A building ranging device and method of use thereof

Abstract

The application belongs to the technical field of building surveying, and discloses a building distance measuring device and a use method thereof. The method comprises the following steps: a route planning module plans an optimal travel route; an automatic control mobile trolley distance measuring mechanism performs building distance measuring operation; a monitoring and analyzing mechanism receives environmental sensor data; an image acquisition module continuously acquires building scene images; an image analyzing module continuously detects whether there is an obstacle in the image; the distance measuring mechanism is adjusted to a suitable height and an accurate direction; the monitoring and analyzing mechanism obtains accurate distance data after correction calculation; when long-distance detection is performed, the data of a laser range finder and an ultrasonic range finder are combined, comprehensive evaluation modules are used for fusion analysis, and accurate distance values are obtained. The monitoring and analyzing mechanism can correct and comprehensively analyze distance measuring data according to environmental parameters, and accurate distance data is obtained. The comprehensive evaluation modules fuse laser distance measuring data and ultrasonic distance measuring data, and the long-distance detection precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building surveying, and more particularly to a building distance measuring device and a method for using the same. BACKGROUND

[0002] Building engineering cannot be separated from measurement before and after construction. The measurement content includes length, height, deflection, levelness, etc. In terms of distance measurement, the commonly used portable distance meter is a laser range finder. The measurement personnel only need to hold the laser range finder to measure long distance data, greatly improving the work efficiency.

[0003] The prior art document with the publication number CN116697967A provides a distance measuring device for building construction, relating to the field of building construction, comprising a device box, a through hole is formed in the upper end surface of the device box, a pad is installed inside the device box; a drive motor is fixedly installed inside the waterproof box, the front end of the drive motor is in transmission connection with a drive shaft, and a fixed disc is installed at the end of the drive shaft; an LED waterproof lamp is arranged on the control block at the upper end of the warning barrel, so that after the warning barrel is immersed in water, the light emitted by the LED waterproof lamp can prompt the worker that the fixed cylinder has been immersed in water, the lower end of the measuring rope is sleeved outside the clamping column, and when the drive shaft drives the fixed disc to rotate, the measuring rope will move up and down to and fro, thereby reminding the worker that the fixed cone has touched the bottom. Once measurement can obtain the depth of the well and the depth of the water at the same time. It solves the problems that workers cannot accurately grasp the time when the stone touches the bottom, and cannot measure the depth of the water and the depth of the well at one time.

[0004] The prior art scheme in the above has the following defects although the related beneficial effects can be achieved by the structure of the prior art: 1. Low work efficiency, the worker needs to hold the distance measuring device to measure point by point, which is time-consuming and laborious. 2. The distance measurement data is not accurate enough, the temperature, humidity and air pressure parameters of the environment all have a certain influence on the distance measurement result, and the prior art does not consider the influence of environmental factors. Especially in complex outdoor environments, such as large temperature changes, high humidity, etc., the accuracy of the existing building distance measuring device may be affected. For example, the propagation speed of laser will change slightly in a high-temperature environment, and the change of the speed of light will cause errors in the measured distance. For the measurement of long-distance buildings, such as the measurement of the distance between two large buildings several kilometers apart, some distance measuring devices will greatly reduce the measurement accuracy due to signal attenuation, reflection interference and other factors.

[0005] In view of this, we propose a building distance measuring device and a method for using the same. SUMMARY

[0006] 1. Technical problem to be solved

[0007] The purpose of the present application is to provide a building ranging device and method, which solves the technical problems raised in the background art, realizes the fusion of multiple ranging modes, the ranging mechanism supports laser ranging and ultrasonic ranging, can select the appropriate ranging mode according to different ranging requirements, improves the flexibility and accuracy of measurement, the monitoring and analysis mechanism can correct and comprehensively analyze the ranging data according to the environmental parameters, and obtain accurate distance data, and the long distance detection accuracy is improved, and in long distance detection, the laser ranging data and ultrasonic ranging data are fused through the comprehensive evaluation module, and the accuracy of measurement is further improved.

[0008] 2. Technical solution.

[0009] The technical solution of the present application provides a building ranging device, which comprises.

[0010] The automatic control mobile trolley can automatically move freely in the building site.

[0011] The ranging mechanism comprises a laser range finder and an ultrasonic range finder; the laser range finder or the ultrasonic range finder is used to measure the distance according to the requirement, or the laser range finder and the ultrasonic range finder are combined to measure the distance.

[0012] The height adjusting mechanism is arranged on the automatic control mobile trolley; the ranging mechanism is rotatably arranged on the height adjusting mechanism; and the height adjusting mechanism adjusts the height of the ranging mechanism.

[0013] The angle adjusting mechanism is arranged on the height adjusting mechanism; and the angle adjusting mechanism adjusts the angle of the ranging mechanism.

[0014] The route planning module calculates the optimal driving route of the automatic control mobile trolley based on the map information of the building site and the measurement task requirement by using a path planning algorithm. The position of the building, the distribution of obstacles, the sequence and distribution of measurement points and other factors are considered to plan the route with the shortest path, the least number of turns or other optimization targets.

[0015] The height and angle planning mechanism monitors the building ranging process, plans the height, direction and inclination angle of the ranging mechanism, and according to the specific requirements of the measurement task and the characteristics of the building, the height, direction and inclination angle of the ranging mechanism are pre-planned and adjusted in real time during the building ranging process. Combined with the three-dimensional model of the building or the building characteristic information input by the measurement personnel, the ranging mechanism posture required at different measurement points is determined.

[0016] The monitoring and analysis mechanism receives the measurement data from the ranging mechanism and the data of various environmental sensors. The ranging data is corrected and comprehensively analyzed according to the environmental parameters. Finally, accurate distance data is obtained.

[0017] Image acquisition module: including high-definition camera and LED lamp, collecting high-definition images during building distance measurement process.

[0018] Image analysis module: analyzing and identifying the collected images, using image analysis to identify temporary stacked building materials, equipment and other obstacles. When the automatic control mobile trolley is driving, the potential obstacles are found in advance by analyzing the images collected by the camera in real time, so as to adjust the driving route in the route planning module to avoid collision.

[0019] Comprehensive evaluation module: when long-distance detection is performed, laser range finder and ultrasonic range finder are used to measure distance at the same time, and then laser ranging data and ultrasonic ranging data obtained by the monitoring analysis mechanism are fused to obtain accurate distance value.

[0020] Data storage module: used for storing various data during building distance measurement process.

[0021] PLC control module: network connection with automatic control mobile trolley, distance measuring mechanism, height adjusting mechanism, angle adjusting mechanism, route planning module, data storage module, comprehensive evaluation module, height and angle planning mechanism and monitoring analysis mechanism.

[0022] As an optional scheme of the application, the monitoring analysis mechanism receives measurement data from the distance measuring mechanism and data of various environmental sensors, and corrects and comprehensively analyzes the distance measuring data according to the environmental parameters. Finally, accurate distance data is obtained. Including the following steps.

[0023] 1、Data acquisition: the monitoring analysis mechanism establishes stable data communication channels with the distance measuring mechanism and various environmental sensors (temperature sensor, humidity sensor, air pressure sensor, etc.). Ensure that the data transmitted by each sensor can be received in real time. Receive the original measurement distance value from the distance measuring mechanism. These data include the initial measurement results obtained by laser range finder or ultrasonic range finder according to their respective distance measuring principles. Synchronously receive the environmental temperature value transmitted by the temperature sensor. Obtain the relative humidity data collected by the humidity sensor. Receive the atmospheric pressure value fed back by the air pressure sensor. Match and record the data of different environmental parameters with the corresponding collection time to form an environmental data set.

