Building distance measuring device and use method thereof

Abstract

The invention belongs to the technical field of building measurement, and discloses a building distance measuring device and a use method thereof, and the method comprises the steps that a route planning module plans an optimal advancing route; automatically controlling a moving trolley distance measuring mechanism to carry out building distance measuring operation; the monitoring analysis mechanism receives environment sensor data; the image acquisition module continuously acquires building scene images; the image analysis module continuously detects whether an obstacle exists in the image; adjusting the distance measuring mechanism to a proper height and an accurate direction; the monitoring analysis mechanism obtains accurate distance data after correction calculation; during long-distance detection, data of the laser range finder and the ultrasonic range finder are combined, and an accurate distance value is obtained through fusion analysis of the comprehensive evaluation module. According to the invention, the monitoring analysis mechanism can correct and comprehensively analyze distance measurement data according to environmental parameters to obtain accurate distance data; and the comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data, so that the long-distance detection precision is improved.

Description

Technical Field

[0001] This application relates to the technical field of building measurement, and more specifically, to a building distance measuring device and its usage method. Background Art

[0002] Building engineering is inseparable from measurement before and after construction. The measurement contents include length, height, deflection, levelness, etc. In terms of distance measurement, the commonly used portable distance measuring instrument is a laser distance meter. The surveyor only needs to hold the laser distance meter to measure long-distance data, which greatly improves work efficiency.

[0003] The prior art document with the publication number CN116697967A provides a distance measuring device for building construction, which relates to the field of building construction, including a device box. A threading hole is opened on the upper surface of the device box, and a backing plate is installed inside the device box; a driving motor, the driving motor is fixedly installed inside the waterproof box, the front end of the driving motor is in transmission connection with the driving shaft, and a fixed disk is installed at the end of the driving shaft; an LED waterproof lamp is provided on the control block surface at the upper end of the warning barrel. After the warning barrel is submerged in water, the LED waterproof lamp emits light to prompt the worker that the fixed cylinder has been submerged in water. The lower end of the measuring rope is sleeved outside the clamping column. When the driving shaft drives the fixed disk to rotate, the measuring rope will move up and down in a reciprocating motion, thus reminding the worker that the fixed cone has reached the bottom. One measurement operation can simultaneously obtain the depth of the water well and the depth of the water. It solves the problems that it is difficult for workers to accurately grasp the timing of the stone reaching the bottom and it is impossible to measure the depth of the water and the depth of the pipe well at one time.

[0004] Although the above prior art solutions can achieve relevant beneficial effects through the structures of the prior art, there are still the following defects: 1. Low work efficiency. The staff needs to hold the distance measuring device to measure point by point, which is time-consuming and laborious. 2. The data of distance measurement is not accurate enough. The environmental temperature, humidity and air pressure parameters all have a certain impact on the ranging result, and the prior art does not consider the influence of environmental factors. Especially in outdoor complex environments, such as large temperature changes and high humidity, the accuracy of existing building distance measuring devices may be affected. For example, in a high-temperature environment, the propagation speed of the laser in a laser distance meter will change slightly, and the change in the speed of light will cause an error in the measured distance. For ultra-long distance building measurements, such as measuring the distance between two large buildings several kilometers apart, the measurement accuracy of some distance measuring devices will be greatly reduced due to factors such as signal attenuation and reflection interference.

[0005] In view of this, we propose a building distance measuring device and its usage method. Summary of the Invention

[0006] 1. Technical problems to be solved.

[0007] The purpose of this application is to provide a building ranging device and method, which solves the technical problems raised in the above-mentioned background technology, realizes the integration of multiple ranging methods, the ranging mechanism supports laser ranging and ultrasonic ranging, and can select appropriate ranging methods according to different ranging requirements, improving the flexibility and accuracy of measurement; the monitoring and analysis mechanism can correct and comprehensively analyze the ranging data according to environmental parameters to obtain accurate distance data; the long-distance detection accuracy is improved, and during long-distance detection, the laser ranging data and ultrasonic ranging data are fused through the comprehensive evaluation module to further improve the technical effect of measurement accuracy.

[0008] 2. Technical solution.

[0009] The technical solution of this application provides a building ranging device, including.

[0010] Automatically controlled mobile trolley: It can automatically move freely within the building site.

[0011] Ranging mechanism: It includes a laser rangefinder and an ultrasonic rangefinder; the distance is measured using the laser rangefinder or the ultrasonic rangefinder as needed, or the laser rangefinder and the ultrasonic rangefinder are combined to measure the distance.

[0012] Height adjustment mechanism: It is arranged on the automatically controlled mobile trolley; the ranging mechanism is rotatably arranged on the height adjustment mechanism; the height adjustment mechanism adjusts the height of the ranging mechanism.

[0013] Angle adjustment mechanism: It is arranged on the height adjustment mechanism; the angle adjustment mechanism adjusts the angle of the ranging mechanism.

[0014] Route planning module: Based on the map information of the building site and the requirements of the measurement task, it uses path planning algorithms to calculate the optimal driving route of the automatically controlled mobile trolley. Considering factors such as the location of buildings, the distribution of obstacles, the order and distribution of measurement points, etc., it plans the route with the shortest path, the fewest number of turns or other optimization goals.

[0015] Height and angle planning mechanism: It monitors the process of building ranging and plans the height, direction and tilt angle of the ranging mechanism; during the process of building ranging, according to the specific requirements of the measurement task and the characteristics of the building, it pre-plans and adjusts the height, direction and tilt angle of the ranging mechanism in real time. Combining with the three-dimensional model of the building or the building feature information input by the measurement personnel, it determines the required attitude of the ranging mechanism at different measurement points.

[0016] Monitoring and analysis mechanism: It receives the measurement data from the ranging mechanism and the data of various environmental sensors. It corrects and comprehensively analyzes the ranging data according to environmental parameters. Finally, accurate distance data is obtained.

[0017] Image acquisition module: It includes a high-definition camera and an LED light, and acquires high-definition images during the building distance measurement process.

[0018] Image analysis module: Analyzes and identifies the acquired images, and uses image analysis to identify obstacles such as temporarily stacked building materials and equipment. When the automatically controlled mobile cart is driving, by analyzing the images captured by the camera in real time, potential obstacles are detected in advance, so as to adjust the driving route in the route planning module and avoid collisions.

[0019] Comprehensive evaluation module: When performing long-distance detection, a laser rangefinder and an ultrasonic rangefinder are used to measure the distance simultaneously, and then the laser ranging data and ultrasonic ranging data obtained by the monitoring and analysis mechanism are fused to obtain an accurate distance value.

[0020] Data storage module: Used to store various data during the building distance measurement process.

[0021] PLC control module: Is network-connected to the automatically controlled mobile cart, the ranging mechanism, the height adjustment mechanism, the angle adjustment mechanism, the route planning module, the data storage module, the comprehensive evaluation module, the height and angle planning mechanism, and the monitoring and analysis mechanism.

[0022] As an alternative solution of the present invention, the monitoring and analysis mechanism receives the measurement data from the ranging mechanism and the data of various environmental sensors, and corrects and comprehensively analyzes the ranging data according to these environmental parameters. Finally, accurate distance data is obtained. It includes the following steps.

[0023] 1. Data acquisition: The monitoring and analysis mechanism establishes a stable data communication channel with the ranging mechanism and various environmental sensors (temperature sensor, humidity sensor, pressure sensor, etc.). Ensure that the data transmitted by each sensor can be received in real time. Receive the original measured distance values from the ranging mechanism, and these data include the initial measurement results obtained by the laser rangefinder or ultrasonic rangefinder according to their respective ranging principles. Synchronously receive the environmental temperature value transmitted by the temperature sensor. Obtain the environmental relative humidity data collected by the humidity sensor. Receive the atmospheric pressure value feedback by the pressure sensor. Match and record the data of these different environmental parameters with the corresponding acquisition time to form an environmental data set.

[0024] 2. Data preprocessing: Perform format verification and cleaning on the acquired data; then perform data time synchronization and alignment processing.

[0025] 3. Analysis of the influence of environmental parameters.

[0026] 3.1. Analyze the influence of temperature on ranging.

[0027] For ultrasonic ranging, based on the temperature sensor data received, calculate the actual propagation speed of ultrasonic waves in the current environment, and then analyze the impact on the ultrasonic ranging results.

[0028] For laser ranging, although the propagation speed of laser in air is relatively less affected by temperature, it still needs to be considered under the requirement of high-precision measurement. Temperature changes will cause changes in the refractive index of air, thereby indirectly affecting the propagation speed and optical path of the laser, and then having a subtle impact on the ranging results.

