Engineering section automatic measurement system and method based on unmanned automatic driving trolley

Abstract

The invention relates to an automatic engineering section measuring system and method based on an unmanned automatic driving trolley. The system is composed of an unmanned platform, a measurement stabilization system, a prism assembly, a system management control unit and a communication module. All the components are carried through the unmanned driving platform, the measurement stabilization system collects data in real time through an MEMS inclination sensor, a servo holder is accurately controlled through a dynamic compensation algorithm, and prism offset caused by topographic relief is corrected. The total station automatically tracks the prism for measurement, and the system dynamically optimizes the measurement method according to the measurement result. Compared with traditional manual rod-holding point measurement, the method has the advantages that the measurement efficiency is improved by more than 50%, the problems of low efficiency, large precision fluctuation, poor safety and the like of traditional measurement are effectively solved, the quality of measurement results is remarkably improved, the labor intensity is reduced, and an efficient, accurate and safe new scheme is provided for engineering section measurement.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering surveying, and particularly to an automated engineering cross-section measurement system and method based on an unmanned autonomous vehicle, which is used to improve the operation efficiency and accuracy in scenarios such as cross-section measurement and topographic mapping. Background Art

[0002] In traditional engineering cross-section measurement work, the main method is to manually collect points one by one with a prism rod held by hand. This method has many drawbacks:

[0003] Low efficiency: Workers need to manually move and level the prism point by point, and the whole process takes a long time. For example, in a medium-sized engineering cross-section measurement project, it may take several days or even weeks to complete data collection.

[0004] High labor cost: Often, multiple people need to cooperate to complete relevant measurement work, including rod holders, surveyors, and commanders, etc., which undoubtedly increases the investment in labor costs.

[0005] Safety risks: When operating in some dangerous environments, such as slopes, tunnels and other areas, there are relatively high safety hazards, threatening the lives of workers.

[0006] Accuracy fluctuations: Due to the limitations of manual operation, it is extremely easy to cause deviations in the prism attitude, which in turn affects the measurement accuracy and makes the measurement results have large errors.

[0007] In order to improve the deficiencies of traditional measurement methods, there are some existing automated improvement schemes:

[0008] Vehicle-mounted lidar measurement system solution: This solution still has problems of insufficient flexibility in actual applications. For example, it is difficult to operate in some narrow spaces or complex terrain areas. At the same time, its cost is high and it is unaffordable for some projects with limited budgets. And there are also certain defects in terms of adaptability and it cannot meet the measurement requirements of various complex scenarios.

[0009] Drone-mounted prism solution: Although it has a certain degree of innovation, it is limited by battery life. Generally, the battery life is less than 30 minutes, which greatly limits its operation range. Moreover, the stability of the prism is poor when the drone hovers, and the hovering accuracy is only ±5 cm, seriously affecting the measurement accuracy.

[0010] In summary, the existing measurement methods have many deficiencies in terms of efficiency, cost, safety and accuracy, and there is an urgent need for a brand-new measurement system and method to meet the growing requirements of high-efficiency, precision and safety measurement in modern engineering construction. Summary of the Invention

[0011] The object of the present invention is to provide an automated engineering section measurement system and method based on an unmanned autonomous vehicle, which replaces the traditional manual rod running measurement method through the collaborative operation of an automatic tracking measurement system to track and measure a 360-degree prism mounted on an intelligent unmanned vehicle, effectively solving the problems of efficiency, safety and accuracy existing in the traditional measurement method.

[0012] To achieve the above object, the present invention is realized through the following technical solutions: An automated engineering section measurement system based on an unmanned autonomous vehicle, comprising:

[0013] An unmanned driving platform: Adopting four-wheel drive electric drive, equipped with GNSS navigation, having the ability of path planning, for carrying system components and traveling along a preset path;

[0014] A measurement stability system: Installed on the unmanned driving platform, composed of a two-axis servo pan-tilt head, a MEMS tilt sensor, and a dynamic compensation controller, for eliminating the prism offset caused by terrain undulation;

[0015] A prism assembly: Installed on a quick-release device at the center position of the measurement stability system through a quick-release structure, adapting to a variety of total stations, for cooperating with the total station for measurement;

[0016] A system management control unit and a communication module: Having a dynamic compensation calculation function, capable of remotely controlling the traveling mode of the unmanned driving platform, realizing dynamic optimization of section measurement, and automatically adjusting the density of measurement points.