[0024] 2、Data preprocessing: format verification and cleaning of the collected data; then data time synchronization and alignment processing.

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

[0026] 3.1、Analysis of the influence of temperature on distance measurement.

[0027] For ultrasonic ranging, according to the received temperature sensor data, the actual propagation speed of ultrasonic waves in the current environment is calculated, and then the influence on the ultrasonic ranging result is analyzed.

[0028] For laser ranging, although the propagation speed of laser in air is relatively small affected by temperature, it still needs to be considered under high precision measurement requirements. Temperature changes will cause changes in the refractive index of air, thereby indirectly affecting the propagation speed and optical path of laser, and then producing subtle effects on the ranging result.

[0029] 3.2, Analysis of the influence of air pressure on ranging (for ultrasonic ranging): Air pressure changes will change the density and other characteristics of air, thereby affecting the propagation characteristics and speed of ultrasonic waves. Under different air pressure conditions, the propagation speed of ultrasonic waves will be different. According to the existing empirical formula or theoretical model of the relationship between air pressure and ultrasonic wave propagation speed, combined with the received air pressure sensor data, the change in ultrasonic wave propagation speed caused by air pressure changes is calculated, and the ultrasonic ranging data is corrected accordingly.

[0030] 3.3, Analysis of the influence of humidity on ranging: Humidity mainly affects the propagation of light (laser) and sound (ultrasonic) by changing the dielectric constant and other physical properties of air, but this influence is usually smaller than that of temperature and air pressure. According to the data collected by the humidity sensor, the degree of influence on ranging is evaluated, and the data is appropriately corrected.

[0031] 4, Data comprehensive correction and analysis: According to the analysis of the influence of temperature, air pressure, humidity and other environmental parameters, a comprehensive ranging data correction model is established. For example, for ultrasonic ranging data ultrasonic (original measurement value), the distance after temperature correction is represented as ultrasonic ultrasonic standard actual. For laser ranging data laser, based on the influence of temperature, air refractive index and other factors, these corrections are applied to the original ranging data in turn to obtain the preliminary corrected distance value.

[0032] 5, Data rationality analysis and verification: The corrected ranging data is analyzed for rationality, and the data is checked for whether it conforms to the physical laws and expected range of the measurement scene. For example, when measuring a fixed size structure of a building, the corrected distance values obtained by multiple measurements should be relatively stable and within a reasonable error range. If there is a large fluctuation in the data or it is obviously unreasonable, further investigation is needed to determine whether the problem is caused by sensor failure, abnormal environmental factors or problems with the correction algorithm. Through comparison with historical measurement data, repeated measurement, checking the status of the sensor and other methods, the fault is verified and investigated.

[0033] 6、Statistical analysis and precision evaluation: statistical analysis is performed on the corrected and verified ranging data, such as calculating mean, standard deviation, maximum, minimum and other statistical quantities, to evaluate the stability and precision of the measurement results.

[0034] 7、Output accurate distance data: the accurate distance data obtained after the above series of processing, correction and analysis is sorted out, and a detailed data report is generated according to the measurement point number, corresponding building structure part, measurement time and other information, which clearly shows the accurate distance results of each measurement position and related statistical analysis information, facilitating subsequent building construction, quality detection and other links.

[0035] 8、Data storage and sharing: store the final distance data and key data in the entire processing process into local database or cloud storage system, which is convenient for subsequent query, traceability and further analysis. According to actual needs, share the data to other related systems or personnel through network interface and other ways, and provide strong data support for the smooth progress of building project.

[0036] In this technical solution, the monitoring and analysis mechanism can fully utilize 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 building ranging tasks.

[0037] As an optional solution of the present application, the comprehensive evaluation module uses laser range finder and ultrasonic range finder to measure distance at the same time when detecting long distance, and then fuses the laser ranging data and ultrasonic ranging data obtained by the monitoring and analysis mechanism to obtain accurate distance value. Including the following steps.

[0038] 1、Synchronous start measurement: send measurement start instruction to laser range finder and ultrasonic range finder at the same time, and record the time stamp of measurement start. At this time, the two range finders start to emit ranging signal (laser pulse and ultrasonic signal) to the target according to the set frequency and receive the reflected signal to obtain distance data.

[0039] 2、Data acquisition and transmission: the laser range finder transmits the distance data laser obtained by measurement and the corresponding time stamp laser to the monitoring and analysis mechanism immediately after each measurement. After receiving the data, the monitoring and analysis mechanism stores it in the cache area or database table specially prepared for laser ranging data in time sequence, and records the receiving time of the data, so as to synchronize and process the data later. The ultrasonic range finder sends distance data ultrasonic and time stamp ultrasonic to the monitoring and analysis mechanism after completing the measurement. The monitoring and analysis mechanism stores these data in time sequence in the cache or database of ultrasonic ranging data, and records the receiving time.

[0040] 3、Data time synchronization alignment: Due to the differences in measurement principle and data processing speed between laser range finder and ultrasonic range finder, the data transmitted by the two devices are not completely aligned in time. Therefore, the collected data needs to be time-synchronized and calibrated. First, a reference time base is determined, for example, the measurement start time can be selected as the reference time. For laser ranging data, calculate its relative time relative to the reference time base; for ultrasonic ranging data, calculate the relative time. According to the calculated relative time, align the laser ranging data and ultrasonic ranging data in time sequence. Interpolation method can be used to process the data points that are not completely matched in time.

[0041] 4、Monitoring and analysis mechanism receives measurement data from range finding mechanism and data from various environmental sensors, and modifies and analyzes the range finding data according to these environmental parameters. Finally, the corrected laser ranging data and ultrasonic ranging distance data are obtained.

[0042] 5、Data fusion calculation: fuse the corrected laser ranging data and ultrasonic ranging distance data to obtain accurate distance data.

[0043] 6、Fusion data verification and optimization: use standard targets or reference measurement points with known distances to verify the fused distance data. Calculate the error indicators between the fused data and the standard distance, such as root mean square error (RMSE) laser fusion standard (where the standard is the standard distance value), mean absolute error (MAE) laser fusion standard, etc. Compare the calculated error indicators with the preset accuracy requirements. If the error exceeds the allowed range, 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 laser range finder and ultrasonic range finder can be fully utilized in long distance detection, the data of the two devices can be effectively fused, and more accurate distance values can be obtained, which meets the demand of high-precision long-distance measurement in the field of building ranging.

[0045] The application provides a building ranging device usage method, which comprises the following steps.

[0046] S1、The route planning module reasonably plans the travel route of the automatic control mobile trolley through the map information of the building site and the measurement task requirements, considers factors such as the position of the building, the distribution of obstacles, the sequence and distribution of measurement points, and makes corresponding adjustments and optimizations.

[0047] S2, the automatic control mobile trolley moves to the starting position of the route, and travels according to the planned route to perform the building ranging operation; the monitoring and analyzing mechanism receives the data of various environmental sensors; the high-definition camera in the image acquisition module continuously acquires the building scene images in the trolley traveling process.

[0048] S3, the image analysis module continuously detects whether there are temporarily stacked building materials, equipment and other obstacles in the image, and if potential obstacles are found, immediately sends relevant information to the route planning module. The route planning module adjusts the trolley travel route in real time according to the received obstacle information, combines the current trolley position, target measurement point position and building site map 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 adjusts the height and angle of the ranging mechanism to the appropriate position according to the pre-planned parameters through the PLC control module, so that the ranging mechanism can accurately measure the target building part.

[0050] S5, the ranging mechanism emits ranging signals (laser beams or ultrasonic beams) to the target building part, receives the reflected signals, calculates the preliminary measurement distance value according to the respective ranging principle, and transmits the distance data to the monitoring and analyzing mechanism in real time.

