Surveying and mapping instrument coaxial centering auxiliary device, coaxial positioning system and method

Abstract

The invention discloses a surveying and mapping instrument coaxial centering auxiliary device and a coaxial positioning system and method, and relates to the technical field of surveying and mapping, the auxiliary device comprises a centering identification body, and the centering identification body is configured to be arranged at the top of a lower surveying and mapping instrument; the centering identification body carries identification features; and the identification feature is configured to identify a rotation center defined by the identification feature through the visual observation device and / or visually when the lower surveying and mapping instrument rotates. The positioning system comprises a supporting piece, an instrument mounting position, a surveying and mapping instrument coaxial centering auxiliary device and at least two bases, and the supporting piece is configured to be at least partially erected on a surveying and mapping instrument below; the instrument mounting position is used for bearing an upper surveying and mapping instrument; the auxiliary device is arranged at the top of the lower surveying instrument; the bases are respectively used for bearing and independently adjusting centering and leveling of the surveying and mapping instrument. According to the invention, accurate coaxial centering of two or more surveying and mapping instruments can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of surveying technology, in particular to a surveying instrument coaxial centering auxiliary device, coaxial positioning system and method. BACKGROUND

[0002] In the field of surveying engineering technology, topographic surveying, engineering construction surveying and cadastral surveying often need to complete multiple surveying tasks on the same control point, such as simultaneous measurement of plane coordinates and elevation, parallel operation of data collection and result verification, etc. The core technical requirements of surveying operation are "accurate centering" and "horizontal leveling", and the centering deviation is usually required to be not greater than 2mm, and the leveling error is required to be not greater than ±10 arc seconds. The accuracy directly determines the consistency and reliability of the measurement data.

[0003] The traditional surveying operation mode is limited by technical equipment, and only one surveying instrument can be erected on a single control point through a tripod. When multiple tasks need to be measured, the centering, leveling, measurement and disassembly of the first instrument must be completed in sequence, and then the second instrument is re-erected and the whole process is repeated. This method has a complicated operation process and a long time-consuming.

[0004] To solve the above efficiency bottleneck, an approximate solution has appeared in the industry, such as the "fixed connection rectangular frame scheme". This scheme uses a rectangular connection frame to simultaneously carry two surveying instruments, the lower instrument is independently centered and leveled through the base, and the upper instrument is directly rigidly fixed to the connection frame, and its pose accuracy completely depends on the machining accuracy and structural rigidity of the connection frame. In actual application, especially in complex terrain or long-term stress working conditions, the connection frame is easy to deform under stress, resulting in serious deviation of the centering and leveling accuracy of the upper instrument, which cannot meet the requirements of high-precision surveying specifications. Therefore, this scheme is only suitable for indoor or short-term light-load environments with low precision requirements, and is difficult to meet the requirements of high-standard surveying scenes such as precision engineering surveying and national grade control surveying.

[0005] In summary, the existing technology lacks a special device that can ensure two or more surveying instruments to be accurately centered and leveled on a single control point, which has become a key technical obstacle restricting the further improvement of surveying efficiency and quality. SUMMARY

[0006] The purpose of the present application is to provide a surveying instrument coaxial centering auxiliary device, coaxial positioning system and method to solve the above-mentioned problems existing in the prior art and realize accurate coaxial centering of two or more surveying instruments.

[0007] To achieve the above purpose, the present application provides the following solutions: The present application provides a surveying instrument coaxial centering auxiliary device, comprising: The centering mark body is configured to be arranged on the top of the lower surveying instrument; The centering mark body carries an identification feature; The identification feature is configured to enable a rotation center defined by the identification feature to be visually observed by a visual observation device and / or visually identified when the lower surveying instrument rotates.

[0008] Preferably, the identification feature is a composite pattern composed of a plurality of units with the same or different shapes and colors, and any two adjacent units are connected to each other.