[0017] Further as an improvement of the technical solution of the present invention, the plane centers of the unmanned driving platform and the measurement stability system coincide, and the MEMS tilt sensor is installed on the circular platform at the top of the measurement stability system.

[0018] Further as an improvement of the technical solution of the present invention, the system management control unit dynamically collects the data of the MEMS tilt sensor, and uses a dynamic compensation algorithm to control the pitch axis and roll axis of the servo pan-tilt head to automatically repair and compensate.

[0019] Further as an improvement of the technical solution of the present invention, the system dynamically optimizes the section measurement method according to the feedback of the total station measurement result, and automatically adjusts the density of measurement points.

[0020] Further as an improvement of the technical solution of the present invention, the path planning accuracy of the unmanned driving platform is ±2 cm.

[0021] Further as an improvement of the technical solution of the present invention, in complex terrain, the measurement stability system ensures that the prism center positioning accuracy ≤ 3 mm.

[0022] Further as an improvement of the technical solution of the present invention, an automated engineering section measurement method based on an unmanned autonomous vehicle includes the following steps:

[0023] System setup: Debug the driverless platform to ensure the normal functions of four-wheel drive electric, GNSS navigation, and path planning; install the measurement stability system, ensure it coincides with the plane center of the driverless platform, and install the MEMS tilt sensor; install the prism assembly; connect the system management control unit and the communication module and debug them;

[0024] Measurement preparation: At the measurement site, according to the engineering section design requirements, use the system management control unit to set parameters such as the measurement path and measurement point density, place the total station at a suitable position and establish a communication connection with the system management control unit;

[0025] Measurement process: Start the driverless platform to drive along the preset path. The measurement stability system collects the data of the MEMS tilt sensor in real time. The system management control unit uses a dynamic compensation algorithm to control the servo pan-tilt to keep the prism stable. The total station automatically tracks the prism for measurement and feeds the results back to the system management control unit. The system management control unit analyzes and evaluates the difference of the measured section according to the measurement results. When the error exceeds the limit value, it automatically executes the segmented optimized section measurement strategy according to the preset planning strategy, increasing the density of measurement points within a certain range of the measured section;

[0026] Measurement end: After completing the measurement of the entire engineering section, the driverless platform stops driving. The system management control unit sorts out and analyzes the measurement data to generate a final measurement report.

[0027] Furthermore, as an improvement of the technical solution of the present invention, this method is based on the measurement stability system to collect the data of the MEMS tilt sensor in real time, and uses a dynamic compensation algorithm to accurately control the servo pan-tilt to automatically correct the prism offset caused by terrain undulation.

[0028] Furthermore, as an improvement of the technical solution of the present invention, the automatic compensation and leveling by the tilt sensor optimize the volatility of the traditional manual pole-holding leveling, improving the stability of single-point measurement.

[0029] Furthermore, as an improvement of the technical solution of the present invention, this method can be applied to the engineering section measurement of dangerous areas of slopes and tunnels.

[0030] The present invention has the following beneficial effects:

[0031] The measurement efficiency has achieved a qualitative leap: The present invention completely abandons the inefficient mode of traditional manual pole-holding measurement points. The measurement efficiency is increased by more than 50% compared with the traditional method. Within the same operation time, more measurement tasks can be completed, greatly shortening the engineering measurement cycle and providing a strong guarantee for the rapid progress of the project.

[0032] The quality of measurement results is significantly optimized: By means of an innovative optimized cross-section measurement method, the system can dynamically and precisely adjust the density of measurement points according to the actual characteristics of the measurement area. This feature enables the measurement results to more comprehensively and accurately reflect the true situation of the measurement area, effectively improving the quality and application value of the measurement results.

[0033] The measurement stability is greatly enhanced: Through the tilt sensor to achieve automatic compensation leveling, completely solving the volatility problem in the traditional manual leveling process of the pole, and significantly improving the stability of single-point measurement. This improvement effectively reduces the measurement error, making the measurement results more reliable and providing a more accurate data basis for engineering construction.

