevation, and a first laser receiver A, a second laser receiver B, and a third laser receiver X respectively matched with the three devices, wherein A, B, and X are all close to P and away from N and M at the same time, and A and B can directly receive the laser emitted by P, while X cannot directly receive the laser emitted by P because the laser is blocked, and the device matched with X is the obstructed device, and A, B, and X can directly receive the laser emitted by N and M, wherein: The method for measuring the elevation of an obstructed device based on a multi-device cluster comprises the following steps: Step 1, start the P, N, M, A, B and X; Step 2: Record the corresponding data of A, B and X receiving the laser emitted by P, N and M within the acquisition time t, where the unit of t is seconds and greater than 1 second, and calculate the absolute heights of A and B based on P, N and M respectively through the time-distance conversion algorithm. At the same time, the absolute height of X based on N and M is calculated through the time-distance conversion algorithm Step 3: According to Calculate the elevation difference between A and B based on P The elevation difference between A and B based on N The elevation difference between A and B based on M The elevation difference between X and A based on N The elevation difference between X and B based on N The elevation difference between X and A based on M The elevation difference between X and B based on M Then calculate the correction value δ between A and B based on N N→AB , the correction value δ between A and B based on M M→AB ; Step 4: According to δ N→AB , δ M→AB Calculate the absolute elevation of X associated with N based on P Associate M's X with the absolute elevation of P Step 5: According to and Calculate the absolute height of X based on P That is, the elevation of the blocked device.

2. The method for measuring the elevation of an obstructed device based on a multi-device cluster according to claim 1, characterized in that: In step 3, calculate Depend on calculate Depend on calculate Depend on calculate Depend on calculate Depend on calculate Depend on calculate δ N→AB Calculated by the following formula: in, is the measurement error value of A and B based on the measured height of N, is the environmental impact error value of A and B based on the N measurement height, and its positive and negative The positive and negative of are the same, α and β are weight coefficients and satisfy the relationship: α+β=1, the value range of α is 0.7~1.0, the value range of β is 0~0.3, j is the environmental correction coefficient, and the value range is [1, 1.5]. is the average of the distances between A and P and between B and P, in meters, is the average of the distances between A and N and between B and N, in meters, The value range is [1, 10], a is the equipment accuracy coefficient of N, and the value range is [0.1, 0.2], c is the equipment accuracy coefficient of P, and the value range is [0.1, 0.2], k1 is the line of sight correction coefficient of N relative to P, and In direct proportion, k2 is the correction coefficient associated with k1, k1 ≥ k2 and k1 + k2 = 1; δ M→AB Calculated by the following formula: in, is the measurement error value of A and B based on the measured height of M, is the environmental impact error value of A and B based on the measured elevation of M, and its positive and negative The positive and negative are the same, is the average of the distances between A and M and between B and M, in meters. The value range is [1, 10], b is the equipment accuracy coefficient of M, and the value range is [0.1, 0.2], k3 is the line of sight correction coefficient of M relative to P, and They are in direct proportion to each other, k4 is the correction coefficient associated with k3, k3≥k4 and k3+k4=1.

3. The method for measuring the elevation of an obstructed device based on a multi-device cluster according to claim 1, characterized in that: In step 4, Calculated by the following formula: in, is the absolute height of the center of X calculated by combining N and A; is the absolute height of the center of X calculated by combining N and B; Calculated by the following formula: in, is the absolute height of the center of X calculated by combining M and A; It is the absolute height of the center of X calculated by combining M and B.

4. The method for measuring the elevation of an obstructed device based on a multi-device cluster according to claim 1, characterized in that: In step 5, Calculated by the following formula: Among them, e and f are construction interference coefficients, with a value range of [0,1], and e+f=1.

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