Intelligent centering surveying and mapping system and lofting method thereof

Abstract

The invention discloses an intelligent centering surveying and mapping system and a lofting method thereof. The intelligent centering surveying and mapping system comprises a base station and an intelligent centering rod used in cooperation with the base station. The base station is provided with a total station and a first GNSS receiver, and is integrated with a first processor and a first communication module; the intelligent centering rod is provided with a left prism, a right prism, a second GNSS receiver, an optical unit, a second processor and a second communication module, wherein the left prism and the right prism are horizontally arranged at intervals. According to the intelligent centering surveying and mapping system, the intelligent centering rod is improved, so that in the lofting operation process, an operator only needs to carry the intelligent centering rod to approach a lofting point, and the system calculates the distance between the base station and the intelligent centering rod and calculates the angle of the intelligent centering rod; then the optical unit is used for automatically projecting the position of a lofting point, so that the lofting speed is increased; and the whole system is not complicated in structure and easy to manufacture, assemble and use.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and in particular to an intelligent centering surveying and mapping system and a layout method thereof. Background Art

[0002] Staking out is an important step in construction surveying and mapping. Construction stakeout is the process of converting design coordinates into field marks through measurement technology. Its accuracy directly determines the compliance of the position and shape of the structure.

[0003] Traditionally, stakeout work requires manual measurement using tools like theodolites and steel rulers, relying on empirical formulas for calculations. This is a tedious and labor-intensive process. While surveying and mapping using total stations and GNSS-RTK technology can eliminate some manual labor, centering and stakeout positioning still require manual approximation, which is time-consuming and labor-intensive. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent centering surveying and mapping system and a layout method thereof in view of the problems existing in the prior art.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] An intelligent centering surveying and mapping system includes a reference station and an intelligent centering pole used in conjunction with the reference station; the reference station is provided with a total station and a first GNSS receiver, and is integrated with a first processor and a first communication module;

[0007] The smart centering pole is provided with a left prism and a right prism arranged horizontally at intervals, the total station is used to measure the coordinates of the left prism and the right prism, and the smart centering pole is provided with a second GNSS receiver;

[0008] The intelligent centering rod is also provided with an optical unit, which is used for distance measurement and emitting a setting-out laser beam;

[0009] The intelligent centering pole is further provided with a second processor and a second communication module. The first communication module and the second communication module establish communication to transmit and receive data from the first processor.

[0010] This intelligent centering surveying and mapping system improves the intelligent centering pole so that during the layout operation, the operator only needs to carry the intelligent centering pole close to the layout point (generally within a radius of 3-5 meters). The system calculates the distance between the reference station and the intelligent centering pole and the angle of the intelligent centering pole, and then uses the optical unit to automatically project the position of the layout point, thereby improving the layout speed. In addition, the structure of the entire system is not complicated and is easy to manufacture, assemble and use.

[0011] Furthermore, the intelligent centering rod includes a vertical rod body, a transverse rod body is provided on the vertical rod body, the left prism and the right prism are provided at both ends of the transverse rod body, and the second communication module is provided above the transverse rod body; the optical unit and the second processor are connected and installed on the vertical rod body.

[0012] Furthermore, the optical unit includes a laser ranging module and a layout laser module. The layout laser module is provided with a laser galvanometer, and the laser galvanometer is used to adjust the laser pointing direction.

[0013] A layout method for an intelligent centering surveying and mapping system, the layout method comprising the following steps:

[0014] Step 1: Initialize the reference station, input data and transmit data to the intelligent centering pole;

[0015] Step 2: Using GNSS rough navigation, preliminarily determine the location of the smart centering pole and preliminarily place the smart centering pole;

[0016] Step 3: The total station accurately locates, calculates the position and direction of the intelligent centering rod, and transmits the calculated data to the second processor;

[0017] Step 4: Calculate and obtain the horizontal angle and vertical angle of the layout laser beam, adjust the optical unit, and project the laser point toward the layout point;

[0018] Step 5: Verify the coordinates of the laser point and fine-tune the position of the intelligent centering rod according to the verification result; after the adjustment is completed and confirmed, a prompt "Stakeout successful" is displayed.