[0034] The labor intensity is significantly reduced: The present invention greatly reduces the participation of on-site measurement personnel and effectively reduces the labor intensity of measurement personnel. Especially in harsh weather conditions such as hot summers and cold winters, it significantly reduces the outdoor working hours and physical consumption of personnel, and effectively improves the working environment of measurement personnel.

[0035] Dynamic optimization of cross-section measurement: The unmanned platform carrying the prism travels strictly along the planned cross-section trajectory, and the total station automatically and precisely tracks the prism for measurement. The system continuously analyzes and evaluates the difference (elevation difference) of the measured cross-section according to the measurement results. Once the error exceeds the preset limit value, it immediately automatically executes the segmented optimized cross-section measurement strategy according to the preset planning strategy, and specifically increases the density of measurement points within a specific range of the measured cross-section until the entire measurement task is successfully completed. Description of the Drawings

[0036] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more apparent:

[0037] Figure 1 It is a schematic diagram of the pre-assembly structure of an engineering cross-section automatic measurement system based on an unmanned autonomous vehicle for the present invention.

[0038] Figure 2 It is a schematic diagram of the post-assembly structure of an engineering cross-section automatic measurement system based on an unmanned autonomous vehicle for the present invention.

[0039] Figure 3 It is a flow framework diagram of an engineering cross-section automatic measurement method based on an unmanned autonomous vehicle for the present invention. Detailed Embodiments

[0040] The present invention will be described in detail below in conjunction with the drawings and specific embodiments. Here, the schematic embodiments and descriptions of the present invention are used to explain the present invention, but do not limit the present invention.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, upper end, lower end, top, bottom...) in the embodiments of the present invention are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0042] In the present invention, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific circumstances.

[0043] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions conflicts with each other or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0044] The present invention will be further described in detail below with reference to the accompanying drawings.

[0045] Refer to Figure 1 and Figure 2 , an automated engineering section measurement system based on an unmanned autonomous vehicle, comprising:

[0046] An unmanned driving platform: Adopting four-wheel drive electric drive, equipped with GNSS navigation, having the ability of path planning, used to carry system components and travel along a preset path;

[0047] A measurement stability system: Installed on the unmanned driving platform, composed of a two-axis servo pan-tilt, a MEMS tilt sensor, and a dynamic compensation controller, used to eliminate the prism offset caused by terrain undulation;

[0048] A prism assembly: Installed on a quick-release device at the center position of the measurement stability system through a quick-release structure, adapted to a variety of total stations, used to cooperate with the total station for measurement;

[0049] System Management Control Unit and Communication Module: It has the function of dynamic compensation calculation, can remotely control the traveling mode of the unmanned platform, realize the dynamic optimization of cross-section measurement, and automatically adjust the density of measurement points.

[0050] It should be noted that the unmanned platform (unmanned vehicle): adopts a four-wheel drive electric drive architecture with excellent performance, is equipped with a high-precision GNSS navigation system, and has a powerful path planning function. No matter what kind of complex working environment it faces, it can drive stably and reliably, and accurately reach each measurement point according to the preset path, providing a stable mobile vehicle for the entire measurement system.

[0051] Measurement Stability System (Dual-axis Self-stabilizing Platform): It is composed of a dual-axis servo pan-tilt, a high-sensitivity MEMS tilt sensor, and an intelligent dynamic compensation controller. This system can sense and effectively eliminate the prism offset caused by terrain undulation in real time, ensuring that the prism always maintains a stable measurement state during the entire measurement process, laying a solid foundation for high-precision measurement.

[0052] Prism Assembly (Prism Rod): It adopts a unique quick-release mounting structure design, has excellent compatibility, and can seamlessly adapt to total stations of global mainstream brands such as Leica and Trimble. This design greatly facilitates users to flexibly replace prisms of different brands according to actual measurement needs, significantly improving the versatility and practicality of the system.

[0053] System Management Control Unit and Communication Module: Integrates advanced dynamic compensation calculation function, can remotely and accurately control the traveling mode of the unmanned platform. By using an innovative dynamic optimization method for cross-section measurement, the system can automatically and intelligently adjust the density of measurement points according to the actual measurement situation, thus significantly improving the quality and integrity of the measurement results.