[0051] S6, after receiving the measurement data from the ranging mechanism and the environmental data from the environmental sensors, the monitoring and analyzing mechanism corrects and comprehensively analyzes the ranging data according to the environmental parameters. After a series of correction calculations, the accurate distance data is finally obtained.

[0052] S7, the corrected accurate distance data and related information such as the measurement point position, measurement time, environmental parameters, etc. are recorded in a certain data format and stored in the data storage module, which is convenient for subsequent query, statistical analysis and comparison with building design data, etc.

[0053] S8, when measuring long distances, laser range finders and ultrasonic range finders are used to measure distances simultaneously, and the laser ranging data and ultrasonic ranging data obtained by the monitoring and analyzing mechanism are fused by the comprehensive evaluation module to obtain accurate distance values.

[0054] S9, after the automatic control mobile trolley completes all measurement point ranging, the PLC control module confirms the completion of the task and notifies the operator, and displays the key statistical information. A detailed measurement report containing task overview, result summary and abnormal situation record is generated by using special software according to the measurement data.

[0055] 3. Beneficial effects.

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

[0057] 1、The present application can realize accurate alignment measurement, and the height angle planning mechanism can accurately adjust the height and angle of the ranging mechanism according to the pre-planned parameters through the PLC control module, to ensure the accuracy and reliability of ranging.

[0058] 2、Multi-ranging mode fusion is realized, and the ranging mechanism supports laser ranging and ultrasonic ranging, which can select appropriate ranging mode according to different ranging requirements, to improve the flexibility and precision of measurement.

[0059] 3、The monitoring and analysis mechanism can correct and comprehensively analyze the ranging data according to the environmental parameters, to obtain accurate distance data, and provide reliable basis for subsequent query, statistical analysis and comparison operation.

[0060] 4、Long distance detection precision is improved, and the laser ranging data and ultrasonic ranging data are fused through the comprehensive evaluation module in long distance detection, to further improve the measurement precision. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 The building ranging device usage method flowchart disclosed by the preferred embodiment of the present application.

[0062] Figure 2 The structure diagram of the building ranging device disclosed by the preferred embodiment of the present application.

[0063] Reference signs: 1, automatic control mobile trolley; 2, rectangular guide pipe; 3, height adjusting mechanism; 4, driving gear; 5, positioning cover plate; 6, ranging mechanism; 7, high-definition camera; 31, motor A; 32, lead screw; 33, sliding seat; 61, rotating rod; 62, fixed plate; 63, ultrasonic ranging device; 64, laser ranging device; 65, gear shaft; 66, electronic level. DETAILED DESCRIPTION

[0064] The present application will be further described in detail below in combination with the drawings of the specification.

[0065] Reference Figure 1 and Figure 2 The building ranging device provided by the embodiment of the present application comprises.

[0066] The automatic control mobile trolley 1 can freely move in the building site. It has sufficient power and stability to carry other components and normally operate in different terrains and working environments.

[0067] Distance measuring mechanism 6: includes laser range finder and ultrasonic range finder; laser range finder or ultrasonic range finder is used to measure distance according to needs, or laser range finder and ultrasonic range finder are combined to measure distance.

[0068] Height adjusting mechanism 3: set on automatic control mobile trolley 1; distance measuring mechanism 6 is rotatably arranged on height adjusting mechanism 3; height adjusting mechanism 3 adjusts the height of distance measuring mechanism.

[0069] Angle adjusting mechanism: set on height adjusting mechanism 3; angle adjusting mechanism adjusts the angle of distance measuring mechanism.

[0070] Route planning module: based on map information of construction site (which can be obtained by surveying or importing architectural design drawings in advance) and measurement task requirements, the optimal driving route of automatic control mobile trolley is calculated by using path planning algorithm (such as A* algorithm, Dijkstra algorithm, etc.). Considering the position of the building, the distribution of obstacles, the sequence and distribution of measurement points and other factors, the route is planned with the shortest path, the least number of turns or other optimization goals.

[0071] Height and angle planning mechanism: monitors the process of building distance measurement, plans the height, direction and inclination angle of distance measuring mechanism; during the process of building distance measurement, the height, direction and inclination angle of distance measuring mechanism are pre-planned and adjusted in real time according to the specific requirements of measurement task and the characteristics of building. Combined with the three-dimensional model of the building or the building characteristic information input by the measurement personnel, the attitude of the distance measuring mechanism required at different measurement points is determined.

[0072] Monitoring and analysis mechanism: receives measurement data from distance measuring mechanism and data from various environmental sensors (such as temperature sensor, humidity sensor, air pressure sensor, etc.). Environmental parameters will affect the distance measurement results, for example, temperature change will affect the propagation speed of ultrasonic wave and laser, air pressure change will affect the propagation characteristics of ultrasonic wave. Monitoring and analysis mechanism corrects and comprehensively analyzes the distance measurement data according to these environmental parameters. Finally, accurate distance data is obtained.

[0073] Image acquisition module: including high-definition camera and LED lamp, collecting high-definition images during building distance measurement process.

[0074] Image analysis module: analyzes and identifies the collected images, and identifies temporary stacked building materials, equipment and other obstacles by image analysis. When the automatic control mobile trolley is driving, potential obstacles are found in advance by analyzing the images collected by the camera in real time, so as to adjust the driving route in the route planning module to avoid collision.

[0075] Comprehensive evaluation module: when long distance detection is carried out, laser range finder and ultrasonic range finder are used to measure distance at the same time, then laser ranging data and ultrasonic ranging data obtained by monitoring analysis mechanism are fused to obtain accurate distance value.

[0076] Data storage module: used for storing various data in building ranging process.

[0077] PLC control module: network connection with automatic control mobile trolley, ranging mechanism, height adjusting mechanism, angle adjusting mechanism, route planning module, data storage module, comprehensive evaluation module, height and angle planning mechanism and monitoring analysis mechanism.

[0078] Reference Figure 2 The height adjusting mechanism 3 comprises a motor A31, a screw rod 32 and a sliding seat 33.

[0079] The motor A31 is fixedly arranged on the automatic control mobile trolley 1; the output end of the motor A31 is coaxially fixedly arranged with the screw rod 32; the automatic control mobile trolley 1 is fixedly arranged with a rectangular conduit 2; the upper end of the rectangular conduit 2 is detachably fixedly arranged with a positioning cover plate 5; the upper end of the screw rod 32 is rotationally connected with the positioning cover plate 5. The sliding seat 33 is arranged on the rectangular conduit 2 in an up-and-down sliding manner; the sliding seat 33 is threadedly connected with the screw rod 32; the lower end of the sliding seat 33 is fixedly arranged with an infrared range finder.

[0080] In this technical scheme, the motor A31 is started to drive the screw rod 32 to rotate, and the screw rod 32 drives the sliding seat 33 to move up and down, thereby driving the ranging mechanism to move.

[0081] Further, the angle adjusting mechanism comprises 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 fixedly connected with the driving gear 4. The driving gear 4 is in transmission connection with the ranging mechanism 6.

[0082] In this technical scheme, the motor B is started to drive the driving gear 4 to rotate, and the driving gear 4 drives the ranging mechanism 6 to rotate, thereby adjusting the angle.