[0019] Specifically, in step 1, perform the following steps:

[0020] Enter the coordinates of the stakeout point in the first processor , ;

[0021] The first GNSS receiver obtains the reference coordinates of the reference station , , and calibrate the total station;

[0022] The first communication module sends the coordinates of the stakeout point to The coordinates of the stakeout points are transmitted to the second communication module in real time, and the second processor obtains the coordinates of the stakeout points in real time. .

[0023] Specifically, in step 2, perform the following steps:

[0024] The second GNSS receiver obtains the real-time coordinates of the intelligent centering pole , ;

[0025] The second processor calculates the horizontal distance between the intelligent centering rod and the stakeout point and direction angle , along the direction angle Move, when the horizontal distance When the meter is reached, the user is prompted to put down the intelligent centering rod.

[0026] Specifically, horizontal distance and direction angle The method for determining is as follows:

[0027] ,

[0028] ,

[0029] Where, X s and Y s The X and Y values of the coordinates of the stakeout point. b and Y b are the X and Y values in the reference coordinates.

[0030] Specifically, in step 3, perform the following steps:

[0031] The total station measures the coordinates of the left prism and the right prism: Left prism coordinates , right prism coordinates ;

[0032] The first processor calculates the position of the intelligent centering rod and direction vector ,

[0033] Right now , ,

[0034] Position and direction vector Transmitted to the second processor.

[0035] Specifically, in step 4, perform the following steps:

[0036] The laser ranging module in the optical unit measures the distance from the ground ;

[0037] The second processor calculates the following indicators:

[0038] Direction vector : ,

[0039] Horizontal distance , ,

[0040] Horizontal angle , ,

[0041] vertical angle , ,

[0042] Where, are the left prism coordinates, is the coordinate of the stakeout point,

[0043] According to the horizontal angle and vertical angle The lofting laser beam emitted by the laser galvanometer in the optical unit is adjusted to project a laser point.

[0044] Specifically, the verification and fine-tuning method in step 5 is as follows:

[0045] Calculate the coordinates of the laser point ,Right now ;

[0046] like m, prompting the operator to fine-tune the position of the intelligent centering rod and repeat steps 3 and 4.

[0047] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The intelligent centering surveying and mapping system improves the intelligent centering pole so that during the layout operation, the operator only needs to carry the intelligent centering pole close to the layout point, and the system calculates the distance between the reference station and the intelligent centering pole and the angle of the intelligent centering pole, and then uses the optical unit to automatically project the position of the layout point, thereby improving the layout speed; and the structure of the entire system is not complicated, and it is easy to manufacture, assemble and use; 2. The present invention uses the above-mentioned layout method to transfer the manual gradual approach steps to automation, and the operator only needs to When approaching the target point to be staked out, the position of the target point can be quickly indicated by laser, which significantly improves the stakeout speed; 3. This stakeout method introduces two prisms and a laser galvanometer in operation, so there is no need to deliberately stabilize the centering rod. The system can automatically calculate the position and direction of the centering rod according to the measurement results, and accurately project the stakeout point on the target accordingly, which greatly improves work efficiency and greatly reduces difficulty; 4. Due to the introduction of new components and calculation models, although the calculation seems more complicated, for the computer, this amount of calculation does not put any pressure on it, and the algorithm is more comprehensive and more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is an overall schematic diagram of an intelligent centering and mapping system of the present invention;

[0049] Figure 2 A reference schematic diagram of the intelligent centering rod layout of the present invention;

[0050] In the figure: 1. Total station; 2. First GNSS receiver; 3. Vertical pole; 4. Horizontal pole; 5. Left prism; 6. Right prism; 7. Second GNSS receiver; 8. Second processor; 9. Optical unit; 10. Second communication module; 11. Laser galvanometer; 12. Laser ranging module; 13. Ranging laser beam; 14. Stakeout laser beam; 15. (Target) stakeout point. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," etc., etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] Example 1:

[0054] like Figure 1 and Figure 2 As shown, an intelligent centering surveying and mapping system includes a reference station and an intelligent centering pole used in conjunction with the reference station; the reference station is provided with a total station 1 and a first GNSS receiver 2, and is integrated with a first processor and a first communication module;

[0055] Specifically, the total station 1 is supported on the ground by a tripod, the first GNSS receiver 2 is mounted on the total station 1 by a bracket, the total station 1 is integrated with the first processor and the first communication module, and may also be equipped with a screen and buttons;