[0009] Preferably, the centering mark body comprises a substrate and an identification layer attached to the substrate; the substrate is fixed to the top of the surveying instrument by adhesion; the identification layer is attached to the substrate by magnetic force, and the identification feature is formed on the surface of the identification layer.

[0010] Preferably, the composite pattern is a plurality of mutually circumscribed circular patterns, and the colors of the plurality of circular patterns are not completely the same.

[0011] Preferably, the diameter of the circular pattern is 2mm.

[0012] The application also provides a surveying instrument coaxial positioning system, comprising: A support configured to be at least partially structured on the lower surveying instrument; At least one instrument mounting position arranged on the support for carrying the upper surveying instrument; The surveying instrument coaxial centering auxiliary device as described above is arranged on the top of the lower surveying instrument; At least two bases for carrying and independently adjusting the centering and leveling of the surveying instrument; Wherein, the upper surveying instrument is coaxially centered with the lower surveying instrument by aligning the geometric rotation center indicated by the centering mark body.

[0013] Preferably, the support is a rectangular frame structure.

[0014] Preferably, it is used for coaxial positioning of two surveying instruments.

[0015] Preferably, it further comprises a tripod, and the support is arranged on the top of the tripod.

[0016] The application also provides a surveying instrument coaxial centering method, comprising: step one, completing the centering and leveling of the lower surveying instrument; Step two, arranging the surveying instrument coaxial centering auxiliary device as described above on the top of the lower surveying instrument; Step three, drive the lower mapping instrument to rotate, and identify a rotation center defined by the feature; Step four, use the rotation center as a control point to center the upper mapping instrument; Step five, level the upper mapping instrument; Check the centering and leveling of the upper mapping instrument, and repeat steps three to five until the centering and leveling meet the operation requirements.

[0017] The present application has the following technical effects relative to the prior art: The core of the present application is to provide a reference transfer method for indirect centering. Since the line of sight of the upper mapping instrument is blocked by the lower mapping instrument in the upper and lower stacked instrument structure, the ground control point cannot be directly aligned, resulting in the failure of coaxial centering. The present embodiment sets a centering identification body on the top of the lower mapping instrument, and converts the centering of the "ground point" into the centering of the "rotation center of the lower mapping instrument". When the lower mapping instrument has been centered and leveled and rotated around its vertical axis, the movement track of any point on the top of the lower mapping instrument is a circle, and only the rotation center is a unique stationary point. By identifying the visual dynamic effect presented by the feature in the rotating state, the stationary rotation center can be clearly defined, so that the upper instrument can accurately align with the center, realize coaxial centering with the lower instrument and the ground control point, and fundamentally solve the centering problem caused by the line of sight obstruction. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Fig. 1 The structure diagram of the related art mapping instrument coaxial positioning system and the mapping instrument thereon; Fig. 2 The structure diagram of the mapping instrument coaxial positioning system and the mapping instrument thereon in the embodiment of the present application; Fig. 3 The schematic diagram of the identification feature in some embodiments of the present application; In the figure: 1 - lower mapping instrument; 2 - upper mapping instrument; 3 - base; 4 - support; 5 - tripod; 6 - centering identification body.

[0020] 101 - lower mapping instrument according to the related art; 102 - upper mapping instrument according to the related art; 103 - base according to the related art; 104 - support according to the related art; 105 - tripod according to the related art. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0022] The present application aims to provide a mapping instrument coaxial centering auxiliary device, coaxial positioning system and method to solve the problems existing in the prior art and realize accurate coaxial centering of two or more mapping instruments.

[0023] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0024] Firstly, some technical terms involved in the embodiments of the present application are introduced.

[0025] The "upper" and "lower" in the lower mapping instrument and the upper mapping instrument are relative. In the mapping environment applicable in this specification, whether multiple mapping instruments are arranged or only two mapping instruments are arranged, any two mapping instruments must be arranged one above the other, the mapping instrument located above is defined as the upper mapping instrument, and the mapping instrument located below is defined as the lower mapping instrument.