[0029] 3.2. Analyze the impact of air pressure on ranging (for ultrasonic ranging): Changes in air pressure will change characteristics such as the density of air, and then affect the propagation characteristics and propagation speed of ultrasonic waves. Under different air pressure conditions, the propagation speed of ultrasonic waves will be different. Based on the existing empirical formula or theoretical model of the relationship between air pressure and ultrasonic propagation speed, combined with the air pressure sensor data received, calculate the change amount of ultrasonic propagation speed caused by air pressure changes, and make corresponding corrections to the ultrasonic ranging data.

[0030] 3.3. Analyze the impact of humidity on ranging: Humidity mainly affects the propagation of light (laser) and sound waves (ultrasonic waves) by changing physical properties such as the dielectric constant of air. However, this impact is usually relatively small compared to temperature and air pressure. Evaluate the degree of its impact on ranging based on the data collected by the humidity sensor, and make appropriate corrections to the data.

[0031] 4. Comprehensive data correction and analysis: Based on the analysis of the impact of environmental parameters such as temperature, air pressure, and humidity, establish a comprehensive ranging data correction model. For example, for ultrasonic ranging data ultrasonic (original measured value), the distance ultrasonic after temperature correction is expressed as ultrasonic_standard_actual. For laser ranging data laser, make corrections based on factors such as temperature and air refractive index, and apply these corrections to the original ranging data in sequence to obtain the preliminarily corrected distance value.

[0032] 5. Rationality analysis and verification of data: Conduct a rationality analysis of the corrected ranging data to check whether the data conforms to the physical laws and expected range of the measurement scenario. For example, when measuring a fixed-size structure of a building, the corrected distance values obtained from multiple measurements should be relatively stable and within a reasonable error range. If there are large fluctuations in the data or it is significantly unreasonable, it is necessary to further investigate whether it is due to sensor failure, abnormal environmental factors, or problems with the correction algorithm, etc. Verify and troubleshoot through methods such as comparing with historical measurement data, repeated measurement, and checking the sensor status.

[0033] 6. Statistical Analysis and Accuracy Evaluation: Perform statistical analysis on the ranging data after correction and verification, such as calculating statistical quantities like the mean, standard deviation, maximum value, minimum value, etc., to evaluate the stability and accuracy of the measurement results.

[0034] 7. Output Accurate Distance Data: Organize the accurate distance data obtained after the above series of processing, correction, and analysis, and generate a detailed data report according to information such as the measurement point number, corresponding building structure part, measurement time, etc., clearly showing the accurate distance results at each measurement position and the relevant statistical analysis information, facilitating the use in subsequent building construction, quality inspection, and other links.

[0035] 8. Data Storage and Sharing: Store the final distance data and the key data during the entire processing process in a local database or cloud storage system for subsequent query, traceability, and further analysis. According to actual needs, share the data with other relevant systems or personnel through network interfaces and other means to provide strong data support for the smooth progress of the construction project.

[0036] In this technical solution, the monitoring and analysis agency can make full use of the received ranging data and environmental data, effectively correct the influence of environmental factors on the ranging results, and finally obtain accurate and reliable distance data to meet the requirements of the building ranging task.

[0037] As an alternative solution of the present invention, when the comprehensive evaluation module performs long-distance detection, it uses a laser rangefinder and an ultrasonic rangefinder to measure the distance simultaneously, and then fuses the laser ranging data and ultrasonic ranging data obtained by the monitoring and analysis agency to obtain an accurate distance value. The steps are as follows.

[0038] 1. Synchronously Start Measurement: Send measurement start commands to the laser rangefinder and the ultrasonic rangefinder simultaneously, and record the time stamp at the start of the measurement. At this time, the two rangefinders start to emit ranging signals (laser pulses and ultrasonic signals) to the target at the set frequency and receive the reflected signals to obtain distance data.

[0039] 2. Data Acquisition and Transmission: Each time the laser rangefinder completes a measurement, it immediately transmits the measured distance data laser and the corresponding time stamp laser to the monitoring and analysis agency. After receiving the data, the monitoring and analysis agency stores it in a buffer area or database table specially prepared for laser ranging data in chronological order, and simultaneously records the reception time receive laser for subsequent data synchronization and processing. After the ultrasonic rangefinder completes the measurement, it sends the distance data ultrasonic and the time stamp ultrasonic to the monitoring and analysis agency. The monitoring and analysis agency stores these data in the buffer or database of the ultrasonic ranging data in chronological order and records the reception time receive ultrasonic.

[0040] 3. Data Time Synchronization and Alignment: Due to the differences in the measurement principles and data processing speeds of the laser rangefinder and the ultrasonic rangefinder, the data transmitted by the two are not completely aligned in time. Therefore, it is necessary to perform time synchronization calibration on the collected data. First, determine a reference time benchmark. For example, the start time of the measurement can be selected as the reference time. For the laser ranging data, calculate its relative time with respect to the reference time benchmark; for the ultrasonic ranging data, calculate the relative time. According to the calculated relative time, align the laser ranging data and the ultrasonic ranging data in chronological order. The interpolation method can be used to process the data points with incomplete time matching.

[0041] 4. The monitoring and analysis mechanism receives the measurement data from the ranging mechanism and the data of various environmental sensors, and corrects and comprehensively analyzes the ranging data according to these environmental parameters. Finally, the corrected laser ranging data and ultrasonic ranging distance data are obtained.

[0042] 5. Data Fusion Calculation: Fusion the corrected laser ranging data and ultrasonic ranging distance data to obtain accurate distance data.

[0043] 6. Verification and Optimization of the Fused Data: Use a standard target or reference measurement point with a known distance to verify the fused distance data. Calculate the error metrics between the fused data and the standard distance, such as the root mean square error (RMSE) of the laser-laser fusion standard (where the standard is the standard distance value), the mean absolute error (MAE) of the laser-laser fusion standard, etc. Compare the calculated error metrics with the preset accuracy requirements. If the error exceeds the allowable range, it is necessary to check each link in the data fusion process, including data acquisition, preprocessing, weight determination, etc., find out the possible reasons for the large error, and make corresponding adjustments and optimizations.

[0044] In this technical solution, the advantages of the laser rangefinder and the ultrasonic rangefinder can be fully utilized in long-distance detection, effectively fuse the data of the two, obtain a more accurate distance value, and meet the requirements of high-precision long-distance measurement in fields such as building ranging.

[0045] The present invention provides a method for using a building ranging device, including the following steps.

[0046] S1. The route planning module reasonably plans the travel route of the automatically controlled mobile trolley through the map information of the building site and the requirements of the measurement task, and makes corresponding adjustments and optimizations considering factors such as the location of the building, the distribution of obstacles, the order and distribution of the measurement points, etc.

[0047] S2. Automatically control the mobile trolley to move to the starting position of the route and perform the operation of building distance measurement according to the planned route; the monitoring and analysis mechanism receives the data of various environmental sensors; the high-definition camera in the image acquisition module continuously acquires the building scene images during the trolley's driving process.

[0048] S3. The image analysis module continuously detects whether there are obstacles such as temporarily stacked building materials and equipment in the image. If potential obstacles are found, it immediately sends the relevant information to the route planning module. The route planning module adjusts the driving route of the trolley in real time according to the received obstacle information, combines the current trolley position, the target measurement point position, and the building site map and other information, and re-plans the optimal path to bypass the obstacles.

[0049] S4. When the trolley approaches each measurement point, the height and angle planning mechanism sends control instructions to the height adjustment mechanism and the angle adjustment mechanism through the PLC control module according to the pre-planned parameters. The height adjustment mechanism adjusts the distance measurement mechanism to the appropriate height position, and the angle adjustment mechanism adjusts the angle of the distance measurement mechanism to the accurate direction, so that the distance measurement mechanism can be aligned with the building part to be measured in the best posture.

[0050] S5. The distance measurement mechanism emits a distance measurement signal (laser beam or ultrasonic beam) to the target building part, receives the reflected signal, calculates the preliminary measured distance value according to their respective distance measurement principles, and transmits the distance data to the monitoring and analysis mechanism in real time.

[0051] S6. After the monitoring and analysis mechanism receives the measurement data transmitted by the distance measurement mechanism and the environmental data transmitted by the environmental sensors, it corrects and comprehensively analyzes the distance measurement data according to the environmental parameters. After a series of correction calculations, accurate distance data is finally obtained.

