Intelligent total station based on GNSS and IMU heterogeneous sensing array

Abstract

The invention relates to the technical field of monitoring, in particular to an intelligent total station based on a GNSS and IMU heterogeneous sensor array, which structurally comprises a support frame, the support frame comprises a connecting block and a first foot rod, the connecting block is fixed at the top of the first foot rod and is connected with the bottom of a machine body, a telescopic second foot rod is arranged at the bottom of the first foot rod, and the first foot rod is connected with the second foot rod; the connecting block comprises a base fixed to the top of the first foot rod, a buffer and a limiting stopper are nested in the base, the buffer controls the inclination angle of the limiting stopper, and an arc-shaped structure is arranged on the surface of a supporting block of the base and connected with a clamping ring at the bottom of the limiting stopper. And the guide block is attracted when the electromagnetic block is electrified, so that the clamping block is in contact with and separated from the rotating ring, rapid coarse adjustment can be carried out, and the efficiency can be improved when the coarse adjustment range is large.

Description

Technical Field

[0001] The present invention relates to an intelligent total station based on a GNSS and IMU heterogeneous sensor array, belonging to the technical field of monitoring. Background Art

[0002] A total station, also known as a total-station electronic tachometer, is a precision optoelectronic measurement device that integrates an electronic theodolite, an optoelectronic rangefinder, and a microprocessor. Equipped with a heterogeneous sensor array consisting of a GNSS (Global Navigation Satellite System) and an IMU (Inertial Measurement Unit), its intelligence level is significantly enhanced, but this also places higher demands on site calibration and leveling—especially in complex terrain, such as: In non-planar scenes such as rugged mountains, swamp wetlands, or building ruins, due to the soft surface, after the tripod is embedded, large coarse adjustments are required to level the body. Traditional tripod support systems have a limited coarse adjustment range and take a long time to level. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an intelligent total station based on GNSS and IMU heterogeneous sensor arrays to solve the above problems.

[0004] In order to achieve the above-mentioned objectives, the present invention is implemented through the following technical solutions: an intelligent total station based on a heterogeneous sensor array of GNSS and IMU, the structure of which includes: a body, a control panel installed on the surface of the body, a movable eyepiece provided in the middle of the body, a handle installed on the top of the body, a support frame including a connecting block and a first leg rod, the connecting block is fixed at the top of the first leg rod and connected to the bottom of the body, a retractable second leg rod is provided at the bottom of the first leg rod, the connecting block includes a base fixed at the top of the first leg rod, a buffer and a limiter are nested in the base, the buffer controls the inclination angle of the limiter, an arc structure is provided on the surface of the support block of the base and is connected to the clamping ring at the bottom of the limiter, the structure of the limiter includes a first ring block, an electromagnetic block is sleeved in the middle of the first ring block, the bottom of the electromagnetic block is connected to the clamping ring, the surface of the first ring block is provided with an array of slide grooves, a sliding guide block is provided inside the slide groove, and the guide block is connected to the swivel ring of the base through the clamping block at the front end.

[0005] Preferably, a return spring is provided between the slide groove and the guide block, and the return spring pushes the guide block away from the electromagnetic block.

[0006] Preferably, the clamping block and the guide block are nested and a buffer sheet is provided between the guide block and the clamping block.

[0007] Preferably, the buffer includes a second ring block, a limiting groove is provided on the surface of the second ring block, the second ring block is nested with the sliding groove set in the first ring block through the limiting groove, a limiting ring is installed on the bottom of the second ring block, and the second ring block is nested with the first ball head on the base surface through the limiting ring.

[0008] Preferably, the base includes a support block, a swivel is installed on the surface of the support block, the support block passes through the second ring block and is nested with the clamping block, a first ball head is fixed in the middle of the support block, a second ball head is set on the surface of the first ball head, the first ball head and the second ball head form a ball head that is nested with the clamping ring surface, and a sight groove is provided in the middle of the second ball head.

[0009] Preferably, the viewing slot is made of a magnetically attractive metal material, and the first ball head is made of a non-metallic material.

[0010] Preferably, the electromagnetic block is connected to the clamp ring, and washers are provided on the surface of the electromagnetic block abutting against the first ring block and on the bottom surface of the clamp ring abutting against the first ring block.