[0026] The identification feature can be a pattern-specific or a structural feature.

[0027] The embodiments of the present application will be described below in combination with Figs. 1 to 3 .

[0028] Embodiment One The present application provides a mapping instrument coaxial centering auxiliary device, comprising: A centering mark body 6 is configured to be arranged on the top of the lower mapping instrument 1. The centering mark body 6 carries an identification feature. The identification feature is configured to enable a rotation center defined by the identification feature to be identified by a visual observation device and / or visual observation when the lower mapping instrument 1 rotates.

[0029] The core of the embodiment is to provide a reference transmission method in indirect centering. Since the line of sight of the upper surveying instrument 2 is blocked by the lower surveying instrument 1 in the instrument structure stacked up and down, the upper surveying instrument 2 cannot directly aim at the ground control point, resulting in that coaxial centering cannot be completed. The embodiment sets the centering mark body 6 on the top of the lower surveying instrument 1, and converts the centering of the "ground point" into the centering of the "rotation center of the lower surveying instrument 1". When the lower surveying instrument 1 has been centered and leveled and rotated around the vertical axis thereof, the motion track of any point on the top of the lower surveying instrument 1 is a circle, and only the rotation center is a unique stationary point. By identifying the visual dynamic effect of the feature in the rotating state, the stationary rotation center can be clearly defined, so that the upper instrument can accurately aim at the center, and coaxial centering with the lower instrument and the ground control point is realized, thereby fundamentally solving the centering problem caused by the line-of-sight blockage.

[0030] In some embodiments, the identification feature is a composite pattern composed of a plurality of units with the same or different shapes and colors, and any two adjacent units are connected to each other.

[0031] When a single and simple pattern rotates, the center point thereof can be difficult to be accurately captured by naked eyes. The embodiment designs a composite pattern composed of a plurality of adjacent units, and creates a strong visual dynamic effect. When the pattern rotates, the human eyes naturally associate the color and shape changes of adjacent units to form a whole and dynamic visual flow. The visual flow rotates around a center point, so that the center point is greatly highlighted as the only stationary "singular point" in the whole dynamic system, significantly reducing the subjective error and difficulty of the human eyes in identifying the rotation center, thereby realizing rapid and accurate centering in a complex field environment.

[0032] It can be understood that the shape of the unit can not be limited to a circle, but can also be a square, a triangle, a rhombus or other irregular shapes. The "connection" includes not only the tangential connection, but also the close adjacency through the common side or partial overlap, as long as the combination can form a composite pattern with a clear center when rotating.

[0033] In some embodiments, the centering mark body 6 includes a substrate and a mark layer attached to the substrate; the substrate is fixed to the top of the surveying instrument by adhesion; the mark layer is attached to the substrate by magnetic force, and the identification feature is formed on the surface of the mark layer.

[0034] The substrate and the identification layer are designed in a split magnetic attraction type, which brings significant practical advantages. First, the substrate is permanently fixed on the instrument through adhesion, ensuring the stability of the installation reference and avoiding position errors caused by repeated adhesion. Second, the identification layer can be removed and replaced at any time or used with different features in different tasks, greatly improving the flexibility and versatility of the device. The magnetic attraction connection method is simple to operate, reliable and not easy to lose in strong wind environment. This split design also facilitates maintenance or upgrading of the identification layer without replacing the entire device, reducing long-term use costs.

[0035] More specifically, the substrate is a circular iron sheet with a diameter of 2 cm, and the upper half is a circular magnetic sheet with a diameter of 1 cm.

[0036] In some examples, the connection method between the identification layer and the substrate is not limited to magnetic attraction, but can also be snap connection, magic tape connection or plug-in connection with positioning pins. The fixing method of the substrate can also be bolt connection using the screw holes of the instrument itself.