[0052] S7. Record the accurate distance data after correction and the relevant information such as the corresponding measurement point position, measurement time, and environmental parameters in a certain data format, and store it in the data storage module for subsequent query, statistical analysis, and comparison with building design data and other operations.

[0053] S8. When performing long-distance detection, a laser rangefinder and an ultrasonic rangefinder are used to measure the distance at the same time. The comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data obtained by the monitoring and analysis mechanism to obtain an accurate distance value.

[0054] S9. After the automatic control mobile trolley completes the distance measurement of all measurement points, the PLC control module confirms that the task is completed and notifies the operator, and at the same time displays the key statistical information. Use special software to generate a detailed measurement report containing the task overview, result summary, and abnormal situation records according to the measurement data.

[0055] 3. Beneficial effects

[0056] One or more technical solutions provided in the technical solution of the present application have at least the following technical effects or advantages

[0057] 1. The present invention can achieve precise alignment measurement. The height and angle planning mechanism can precisely adjust the height and angle of the distance measuring mechanism according to the pre-planned parameters through the PLC control module, ensuring the accuracy and reliability of distance measurement

[0058] 2. Realize the fusion of multiple distance measurement methods. The distance measuring mechanism supports laser distance measurement and ultrasonic distance measurement, and can select the appropriate distance measurement method according to different distance measurement requirements, improving the flexibility and accuracy of measurement

[0059] 3. The monitoring and analysis mechanism can correct and comprehensively analyze the distance measurement data according to environmental parameters to obtain accurate distance data, providing a reliable basis for subsequent query, statistical analysis and comparison operations

[0060] 4. Improve the long-distance detection accuracy. During long-distance detection, the laser distance measurement data and ultrasonic distance measurement data are fused through the comprehensive evaluation module to further improve the measurement accuracy Description of the drawings

[0061] Figure 1 It is a schematic flow chart of the usage method of the building distance measuring device disclosed in a preferred embodiment of the present application

[0062] Figure 2 It is a schematic structural diagram of the building distance measuring device disclosed in a preferred embodiment of the present application

[0063] Reference numerals: 1. Automatically controlled mobile trolley; 2. Rectangular conduit; 3. Height adjustment mechanism; 4. Driving gear; 5. Positioning cover plate; 6. Distance measuring mechanism; 7. High-definition camera; 31. Motor A; 32. Lead screw; 33. Sliding seat; 61. Rotating rod; 62. Fixed plate; 63. Ultrasonic distance measuring instrument; 64. Laser distance measuring instrument; 65. Gear shaft; 66. Electronic level Detailed implementation manners

[0064] The following further describes the present application in detail with reference to the accompanying drawings of the specification

[0065] Refer to Figure 1 and Figure 2 A building distance measuring device is provided in an embodiment of the present application, including

[0066] Automatically controlled mobile trolley 1: It can move freely within the building site. It has sufficient power and stability to carry other components and operate normally under different terrains and working environments

[0067] Distance measuring mechanism 6: Comprising a laser rangefinder and an ultrasonic rangefinder; Measuring distance using the laser rangefinder or the ultrasonic rangefinder as required, or combining the laser rangefinder and the ultrasonic rangefinder to measure distance.

[0068] Height adjustment mechanism 3: Arranged on the automatically controlled mobile trolley 1; The distance measuring mechanism 6 is rotatably arranged on the height adjustment mechanism 3; The height adjustment mechanism 3 adjusts the height of the distance measuring mechanism.

[0069] Angle adjustment mechanism: Arranged on the height adjustment mechanism 3; The angle adjustment mechanism adjusts the angle of the distance measuring mechanism.

[0070] Route planning module: Based on the map information of the construction site (which can be obtained in advance through surveying or importing construction design drawings) and the requirements of the measurement task, using path planning algorithms (such as A* algorithm, Dijkstra algorithm, etc.) to calculate the optimal driving route of the automatically controlled mobile trolley. Considering factors such as the location of buildings, the distribution of obstacles, the order and distribution of measurement points, etc., to plan the route with the shortest path, the fewest number of turns or other optimization goals.

[0071] Height and angle planning mechanism: Monitors the process of building distance measurement, and plans the height, direction and tilt angle of the distance measuring mechanism; During the building distance measurement process, according to the specific requirements of the measurement task and the characteristics of the building, pre-plans and adjusts the height, direction and tilt angle of the distance measuring mechanism in real time. Combining the three-dimensional model of the building or the building feature information input by the surveyor, determines the attitude of the distance measuring mechanism required at different measurement points.

[0072] Monitoring and analysis mechanism: Receives the measurement data from the distance measuring mechanism and the data of various environmental sensors (such as temperature sensors, humidity sensors, barometric pressure sensors, etc.). Environmental parameters will affect the ranging results. For example, temperature changes will affect the propagation speed of ultrasonic waves and lasers, and barometric pressure changes will affect the propagation characteristics of ultrasonic waves. The monitoring and analysis mechanism corrects and comprehensively analyzes the ranging data according to these environmental parameters. Finally, accurate distance data is obtained.

[0073] Image acquisition module: Comprising a high-definition camera and an LED lamp, acquires high-definition images during the building distance measurement process.

[0074] Image analysis module: Analyzes and identifies the acquired images, and uses image analysis to identify obstacles such as temporarily stacked building materials and equipment. When the automatically controlled mobile trolley is driving, by analyzing the images collected in real time by the camera, potential obstacles are discovered in advance, so as to adjust the driving route in the route planning module and avoid collisions.

[0075] Comprehensive evaluation module: When performing long-distance detection, a laser rangefinder and an ultrasonic rangefinder are used to measure the distance simultaneously, and then the laser ranging data and ultrasonic ranging data obtained by the monitoring and analysis mechanism are fused to obtain an accurate distance value.

[0076] Data storage module: Used to store various data during the building ranging process.

[0077] PLC control module: Network-connected to the automatic control mobile cart, ranging mechanism, height adjustment mechanism, angle adjustment mechanism, route planning module, data storage module, comprehensive evaluation module, height and angle planning mechanism, and monitoring and analysis mechanism.

[0078] Refer to Figure 2 , the height adjustment mechanism 3 includes a motor A31, a lead screw 32, and a sliding seat 33.

[0079] The motor A31 is fixedly arranged on the automatic control mobile cart 1; the output end of the motor A31 is coaxially and fixedly provided with a lead screw 32; a rectangular conduit 2 is fixedly arranged on the automatic control mobile cart 1; the upper end of the rectangular conduit 2 is detachably and fixedly provided with a positioning cover plate 5; the upper end of the lead screw 32 is rotatably connected to the positioning cover plate 5. The sliding seat 33 is slidably arranged up and down on the rectangular conduit 2; the sliding seat 33 is in threaded engagement with the lead screw 32; the lower end of the sliding seat 33 is fixedly provided with an infrared rangefinder.

[0080] In this technical solution, starting the motor A31 drives the lead screw 32 to rotate, and the lead screw 32 drives the sliding seat 33 to move up and down; thereby driving the ranging mechanism to move.

[0081] Furthermore, the angle adjustment mechanism includes a motor B and a driving gear 4; the motor B is fixedly arranged on the sliding seat 33; the output end of the motor B is coaxially and fixedly connected to the driving gear 4. The driving gear 4 is in transmission connection with the ranging mechanism 6.

[0082] In this technical solution, starting the motor B drives the driving gear 4 to rotate, and the driving gear 4 drives the ranging mechanism 6 to rotate to adjust the angle.

[0083] Furthermore, the ranging mechanism 6 includes a rotating rod 61, a fixing plate 62, an ultrasonic rangefinder 63, a laser rangefinder 64, and a gear shaft 65; the rotating rod 61 is rotatably arranged on the sliding seat 33; a fixing plate 62 is fixedly arranged on the rotating rod 61; an ultrasonic rangefinder 63 and a laser rangefinder 64 are fixedly arranged on the fixing plate 62; an electronic level 66 is fixedly arranged on the rotating rod 61. One end of the rotating rod 61 is detachably and fixedly provided with a gear shaft 65; the gear shaft 65 is in meshing transmission connection with the driving gear 4.

[0084] In this technical solution, when the driving gear 4 rotates, the rotating rod 61 and the fixing plate 62 are driven to rotate by the gear shaft 65, thereby driving the ultrasonic rangefinder 63 and the laser rangefinder 64 to rotate and adjust the angle. The tilt angle of the ultrasonic rangefinder 63 and the laser rangefinder 64 is measured by the electronic level 66.