[0083] Further, the ranging mechanism 6 comprises a rotating rod 61, a fixed plate 62, an ultrasonic range finder 63, a laser range finder 64 and a gear shaft 65; the rotating rod 61 is rotationally arranged on the sliding seat 33; the rotating rod 61 is fixedly arranged with the fixed plate 62; the fixed plate 62 is fixedly arranged with the ultrasonic range finder 63 and the laser range finder 64; the rotating rod 61 is fixedly arranged with an electronic level 66. One end of the rotating rod 61 is detachably fixedly arranged with the 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 fixed plate 62 are driven to rotate through the gear shaft 65, so as to drive the ultrasonic range finder 63 and the laser range finder 64 to rotate and adjust the angle. The inclination angle of the ultrasonic range finder 63 and the laser range finder 64 is measured by the electronic level 66.

[0085] Further, the route planning module calculates the optimal driving route of the automatic control mobile trolley based on the map information of the construction site and the measurement task requirements by using a path planning algorithm, including the following steps.

[0086] 1. Obtain the map information of the construction site: If it is a pre-mapping map data, convert it into a format suitable for computer processing, such as digitized coordinate points, lines and polygonal geometry data, to represent building outlines, roads, site boundaries and other information. If imported from architectural design drawings, the drawing files (such as CAD files) need to be parsed to extract relevant building structures and site layout information, and converted into a unified coordinate system and data structure.

[0087] 2. Determine the measurement task requirements: Clearly indicate the location information of the points to be measured and mark them on the map data. It can be the key parts of specific building structures (such as corners, column centers, etc.) or sampling points distributed at certain intervals in the construction site. Set the measurement sequence and determine it if there are special requirements.

[0088] 3. Identify obstacles: Mark and locate the obstacles in the construction site. Obstacles include temporary piles of construction materials, unfinished parts of building structures, construction equipment, etc. Record their shape, location and size information in data form to avoid them in 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 between two adjacent grids, there is a connection edge between them; if there is an obstacle, the connection 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 start point (initial position of the mobile robot) to the Open List, which is used to store the nodes to be explored. Set the parent node of the start point as null, and the value of the start point (actual cost from the start point to the current node, which is 0 at the beginning) and the value (heuristic estimated cost from the current node to the target point, which can be estimated according to the straight-line distance between the 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, which is used to store the nodes that have been explored. In the formula, the g value represents the actual cost that has been walked from the start 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 combining 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 start point to the target point is constructed by backtracking the parent nodes.

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

[0095] 5.4.1, If the neighboring node is in the Closed List, skip it.

[0096] 5.4.2, If the neighboring node is not in the Open List, add it to the Open List, set its parent node as the current node, calculate its value (equal to the value of the current node plus the cost from the current node to the neighboring node, such as distance or moving time, etc.) and value (heuristic estimate according to the target point), and calculate the f value.

[0097] 5.4.3, If the neighboring 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 neighboring 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 adjusted locally to find the optimal driving route that meets the comprehensive optimization goal.

[0100] 7. Route output and storage: The final determined optimal driving route is output in a suitable format, such as a sequence of coordinate points or a sequence of node numbers, so that the mobile car can drive according to the route under automatic control. The planned route information is stored 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, reviewing the route, etc.).

[0101] Further, the height angle planning mechanism monitors the process of building ranging, plans the height, direction and inclination angle of the ranging mechanism; including the following steps.

[0102] 1. Obtain building-related information: Obtain the three-dimensional model of the building (such as BIM model, CAD model, etc.), and import it into the corresponding software system of the height angle planning mechanism. The model contains detailed geometric information of the overall structure of the building, the height of each floor, the position of the wall, the distribution of the column, etc., which can provide a comprehensive data basis for subsequent pose planning.

[0103] 2. Clearly define the measurement task requirements: Clearly define the specific goals of the measurement task, such as measuring the flatness of the building facade, measuring the size 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 to distribute according to equal intervals or to focus on specific structures for measurement, etc.), and the measurement sequence and other related requirements.

[0104] 3. Interface with route planning module: Obtain the driving route information of the automatic control mobile car from the route planning module, including the coordinate position of each measurement point in the building site, and the time sequence of the car's expected arrival at each measurement point, etc., so that the pose of the ranging mechanism can be adjusted synchronously according to the position of the car in the future.

[0105] 4. Determine the ideal pose: including the following steps.

[0106] 4.1, Traverse the measurement points: According to the measurement point sequence determined by the measurement task, analyze each measurement point in turn. For each measurement point, extract its spatial coordinates in the three-dimensional model of the building and the surrounding building structure information, such as the position and geometry of the nearby walls, columns, doors and windows, etc.

[0107] 4.2, Height planning: Determine the height of the ranging mechanism according to the measurement target and the surrounding building structure.

[0108] 4.3, Direction planning: Analyze the horizontal direction that the ranging mechanism needs to point to from the measurement point in order to accurately measure the target building structure. For example, when measuring the corner of a building, the direction of the ranging mechanism needs to be adjusted to the direction of the edge where the two walls intersect; for measuring the distance between a row of columns, the direction of the range finder needs to be aligned with the center line direction of the columns to ensure accurate measurement of the distance between the columns. The direction angle value is determined by calculating the relative angle of the target structure to the measurement point in the horizontal plane.

[0109] 4.4, Inclination angle planning: For some special building structures or parts with inclined surfaces (such as sloping roofs, curtain walls with certain inclination, etc.), the vertical inclination angle of the ranging mechanism needs to be determined. For example, for the measurement of a sloping roof, the angle at which the range finder needs to be tilted upwards or downwards is calculated based on the slope of the roof and the relative position relationship between the trolley and the roof, so that the laser beam or ultrasonic wave can be perpendicular to 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 relationship of the building structure.

[0110] 4.5, Record planning posture information: Record the posture information of the ranging mechanism corresponding to each measurement point, such as ideal height, horizontal direction angle, and vertical inclination angle, to form a posture planning table or store it in the corresponding data structure for subsequent real-time adjustment and comparison.

[0111] 5, Real-time monitoring: Real-time acquisition of trolley's current coordinate position, travel speed, acceleration and other state information, judgment of whether the trolley is traveling normally according to the route planned by the route planning module, and which measurement point is currently approaching. When the trolley approaches a certain measurement point, the ideal posture (height, direction, inclination angle) of the ranging mechanism corresponding to the measurement point is extracted from the pre-planned posture information based on the real-time position of the trolley, and the current actual posture information of the ranging mechanism is obtained. Compare the difference between the ideal posture and the actual posture.

[0112] 6, Real-time adjustment.

[0113] Height adjustment: If there is a difference in height, adjust the height of the ranging mechanism by the height adjustment mechanism to control the ranging mechanism to rise or fall.

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

[0115] Inclination angle adjustment: If there is a difference in inclination angle, adjust the inclination angle of the ranging mechanism in the vertical direction by the angle adjustment mechanism to meet the planning requirements.

[0116] During the adjustment process, the adjusted attitude information is fed back to the monitoring system in real time, a quick prediction measurement is performed using the ranging mechanism, and it is verified whether the adjusted attitude can obtain reasonable measurement data. If the measurement data does not match the expectation or still has a large deviation, the attitude is continuously fine-tuned until accurate and reliable measurement data is obtained, so as to ensure 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 performed 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 + a w 2 2)]; I = r1 / r2. In the formula, k1 and k2 are fitting coefficients related to the characteristics of the motor, which are obtained by experimental testing of the motor and fitting according to the nonlinear relationship between the speed and the input duty ratio. D refers to the duty ratio 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, which is dimensionless. w2 is the angular velocity of the ranging mechanism. △θ0 is the initial inclination angle deviation, which is in radians. It represents the difference between the actual inclination angle of the ranging mechanism before starting the inclination angle adjustment operation and the inclination angle required according to the planning requirements, and is the starting state parameter of the angle adjustment. The subsequent angle adjustment process is to gradually reduce this deviation to zero through motor driving and other means. T is the environmental temperature, which is in Celsius. λ(T) is the temperature correction coefficient, b is the temperature influence coefficient, and c is a constant, which is dimensionless and is used to quantify the correction effect of the environmental temperature on the angle change during the angle adjustment process. That is, as the temperature changes, the effect of the entire angle adjustment will change accordingly according to the law determined by this coefficient, so as to better adapt to different environmental temperature conditions in actual application scenarios. △θ is the inclination angle deviation. t is the time, which is in seconds. w2 is the approximate value corresponding to the constant in a short time interval when the integral equation of the angle with respect to time is approximately processed. a is a coefficient representing the influence degree of factors such as friction loss and elastic deformation in the transmission process on the transmission efficiency.