[0037] In other examples, the centering identification body 6 can also be the structure of the surveying instrument itself or a pattern directly printed on the top of the surveying instrument. It can be understood that the scheme provided in this embodiment is processed with the centering identification body 6 when the surveying instrument is produced, that is, after the product is shipped, the surveying instrument has the centering identification body 6.

[0038] In some examples, the composite pattern is a plurality of mutually circumscribed circular patterns, and the colors of the plurality of circular patterns are not completely the same.

[0039] The circle is an isotropic perfect symmetry figure, and the multiple circles are circumscribed to form a highly central symmetric composite pattern. The use of red, yellow, blue, green and other colors that are not completely the same takes advantage of the high sensitivity of the human eye to color contrast. When the pattern rotates, there will be strong color switching and dynamic visual residue between different colored rings. This color dynamic further amplifies the "stillness" effect of the center, so that the operator can instantly lock the target center in the centering observer of the instrument, greatly improving the centering speed and one-time success rate.

[0040] In some examples, the colors of the circular patterns can be designed to be the same, alternating or gradient colors. In addition, the pattern can also be composed of concentric but different diameter and color rings, which can also produce a dynamic visual effect of rotating around the center.

[0041] In some embodiments, the diameter of the circular pattern is 2 mm. This size setting is the result of careful optimization. The diameter of 2 mm matches the width of the reticle crosshair of most surveying instruments' optical collimators. If the pattern unit is too large, it will cover most of the field of view of the collimator, affecting the accurate determination of the center. If the pattern unit is too small, it is difficult to clearly distinguish its color and shape at a certain observation distance, especially in poor light. A diameter of 2 mm can ensure that the pattern has sufficient visual impact while not hindering the accurate determination of the relative position of the crosshair and the center of the pattern, which is one of the key guarantees for achieving "deviation ≤ 2 mm, leveling error ≤ ± 10" high-precision collimation. Of course, the diameter can be adjusted adaptively according to the magnification of the instrument collimator and the observation distance. For example, a 3 mm diameter can be used when the observation distance is farther or the collimator magnification is lower; a 1.5 mm diameter can be used when extremely high precision is required and the observation conditions are good.

[0042] Embodiment Two The application also provides a surveying instrument coaxial positioning system, comprising: a support 4, at least one instrument mounting position, at least two bases 3, and the surveying instrument coaxial collimation auxiliary device in Embodiment One, the base 3 has the functions of collimation and leveling, and the support 4 is configured to be at least partially structured on the lower surveying instrument 1; the instrument mounting position is provided on the support 4 and used to carry the upper surveying instrument 2; the surveying instrument coaxial collimation auxiliary device is provided on the top of the lower surveying instrument 1; the base 3 is used to carry and independently adjust the collimation and leveling of the surveying instrument; wherein the upper surveying instrument 2 is coaxially collimated with the lower surveying instrument 1 by aligning the geometric rotation center indicated by the collimation mark 6.

[0043] This embodiment integrates the auxiliary device into a complete operation system. The system realizes the physical separation and spatial erection of the upper and lower instruments through the support 4, making independent operation possible. The key is that the system combines the two core functions of "coaxial collimation" and "independent leveling". The base 3 ensures that the leveling states of the two instruments do not interfere with each other, avoiding the loss of precision caused by stress transmission in traditional rigid connection. The collimation auxiliary device solves the problem of accurate transmission of the coaxial reference. The two work together to make the system not only retain the high-precision characteristics of traditional single-instrument operation, but also achieve high efficiency in parallel operation, so that it can be reliably applied in high-standard scenarios such as national control surveying.

[0044] It can be understood that the system can be expanded to support more than two surveying instruments. For example, the support 4 can be designed as a multi-layer tower structure, with each layer carrying one instrument, and the top of the instrument below it being provided with the collimation auxiliary device, thereby realizing the step-by-step coaxial collimation and independent leveling of multiple instruments.

[0045] In some embodiments, the support 4 is a rectangular frame structure.