[0011] Preferably, the swivel includes a limiting column fixed in the slot hole of the support block, the top surface of the limiting column is provided with a thread, a handwheel engaged with the thread is installed on the top of the limiting column, the handwheel is installed with a limiting rod, a retaining ring is provided between the limiting rod and the handwheel, the limiting rod is limited to rotate at the top of the handwheel by the retaining ring, the limiting rod is provided with a slot, and the slot is opposite to the protrusion of the clamping block.

[0012] Preferably, the surface of the limiting rod is provided with teeth, and the inner arc surface of the clamping block is provided with matching external teeth.

[0013] The present invention provides an intelligent total station based on a GNSS and IMU heterogeneous sensor array, which has the following effects: the improved device drives a clamping ring through an electromagnetic block to attract a second ball head on the surface of a first ball head, thereby being able to perform electronic limiting, and when the electromagnetic block is energized, the guide block is attracted to make the clamping block contact and separate from the rotating ring, thereby being able to perform rapid coarse adjustment and improving efficiency when the coarse adjustment range is large.

[0014] The limit rod is provided with a rectangular slot to facilitate adjustment and movement. The limit rod is limited by a locking ring. The handwheel at the bottom and the limit column thread are rotated for fine adjustment. The limit rod is also nested with the through hole in the middle of the limit column, which makes it more stable when used. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings: Figure 1 This is a structural schematic diagram of an intelligent total station based on a GNSS and IMU heterogeneous sensor array according to the present invention.

[0016] Figure 2 Schematic diagram of the structure of the support frame of the present invention.

[0017] Figure 3 for Figure 2 Schematic diagram of the structure of a.

[0018] Figure 4 Schematic diagram of the structure of the limiter of the present invention.

[0019] Figure 5 Schematic diagram of the structure of the buffer of the present invention.

[0020] Figure 6 It is a structural schematic diagram of the base of the present invention.

[0021] Figure 7 Schematic diagram of the exploded structure of the support frame of the present invention.

[0022] In the picture: 1. Support frame; 2. Control panel; 3. Eyepiece; 4. Handle; 5. Body; 11. Connecting block; 12. First leg rod; 13. Second leg rod; 101. Stopper; 102. Buffer; 103. Base; 111. First ring block; 112. Electromagnetic block; 113. Slide groove; 114. Guide block; 115. Return spring; 116. Clamping block; 117. Buffer plate; 118. Clamping ring; 121. Second ring block; 122. Limiting groove; 123. Limiting ring; 131. Support block; 132. Swivel; 133. First ball head; 134. Second ball head; 135. Sight slot; 321. Limit rod; 322. Slot; 323. Hand wheel; 324. Limit column; 325. Positioning ring. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0025] In non-planar scenes such as rugged mountains, swamps, wetlands, or building ruins, the traditional tripod support system of the existing total station is difficult to establish a stable reference surface, and it takes a long time to level it. Therefore, in order to solve the above problems, this case proposes the following technical solutions: See also Figures 1 to 7 The present invention provides a technical solution for an intelligent total station based on a GNSS and IMU heterogeneous sensor array: its structure includes: a body 5, a control panel 2 is installed on the surface of the body 5, a movable eyepiece 3 is provided in the middle of the body 5, a handle 4 is installed on the top of the body 5, a support frame 1 includes a connecting block 11 and a first leg 12, the connecting block 11 is fixed to the top of the first leg 12 and connected to the bottom of the body 5, a telescopic second leg 13 is provided at the bottom of the first leg 12, the connecting block 11 includes a base 103 fixed to the top of the first leg 12, and the base 103 is nested with a buffer 10 2 and the limiter 101, the buffer 102 controls the tilt angle of the limiter 101, the surface of the support block 131 of the base 103 is provided with an arc structure connected to the clamping ring 118 at the bottom of the limiter 101, the structure of the limiter 101 includes a first ring block 111, the middle part of the first ring block 111 is provided with an electromagnetic block 112, the bottom of the electromagnetic block 112 is connected to the clamping ring 118, the surface of the first ring block 111 is provided with an array of slide grooves 113, the slide grooves 113 are provided with a sliding guide block 114 inside, and the guide block 114 is connected to the rotating ring 132 of the base 103 through the clamping block 116 at the front end.