[0054] It should be noted that the present invention constructs a set of high-precision, low-cost and highly automated engineering cross-section measurement solution. By integrating the automatic tracking measurement system and the 360-degree prism mounted on the intelligent unmanned vehicle, the collaborative operation of the two is realized, completely revolutionizing the traditional manual pole-running measurement mode, effectively overcoming the problems of low efficiency, poor safety and difficult accuracy guarantee in the traditional measurement method, and fully meeting the stringent requirements of modern engineering construction for efficient and accurate measurement.

[0055] Technical Highlights:

[0056] Integrate cutting-edge technologies to achieve intelligent path planning: Innovatively integrate advanced autonomous driving technologies with mature prism measurement devices in depth, endowing the system with the ability to autonomously plan precise measurement paths, with a planning accuracy of up to ±2 cm. This breakthrough not only significantly improves the intelligence level of the measurement process, but also remarkably reduces the errors and time losses introduced by manual intervention, strongly promoting the measurement operation to a new height of efficiency and intelligence.

[0057] Innovative and stable architecture to ensure high-precision positioning: Carefully design a two-axis self-stabilizing platform and support it with advanced dynamic compensation algorithms. This platform can accurately eliminate the interference of terrain undulation on the prism position under complex and changeable terrain conditions, ensuring that the prism center positioning accuracy always remains ≤3 mm. This excellent performance greatly improves the accuracy and reliability of the measurement results, providing solid data support for engineering construction.

[0058] Specifically, in the solution of this embodiment, the center of the plane of the unmanned driving platform coincides with the center of the measurement stable system, and the MEMS tilt sensor is installed on the circular platform at the top of the measurement stable system.

[0059] Specifically, in the solution of this embodiment, the system management and control unit dynamically collects the data of the MEMS tilt sensor and uses dynamic compensation algorithms to control the pitch axis and roll axis of the servo pan-tilt head to automatically repair and compensate.

[0060] Specifically, in the solution of this embodiment, the system dynamically optimizes the cross-section measurement method and automatically adjusts the measurement point density according to the feedback of the total station measurement results.

[0061] Specifically, in the solution of this embodiment, the path planning accuracy of the unmanned driving platform is ±2 cm.

[0062] Specifically, in the solution of this embodiment, under complex terrain, the measurement stable system ensures that the prism center positioning accuracy ≤3 mm.

[0063] Refer to Figure 3 , an automated engineering cross-section measurement method based on an unmanned autonomous driving vehicle, comprising the following steps:

[0064] System setup: Debug the unmanned driving platform to ensure the normal functions of four-wheel drive electric, GNSS navigation, and path planning; install the measurement stable system, ensure its coincidence with the center of the plane of the unmanned driving platform, and install the MEMS tilt sensor; install the prism assembly; connect the system management and control unit and the communication module and debug;

[0065] Measurement preparation: At the measurement site, according to the engineering cross-section design requirements, use the system management and control unit to set parameters such as the measurement path and measurement point density, place the total station in a suitable position and establish a communication connection with the system management and control unit;

[0066] Measurement process: Start the unmanned platform to drive along the preset path. The measurement stability system collects the data of the MEMS tilt sensor in real time. The system management and control unit uses a dynamic compensation algorithm to control the servo pan-tilt head to keep the prism stable. The total station automatically tracks the prism for measurement and feeds the results back to the system management and control unit. The system management and control unit analyzes and evaluates the difference of the measured section according to the measurement results. When the error exceeds the limit value, it automatically executes the segmented optimized section measurement strategy according to the preset planning strategy, increasing the density of measurement points within a certain range of the measured section.

[0067] Measurement end: After completing the measurement of the entire engineering section, the unmanned platform stops driving. The system management and control unit sorts out and analyzes the measurement data to generate a final measurement report.

[0068] Specifically, in the solution of this embodiment, the method is based on the measurement stability system to collect the data of the MEMS tilt sensor in real time, and uses a dynamic compensation algorithm to accurately control the servo pan-tilt head, automatically correcting the prism offset caused by terrain undulation.

[0069] Specifically, in the solution of this embodiment, through the automatic compensation and leveling of the tilt sensor, the volatility of the traditional manual pole-holding leveling is optimized, and the stability of single-point measurement is improved.