[0046] This embodiment limits the specific structure of the support 4, of course, the support 4 is not limited to a rectangle, but also can be a triangular, circular or cross-shaped rigid frame. The core function is to provide stable support across the underlying instrument, and any rigid structure that can achieve this function is within the scope of consideration of this embodiment.

[0047] More specifically, in some examples, the bottommost surveying instrument is fastened on the top of the tripod 5 by conventional means in the prior art, that is, by a screw rod and a nut, the bottom of the support 4 is a thin plate with a round hole, the screw rod is arranged in the round hole of the thin plate, and the screw rod and the nut are clamped and fixed after fastening the bottommost surveying instrument, which is convenient to operate and low in cost.

[0048] The size of the frame of the support 4 is in the range of 40-45 cm in width and 50-55 cm in length.

[0049] It should be noted that the structure of the support 4 must not block the path of the line of sight or the path of the laser for the centering of the upper surveying instrument 2. In some examples, the side and top surfaces of the support 4 are provided with a hollow structure.

[0050] In some embodiments, the two surveying instruments are coaxially positioned.

[0051] This embodiment specifies the most typical and efficient application scenario of the system - double-instrument parallel operation. For example, it can be a combination of a total station and a GPS receiver to simultaneously obtain angle distance information and absolute coordinates; or two total stations with different accuracies for synchronous measurement and data verification. Through this system, the process that originally requires two independent setups and may take more than 20 minutes is compressed to one setup and completed within 8 minutes. This not only saves time, but also fundamentally eliminates systematic errors caused by inconsistent reference due to two setups, ensuring the spatiotemporal consistency of the data, which has decisive significance for surveying projects with tight schedules or short observation windows.

[0052] Of course, the two surveying instruments can also be other combinations, such as a scanner and a camera, or a gravimeter and a surveying robot, to realize the synchronous collection of different physical quantities under a unified reference.

[0053] In some embodiments, the surveying instrument coaxial positioning system further comprises a tripod 5, and the support 4 is arranged on the top of the tripod 5.

[0054] It should be noted that the tripod 5, the base 3 and the surveying instrument can all adopt the structure in the prior art, and the present application does not improve them.

[0055] It should be noted that the type of surveying instrument can be selected at will, for example, a surveying instrument with laser positioning function or a surveying instrument with optical centering observer, etc.

[0056] Embodiment three The application also provides a surveying instrument coaxial centering method, comprising the following steps: step one, completing the centering and leveling of the lower surveying instrument 1; Step two, setting the surveying instrument coaxial centering auxiliary device of embodiment one on the top of the lower surveying instrument 1; Step three, driving the lower surveying instrument 1 to rotate and identifying a rotation center defined by the feature; Step four, taking the rotation center as a control point to perform the centering of the upper surveying instrument 2; Step five, leveling the upper surveying instrument 2; Checking the centering and leveling of the upper surveying instrument 2, if it does not meet the requirements, repeating steps three to five until the centering and leveling meet the operation requirements; Wherein, the order of step two and step one can be exchanged.

[0057] The core logic of the method embodiment is "first lower and then upper, step-by-step transmission, independent adjustment". First, the accurate reference of the lower surveying instrument 1 is established, and then the rotation center of the lower instrument is visualized by rotation dynamics, providing a virtual centering point for the upper surveying instrument 2 without contact and high precision. The upper surveying instrument 2 is centered on this virtual point, and then the tilt error is eliminated by independent leveling. This method decomposes the complex coaxial problem in space into two relatively simple plane positioning and horizontal adjustment problems, and ensures the final accuracy through iterative checking. The whole process logic is rigorous, which reduces the subjective judgment error of the operator to the minimum, so that even under different operators, the operation result meeting the specification (centering deviation ≤2mm) can be stably output.