[0026] The main structure of the device includes a support frame 1 for supporting and fixing, a body 5 is set on the top of the support frame 1, a control panel 2 and a movable eyepiece 3 are set on the surface of the body 5, and a handle 4 that can be held is set on the top of the body 5.

[0027] The structure of the support frame 1 includes a connecting block 11, which is connected to the body 5. A first leg rod 12 and a second leg rod 13 are set at the bottom of the connecting block 11. The first stage of telescopic adjustment can be performed by connecting the first leg rod 12 and the second leg rod 13.

[0028] The base 103 of the limiter 101 is fixed to the first foot rod 12 , and the limiter 101 is set on the top of the base 103 for locking. The middle buffer 102 is installed in the middle of the limiter 101 and the base 103 for supporting the limiter 101 .

[0029] In order to enable quick adjustment, an electromagnetic block 112 is set in the middle of the first ring block 111 of the limiter 101. The electromagnetic block 112 adopts an electromagnetic structure, and a coil is set inside the electromagnetic block 112. A slide groove 113 is provided on the surface of the first ring block 111, and a guide block 114 is set inside the slide groove 113 for telescopic movement. During the movement, the base 103 can be limited. A reset spring 115 is installed inside the guide block 114. The pressure of the reset spring 115 can separate the clamping block 116 at the front end of the guide block 114 from the support frame 1.

[0030] The limiting rod 321 of the eyepiece 3 is engaged, thereby locking it to prevent movement.

[0031] A buffer sheet 117 is provided between the guide block 114 and the clamping block 116. The buffer sheet 117 allows a slight adjustment range after the clamping block 116 and the guide block 114 are nested, so that the clamping block 116 can fit more tightly during use. A main fitting clamping ring 118 is provided at the bottom of the electromagnetic block 112. The clamping ring 118 forms a magnetic component after the internal coil of the electromagnetic block 112 is energized, and is attracted to the surface of the viewing groove 135 at the top of the support block 131. It can have adjustable resistance and self-locking ability through magnetic attraction. In particular, the clamping ring 118 adopts a concave surface to better attract the surface of the second ball head 134.

[0032] The buffer 102 serves as the base of the limiter 101. The buffer 102 includes a limiting groove 122 on the surface of the second ring block 121 for nesting with the slide groove 113, which is more stable during movement. A limiting ring 123 is provided at the bottom of the limiting groove 122. The limiting ring 123 also fits the ball head structure formed by the second ball head 134 and the first ball head 133, which can increase the resistance during movement and provide better buffering during rotation, that is, the limiting ring 123 can first contact the support block 131 when flipping to provide protection when the electromagnetic block 112 is powered off in an emergency.

[0033] After coarse adjustment, fine adjustment is required, so a swivel 132 is provided on the surface of the support block 131 for support. The structure of the swivel 132 includes a limit column 324 fixed in the slot hole of the support block 131. The top of the limit column 324 is provided with a thread, which engages with the handwheel 323 through the thread. A limit rod 321 is installed on the top of the handwheel 323, and a slot 322 is provided on the surface of the limit rod 321. The slot 322 fits with the protrusion of the clamping block 116 to improve the stability of the limit and prevent the limit rod 321 from rotating. Under the limitation of the locking ring 325, the handwheel 323 and the limit column 324 can be rotated and lifted, so that the thread can be fine-tuned, which is more convenient when used.

[0034] About the intelligent adjustment method of this device: s1: When in use, unfold the first leg 12 and the second leg 13 and place them on the ground; s2: The electromagnetic block 112 installed in the middle of the connecting block 11 is connected to the body 5. When it is set to the calibration mode, the electromagnetic block 112 is energized, and the clamping ring 118 at the bottom of the electromagnetic block 112 and the metal of the ring of the electromagnetic block 112 generate magnetic force, which respectively attracts the second ball head 134 and the arc surface of the guide block 114. When the second ball head 134 is attracted, electronic limiting is performed, and at the same time, the pressure between the limiting rod 321 is released, so that the second ring block 121 and the support block 131 are in an active state and can move quickly.