[0085] Furthermore, the route planning module calculates the optimal driving route of the automatically controlled mobile trolley based on the map information of the construction site and the requirements of the measurement task, including the following steps.

[0086] 1. Obtain the map information of the construction site: If it is pre-surveyed map data, convert it into a format suitable for computer processing, such as geometric graphic data of digital coordinate points, lines, and polygons, etc., to represent information such as building outlines, roads, and site boundaries. If imported from architectural design drawings, it is necessary to parse the drawing files (such as CAD files), extract relevant building structures and site layout information, and convert them into a unified coordinate system and data structure.

[0087] 2. Determine the requirements of the measurement task: Clearly define the position information of the points to be measured and mark them on the map data. They can be key parts of specific building structures (such as the corners of walls, the centers of columns, etc.) or sampling points distributed at a certain interval within the construction site. Set the measurement order and determine it if there are special requirements.

[0088] 3. Identify obstacles: Mark and locate the obstacles within the construction site. Obstacles include temporarily stacked building materials, unfinished parts of building structures, construction equipment, etc. Record their shape, position, and size information in data form to avoid them during path planning.

[0089] 4. Build a map model: Divide the construction site into uniform grid cells. Each grid cell is represented by a node, and the connection relationship between nodes represents the accessibility between adjacent grids. For example, if there is no obstacle blocking between two adjacent grids, there is a connecting edge between them; if there is an obstacle, the connecting edge is marked as impassable. Assign attributes to each node, such as coordinate position, whether it is a building area, whether it is a measurement point, etc.

[0090] 5. Path planning: Select the A* path planning algorithm to plan the path, including the following steps.

[0091] 5.1. Add the starting point (the initial position of the automatically controlled moving trolley) to the open list (Open List), which is used to store the nodes to be explored. Set the parent node of the starting point to be empty, and set the value of the starting point (the actual cost from the starting point to the current node, initially 0) and the value (the heuristic estimated cost from the current node to the target point, which can be estimated based on the straight-line distance between two points).

[0092] 5.2. Select the node with the smallest f value (f = g + h) from the open list as the current node, and move it from the open list to the closed list (Closed List), which is used to store the explored nodes. In the formula, the g value represents the actual cost that has been traveled from the starting node to the current node. The h value is the heuristic estimated cost from the current node to the target node. The f value is the comprehensive evaluation cost that combines the g value and the h value.

[0093] 5.3. If the current node is the target node (i.e., one of the measurement points or the last measurement point), the path planning is successful, and the path from the starting point to the target point is constructed by backtracking the parent nodes.

[0094] 5.4. Otherwise, traverse the adjacent nodes of the current node.

[0095] 5.4.1. If the adjacent node is in the closed list, skip it.

[0096] 5.4.2. If the adjacent node is not in the open list, add it to the open list, set its parent node to the current node, calculate its value (equal to the value of the current node plus the cost from the current node to the adjacent node, such as distance or movement time, etc.) and the value (based on the heuristic estimate to the target point), and calculate the f value.

[0097] 5.4.3. If the adjacent node is already in the open list, compare the new value with the original value. If the new value is smaller, update the parent node of the adjacent node to the current node and recalculate its f value.

[0098] 5.5. Repeat steps 5.2 - 5.4 until the target node is found or the open list is empty (indicating that no feasible path can be found).

[0099] 6. Path optimization and adjustment: After finding the initial path, check whether the path length meets the shortest path requirement. If there is a possibility of a shorter path, the path can be locally adjusted to find the optimal driving route that meets the comprehensive optimization goal.

[0100] 7. Route Output and Storage: Output the finally determined optimal driving route in a suitable format, such as a series of coordinate point sequences or node number sequences, so that the automatically controlled mobile cart can drive along this route. Store the planned route information in a local database or file so that it can be quickly read and used when needed (such as re-executing the same measurement task, conducting route review analysis, etc.).

[0101] Furthermore, the height and angle planning mechanism monitors the process of building distance measurement and plans the height, direction, and tilt angle of the distance measurement mechanism; it includes the following steps.

[0102] 1. Obtain Building-Related Information: Obtain the building's 3D model (such as BIM model, CAD model, etc.) and import it into the corresponding software system of the height and angle planning mechanism. This model contains detailed geometric information about the overall structure of the building, the height of each floor, the position of walls, the distribution of columns, etc., and can provide a comprehensive data basis for subsequent attitude planning.

[0103] 2. Define the Requirements of the Measurement Task: Define the specific objectives of the measurement task, such as measuring the flatness of the building's exterior wall, measuring the dimensions of the internal space, determining the vertical distance between different floors, etc. At the same time, determine the accuracy requirements of the measurement, the approximate distribution range of the measurement points (whether they are evenly distributed or focused on specific structures for key measurement, etc.), and related requirements such as the measurement sequence.

[0104] 3. Interface with the Route Planning Module: Obtain the driving route information of the automatically controlled mobile cart from the route planning module, including the coordinate positions of each measurement point in the building site and the time sequence of the cart's expected arrival at each measurement point, etc., so that the attitude of the distance measurement mechanism can be adjusted synchronously according to the position of the cart in the future.

[0105] 4. Determine the Ideal Attitude: It includes the following steps.

[0106] 4.1. Traverse the Measurement Points: Analyze each measurement point in turn according to the measurement point sequence determined by the measurement task. For each measurement point, extract its spatial coordinates in the building 3D model and the surrounding building structure information, such as the positions and geometric shapes of nearby walls, columns, doors, and windows.

[0107] 4.2. Height Planning: Determine the height of the distance measurement mechanism according to the measurement objective and the surrounding building structure.

[0108] 4.3 Direction Planning: Analyze the horizontal direction that the distance measuring mechanism needs to point to in order to accurately measure the target building structure starting from the measurement point. For example, when measuring the corner of a building, the direction of the distance measuring mechanism needs to be adjusted to align with the edge where two walls intersect; for measuring the spacing between a row of columns, the direction of the rangefinder needs to be aligned with the center line of the columns to ensure accurate measurement of the distance between the columns. Determine the direction angle value by calculating the relative angle between the target structure and the measurement point on the horizontal plane.

[0109] 4.4 Inclination Angle Planning: For some special building structures or parts with inclined surfaces (such as pitched roofs, curtain walls with a certain inclination, etc.), determine the vertical inclination angle of the distance measuring mechanism. For example, when measuring a pitched roof, calculate the angle by which the rangefinder needs to tilt up or down based on the slope of the roof and the relative position between the trolley and the roof, so that the laser beam or ultrasonic wave can be vertically projected onto the roof surface to obtain accurate distance data. The inclination angle can be calculated by mathematical methods such as trigonometric functions, combined with the geometric dimensions and relative position relationships of the building structure.

[0110] 4.5 Record Planned Attitude Information: Record the attitude information such as the ideal height, horizontal direction angle, and vertical inclination angle of the distance measuring mechanism corresponding to each measurement point, forming an attitude planning table or storing it in the corresponding data structure for subsequent real-time adjustment calls and comparisons.

[0111] 5 Real-time Monitoring: Real-time obtain the status information of the trolley's current coordinate position, traveling speed, acceleration, etc., and determine whether the trolley is traveling normally along the route planned by the route planning module and which measurement point it is approaching currently. When the trolley approaches a certain measurement point, extract the ideal attitude (height, direction, inclination angle) of the distance measuring mechanism corresponding to the measurement point from the pre-planned attitude information based on the trolley's real-time position, and at the same time obtain the current actual attitude information of the distance measuring mechanism. Compare the differences between the ideal attitude and the actual attitude.

[0112] 6 Real-time Adjustment.

[0113] Height Adjustment: If there is a difference in height, control the distance measuring mechanism to rise or fall through the height adjustment mechanism.

[0114] Direction Adjustment: For the deviation of the direction angle, use the automatic control mobile trolley 1 to rotate the distance measuring mechanism to align it with the planned direction.

[0115] Inclination Angle Adjustment: If there is a difference in the inclination angle, use the angle adjustment mechanism to adjust the inclination angle of the distance measuring mechanism in the vertical direction to meet the planned requirements.

[0116] During the adjustment process, the adjusted attitude information is fed back to the monitoring system in real time, and a quick preliminary measurement is carried out using the ranging mechanism to verify whether reasonable measurement data can be obtained with the adjusted attitude. If the measurement data does not match the expectation or there is still a large deviation, the attitude is further finely adjusted until accurate and reliable measurement data is obtained, ensuring that the ranging mechanism can work in the correct attitude when the trolley is at each measurement point for formal measurement.