[0056] The first GNSS receiver 2 can provide the known coordinates of the reference station , the first processor can manage the coordinates of the stakeout points , calculations can also be performed, and the acquired and calculated data can be transmitted in real time through the first communication module;

[0057] The smart centering pole is provided with a left prism 5 and a right prism 6 arranged horizontally at intervals. The total station 1 is used to measure the coordinates of the left prism 5 and the right prism 6. The smart centering pole is provided with a second GNSS receiver 7, which can provide a rough coordinate of the smart centering pole. , accuracy is about 1-2m;

[0058] The intelligent centering rod is further provided with an optical unit 9, which is used for measuring distance and emitting a setting-out laser beam 14, and adjusting the direction of the setting-out laser beam 14;

[0059] The intelligent centering pole is further provided with a second processor 8 and a second communication module 10. The first communication module and the second communication module 10 establish communication to transmit and receive data from the first processor. The second communication module 10 can keep synchronization with the first processor.

[0060] This intelligent centering surveying and mapping system improves the intelligent centering pole so that during the layout operation, the operator only needs to carry the intelligent centering pole close to the layout point (generally within a radius of 3-5 meters). The system calculates the distance between the reference station and the intelligent centering pole and the angle of the intelligent centering pole, and then uses the optical unit to automatically project the position of the layout point, thereby improving the layout speed. In addition, the structure of the entire system is not complicated and is easy to manufacture, assemble and use.

[0061] Furthermore, the intelligent centering rod includes a vertical rod body 3, a transverse rod body 4 is provided on the vertical rod body 3, the left prism 5 and the right prism 6 are set at both ends of the transverse rod body 4, and the second communication module 10 is set above the transverse rod body 4; the optical unit 9 and the second processor 8 are connected and installed on the vertical rod body 3.

[0062] The lower end of the vertical rod body 3 is provided with a pointed end so that it can be inserted into the ground. The upper end of the vertical rod body 3 is provided with a sleeve. The left prism 5 and the right prism 6 are symmetrically arranged at both ends of the horizontal rod body 4. A connecting column is provided below the middle part of the horizontal rod body 4. The connecting column is sleeved in the sleeve and fastened by a locking screw. Such an arrangement can adjust the relative position of the horizontal rod body 4 and the vertical rod body 3 by adjusting the locking screw.

[0063] The second communication module 10 is installed on the horizontal rod 4 through a clamp, and the second GNSS receiver 7 can be installed above the middle part of the horizontal rod 4 through a bracket to receive positioning signals and determine the coordinate position; the second processor 8 can be a box-type module integrated in a shell and can be installed on the vertical rod, on which a screen, speaker, etc. can be integrated to support voice and / or display prompts. The second processor 8 can be used for navigation direction and angle of the laser galvanometer based on the acquired data.

[0064] In some embodiments, the vertical rod 3 can be a telescopic rod, and the horizontal rod 4 can be a bidirectional telescopic rod, and both ends can extend outward relative to the middle, so that the distance between the left prism 5 and the right prism 6 can be adjusted to improve the applicability of the intelligent centering rod.

[0065] Furthermore, the optical unit 9 includes a laser ranging module and a layout laser module. The laser ranging module 12 can emit a ranging laser beam 13 to measure height above the ground. The layout laser module is equipped with a laser galvanometer 11, which is used to adjust the direction of the layout laser beam 14 to determine the layout point 15. The optical unit 9 is mounted on the upper half of the vertical rod 3, near the horizontal rod 4.

[0066] Example 2:

[0067] A layout method for an intelligent centering surveying and mapping system, the layout method comprising the following steps:

[0068] Step 1: Initialize the reference station, input data and transmit data to the intelligent centering pole;

[0069] Specifically, the coordinates of the stakeout points are input into the first processor. , ;

[0070] The first GNSS receiver obtains the reference coordinates of the reference station , , and calibrate the total station;

[0071] The first communication module sends the coordinates of the stakeout point to The coordinates of the stakeout points are transmitted to the second communication module in real time, and the second processor obtains the coordinates of the stakeout points in real time. .