[0035] s3. After manual adjustment is completed, click control panel 2 to enter fine adjustment mode. When in fine adjustment mode, the electromagnetic block 112 loses power and the conductive block 114 is reset under the action of the reset spring 115, and the clamping block 116 is pressed. At this time, the hand wheel 323 can be rotated to perform fine adjustment, which increases the leveling speed.

[0036] The above only describes the basic principles and preferred embodiments of the present invention. Those skilled in the art may make many changes and improvements based on the above description, and these changes and improvements should fall within the scope of protection of the present invention.

[0037] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An intelligent total station based on a GNSS and IMU heterogeneous sensor array, comprising: A body (5), a control panel (2) is mounted on the surface of the body (5), a movable eyepiece (3) is provided in the middle of the body (5), and a handle (4) is mounted on the top of the body (5), characterized in that: the support frame (1) includes a connecting block (11) and a first foot rod (12), the connecting block (11) is fixed to the top of the first foot rod (12) and connected to the bottom of the body (5), and the bottom of the first foot rod (12) is provided with a telescopic second foot rod (13); The connecting block (11) comprises a base (103) fixed to the top of the first foot rod (12), wherein the base (103) is nested with a buffer (102) and a stopper (101), and the buffer (102) controls the tilt angle of the stopper (101); The support block (131) of the base (103) is provided with an arc structure on its surface and is connected to the clamping ring (118) at the bottom of the limiter (101). The structure of the limiter (101) includes a first ring block (111). The middle part of the first ring block (111) is provided with an electromagnetic block (112). The bottom of the electromagnetic block (112) is connected to the clamping ring (118). The surface of the first ring block (111) is provided with array-arranged sliding grooves (113). A sliding guide block (114) is provided inside the sliding groove (113). The guide block (114) is connected to the rotating ring (132) of the base (103) through the clamping block (116) at the front end.

2. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 1, characterized in that: A return spring (115) is provided between the slide groove (113) and the guide block (114), and the return spring (115) pushes the guide block (114) away from the electromagnetic block (112).

3. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 1, characterized in that: The clamping block (116) and the guide block (114) are nested and matched, and a buffer sheet (117) is provided between the guide block (114) and the clamping block (116).

4. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 1, characterized in that: The buffer (102) includes a second ring block (121), a surface of the second ring block (121) is provided with a limiting groove (122), the second ring block (121) is nested with a sliding groove (113) provided in the first ring block (111) through the limiting groove (122), a limiting ring (123) is installed at the bottom of the second ring block (121), and the second ring block (121) is nested with a first ball head (133) on the surface of the base (103) through the limiting ring (123).

5. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 1, characterized in that: The base (103) includes a support block (131), a rotating ring (132) is installed on the surface of the support block (131), the support block (131) passes through the second ring block (121) and is nested with the clamping block (116), a first ball head (133) is fixed in the middle of the support block (131), a second ball head (134) is provided on the surface of the first ball head (133), the first ball head (133) and the second ball head (134) form a ball head and a surface of the clamping ring (118), and a viewing groove (135) is provided in the middle of the second ball head (134).

6. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 5, characterized in that: The viewing slot (135) is made of a magnetically attractive metal material, and the first ball head (133) is made of a non-metallic material.

7. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 2, characterized in that: The electromagnetic block (112) is connected to the clamping ring (118), and washers are provided on the surface of the electromagnetic block (112) abutting against the first ring block (111) and the bottom surface of the clamping ring (118) abutting against the first ring block (111).

8. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 5, characterized in that: The rotating ring (132) includes a limiting column (324) fixed in a slotted hole of the support block (131), a thread being provided on the top surface of the limiting column (324), a hand wheel (323) meshing with the thread being installed on the top of the limiting column (324), a limiting rod (321) being installed on the hand wheel (323), a retaining ring (325) being provided between the limiting rod (321) and the hand wheel (323), the limiting rod (321) being limited to rotate on the top of the hand wheel (323) by the retaining ring (325), the limiting rod (321) being provided with a slot (322), the slot (322) being opposite to the protrusion of the clamping block (116).

9. The intelligent total station based on a GNSS and IMU heterogeneous sensor array according to claim 8, characterized in that: The surface of the limiting rod (321) is provided with tooth patterns, and the inner arc surface of the clamping block (116) is provided with matching external teeth.

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