[0070] Specifically, in the solution of this embodiment, the method can be applied to the engineering section measurement of dangerous areas of slopes and tunnels.

[0071] Working principle of the present invention: The unmanned platform, as the core vehicle of the entire system, is responsible for carrying and coordinating other system components to perform key operations such as starting, stopping, and moving. The measurement stability system is firmly installed on the unmanned platform, and it is strictly ensured that the plane centers of the two coincide precisely. The MEMS tilt sensor is accurately installed on the circular platform at the top of the measurement stability system. The system management and control unit collects the data of the MEMS tilt sensor in real time and dynamically, and uses an advanced dynamic compensation algorithm to accurately control the pitch axis and roll axis of the servo pan-tilt head to achieve automatic repair and compensation, thereby significantly improving the measurement accuracy and stability. At the same time, the system intelligently and dynamically optimizes the section measurement method according to the real-time feedback of the total station measurement results, automatically adjusts the measurement point density, and ensures that the measurement data can accurately reflect the actual situation of the measurement area. The prism assembly is installed on the quick-release installation device at the center position of the measurement stability system, and is used to adapt to the 360 prism of the mainstream brand total station to ensure the smooth progress of the measurement work.

[0072] Embodiment:

[0073] System setup:

[0074] Debugging of the driverless platform: Start the four-wheel drive electric system of the driverless vehicle, check whether the motor runs smoothly and whether the power output is balanced, and ensure that it can adapt to the driving requirements under different terrain conditions. Initialize the GNSS navigation system, set accurate coordinate benchmarks and positioning accuracy parameters, and set the positioning accuracy to the highest level to ensure the accuracy of positioning. At the same time, use the simulated path test function to test the path planning module multiple times to verify whether it can quickly generate a reasonable and accurate driving path according to the preset starting point, ending point and obstacle information along the way, and the path planning error needs to be controlled within ±2 cm.

[0075] Installation of the measurement stabilization system: Install the two-axis self-stabilizing platform on the driverless platform. With the help of a high-precision level and positioning tooling, ensure that the coincidence accuracy of the plane centers of the two is within ±1 mm. Subsequently, firmly install the MEMS tilt sensor at the center position of the circular platform on the top of the measurement stabilization system, ensuring that the sensor is firmly installed without deviation to avoid affecting the data acquisition accuracy due to improper installation.

[0076] Installation of the prism assembly: Select a suitable prism rod and tightly connect it to the quick-release installation device at the center position of the measurement stabilization system through a quick-release installation structure to ensure a firm connection and prevent loosening during driving. At the same time, check whether the optical surface of the prism is clean without impurities such as dust and stains that affect the reflection of the measurement light.

[0077] Connection of the system management control unit and the communication module: Connect the control lines and data transmission lines of the system management control unit to each component to ensure correct and firm line connections. Debug the communication module, set the communication protocol, frequency and data transmission rate matching the total station to ensure stable and fast data interaction between the system management control unit and the total station.

[0078] Measurement preparation:

[0079] Parameter setting: In the operation interface of the system management control unit, accurately set the measurement path according to the design drawings and measurement requirements of the engineering section. The path setting needs to consider factors such as terrain undulation and obstacle distribution to ensure the safe and efficient driving of the driverless vehicle. At the same time, reasonably set the measurement point density according to the complexity and accuracy requirements of the measurement area. For areas with drastic terrain changes, appropriately increase the measurement point density; for areas with relatively flat terrain, moderately reduce the measurement point density, but the overall distribution of measurement points should accurately reflect the section characteristics.

[0080] Total station setup: Select a location with open view and good visibility at the measurement site to set up the total station. Use the leveling and centering functions of the total station to precisely level and center the total station, ensuring that the vertical axis of the instrument coincides with the plumb line and the horizontal dial is in a horizontal state. Set the measurement parameters of the total station, including measurement mode, ranging accuracy, angular measurement accuracy, etc., to make it compatible with the entire measurement system.

[0081] Communication connection: Establish a connection between the total station and the system management and control unit through the wireless communication module. During the connection process, conduct multiple data transmission tests to ensure the accuracy and stability of data transmission, without data loss or incorrect transmission.