[0058] In addition, in step three, the driving mode of the lower instrument rotation can be manual uniform rotation, or controlled by a micro electric rotation platform to realize more stable and uniform rotation for observation. In step four, the centering adjustment of the upper instrument can be completed by manual, or integrated with a measuring robot with automatic target recognition and aiming function in the future to realize a fully automatic centering process.

[0059] In some examples, the centering mark 6 is a structure independent of the surveying instrument. In this embodiment, when implemented, the geometric center of the centering mark 6 does not need to be directly opposite the center of the surveying instrument. The centering mark 6 can be pasted or adsorbed on the top of the surveying instrument as long as a rough position is observed. It is only necessary to ensure that the centering mark 6 can cover the center of the surveying instrument. This greatly reduces the difficulty of operation.

[0060] The principles and implementation manners of the present application are described by using specific examples in the present application. The above examples are only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, the specific implementation manners and application ranges can be changed according to the idea of the present application. In summary, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A coaxial centering aid for surveying instruments, characterized in that: The application relates to a coaxial alignment auxiliary device for surveying instruments. The coaxial alignment auxiliary device comprises: a centering mark body configured to be arranged on the top of a lower surveying instrument; the centering mark body carries an identification feature; 2. The surveying instrument coaxial centering aid according to claim 1, characterized in that: the identification feature is configured to be visually observed and / or identified by visual observation equipment when the lower surveying instrument rotates, and a rotation center defined by the identification feature can be identified.

3. The surveying instrument coaxial centering aid according to claim 1, characterized in that: The identification feature is a composite pattern composed of a plurality of units with the same or different shapes and colors, and any two adjacent units are connected to each other.

4. The surveying instrument coaxial centering aid according to claim 2, characterized in that: The centering mark body comprises a substrate and an identification layer attached to the substrate; the substrate is fixed to the top of the surveying instrument by adhesion; the identification layer is attached to the substrate by magnetic force, and the identification feature is formed on the surface of the identification layer.

5. The surveying instrument coaxial centering aid according to claim 4, characterized in that: The composite pattern is a plurality of mutually circumscribed circular patterns, and the colors of the plurality of circular patterns are not completely the same.

6. A surveying instrument coaxial positioning system, characterized by: The diameter of the circular pattern is 2 mm. The application relates to a coaxial alignment auxiliary device for surveying instruments. The coaxial alignment auxiliary device comprises: a support configured to be at least partially arranged on a lower surveying instrument; at least one instrument mounting position arranged on the support and used for carrying an upper surveying instrument; the coaxial alignment auxiliary device for surveying instruments according to any one of claims 1 to 5 is arranged on the top of the lower surveying instrument; 7. The surveying instrument coaxial positioning system according to claim 6, characterized in that: at least two bases used for carrying and independently adjusting the centering and leveling of the surveying instruments; 8. The surveying instrument coaxial positioning system according to claim 6, characterized in that: wherein the upper surveying instrument is coaxially centered with the lower surveying instrument by aligning the geometric rotation center indicated by the centering mark body.

9. The surveying instrument coaxial positioning system according to claim 6, characterized in that: The support is a rectangular frame structure.

10. A method of coaxially centering a surveying instrument, characterized in that: The coaxial alignment auxiliary device is used for coaxially positioning two surveying instruments. The support is arranged on the top of a tripod. The application relates to a coaxial alignment method for surveying instruments. The coaxial alignment method comprises the following steps: step one, centering and leveling of a lower surveying instrument are completed; step two, the coaxial alignment auxiliary device for surveying instruments according to any one of claims 1 to 5 is arranged on the top of the lower surveying instrument; step three, the lower surveying instrument is driven to rotate, and a rotation center defined by the identification feature is identified; step four, centering of an upper surveying instrument is performed by taking the rotation center as a control point; step five, leveling of the upper surveying instrument is performed; centering and leveling of the upper surveying instrument are checked, and if the requirements are not met, steps three to five are repeated until the centering and leveling meet the operation requirements; wherein the sequence of step two and step one can be exchanged.

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