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

[0120] Further, the monitoring analysis mechanism receives measurement data from the ranging mechanism and data from various environmental sensors (such as temperature sensors, humidity sensors, barometric pressure sensors, etc.), and corrects and comprehensively analyzes the ranging data according to these environmental parameters. Finally, accurate distance data is obtained. Including the following steps.

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

[0122] 2. Data preprocessing: The collected data is checked and cleaned in format; then the data time synchronization and alignment processing is performed; the received ranging data and environmental data are checked in format, and the data that does not conform to the format is marked or excluded, to ensure that the data for subsequent processing is valid. Through the time stamp of each sensor or the unified system time as a reference, the ranging data and environmental data collected at the same time are aligned to ensure the accuracy of the correlation between the data in subsequent analysis.

[0123] 3. Environmental parameter influence analysis.

[0124] 3.1, Analyze the influence of temperature on ranging.

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

[0126] For laser ranging, although the propagation speed of laser in air is relatively small under the influence of temperature, it still needs to be considered under the requirement of high-precision measurement. Temperature change will cause the change of air refractive index, thereby indirectly affecting the propagation speed and optical path of laser, and then slightly affecting the ranging result.

[0127] 3.2 Analysis of the Influence of Air Pressure on Ranging (for Ultrasonic Ranging): Changes in air pressure alter the density and other properties of air, thus affecting the propagation characteristics and speed of ultrasonic waves. The propagation speed of ultrasonic waves varies under different air pressure conditions. Based on existing empirical formulas or theoretical models relating air pressure to ultrasonic wave propagation speed, and combined with received air pressure sensor data, the change in ultrasonic wave propagation speed caused by air pressure changes can be calculated, and the ultrasonic ranging data can be corrected accordingly.

[0128] 3.3 Analyzing the impact of humidity on distance measurement: Humidity mainly affects the propagation of light (laser) and sound waves (ultrasound) by changing the physical properties of air, such as the dielectric constant. However, this impact is usually smaller compared to temperature and air pressure. The degree of its impact on distance measurement is assessed based on data collected by the humidity sensor, and the data is appropriately corrected.

[0129] 4. Comprehensive Data Correction and Analysis: Based on the analysis of the influence of environmental parameters such as temperature, air pressure, and humidity, a comprehensive distance measurement data correction model is established. For example, for ultrasonic ranging data (original measurement value), the distance after temperature correction is represented as the actual ultrasonic standard. For laser ranging data, corrections are made based on the influence of factors such as temperature and air refractive index. These corrections are then applied sequentially to the original ranging data to obtain a preliminary 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) [1 / (1+0.001T)] *(1+β*e -γH In the formula, d 终超声 This represents the final ultrasonic ranging result after comprehensive correction for environmental factors such as temperature, air pressure, and humidity. d 超声 This is the raw ultrasonic ranging data, i.e., the initial distance value obtained by the ultrasonic rangefinder during actual measurement, without any correction based on environmental factors. T represents the actual ambient temperature. P refers to the actual air pressure. P0 is the reference air pressure, typically taken as the standard atmospheric pressure value. H represents humidity, obtained through a humidity sensor. β and γ are humidity-related coefficients determined experimentally. These two coefficients require extensive targeted experimental research to determine. 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 This represents the final result of laser ranging after comprehensive correction for various environmental factors such as temperature, air pressure, and humidity; in other words, it reflects the actual measured distance as accurately as possible. 激光 This refers to the raw laser ranging data, that is, the initial distance measurement value obtained by the laser rangefinder during measurement, before considering the influence of environmental factors on laser propagation. T is the actual ambient temperature. P is the actual air pressure. H is the humidity. δ and ε are humidity-related coefficients determined experimentally.

[0132] 5. Data Reasonableness Analysis and Verification: Analyze the reasonableness of the corrected distance measurement data to check whether the data conforms to the physical laws and expected range of the measurement scenario. For example, when measuring a building structure of a fixed size, the corrected distance values ​​obtained from multiple measurements should be relatively stable and within a reasonable error range. If the data fluctuates excessively or is clearly inconsistent with common sense, further investigation is needed to determine whether the cause is sensor malfunction, abnormal environmental factors, or a problem with the correction algorithm. Verification and troubleshooting can be performed by comparing with historical measurement data, repeating measurements, and checking the sensor status.

[0133] 6. Statistical analysis and accuracy assessment: Perform statistical analysis on the corrected and verified distance measurement data, such as calculating the mean, standard deviation, maximum value, minimum value, and other statistical quantities, to assess the stability and accuracy of the measurement results.

[0134] 7. Output accurate distance data: The accurate distance data obtained after the above series of processing, correction and analysis are organized and a detailed data report is generated according to the measurement point number, the corresponding building structure part, measurement time and other information. The report clearly shows the accurate distance results of each measurement location and related statistical analysis information, which is convenient for subsequent building construction, quality inspection and other stages.

[0135] 8. Data Storage and Sharing: Final distance data and key data from the entire processing are stored in a local database or cloud storage system for easy retrieval, traceability, and further analysis. As needed, data can be shared with other relevant systems or personnel via network interfaces, providing strong data support for the smooth progress of the construction project.

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

[0137] Further, the image analysis module analyzes and identifies the collected images, and uses image analysis to identify the temporarily stacked building materials, equipment and other obstacles. For complex building structures or measurement points with special marks, image analysis can help positioning. The following steps are included.

[0138] 1. Image preprocessing: The collected images are preprocessed, including standardization, filtering and denoising, image enhancement, etc.

[0139] 2. Feature extraction: Feature extraction is performed on the preprocessed image, and the extracted features include color, texture and shape; according to the appearance characteristics of building materials, equipment and measurement points, select the appropriate feature extraction method. For temporarily stacked building materials (such as steel bars, bricks, etc.) and equipment (such as cranes, mixers, etc.), extract their shape features (such as rectangular, circular geometric shape description), texture features (such as steel bar stripe texture, brick rough texture, etc.), color features (different materials often have specific color ranges, such as steel silver gray, brick dark red, etc.). For complex building structures or measurement points with special marks, unique geometric contour features (such as specific shape of architectural decoration lines, shape of marked points, etc.), spatial position relationship features (relative position, angle, etc. with surrounding building structures) and color, texture and other auxiliary features can be extracted, and these features can be extracted from the image through computer vision algorithms (such as scale-invariant feature transform SIFT, speeded up robust features SURF, etc.) to form a feature vector, which is used for subsequent target matching and identification.

[0140] 3. Target classification and identification model construction: Construct a target classification and identification model, collect a large number of image samples containing various building materials, equipment, complex building structures and special mark measurement points, accurately label the target objects in each sample image (label the class, position, etc. Information of the object), and 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 mark measurement points according to the features of the input image. Target classification and identification 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 denotes the bias term, which together with the weight vector determines the position of the decision boundary. ||w||2 2 is the squared norm of the weight vector w in the specific space, the square of the Euclidean norm. C is the regularization parameter, used to balance the complexity of the model (reflected by the norm of the weight vector) and the classification error (measured by the slack variable). The larger the value of C, the heavier the penalty on the classification error, and vice versa. i is the slack variable associated with the sample xi, used to measure how much the sample violates the margin constraint. i is the true label of the sample x i , taking values +1 or -1, representing the class to which the sample belongs. 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, i.e., the number of samples included in the training set.