[0082] Measurement process:

[0083] Unmanned vehicle driving: Start the unmanned driving platform and start driving according to the preset measurement path. During the driving process, the measurement stability system continuously collects MEMS tilt sensor data. The system management and control unit uses the dynamic compensation algorithm to accurately calculate and control the rotation angles of the pitch axis and roll axis of the servo pan-tilt head based on the collected data, so as to automatically correct the prism offset caused by terrain undulation and ensure that the prism is always in a vertical and stable state, and the prism center positioning accuracy is maintained at ≤3mm.

[0084] Total station measurement: The total station automatically tracks the moving prism for measurement and obtains the three-dimensional coordinate data of the measurement points in real time. During the measurement process, the total station transmits the measurement data to the system management and control unit in real time. The system management and control unit analyzes the measurement data in real time and calculates the difference (elevation difference) of the measured section.

[0085] Dynamic optimization: When the system management and control unit analyzes that the difference error of the measured section exceeds the preset limit value (such as ±5mm), immediately start the preset planning strategy. According to the segmented optimization section measurement strategy, within a certain range of the section area where the error exceeds the standard (such as an area with a radius of 5 meters centered on the error point), automatically increase the measurement point density and conduct dense measurement on this area to obtain more accurate measurement data.

[0086] Measurement end:

[0087] Data collection: When the unmanned vehicle completes the measurement drive of the entire engineering section, the system management and control unit stops data collection and summarizes and organizes all the measurement point data obtained during the measurement process, and stores it in the local data storage module.

[0088] Data processing: Use professional data processing software to perform preprocessing operations such as denoising and filtering on the stored measurement data to remove abnormal data caused by interference or measurement errors. Then, generate a three-dimensional model and a cross-sectional view of the engineering section based on the measurement data to visually display the topographic and geomorphic features of the section.

[0089] Report generation: Based on the processed data and the generated model, a detailed measurement report is prepared. The report content includes an overview of the measurement items, measurement methods, measurement results, accuracy analysis, as well as existing problems and suggestions, etc., providing comprehensive and accurate data support for subsequent engineering design and construction.

[0090] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0091] A qualitative leap in measurement efficiency: The present invention completely abandons the inefficient mode of traditional manual pole - holding for measuring points, and the measurement efficiency is increased by more than 50% compared with the traditional method. Within the same operation time, more measurement tasks can be completed, greatly shortening the engineering measurement cycle and providing strong guarantee for the rapid progress of the project.

[0092] Significant optimization of the quality of measurement results: With the help of the innovative optimized cross - section measurement method, the system can dynamically and accurately adjust the density of measurement points according to the actual characteristics of the measurement area. This feature enables the measurement results to more comprehensively and accurately reflect the true situation of the measurement area, effectively improving the quality and application value of the measurement results.

[0093] Greatly enhanced measurement stability: Automatic compensation leveling is achieved through an inclination sensor, completely solving the volatility problem in the traditional manual leveling process of the pole, and significantly improving the stability of single - point measurement. This improvement effectively reduces measurement errors, making the measurement results more reliable and providing a more accurate data basis for engineering construction.

[0094] Significantly reduced labor intensity: The present invention greatly reduces the participation of on - site measurement personnel and effectively reduces the labor intensity of measurement personnel. Especially in harsh weather conditions such as hot summers and cold winters, it significantly reduces the outdoor working hours and physical consumption of personnel, and effectively improves the working environment of measurement personnel.

[0095] Dynamic optimization of cross - section measurement: The unmanned platform carrying a prism travels strictly along the planned cross - section trajectory, and the total station automatically and accurately tracks the prism for measurement. The system continuously analyzes and evaluates the difference (elevation difference) of the measured cross - section based on the measurement results. Once the error exceeds the preset limit value, it immediately automatically executes a segmented optimized cross - section measurement strategy according to the preset planning strategy, and specifically increases the density of measurement points within a specific range of the measured cross - section until the entire measurement task is successfully completed.