[0117] The angle adjustment is carried out according to the following formula: △θ = △θ0 * λ(T) - w2 * λ(T) * t; λ(T) = bT + c.

[0118] w2 = (k1D 2 + k2D) * I * [1 / (1 + aw 2 2)]; I = r1 / r2. In the formula, both k1 and k2 are fitting coefficients related to the characteristics of the motor itself, which are parameters obtained by experimental testing of the motor and fitting according to the non-linear relationship between its rotational speed and input duty cycle. D refers to the duty cycle of the pulse width modulation signal (PWM). r1 and r2 respectively represent the radius of the driving gear and the radius of the gear on the gear shaft connected to the ranging mechanism. I is the transmission ratio, dimensionless. w2 is the angular velocity of the ranging mechanism. △θ0 is the tilt angle deviation at the initial moment, in radians. It represents the difference between the actual tilt angle of the ranging mechanism and the tilt angle that should be achieved according to the planning requirements before starting the tilt angle adjustment operation, and is the starting state parameter of the angle adjustment. The subsequent angle adjustment process is to gradually reduce this deviation to 0 by means of motor drive and other means. T is the environmental temperature, in degrees Celsius. λ(T) is the temperature correction coefficient, b is the temperature influence coefficient, c is a constant, dimensionless, which is used to quantify the correction effect of the environmental temperature on the angle change amount during the angle adjustment process, that is, as the temperature changes, the effect of the entire angle adjustment will change according to the law determined by this coefficient, so as to better adapt to the actual application scenarios under different environmental temperature conditions. △θ is the tilt angle deviation. t is the time, in seconds. w2 is the approximate value corresponding to the assumption of being constant within a short time interval when approximating the integral equation of the angle changing with time. a is a coefficient representing the influence degree of factors such as friction loss and elastic deformation during the transmission process on the transmission efficiency.

[0119] In this technical solution, the height and angle planning mechanism can effectively pre-plan and real-time adjust the attitude of the ranging mechanism during the building ranging process, cooperate with the route planning module, and ensure the accurate completion of the entire building ranging task.

[0120] Furthermore, the monitoring and analysis agency receives the measurement data from the ranging agency and the data from various environmental sensors (such as temperature sensors, humidity sensors, air pressure sensors, etc.), and corrects and comprehensively analyzes the ranging data according to these environmental parameters. Finally, accurate distance data is obtained. The steps are as follows.

[0121] 1. Data acquisition: The monitoring and analysis agency establishes a stable data communication channel with the ranging agency and various environmental sensors (temperature sensors, humidity sensors, air pressure sensors, etc.). Ensure that the data transmitted by each sensor can be received in real time. Receive the original measured distance values from the ranging agency. These data include the initial measurement results obtained by laser rangefinders or ultrasonic rangefinders according to their respective ranging principles. Synchronously receive the ambient temperature value transmitted by the temperature sensor. Obtain the ambient relative humidity data collected by the humidity sensor. Receive the atmospheric pressure value feedback by the air pressure sensor. Match and record the data of these different environmental parameters with the corresponding acquisition time to form an environmental data set.

[0122] 2. Data preprocessing: Perform format verification and cleaning on the collected data; then perform data time synchronization and alignment processing; perform format verification on the received ranging data and environmental data, and mark or eliminate the data that does not conform to the format to ensure that the data for subsequent processing is valid. Using the timestamps of each sensor or the unified system time as a reference, align the ranging data and environmental data collected at the same moment to ensure the accurate correlation between the data during subsequent analysis.

[0123] 3. Analysis of the influence of environmental parameters.

[0124] 3.1 Analysis of the influence of temperature on ranging.

[0125] For ultrasonic ranging, according to the data of the temperature sensor received, calculate the actual propagation speed of ultrasonic waves in the current environment, and then analyze the influence on the ultrasonic ranging result. For example, if the temperature rises, the propagation speed of ultrasonic waves increases, and within the same round-trip time of transmission and reception, the measured distance will be larger than the actual distance, and the ranging data needs to be corrected accordingly according to the speed change.

[0126] For laser ranging, although the propagation speed of laser in the air is relatively less affected by temperature, it still needs to be considered under high-precision measurement requirements. Temperature changes will cause changes in the refractive index of the air, thereby indirectly affecting the propagation speed and optical path of the laser, and then having a slight impact on the ranging result.

[0127] 3.2. Analyze the influence of air pressure on ranging (for ultrasonic ranging): Changes in air pressure will alter properties such as the density of air, thereby affecting the propagation characteristics and speed of ultrasonic waves. Under different air pressure conditions, the propagation speed of ultrasonic waves will vary. Based on the existing empirical formulas or theoretical models for the relationship between air pressure and the propagation speed of ultrasonic waves, combined with the data from the received air pressure sensor, calculate the change in the propagation speed of ultrasonic waves caused by the change in air pressure, and make corresponding corrections to the ultrasonic ranging data.

[0128] 3.3. Analyze the influence of humidity on ranging: Humidity mainly affects the propagation of light (laser) and sound waves (ultrasonic waves) by changing physical properties such as the dielectric constant of air. However, this influence is usually relatively small compared to temperature and air pressure. Evaluate the degree of its influence on ranging based on the data collected by the humidity sensor, and make appropriate corrections to the data.

[0129] 4. Comprehensive data correction and analysis: Based on the analysis of the influence of environmental parameters such as temperature, air pressure, and humidity, establish a comprehensive ranging data correction model. For example, for ultrasonic ranging data ultrasonic (original measured value), the distance ultrasonic after temperature correction is expressed as ultrasonic ultrasonic standard actual. For laser ranging data laser, make corrections based on factors such as temperature and air refractive index, and apply these corrections to the original ranging data in sequence to obtain the preliminarily corrected distance value. The ultrasonic measurement data is corrected according to the following formula.

[0130] d 终超声 =d 超声 *{1 + [ln(1 + 0.01T)] / (1 + 0.005T)} -1 *(P0 / P) inverse(1+0.001T) *(1 + β * e -γH );In the formula, d 终超声 represents the final result of ultrasonic ranging obtained after comprehensive correction by environmental factors such as temperature, air pressure, and humidity. d 超声 is the original ultrasonic ranging data, that is, the distance value initially obtained by the ultrasonic rangefinder during actual measurement, without any correction based on the influence of environmental factors. T represents the actual measurement environmental temperature. P refers to the actual air pressure. P0 is the reference air pressure, generally taking the standard atmospheric pressure value. H represents humidity, which is measured and obtained through the humidity sensor. β and γ are coefficients related to humidity determined through experiments. These two coefficients need to be determined through a large number of targeted experimental studies. Inverse means taking the reciprocal. The laser measurement data is corrected according to the following formula.

[0131] d 终激光 =d 激光 *{1 + [sin(πT / 300)] / (1 + T 2 )} -1*{1 + [ln(1 + 0.05P)] / (1 + 0.01P)} -1 *[1 + δtanh(εH)]; where d 终激光 represents the final result of laser ranging obtained after comprehensive correction of various environmental factors such as temperature, air pressure, and humidity, that is, a value that can as accurately as possible reflect the actual measured distance. d 激光 refers to the original laser ranging data, that is, the distance measurement value initially obtained by the laser rangefinder during measurement without considering the influence of environmental factors on laser propagation. T is the actual measured environmental temperature. P is the actual air pressure. H is the humidity. δ and ε are humidity-related coefficients determined through experiments.

[0132] 5. Data Rationality Analysis and Verification: Conduct a rationality analysis on the corrected ranging data to check whether the data conforms to the physical laws and expected range of the measurement scenario. For example, when measuring a fixed-size structure of a building, the corrected distance values obtained from multiple measurements should be relatively stable and within a reasonable error range. If there are significant data fluctuations or obvious anomalies, it is necessary to further investigate whether it is due to sensor failure, abnormal environmental factors, or problems with the correction algorithm, etc., and verify and troubleshoot faults by comparing with historical measurement data, repeating measurements, checking the sensor status, etc.

[0133] 6. Statistical Analysis and Precision Evaluation: Conduct a statistical analysis on the ranging data that has been corrected and verified, such as calculating statistical quantities such as the mean, standard deviation, maximum value, and minimum value, to evaluate the stability and precision of the measurement results.

[0134] 7. Output Accurate Distance Data: Organize the accurate distance data obtained after the above series of processing, correction, and analysis, and generate a detailed data report according to information such as the measurement point number, corresponding building structure part, and measurement time, clearly showing the accurate distance results at each measurement location and the relevant statistical analysis information, facilitating the use in subsequent building construction, quality inspection, and other links.