[0142] 4. Real-time target detection and recognition: During the driving process of the small car, the preprocessed real-time image is input into the trained target classification and recognition model, which outputs the detection results such as the class probability, position information (such as the coordinate range of the target object in the image, the bounding box, etc.) of each target object in the image. For the recognized temporary stacked construction materials, equipment and other obstacles, record their position, size and other key information in the image; for complex building structures or special marker measurement points, also obtain their corresponding position and feature information, so as to perform subsequent route adjustment or measurement 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 construction materials, equipment, etc.) in the image output by the target detection and recognition model, combined with the installation position, shooting angle of the camera, and the current position and driving direction of the small car, etc. parameters, through spatial coordinate transformation and geometric calculation, the two-dimensional position information of the obstacles in the image is converted into three-dimensional space position coordinates in the actual environment, and the actual distance, orientation, etc. of the obstacles relative to the small car are accurately judged.

[0145] 5.2. Risk assessment: Assess the risk level of obstacles to the driving of the small car, such as the proximity of the obstacle to the current driving route of the small car, the size of the obstacle (the larger the size, the higher the risk level), and the driving speed of the small car. If the obstacle is located directly in front of the small car and is close to the small car, or is on the path that the small car must take when turning, the risk level is high; otherwise, if the obstacle is far away from the small car or on the side and does not affect normal driving, the risk level is relatively low.

[0146] 5.3 Route Adjustment Decision Making: When it is determined that there is a high degree of danger of the obstacle, the relevant information of the obstacle (location, size, degree of danger, etc.) is sent to the route planning module. The route planning module replans the driving route of the car based on the current position of the car, the position of the target measurement point and the surrounding environment information (which can be combined with the previously acquired 3D building model or other map data, etc.).

[0147] 6. Measurement point positioning assistance.

[0148] 6.1 Location of Measurement Points in Complex Building Structures: For measurement points located within complex building structures, the image analysis module identifies the unique geometric features of the structure (such as corners of specific shapes, or uniquely designed facade decorations) and related markers. Combined with the 3D building model or pre-defined measurement point layout information, the accurate coordinates of the measurement point in the actual environment are determined. Based on the vehicle's current position and the measurement point's location, auxiliary information is provided to the route planning module to help it plan a more precise route, enabling the vehicle to accurately approach the measurement point and facilitating accurate measurement by the subsequent distance measuring mechanism. Feature matching algorithms (such as SIFT and SURF) are used to match image features with 3D model features. The marker positions are calculated using 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 coordinates (x,y). B(x+u,y+v) represents the pixel value of the input image at the corresponding position of the template after displacement (u,v). ψ is a regularization parameter used to balance the original error (i.e., the difference between the pixel values ​​of the template and the input image) and the gradient error (i.e., the spatial gradient of the difference between the pixel values ​​of the template and the input image). ▽ represents the gradient operator, used to calculate the spatial variation of the image pixel values. 2 The square norm of a vector is used to calculate the magnitude of the gradient error.

[0150] 6.2. Special Marker Measurement Point Positioning Calibration: For measurement points with special markings, image analysis is used to accurately identify the shape, color, pattern, and other features of the markings. This is then compared with pre-stored standard marking templates to further confirm the identity and location accuracy of the measurement point. If a deviation is found between the measurement point's location and the expected location, the deviation information is promptly fed back to the relevant modules for adjustments and calibrations to the driving route, distance measurement attitude, 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 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] Further, when performing long distance detection, the comprehensive evaluation module uses a laser range finder and an ultrasonic range finder to measure the distance simultaneously, and then fuses the laser ranging data and ultrasonic ranging data obtained by the monitoring analysis mechanism to obtain an accurate distance value. The following steps are included.

[0153] 1. Synchronous start measurement: send measurement start instructions to the laser range finder and the ultrasonic range finder at the same time, and record the time stamp of the start of measurement. At this time, the two range finders start transmitting 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: the laser range finder transmits the distance data obtained by measurement and the corresponding time stamp to the monitoring analysis mechanism immediately after completing each measurement. After receiving the data, the monitoring analysis mechanism stores it in the cache area or database table specially prepared for laser ranging data in chronological order, and records the reception time of the data to facilitate subsequent data synchronization and processing. The ultrasonic range finder sends the distance data and the time stamp to the monitoring analysis mechanism after completing the measurement. The monitoring analysis mechanism stores these data in the cache or database of ultrasonic ranging data in chronological order and records the reception time.

[0155] 3. Data time synchronization alignment: due to the differences in measurement principle and data processing speed between the laser range finder and the ultrasonic range finder, the data transmitted by the two devices are not completely aligned in time. Therefore, the collected data needs to be time-synchronized and calibrated. First, determine a reference time base, for example, the measurement start time can be selected as the reference time. For laser ranging data, calculate the relative time with respect to the reference time base; for ultrasonic ranging data, calculate the relative time. According to the calculated relative time, align the laser ranging data and ultrasonic ranging data in chronological order. Interpolation method can be used to process the data points that do not completely match in time.

[0156] 4. The monitoring analysis mechanism receives measurement data from the ranging mechanism and data from various environmental sensors, and modifies and comprehensively analyzes the ranging data according to these environmental parameters. Finally, the corrected laser ranging data and ultrasonic ranging 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 i=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 This represents the fused distance data obtained at the i-th time point (or the time corresponding to the i-th data point) during the fusion calculation process. d 激光i This represents the corrected laser ranging data. d 超声i This is corrected ultrasonic ranging data. 激光 This refers to the weighting coefficient assigned to the laser ranging data when fusing laser ranging data with ultrasonic ranging data. 超声 This is the weighting coefficient assigned to the ultrasonic ranging data. △d 激光i Δd represents the difference between the i-th laser ranging data point and the previous data point in the laser ranging data sequence. 超声i λ is the difference between the i-th ultrasonic ranging data point and the previous data point in the ultrasonic ranging data sequence. 激光 It is an adjustable coefficient that is related to the difference in laser ranging data points. λ 超声 It is an adjustable coefficient that determines the effect of ultrasound on the difference between ultrasonic ranging data points.

[0159] 6. Post-fusion data verification and optimization: Verify the fused distance data using standard targets or reference measurement points with known distances. Calculate error indices between the fused data and the standard distances, such as root mean square error (RMSE) and mean absolute error (MAE). Compare the calculated error indices with the preset accuracy requirements. If the error exceeds the allowable range, it is necessary to check each step of the data fusion process, including data acquisition, preprocessing, and weight determination, to identify the possible causes of large errors and make corresponding adjustments and optimizations.

[0160] In the technical solution, the advantages of the laser range finder and the ultrasonic range finder can be fully utilized in long-distance detection, the data of both are effectively fused, a more accurate distance value is obtained, and the demand for high-precision long-distance measurement in the field of building distance measurement and the like is met.

[0161] The application provides a building distance measurement device use method, which comprises the following steps.

[0162] S1, a route planning module reasonably plans a travel route of an automatic control mobile trolley 1 through map information of a building site and measurement task requirements, considers factors such as the positions of buildings, the distribution of obstacles, the sequence and distribution of measurement points and the like, and performs corresponding adjustment and optimization.