[0096] The above has introduced in detail the technical solutions provided by the embodiments of the present invention. Specific examples are used herein to elaborate on the principles and implementation manners of the embodiments of the present invention. The description of the above embodiments is only applicable to helping understand the principles of the embodiments of the present invention. At the same time, for those of ordinary skill in the art, according to the embodiments of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. An automated engineering cross-section measurement system based on an unmanned autonomous vehicle, characterized in that Including: Driverless platform: Adopting four-wheel drive electric drive, equipped with GNSS navigation, having path planning ability, used for carrying system components and traveling along a preset path; Measurement stability system: Installed on the driverless platform, composed of a two-axis servo pan-tilt head, a MEMS tilt sensor, and a dynamic compensation controller, used to eliminate the prism offset caused by terrain undulation; Prism assembly: Installed on the quick-release device at the center position of the measurement stability system through a quick-release structure, compatible with a variety of total stations, used to cooperate with the total station for measurement; System management control unit and communication module: Having the function of dynamic compensation calculation, capable of remotely controlling the traveling mode of the driverless platform, realizing dynamic optimization of cross-section measurement, and automatically adjusting the density of measurement points.

2. The automated engineering section measurement system based on an unmanned autonomous vehicle according to claim 1, wherein: The plane centers of the driverless platform and the measurement stability system coincide, and the MEMS tilt sensor is installed on the circular platform at the top of the measurement stability system.

3. The automated engineering section measurement system based on an unmanned autonomous vehicle according to claim 1, wherein: The system management control unit dynamically collects the data of the MEMS tilt sensor, and uses a dynamic compensation algorithm to control the pitch axis and roll axis of the servo pan-tilt head to automatically repair and compensate.

4. An automated engineering cross-section measurement system based on an unmanned autonomous vehicle, characterized in that: The system dynamically optimizes the cross-section measurement method according to the feedback of the total station measurement result, and automatically adjusts the density of measurement points.

5. The automated engineering cross-section measurement system based on an unmanned autonomous vehicle according to claim 1, characterized in that: The path planning accuracy of the driverless platform is ±2 cm.

6. The automated engineering section measurement system based on an unmanned autonomous vehicle according to claim 1, wherein: Under complex terrain, the measurement stability system ensures that the prism center positioning accuracy ≤ 3 mm.

7. An automated engineering section measurement method based on an unmanned autonomous vehicle, characterized in that, Including the following steps: System construction: Debug the driverless platform to ensure the normal functions of four-wheel drive electric, GNSS navigation and path planning; install the measurement stability system, ensure its coincidence with the plane center of the driverless platform, and install the MEMS tilt sensor; install the prism assembly; connect the system management control unit and the communication module and debug; Measurement preparation: At the measurement site, according to the engineering cross-section design requirements, use the system management control unit to set parameters such as the measurement path and the density of measurement points, place the total station in a suitable position and establish a communication connection with the system management control unit; Measurement process: Start the driverless platform to drive along the preset path. The measurement stability system real-time collects the data of the MEMS tilt sensor. The system management control unit uses a dynamic compensation algorithm to control the servo pan-tilt head to keep the prism stable. The total station automatically tracks the prism for measurement and feeds the result back to the system management control unit. The system management control unit analyzes and evaluates the difference of the measured cross-section according to the measurement result. When the error exceeds the limit value, it automatically executes a segmented optimized cross-section measurement strategy according to the preset planning strategy, and increases the density of measurement points within a certain range of the measured cross-section; Measurement end: After completing the measurement of the entire engineering cross-section, the driverless platform stops running, and the system management control unit sorts out and analyzes the measurement data to generate a final measurement report.

8. The automated engineering section measurement method based on an unmanned autonomous vehicle according to claim 7, wherein: This method is based on the measurement stability system to real-time collect the data of the MEMS tilt sensor, and uses a dynamic compensation algorithm to accurately control the servo pan-tilt head to automatically correct the prism offset caused by terrain undulation.

9. The automated engineering section measurement method based on an unmanned autonomous vehicle according to claim 7, wherein: Through the automatic compensation and leveling of the tilt sensor, it optimizes the volatility of the traditional manual pole-holding leveling, and improves the stability of single-point measurement.

10. The engineering section automatic measurement method based on an unmanned autonomous vehicle according to claim 7, wherein: This method can be applied to the engineering cross-section measurement of dangerous areas such as slopes and tunnels.

Images