[0135] 8. Data Storage and Sharing: Store the final distance data and the key data during the entire processing process in a local database or cloud storage system for easy subsequent query, traceability, and further analysis. According to actual needs, share the data with other relevant systems or personnel through network interfaces and other means to provide strong data support for the smooth progress of the building project.

[0136] In this technical solution, the monitoring and analysis agency can make full use of the received ranging data and environmental data, effectively correct the influence of environmental factors on the ranging results, and finally obtain accurate and reliable distance data to meet the requirements of the building ranging task.

[0137] Furthermore, the image analysis module analyzes and identifies the collected images, and uses image analysis to identify obstacles such as temporarily stacked building materials and equipment. For complex building structures or measurement points with special markings, image analysis can help with positioning. It includes the following steps.

[0138] 1. Image preprocessing: Preprocess the collected images, including standardization, filtering and denoising, image enhancement, etc.

[0139] 2. Feature extraction: Extract features from the preprocessed images. The extracted features include color, texture, and shape. According to the appearance characteristics of target objects such as building materials, equipment, and measurement points, select appropriate feature extraction methods. For temporarily stacked building materials (such as steel bars, bricks, etc.) and equipment (such as cranes, mixers, etc.), extract their shape features (such as geometric shapes like rectangles, circles, etc.), texture features (such as the striped texture of steel bars, the rough texture of bricks, etc.), and color features (different materials often have specific color ranges, such as the silver - gray color of steel, the dark red color of bricks, etc.). For complex building structures or measurement points with special markings, extract their unique geometric contour features (such as specific - shaped building decorative lines, the shape of marked points, etc.), spatial position relationship features (the relative position and angle with surrounding building structures, etc.), and auxiliary features such as color and texture. Through computer vision algorithms (such as Scale - Invariant Feature Transform SIFT, Speeded - Up Robust Features SURF, etc.), these features are extracted from the images to form feature vectors for subsequent target matching and recognition.

[0140] 3. Target classification and recognition model construction: Construct a target classification and recognition model. Collect a large number of image samples containing various target objects such as building materials, equipment, complex building structures, and measurement points with special markings. Accurately label the target objects in each sample image (label information such as the category and position of the object) to construct a labeled data set. Based on the labeled data set, select the Support Vector Machine (SVM) model. By continuously adjusting the parameters of the model, it can accurately identify different types of building materials, equipment, and locate complex building structures and special - marking measurement points and other target objects according to the features of the input image. The target classification and recognition model is.

[0141] Minimize w,bm [0.5||w|| 2 +CΣ n i=1 ξ i ;y i (w*x i +bm)≥(1 - ξ i );ξ i≥0, i ∈ {1, …, n}; where w represents the weight vector used to construct the decision boundary. bm represents the bias term, which together with the weight vector determines the position of the decision boundary. ||w|| 2 is the square of the norm of the weight vector w in a specific space, the square of the Euclidean norm. C is the regularization parameter used to balance the model complexity (reflected by the norm of the weight vector) and the classification error (measured by the slack variables). The larger the value of C, the heavier the penalty for the classification error by the model, and vice versa. ξ i is the slack variable associated with the sample xi, used to measure the extent to which the sample violates the margin constraint. y i is the sample x i 's true label, taking values of +1 or -1, representing the class to which the sample belongs. x i is the feature vector of the i-th sample, containing all the feature information of the sample. n is the total number of samples, that is, the number of samples contained in the training set.

[0142] 4. Real-time object detection and recognition: During the driving of the trolley, the preprocessed real-time image is input into the trained object classification and recognition model, and the model will output detection results such as the class probabilities and position information (such as the coordinate range and bounding box of the target object in the image) of each target object in the image. For the identified obstacles such as temporarily stacked building materials and equipment, key information such as their positions and sizes in the image is recorded; for complex building structures or special marking measurement points, the corresponding positions and feature information are also obtained for subsequent route adjustment or measurement and positioning operations.

[0143] 5. Obstacle analysis and route adjustment.

[0144] 5.1 Obstacle position calculation: According to the position information of the obstacles (such as building materials and equipment) in the image output by the object detection and recognition model, combined with parameters such as the installation position, shooting angle of the camera, and the current position and driving direction of the trolley, through spatial coordinate transformation and geometric calculation, the two-dimensional position information of the obstacles in the image is converted into the three-dimensional space position coordinates in the actual environment to accurately judge the actual distance, azimuth, etc. of the obstacles relative to the trolley.

[0145] 5.2 Danger level assessment: Assess the danger level caused by the obstacles to the driving of the trolley, for example, comprehensively judge according to factors such as the proximity of the obstacles to the current driving route of the trolley, the size of the obstacles (the larger the size, the higher the possible danger level), and the driving speed of the trolley. If the obstacle is directly in front of the preset driving route of the trolley and is relatively close, or on the necessary path for the trolley to turn, then the danger level is relatively high; on the contrary, if the obstacle is far away or on the side of the trolley's driving route and does not affect normal driving, the danger level is relatively low.

[0146] 5.3. Route adjustment decision-making: When it is determined that there are obstacles with a relatively high degree of danger, relevant information about the obstacles (such as position, size, degree of danger, etc.) is sent to the route planning module. The route planning module re-plans the driving route of the trolley according to the current position of the trolley, the position of the target measurement point, and the surrounding environment information (which can be combined with the previously obtained three-dimensional building model or other map data, etc.).

[0147] 6. Measurement point positioning assistance.

[0148] 6.1. Measurement point positioning in complex building structures: For measurement points located in complex building structures, the image analysis module identifies the unique geometric features of the building structure (such as the corners of a specific shape, the exterior wall decorations with special shapes, etc.) and the identifiers related to the measurement points. Combining with the three-dimensional building model or the pre-set measurement point layout information, the accurate position coordinates of the measurement points in the actual environment are determined. According to the current position of the trolley and the position of the measurement point, auxiliary information is provided to the route planning module to help it plan a more accurate driving route, so that the trolley can accurately approach the measurement point, facilitating the subsequent distance measuring mechanism to perform accurate measurements. The feature matching algorithm (such as SIFT, SURF) is used to match the image features with the three-dimensional model features. Calculate the identifier position according to the following formula.

[0149] R = Σ{ψ * [A(x, y) - B(x + u, y + v)] 2 + (1 - ψ) ||▽[A(x, y) - B(x + u, y + v)]|| 2}; In the formula, A(x, y) represents the pixel value of the template image at the coordinate (x, y). B(x + u, y + v) represents the pixel value at the corresponding position of the input image after displacement (u, v) and the template. ψ is a regularization parameter used to balance the original error (i.e., the difference between the template and the input image pixel values) and the gradient error (i.e., the spatial gradient of the difference between the template and the input image pixel values). ▽ represents the gradient operator used to calculate the spatial change of the image pixel values. ||*|| 2 represents the squared norm of the vector, used to calculate the magnitude of the gradient error.

[0150] 6.2. Positioning and calibration of measurement points with special identifiers: For measurement points with special identifiers, the image analysis is used to accurately identify the features such as the shape, color, and pattern of the identifier. By comparing with the pre-stored standard identifier template, the identity and position accuracy of the measurement point are further confirmed. If it is found that there is a deviation between the position of the measurement point and the expectation, the deviation information is timely fed back to the relevant modules so as to make corresponding adjustments and calibrations to the driving route, ranging posture, etc., ensuring the accuracy and reliability of the measurement work.

[0151] In this technical solution, the image analysis module can fully play its role in the automatic control of the mobile trolley building ranging system, effectively identify obstacles and assist in route adjustment and measurement point positioning, etc., to ensure the smooth progress of the entire building ranging task.

[0152] Furthermore, when the comprehensive evaluation module performs long-distance detection, it uses a laser rangefinder and an ultrasonic rangefinder to measure the distance simultaneously, and then fuses the laser ranging data and the ultrasonic ranging data obtained by the monitoring and analysis mechanism to obtain an accurate distance value. The steps are as follows.

[0153] 1. Synchronously start the measurement: Send measurement start commands to the laser rangefinder and the ultrasonic rangefinder simultaneously, and record the time stamp when the measurement starts. At this time, the two rangefinders start to emit ranging signals (laser pulses and ultrasonic signals) to the target according to the set frequency and receive the reflected signals to obtain distance data.