[0163] S2, the automatic control mobile trolley 1 moves to a starting position of the route, travels according to the planned route and performs building distance measurement operation; a monitoring and analyzing mechanism receives data of various environmental sensors (such as temperature sensors, humidity sensors, air pressure sensors and the like); a high-definition camera in an image acquisition module continuously acquires building scene images in a trolley travel process, and LED lamps automatically adjust brightness according to environmental light conditions to perform auxiliary lighting.

[0164] S3, an 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, immediately sends related information (such as the position, size and type of the obstacles in the images) to the route planning module. The route planning module adjusts the travel route of the trolley in real time according to the received obstacle information, combines information such as the current trolley position, the target measurement point position and the building site map, re-plans an optimal path bypassing the obstacles, so that the trolley can avoid the obstacles and continue to travel to the target measurement point, and the safety and smoothness of the travel process are ensured.

[0165] S4, when the trolley approaches each measurement point, a height and angle planning mechanism sends control instructions to a height adjusting mechanism and an angle adjusting mechanism through a PLC control module according to pre-planned parameters, the height adjusting mechanism adjusts the distance measurement mechanism to a suitable height position, and the angle adjusting mechanism adjusts the angle (including the horizontal angle and the vertical angle) of the distance measurement mechanism to an accurate direction, so that the distance measurement mechanism can align the building part to be measured in the best posture.

[0166] S5, the distance measurement mechanism (according to the distance measurement mode selected in advance, starts the corresponding laser range finder or ultrasonic range finder, or starts both) emits a distance measurement signal (laser beam or ultrasonic beam) to the target building part, receives the signal reflected back, calculates a preliminary measurement distance value according to the respective distance measurement principle, and transmits the distance data to the monitoring and analyzing mechanism in real time.

[0167] S6, the monitoring and analysis mechanism receives the measurement data from the ranging mechanism and the environmental data from the environmental sensor, and 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, the corrected accurate distance data and the corresponding measurement point position, measurement time, environmental parameters and other related information are recorded in a certain data format (such as table form, including measurement point number, three-dimensional coordinates, measurement distance, temperature, humidity, air pressure, measurement time and other fields) and stored in the data storage module, which is convenient for subsequent query, statistical analysis and comparison with building design data and other operations.

[0169] S8, when measuring long distances, laser range finders and ultrasonic range finders are used to measure distances simultaneously, and the laser ranging data and ultrasonic ranging data obtained by the monitoring and analysis mechanism are fused by the comprehensive evaluation module to obtain accurate distance values.

[0170] S9, after the mobile trolley automatically completes all the distance measurements of the measurement points, the PLC control module confirms the completion of the task and notifies the operator, and displays the key statistical information. Subsequently, a detailed measurement report containing task overview, result summary and abnormal situation record is generated by using special software according to the measurement data.

[0171] The working principle of the building distance measuring device is as follows: the route planning module reasonably plans the travel route of the automatic control mobile trolley 1 through the map information of the building site and the measurement task requirements. The automatic control mobile trolley 1 moves to the starting position of the route and travels according to the planned route to perform the building distance measurement operation; the monitoring and analyzing mechanism receives the data of various environmental sensors; the high-definition camera in the image acquisition module continuously acquires the building scene images in the trolley travel process; the image analysis module continuously detects whether there are temporary piles of building materials, equipment and other obstacles in the images, and if potential obstacles are found, the related information is immediately sent to the route planning module. The route planning module adjusts the travel route of the trolley in real time according to the received obstacle information, combines the current trolley position, target measurement point position and building site map information, and re-plans the optimal path to bypass the obstacles. When the trolley approaches each measurement point, the height and angle planning mechanism adjusts the height and angle of the distance measuring mechanism according to the pre-planned parameters, and sends control instructions to the height and angle adjusting mechanisms through the PLC control module. The height adjusting mechanism adjusts the distance measuring mechanism to the appropriate height position, and the angle adjusting mechanism adjusts the angle of the distance measuring mechanism to the 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 transmits distance measuring signals to the target building part and receives the reflected signals, calculates the preliminary measurement distance value according to the respective distance measuring principles, and transmits the distance data to the monitoring and analyzing mechanism in real time. After receiving the measurement data transmitted by the distance measuring mechanism and the environmental data transmitted by the environmental sensor, the monitoring and analyzing mechanism corrects and comprehensively analyzes the distance measuring data according to the environmental parameters. After a series of correction calculations, the accurate distance data is finally obtained. The corrected accurate distance data and related information such as the measurement point position, measurement time, environmental parameters and the like are recorded in a certain data format and stored in the data storage module, which is convenient for subsequent query, statistical analysis and comparison with building design data and the like. When measuring a long distance, the laser range finder and the ultrasonic range finder are used to measure the distance at the same time, the laser distance measuring data and the ultrasonic distance measuring data obtained by the monitoring and analyzing mechanism are fused through the comprehensive evaluation module, and the accurate distance value is obtained. After the automatic control mobile trolley completes all the measurement point distance measurements, the PLC control module confirms the completion of the task and notifies the operator, and displays the key statistical information. Subsequently, a detailed measurement report containing task overview, result summary and abnormal situation record is generated by using special software according to the measurement data.

[0172] The application can realize accurate alignment measurement, the height angle planning mechanism can accurately adjust the height and angle of the ranging mechanism according to the pre-planned parameters through the PLC control module, and ensure the accuracy and reliability of ranging. Multi-ranging mode fusion is realized, the ranging mechanism supports laser ranging and ultrasonic ranging, can select the appropriate ranging mode according to different ranging requirements, and improve the flexibility and precision 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, and provide reliable basis for subsequent query, statistical analysis and comparison operation. The long distance detection precision is improved, and the laser ranging data and ultrasonic ranging data are fused through the comprehensive evaluation module during long distance detection, and the measurement precision is further improved.

[0173] The above-described and above-mentioned embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some 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 application.