[0072] Step 2: Using GNSS rough navigation, preliminarily determine the location of the smart centering pole and preliminarily place the smart centering pole;

[0073] Specifically, the second GNSS receiver obtains the real-time coordinates of the intelligent centering pole , ;

[0074] The second processor calculates the horizontal distance between the intelligent centering rod and the stakeout point and direction angle ,

[0075] ,

[0076] ,

[0077] Along direction angle Move, when the horizontal distance When the meter is reached, the user is prompted to lower the intelligent centering rod.

[0078] Step 3: The total station accurately locates, calculates the position and direction of the intelligent centering rod, and transmits the calculated data to the second processor;

[0079] Specifically, the total station measures the coordinates of the left prism and the right prism: the coordinates of the left prism , right prism coordinates ;

[0080] The first processor calculates the position of the intelligent centering rod and direction vector ,

[0081] Right now , ,

[0082] Position and direction vector Transmitted to the second processor.

[0083] Step 4: Calculate and obtain the horizontal angle and vertical angle of the layout laser beam, adjust the optical unit, and project the laser point toward the layout point;

[0084] Specifically, the laser ranging module in the optical unit measures the distance from the ground ;

[0085] The second processor calculates the following indicators:

[0086] Direction vector : ,

[0087] Horizontal distance , ,

[0088] Horizontal angle , ,

[0089] vertical angle , ,

[0090] According to the horizontal angle and vertical angle The lofting laser beam emitted by the laser galvanometer in the optical unit is adjusted to project a laser point.

[0091] Step 5: Verify the coordinates of the laser point and fine-tune the position of the intelligent centering rod according to the verification result;

[0092] Specifically, calculate the coordinates of the laser point ,Right now ;

[0093] like m, prompting the operator to fine-tune the position of the intelligent centering rod and repeat steps 3 and 4;

[0094] After the adjustment is completed and confirmed, the prompt "Stakeout successful" will be displayed.

[0095] The present invention uses the above-mentioned lofting method to automatically perform the steps of manual approach. As long as the operator approaches the lofting target point, the position of the lofting target point can be quickly indicated by laser, which significantly improves the lofting speed.

[0096] This layout method utilizes two prisms and a laser galvanometer, eliminating the need for dedicated stabilization of the centering rod. The system automatically calculates the rod's position and orientation based on the measurement results, accurately projecting the layout points onto the target. This significantly improves efficiency and reduces complexity. While the computational complexity of these two components may appear more complex, it's a minimal burden for a computer. Furthermore, the algorithm is more comprehensive and offers improved accuracy.

[0097] Example 3

[0098] This embodiment further illustrates the layout method with specific selection and parameters, focusing on the horizontal angle and vertical angle generation part of the laser galvanometer.

[0099] In this embodiment, the total station uses Leica TS50, the first GNSS receiver and the second GNSS receiver respectively use Ublox NEO 8 series GNSS modules, the first processor and the second processor are ARM type processors, the first communication module and the second communication module can use LoRa communication or 4G / 5G, etc., and the laser ranging module can use an SDBM-60 series rangefinder.

[0100] The first step is to obtain the initial data as follows:

[0101] Stakeout point coordinates

[0102] Right prism coordinates

[0103] Left prism coordinates

[0104] Height of intelligent centering rod from the ground .

[0105] The second step is direction vector calculation:

[0106] Intelligent centering rod direction vector , ,

[0107] Target direction vector , .

[0108] The third step is to calculate the horizontal distance and horizontal angle:

[0109] .

[0110] Step 4: Vertical angle calculation:

[0111] .

[0112] Step 5: Laser coordinate point verification:

[0113] Assume that there is a systematic error in the system, resulting in the actual angle of the final laser galvanometer and They are and , the laser beam is set out from below the centering rod Starting from, the coordinates of the landing point after deflection by the laser galvanometer are:

[0114] ,

[0115] in To set out the laser beam path length, the ground elevation constraint The solution is:

[0116] ,

[0117] Substituting in:

[0118] .

[0119] Step 6: Lofting error analysis:

[0120] ,

[0121] It should be noted that in the above numerical calculation process, the calculated distance values are retained to three decimal places, and the degree values are retained to one decimal place. The calculation results of the above formula show that the difference between the coordinates of the landing point of the laser beam after deflection by the laser galvanometer and the coordinates of the initial layout point is less than 0.01m. From this, it can be judged that the error is within the preset requirement range, indicating that the layout is successful.