[0154] 2. Data acquisition and transmission: Every time the laser rangefinder completes a measurement, it immediately transmits the measured distance data laser and the corresponding time stamp laser to the monitoring and analysis mechanism. After receiving the data, the monitoring and analysis mechanism stores it in the buffer area or database table specially prepared for laser ranging data in chronological order, and at the same time records the reception time receive laser of the data for subsequent data synchronization and processing. After the ultrasonic rangefinder completes the measurement, it sends the distance data ultrasonic and the time stamp ultrasonic to the monitoring and analysis mechanism. The monitoring and analysis mechanism stores these data in the buffer or database of the ultrasonic ranging data in chronological order and records the reception time receive ultrasonic.

[0155] 3. Data time synchronization and alignment: Due to the differences in the measurement principles and data processing speeds of the laser rangefinder and the ultrasonic rangefinder, the data transmitted by the two are not completely aligned in time. Therefore, it is necessary to perform time synchronization calibration on the collected data. First, determine a reference time benchmark. For example, the measurement start time can be selected as the reference time. For the laser ranging data, calculate its relative time with respect to the reference time benchmark; for the ultrasonic ranging data, calculate the relative time. According to the calculated relative time, align the laser ranging data and the ultrasonic ranging data in chronological order. The interpolation method can be used to process the data points with incomplete time matching.

[0156] 4. The monitoring and analysis mechanism receives the measurement data from the ranging mechanism and the data of various environmental sensors, and corrects and comprehensively analyzes the ranging data according to these environmental parameters. Finally, the corrected laser ranging data and ultrasonic ranging distance data are obtained.

[0157] 5. Data Fusion Calculation: The corrected laser ranging data and ultrasonic ranging data are fused to obtain accurate distance data, and the data fusion calculation is performed according to the following formula.

[0158] d 融合i ={[w 激光 *d 激光i *e -λ激光|△d激光i| +w 超声 *d 超声i *e -λ超声|△d超声i|} / Σ N j=1 [w 激光 *e -λ激光|△d激光i| +w 超声 *e -λ超声|△d超声i| ; In the formula, d 融合i represents the fused distance data obtained at the i-th moment (or the moment corresponding to the i-th data point) during the fusion calculation. d 激光i represents the corrected laser ranging data. d 超声i is the corrected ultrasonic ranging data. w 激光 is the weight coefficient assigned to the laser ranging data when fusing the laser ranging data and the ultrasonic ranging data. w 超声 is the weight coefficient assigned to the ultrasonic ranging data. △d 激光i represents the difference between the i-th laser ranging data point and the previous data point in the laser ranging data sequence. △d 超声i is the difference between the i-th ultrasonic ranging data point and the previous data point in the ultrasonic ranging data sequence. λ 激光 is an adjustable coefficient that is associated with the difference of the laser ranging data points. λ 超声 is an adjustable coefficient that acts on the difference of the ultrasonic ranging data points.

[0159] 6. Verification and Optimization of the Fused Data: Use a standard target or reference measurement point with a known distance to verify the fused distance data. Calculate the error metrics between the fused data and the standard distance, such as the root mean square error (RMSE) of the laser-laser fusion standard (where the standard is the standard distance value), the mean absolute error (MAE) of the laser-laser fusion standard, etc. Compare the calculated error metrics with the preset accuracy requirements. If the error exceeds the allowable range, it is necessary to check each link in the data fusion process, including data acquisition, preprocessing, weight determination, etc., find out the possible reasons for the large error, and make corresponding adjustments and optimizations.

[0160] In this technical solution, the advantages of the laser rangefinder and the ultrasonic rangefinder can be fully utilized in long-distance detection, effectively integrating the data of both to obtain a more accurate distance value, meeting the requirements for high-precision long-distance measurement in fields such as building distance measurement.

[0161] The present invention provides a method for using a building distance measurement device, including the following steps.

[0162] S1. The route planning module reasonably plans the travel route of the automatically controlled mobile trolley 1 based on the map information of the building site and the requirements of the measurement task, considering factors such as the location of buildings, the distribution of obstacles, the order and distribution of measurement points, etc., and makes corresponding adjustments and optimizations.

[0163] S2. The automatically controlled mobile trolley 1 moves to the starting position of the route and performs building distance measurement operations according to the planned route; the monitoring and analysis mechanism receives data from various environmental sensors (such as temperature sensors, humidity sensors, barometric pressure sensors, etc.); the high-definition camera in the image acquisition module continuously captures images of the building scene during the trolley's travel, and the LED lights automatically adjust their brightness according to the ambient light conditions for auxiliary lighting.

[0164] S3. The image analysis module continuously detects whether there are obstacles such as temporarily stacked building materials and equipment in the image. If potential obstacles are found, relevant information (such as the position, size, type, etc. of the obstacles in the image) is immediately sent to the route planning module. The route planning module, based on the received obstacle information, combines information such as the current trolley position, the target measurement point position, and the building site map, and adjusts the trolley's travel route in real time, re-planning the optimal path to bypass the obstacles, so that the trolley can avoid the obstacles and continue to travel towards the target measurement point, ensuring the safety and smoothness of the travel process.

[0165] S4. When the trolley approaches each measurement point, the height and angle planning mechanism sends control commands to the height adjustment mechanism and the angle adjustment mechanism through the PLC control module according to the pre-planned parameters. The height adjustment mechanism adjusts the distance measurement mechanism to the appropriate height position, and the angle adjustment mechanism adjusts the angle (including the horizontal angle and the vertical angle) of the distance measurement mechanism to the accurate direction, so that the distance measurement mechanism can be aligned with the building part to be measured in the best posture.

[0166] S5. The distance measurement mechanism (depending on the previously selected distance measurement method, activates the corresponding laser rangefinder or ultrasonic rangefinder, or activates both simultaneously) emits a distance measurement signal (laser beam or ultrasonic beam) towards the target building part, receives the reflected signal, calculates the preliminary measured distance value according to their respective distance measurement principles, and transmits the distance data to the monitoring and analysis mechanism in real time.

[0167] S6. After the monitoring and analysis agency receives the measurement data transmitted by the ranging agency and the environmental data transmitted by the environmental sensor, it corrects and comprehensively analyzes the ranging data according to the environmental parameters. After a series of correction calculations, accurate distance data is finally obtained.

[0168] S7. Record the accurate distance data after correction and the corresponding measurement point positions, measurement times, environmental parameters and other relevant information in a certain data format (such as a table form, including fields such as measurement point number, three-dimensional coordinates, measurement distance, temperature, humidity, air pressure, measurement time, etc.), and store it in the data storage module for subsequent query, statistical analysis and comparison with building design data and other operations.

[0169] S8. When performing long-distance detection, a laser rangefinder and an ultrasonic rangefinder are used to measure the distance simultaneously. The comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data obtained by the monitoring and analysis agency to obtain an accurate distance value.

[0170] S9. After the automatic control mobile trolley completes the ranging of all measurement points, the PLC control module confirms that the task is completed and notifies the operator, and at the same time displays key statistical information. Subsequently, a special software is used to generate a detailed measurement report containing a task overview, result summary and abnormal situation records based on the measurement data.

[0171] The working principle of a building distance measuring device of the present invention is as follows: The route planning module reasonably plans the traveling route of the automatically controlled mobile trolley 1 based on the map information of the building site and the requirements of the measurement task. The automatically controlled mobile trolley 1 moves to the starting position of the route and performs the operation of building distance measurement according to the planned route. The monitoring and analysis mechanism receives the data of various environmental sensors; the high-definition camera in the image acquisition module continuously acquires the building scene images during the traveling process of the trolley; the image analysis module continuously detects whether there are obstacles such as temporarily stacked building materials and equipment in the images. If potential obstacles are found, relevant information is immediately sent to the route planning module. The route planning module adjusts the traveling route of the trolley in real time according to the received obstacle information, combined with the current trolley position, the position of the target measurement point, and the building site map and other information, and re-plans the optimal path to bypass the obstacles. When the trolley approaches each measurement point, the height and angle planning mechanism sends control instructions to the height adjustment mechanism and the angle adjustment mechanism through the PLC control module according to the pre-planned parameters. The height adjustment mechanism adjusts the distance measuring mechanism to a suitable height position, and the angle adjustment mechanism adjusts the angle of the distance measuring mechanism to an accurate direction, so that the distance measuring mechanism can be aligned with the building part to be measured in the best posture. The distance measuring mechanism emits a distance measuring signal to the target building part and receives the reflected signal, calculates the preliminary measured distance value according to its respective distance measuring principle, and transmits the distance data to the monitoring and analysis mechanism in real time. After receiving the measurement data transmitted by the distance measuring mechanism and the environmental data transmitted by the environmental sensors, the monitoring and analysis mechanism corrects and comprehensively analyzes the distance measurement data according to the environmental parameters. After a series of correction calculations, accurate distance data is finally obtained. The accurate distance data after correction, as well as the relevant information such as the corresponding measurement point position, measurement time, and environmental parameters, are recorded in a certain data format and stored in the data storage module for subsequent query, statistical analysis, and comparison with building design data and other operations. When performing long-distance detection, a laser rangefinder and an ultrasonic rangefinder are used to measure the distance simultaneously. The laser ranging data and the ultrasonic ranging data obtained by the monitoring and analysis mechanism are fused through the comprehensive evaluation module to obtain an accurate distance value. After the automatically controlled mobile trolley completes the distance measurement of all measurement points, the PLC control module confirms the completion of the task and notifies the operator, and at the same time displays the key statistical information. Subsequently, a special software is used to generate a detailed measurement report including a task overview, result summary, and abnormal situation record according to the measurement data.