Claims

1. A method of using a building ranging device, comprising: Comprising the following steps: S1, the route planning module plans the optimal travel route of the automatic control mobile trolley; S2, the automatic control mobile trolley drives the distance measuring mechanism to perform building distance measurement operation; the monitoring and analyzing mechanism receives environmental sensor data; the image acquisition module continuously acquires building scene images; S3, the image analysis module detects whether the image exists obstacles, and the route planning module plans the optimal path to bypass the obstacles; S4, the height adjusting mechanism and the angle adjusting mechanism act to adjust the distance measuring mechanism to a suitable height and accurate direction; S5, the distance measuring mechanism emits a distance measuring signal to the target building part, and calculates the preliminary measurement distance value; S6, the monitoring and analyzing mechanism corrects and comprehensively analyzes the distance measuring data; accurate distance data is obtained; S7, the corrected distance data and its related information are recorded and stored in the data storage module; S8, when long distance detection is performed, the data of the laser range finder and the ultrasonic range finder are combined, the comprehensive evaluation module is fused and analyzed, and the accurate distance value is obtained; S9, after the distance measurement of all measurement points is completed, a detailed measurement report is generated according to the measurement data; Step S6 includes the following contents: the monitoring and analyzing mechanism receives the data of the distance measuring mechanism and the environmental sensors in real time; the data is preprocessed; the environmental parameter influence is analyzed; the data comprehensive correction and analysis are performed, the comprehensive distance measuring data correction model is established; the corrected distance measuring data is reasonably analyzed and verified; the corrected and verified distance measuring data is statistically analyzed, the stability and precision of the measurement result are evaluated; the accurate distance data report is output; specifically including the following steps: S61, data acquisition: receiving the data transmitted by the distance measuring mechanism and each sensor in real time; S62, data preprocessing: the collected data is format checked and cleaned; then data time synchronization and alignment processing are performed; S63, environmental parameter influence analysis; S63.1, analysis of the influence of temperature on distance measurement: for ultrasonic distance measurement, according to the received temperature sensor data, the actual propagation speed of ultrasonic wave in the current environment is calculated, and the influence on ultrasonic distance measurement result is analyzed; For laser distance measurement, analyze the slight influence on temperature distance measurement result; S63.2, analysis of the influence of air pressure on distance measurement; combined with the received air pressure sensor data, the change amount of ultrasonic wave propagation speed caused by air pressure change is calculated, and the ultrasonic distance measurement data is corrected accordingly; S63.3, analysis of the influence of humidity on distance measurement; S64, data comprehensive correction and analysis: according to the analysis of the influence of temperature, air pressure and humidity environmental parameters, a comprehensive distance measuring data correction model is established; the ultrasonic measurement data is corrected according to the following formula: d 终超声 =d 超声 *{1+[ln(1+0.01T)] / (1+0.005T)} -1 *(P0 / P) [1 / (1+0.001T)] *(1+β*e -γH In the formula, d 终超声 This represents the final ultrasonic ranging result obtained after comprehensive correction for environmental factors such as temperature, air pressure, and humidity, d 超声 This is the raw ultrasonic ranging data. T represents the actual ambient temperature, P refers to the actual air pressure, P0 is the reference air pressure, H represents the humidity, which is obtained through a humidity sensor. β and γ are humidity-related coefficients determined experimentally and require extensive targeted experimental research to determine. The laser measurement data is corrected according to the following formula: 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 This represents the final result of laser ranging after comprehensive correction for various environmental factors such as temperature, air pressure, and humidity. (d) 激光 This refers to the raw laser ranging data, where T is the actual ambient temperature, and δ and ε are humidity-related coefficients determined experimentally. S65, data rationality analysis and verification: the corrected distance measuring data is reasonably analyzed to check whether the data conforms to the physical law and expected range of the measurement scene; S66, statistical analysis and precision evaluation: the corrected and verified distance measuring data is statistically analyzed to evaluate the stability and precision of the measurement result; S67, output accurate distance data; S68, data storage and sharing; Step S8 includes the following steps: S81, synchronously start the laser range finder and the ultrasonic range finder to measure; S82, data acquisition and transmission; S83, time synchronization alignment of data: time synchronization calibration is performed on the collected data; S84, the monitoring and analyzing mechanism receives the measurement data from the ranging mechanism and the data of various environmental sensors, corrects and comprehensively analyzes the ranging data according to the environmental parameters; finally, the corrected laser ranging data and the ultrasonic ranging distance data are obtained; S85, data fusion calculation: the corrected laser ranging data and the ultrasonic ranging distance data are fused to obtain accurate distance data, and the data fusion calculation is performed according to the following formula: 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 i=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 This represents the fused distance data obtained at time i during the fusion calculation process; d 激光i This represents the corrected laser ranging data; d 超声i This is corrected ultrasonic ranging data; w 激光 This refers to the weighting coefficient assigned to the laser ranging data when fusing laser ranging data and ultrasonic ranging data; w 超声 These are the weighting coefficients assigned to the ultrasonic ranging data; △d 激光i Δd represents the difference between the i-th laser ranging data point and the previous data point in the laser ranging data sequence; 超声i It 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 It is an adjustable coefficient; λ 超声 It is an adjustable coefficient for the ultrasonic effect on the difference between ultrasonic ranging data points; S86, verification and optimization of the fused data: a standard target or a reference measurement point with a known distance is used to verify the fused distance data.

2. The method of using a building ranging device according to claim 1, wherein: Step S4 includes the following steps: S41, obtaining building-related information: obtaining a three-dimensional model of the building and importing it into the height-angle planning mechanism software system; S42, specifying the specific target and requirement of the measurement task; S43, interfacing with the route planning module: obtaining the driving route information of the automatically controlled mobile trolley from the route planning module; S44, determining the ideal posture: respectively determining the height, direction and inclination angle of the ranging mechanism; S45, real-time acquisition of the trolley position, speed and acceleration information, and comparison of the difference between the ideal ranging mechanism posture and the actual posture; S46, real-time adjustment: controlling the height, direction and inclination angle of the ranging mechanism as needed.

3. The method of using a building ranging device of claim 1, wherein: Step S3 includes the following contents: preprocessing and feature extraction are performed on the collected images; a support vector machine (SVM) model is used; real-time target detection is performed, a pre-trained model is used to process real-time images, target object categories and position information are identified, and obstacle and building structure features are recorded; obstacle analysis and route adjustment: measurement point positioning assistance.

4. The method of claim 1, wherein: The height adjusting mechanism includes a motor A, a lead screw and a sliding seat; the motor A is fixedly arranged on the automatically controlled mobile trolley; the output end of the motor A is coaxially fixedly provided with the lead screw; a rectangular guide pipe is fixedly arranged on the automatically controlled mobile trolley; a positioning cover plate is detachably fixedly arranged at the upper end of the rectangular guide pipe; the upper end of the lead screw is rotationally connected with the positioning cover plate; the sliding seat is slidably arranged on the rectangular guide pipe; and the sliding seat is threadedly connected with the lead screw.

5. The method of claim 4, wherein: The angle adjusting mechanism includes a motor B and a driving gear; the motor B is fixedly arranged on the sliding seat; the output end of the motor B is coaxially fixedly connected with the driving gear; and the driving gear is in transmission connection with the ranging mechanism.

6. The method of claim 5, wherein: The ranging mechanism includes a rotating rod, a fixed plate, an ultrasonic range finder, a laser range finder and a gear shaft; the rotating rod is rotationally arranged on the sliding seat; the fixed plate is fixedly arranged on the rotating rod; the ultrasonic range finder and the laser range finder are fixedly arranged on the fixed plate; the gear shaft is detachably fixedly arranged at one end of the rotating rod; and the gear shaft is in meshing transmission connection with the driving gear.

7. The method of using a building ranging device according to claim 6, wherein: An electronic level is fixedly arranged on the rotating rod.

8. A building ranging device for use in the method of using a building ranging device according to claim 1, comprising: The automatically controlled mobile trolley, the ranging mechanism, the height adjusting mechanism, the angle adjusting mechanism, the route planning module, the height-angle planning mechanism, the monitoring and analyzing 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 automatic control mobile trolley is capable of automatically moving in the construction site; The distance measuring mechanism is capable of measuring distance according to needs by using a laser range finder or an ultrasonic range finder, or by combining the laser range finder and the ultrasonic range finder; The height adjusting mechanism is arranged on the automatic control mobile trolley; and the distance measuring mechanism is rotatably arranged on the height adjusting mechanism; The angle adjusting mechanism is arranged on the height adjusting mechanism; and the angle adjusting mechanism adjusts the angle of the distance measuring mechanism; The route planning module calculates the optimal driving route of the automatic control mobile trolley by using an A* path planning algorithm; The height and angle planning mechanism plans the height, direction and inclination angle of the distance measuring mechanism; The monitoring and analyzing mechanism corrects and comprehensively analyzes the distance measuring data according to environmental parameters to obtain 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 measuring process; The image analysis module analyzes and identifies the acquired images to identify obstacles; The comprehensive evaluation module simultaneously measures distance by using the laser range finder and the ultrasonic range finder during long distance detection, and fuses the laser distance measuring data and the ultrasonic distance measuring data to obtain accurate distance values; The data storage module is used for storing various data during the building distance measuring process; The PLC control module is network-connected with the automatic control mobile trolley, the distance measuring mechanism, the height adjusting mechanism, the angle adjusting mechanism, the route planning module, the data storage module, the comprehensive evaluation module, the height and angle planning mechanism and the monitoring and analyzing mechanism.

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