[0122] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent centering surveying and mapping system, characterized in that: It includes a reference station and an intelligent centering pole used in conjunction with the reference station; the reference station is provided with a total station and a first GNSS receiver, and is integrated with a first processor and a first communication module; The smart centering pole is provided with a left prism and a right prism arranged horizontally at intervals, the total station is used to measure the coordinates of the left prism and the right prism, and the smart centering pole is provided with a second GNSS receiver; The intelligent centering rod is also provided with an optical unit, which is used for distance measurement and emitting a setting-out laser beam; The intelligent centering pole is further provided with a second processor and a second communication module. The first communication module and the second communication module establish communication to transmit and receive data from the first processor.

2. The intelligent centering surveying and mapping system according to claim 1, characterized in that: The intelligent centering rod includes a vertical rod body, a transverse rod body is provided on the vertical rod body, the left prism and the right prism are provided at both ends of the transverse rod body, and the second communication module is provided above the transverse rod body; the optical unit and the second processor are connected and installed on the vertical rod body.

3. The intelligent centering surveying and mapping system according to claim 1, characterized in that: The optical unit includes a laser distance measurement module and a layout laser module. The layout laser module is provided with a laser galvanometer, and the laser galvanometer is used to adjust the laser pointing direction.

4. The layout method of the intelligent centering surveying and mapping system according to any one of claims 1 to 3, characterized in that: The lofting method comprises the following steps: Step 1: Initialize the reference station, input data and transmit data to the intelligent centering pole; Step 2: Using GNSS rough navigation, preliminarily determine the location of the smart centering pole and preliminarily place the smart centering pole; Step 3: The total station accurately locates, calculates the position and direction of the intelligent centering rod, and transmits the calculated data to the second processor; Step 4: Calculate and obtain the horizontal angle and vertical angle of the layout laser beam, adjust the optical unit, and project the laser point toward the layout point; Step 5: Verify the coordinates of the laser point and fine-tune the position of the intelligent centering rod according to the verification result; after the adjustment is completed and confirmed, a prompt "Lofting successful" is displayed.

5. The layout method of the intelligent centering surveying and mapping system according to claim 4, characterized in that: In step 1, perform the following steps: Enter the coordinates of the stakeout point in the first processor , ; The first GNSS receiver obtains the reference coordinates of the reference station , , and calibrate the total station; The first communication module sends the coordinates of the stakeout point to The coordinates of the stakeout points are transmitted to the second communication module in real time, and the second processor obtains the coordinates of the stakeout points in real time. .

6. The layout method of the intelligent centering surveying and mapping system according to claim 4, characterized in that: In step 2, perform the following steps: The second GNSS receiver obtains the real-time coordinates of the intelligent centering pole , ; The second processor calculates the horizontal distance between the intelligent centering rod and the stakeout point and direction angle , along the direction angle Move, when the horizontal distance When the meter is reached, the user is prompted to lower the intelligent centering rod.

7. The layout method of the intelligent centering surveying and mapping system according to claim 6, characterized in that: Horizontal distance and direction angle The method for determining is as follows: ， ， Where, X s and Y s The X and Y values of the coordinates of the stakeout point. b and Y b are the X and Y values in the reference coordinates.

8. The layout method of the intelligent centering surveying and mapping system according to claim 4, characterized in that: In step 3, perform the following steps: The total station measures the coordinates of the left prism and the right prism: Left prism coordinates , right prism coordinates ; The first processor calculates the position of the intelligent centering rod and direction vector , Right now , , Position and direction vector Transmitted to the second processor.

9. The layout method of the intelligent centering surveying and mapping system according to claim 4, characterized in that: In step 4, perform the following steps: The laser ranging module in the optical unit measures the distance from the ground ; The second processor calculates the following indicators: Direction vector : , Horizontal distance , , Horizontal angle , , vertical angle , , Where, are the left prism coordinates, is the coordinate of the stakeout point, According to the horizontal angle and vertical angle The lofting laser beam emitted by the laser galvanometer in the optical unit is adjusted to project a laser point.

10. The layout method of the intelligent centering surveying and mapping system according to claim 4, characterized in that: The verification and fine-tuning method in step 5 is as follows: Calculate the coordinates of the laser point ,Right now ; like m, prompting the operator to fine-tune the position of the intelligent centering rod and repeat steps 3 and 4.

Images