[0172] The present invention can achieve precise alignment measurement. The height and angle planning mechanism can precisely adjust the height and angle of the ranging mechanism according to the pre-planned parameters through the PLC control module, ensuring the accuracy and reliability of ranging. It realizes the integration of multiple ranging methods. The ranging mechanism supports laser ranging and ultrasonic ranging, and can select the appropriate ranging method according to different ranging requirements, improving the flexibility and accuracy of measurement. The monitoring and analysis mechanism can correct and comprehensively analyze the ranging data according to the environmental parameters to obtain accurate distance data, providing a reliable basis for subsequent query, statistical analysis and comparison operations. It improves the long-distance detection accuracy. During long-distance detection, the laser ranging data and ultrasonic ranging data are fused through the comprehensive evaluation module to further improve the measurement accuracy.

[0173] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for using a building distance measuring device, characterized in that, It includes the following steps: S1. The route planning module plans the optimal traveling route of the automatically controlled mobile trolley; S2. The automatically controlled mobile trolley drives the ranging mechanism to perform building ranging operations; the monitoring and analysis mechanism receives the data of the environmental sensor; the image acquisition module continuously acquires building scene images; S3. The image analysis module detects whether there are obstacles in the image, and the route planning module plans the optimal path to bypass the obstacles; S4. The height adjustment mechanism and the angle adjustment mechanism act to adjust the ranging mechanism to a suitable height and accurate direction; S5. The ranging mechanism emits a ranging signal to the target building part and calculates a preliminary measured distance value; S6. The monitoring and analysis mechanism corrects and comprehensively analyzes the ranging data to obtain accurate distance data; S7. Record and store the corrected distance data and its related information in the data storage module; S8. During long-distance detection, combine the data of the laser rangefinder and the ultrasonic rangefinder, and the comprehensive evaluation module performs fusion analysis to obtain an accurate distance value; S9. After completing the ranging of all measurement points, generate a detailed measurement report based on the measurement data.

2. The method for using the building distance measuring device according to claim 1, characterized in that: Step S4 includes the following steps: S41. Obtain building-related information: Obtain the building three-dimensional model and import it into the software system of the height and angle planning mechanism; S42. Define the specific objectives and requirements of the measurement task; S43. Interface with the route planning module: Obtain the driving route information of the automatically controlled mobile trolley from the route planning module; S44. Determine the ideal posture: Determine the height, direction, and tilt angle of the ranging mechanism respectively; S45. Obtain the position, speed, and acceleration information of the trolley in real time, and compare the difference between the ideal ranging mechanism posture and the actual posture; S46. Adjust in real time: Control the height, direction, and tilt angle of the ranging mechanism as needed.

3. The method for using the building distance measuring device according to claim 1, characterized in that: Step S6 includes the following: The monitoring and analysis mechanism receives the data of the ranging mechanism and the environmental sensor in real time; preprocesses the data; performs environmental parameter influence analysis; performs comprehensive data correction and analysis, establishes a comprehensive ranging data correction model; performs rationality analysis and verification on the corrected ranging data; performs statistical analysis on the corrected and verified ranging data to evaluate the stability and accuracy of the measurement results; outputs an accurate distance data report.

4. The method for using the building distance measuring device according to claim 1, characterized in that: Step S3 includes the following: Preprocess and extract features from the collected images; Adopt the support vector machine SVM model; Perform real-time object detection, process real-time images using the pre-trained model, identify the object category and position information of the target, and record the obstacle and building structure features; Perform obstacle analysis and route adjustment: Assist in positioning the measurement point.

5. The method for using the building distance measuring device according to claim 1, wherein: Step S8 includes the following: Send a measurement start instruction to the laser rangefinder and the ultrasonic rangefinder; transmit the measured distance data and its timestamp to the monitoring and analysis mechanism; Align the laser ranging data and the ultrasonic ranging data in chronological order; correct and comprehensively analyze the ranging data according to the environmental parameters; fuse the corrected laser ranging data and the ultrasonic ranging data distance data to obtain accurate distance data; verify the fused distance data.

6. The method for using the building distance measuring device according to claim 1, wherein: The height adjustment mechanism includes motor A, a lead screw, and a sliding seat; motor A is fixedly arranged on the automatically controlled mobile trolley; the output end of motor A is coaxially and fixedly provided with a lead screw; a rectangular conduit is fixedly arranged on the automatically controlled mobile trolley; a positioning cover plate is detachably and fixedly arranged at the upper end of the rectangular conduit; the upper end of the lead screw is rotatably connected to the positioning cover plate; the sliding seat is slidably arranged on the rectangular conduit; the sliding seat is in threaded engagement with the lead screw.

7. The method for using the building distance measuring device according to claim 6, characterized in that: The angle adjustment mechanism includes motor B and a driving gear; motor B is fixedly arranged on the sliding seat; the output end of motor B is coaxially and fixedly connected to the driving gear; the driving gear is in transmission connection with the distance measuring mechanism.

8. The method for using the building distance measuring device according to claim 6, wherein: The distance measuring mechanism includes a rotating rod, a fixing plate, an ultrasonic distance measuring instrument, a laser distance measuring instrument, and a gear shaft; the rotating rod is rotatably arranged on the sliding seat; a fixing plate is fixedly arranged on the rotating rod; an ultrasonic distance measuring instrument and a laser distance measuring instrument are fixedly arranged on the fixing plate; one end of the rotating rod is detachably and fixedly provided with a gear shaft; the gear shaft is in meshing transmission connection with the driving gear.

9. The method for using the building distance measuring device according to claim 8, characterized in that: An electronic level is fixedly arranged on the rotating rod.

10. A building distance measuring device, comprising: The automatically controlled mobile trolley, the distance measuring mechanism, the height adjustment mechanism, the angle adjustment mechanism, the route planning module, the height and angle planning mechanism, the monitoring and analysis mechanism, the image acquisition module, the image analysis module, the comprehensive evaluation module, the data storage module, and the PLC control module; characterized in that: The automatically controlled mobile trolley: can automatically move within the construction site; The distance measuring mechanism: measures the distance using a laser distance measuring instrument or an ultrasonic distance measuring instrument as required, or combines the laser distance measuring instrument and the ultrasonic distance measuring instrument to measure the distance; The height adjustment mechanism: is arranged on the automatically controlled mobile trolley; the distance measuring mechanism is rotatably arranged on the height adjustment mechanism; The angle adjustment mechanism: is arranged on the height adjustment mechanism; the angle adjustment mechanism adjusts the angle of the distance measuring mechanism; The route planning module: calculates the optimal driving route of the automatically controlled mobile trolley using the A* path planning algorithm; The height and angle planning mechanism: plans the height, direction, and tilt angle of the distance measuring mechanism; The monitoring and analysis mechanism: corrects and comprehensively analyzes the distance measurement data according to the environmental parameters; obtains accurate distance data; The image acquisition module: includes a high-definition camera and an LED lamp, and acquires high-definition images during the building distance measurement process; The image analysis module: analyzes and identifies the acquired images to identify obstacles; The comprehensive evaluation module: when performing long-distance detection, uses the laser distance measuring instrument and the ultrasonic distance measuring instrument to measure the distance simultaneously, fuses the laser distance measurement data and the ultrasonic distance measurement data, and obtains an accurate distance value; The data storage module: is used to store various data during the building distance measurement process; The PLC control module: is network-connected to the automatically controlled mobile trolley, the distance measuring mechanism, the height adjustment mechanism, the angle adjustment mechanism, the route planning module, the data storage module, the comprehensive evaluation module, the height and angle planning mechanism, and the monitoring and analysis mechanism.

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