Municipal engineering surveying and positioning method and system

Abstract

The invention relates to a municipal engineering surveying and positioning method and system, and relates to the technical field of engineering surveying. Obtaining a total station measurement angle, a target prism reflection signal and target prism reflection signal intensity; obtaining target prism measurement parameters; target position coordinates are determined through the total station initial coordinates, the total station measurement angle and the target prism measurement parameters; acquiring current image information; determining obstacle size information based on the current image information; executing an obstacle avoidance operation; the reflection signal intensity of the target prism is obtained again, and the step 3 to the step 30 are executed; and when the reflection signal intensity of the target prism does not fall into the current predicted reflection intensity range of the target prism, outputting a coordinate abnormal signal of the total station. The method has the effect of guaranteeing the measurement reliability of the complex engineering scene.

Description

Technical Field

[0001] This invention relates to the field of engineering surveying technology, and in particular to a method and system for measuring and locating in municipal engineering projects. Background Technology

[0002] Municipal engineering surveying is a crucial preliminary step in the construction of infrastructure such as roads, bridges, and underground pipelines. Its surveying accuracy and efficiency directly determine the quality and progress of the project. Among existing technologies, total stations, due to their high-precision three-dimensional coordinate measurement capabilities, have become the mainstream equipment for on-site positioning in municipal engineering projects.

[0003] The traditional total station surveying process typically involves technicians setting up and leveling the instrument at a pre-set control point, inputting the three-dimensional coordinates of the control point as the initial reference; then, the technician manually aims at the pre-set target prism, the instrument emits a ranging laser and receives the reflected signal, and obtains parameters such as slope distance and angle by analyzing the signal, and then calculates the coordinates of the point to be measured by combining the spatial polar coordinate conversion formula.

[0004] Regarding the aforementioned technologies, in municipal engineering surveying operations, traditional total station surveying methods, when faced with situations where the laser path is blocked by obstacles resulting in no target prism reflection signal, require manual investigation of the obstacle's location and type, and manual adjustment of the instrument's height or horizontal position. This results in low automation and low measurement efficiency. Summary of the Invention

[0005] To overcome the problem of relying on manual inspection when the laser path of the total station is blocked by obstacles in existing municipal engineering surveying, this invention provides a municipal engineering surveying positioning method and system.

[0006] In a first aspect, the present invention provides a method for measuring and locating municipal engineering projects, which adopts the following technical solution: A method for measuring and positioning in municipal engineering projects, comprising: Step 1: In response to the total station positioning signal, obtain the initial coordinates of the total station; Step 2: Obtain the total station measurement angle, the target prism reflection signal, and the target prism reflection signal intensity; Step 3: When the intensity of the target prism reflection signal falls within the range of the currently expected target prism reflection intensity, analyze the target prism reflection signal to obtain the target prism measurement parameters; Step 30: Determine the target position coordinates using the total station's initial coordinates, total station measurement angles, and target prism measurement parameters; Step 4: Acquire current image information when there is no target prism reflection signal; Step 40: Determine the obstacle size information based on the current image information; Step 41: Perform obstacle avoidance operation based on obstacle size information; Step 42: After performing the obstacle avoidance operation, reacquire the target prism reflection signal intensity and execute steps 3 to 30; Step 5: When the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, output the total station coordinate anomaly signal.

[0007] By adopting the above technical solution, the system can automatically handle situations where the total station's laser path is obstructed by obstacles. When an obstacle is encountered, the system can automatically acquire image information to determine the obstacle's size, and then perform corresponding avoidance operations based on the obstacle type, eliminating the need for manual inspection and adjustment. This improves the automation and efficiency of measurement, and reduces the time consumption that may result from manual intervention.

[0008] Optionally, methods for performing obstacle avoidance operations based on obstacle size information include: Step 410: Establish a two-dimensional plane coordinate system based on the current image parameters; Step 411: Parse the obstacle size information to obtain the obstacle type; Step 4110: When the obstacle type is wide and low, determine the vertical coordinate coverage information through the obstacle size information; Step 4111: Obtain the camera height and total station height, and determine the relative height using the camera height and total station height; Step 4112: Determine the total station height adjustment parameters based on relative height and obstacle longitudinal coordinate coverage information; Step 4113: Determine the current adjustable height range of the tripod based on the total station height and the telescopic tripod parameter library; Step 4114: When the total station height adjustment parameter falls within the current adjustable height range of the tripod, perform obstacle avoidance operation according to the current adjustable height range of the tripod and output the total station height adjustment signal; Step 4115: When the total station height adjustment parameter does not fall within the current adjustable height range of the tripod, output a manual warning signal.

[0009] By adopting the above technical solution, targeted avoidance measures can be taken according to different obstacle types. For obstacles that are wide and low, the system calculates the total station height adjustment parameters and compares them with the adjustable height range of the tripod. If the height adjustment parameters are within the adjustable range, the system automatically executes the avoidance operation and outputs an adjustment signal, improving the automation level of the measurement process. If the height adjustment parameters exceed the adjustable range, a manual warning signal is output in a timely manner to ensure the smooth progress of the measurement work, avoid measurement interruptions due to equipment adjustment limitations, and improve the efficiency and reliability of the measurement.

[0010] Optionally, it also includes a method for performing a total station pitch angle adjustment operation in response to a total station height adjustment signal, the method comprising: Step 4116: Obtain the current ray elevation angle of the total station and the theoretical coordinates of the target prism; Step 4117: Determine the total station height correction coordinates using the total station height adjustment parameters and the total station initial coordinates; Step 4118: Based on the theoretical coordinates of the target prism and the total station height correction coordinates, determine the theoretical pitch angle adjustment value using the spatial polar coordinate conversion formula; Step 4119: Control the total station to perform the total station pitch angle adjustment operation according to the theoretical pitch angle adjustment value in order to obtain the target prism reflection signal.

[0011] By employing the above technical solution, the current elevation angle of the light source and the theoretical coordinates of the target prism are obtained. Combined with the height adjustment parameters and initial coordinates, the height correction coordinates are determined. The theoretical elevation angle adjustment value is then calculated using the spatial polar coordinate conversion formula, thereby precisely controlling the elevation angle of the total station. This approach more effectively addresses the signal reception issues caused by changes in the total station's altitude, improving measurement accuracy.

[0012] Optional, also includes: Step 41190: If the target prism reflection signal cannot be obtained after performing the total station pitch angle adjustment operation, determine the adjustable angle range based on the total station measurement angle; Step 41191: When the theoretical pitch angle adjustment value does not fall within the adjustable angle range, output the total station pitch angle limitation signal; Step 41192: In response to the total station pitch angle limitation signal, redetermine the relative height and determine the corrected total station height adjustment parameters through the longitudinal coordinate coverage information; Step 41193: Use the corrected total station height adjustment parameters as the total station height adjustment parameters and execute steps 4113 to 41191; Step 41194: When there are signals indicating that the total station height adjustment parameters need to be corrected and the total station angle is limited, output a manual warning signal.

[0013] By adopting the above technical solution and continuously adjusting and correcting the total station's elevation angle, situations where the target prism reflection signal cannot be obtained due to angle limitations and height adjustment issues can be avoided as much as possible. At the same time, the output of manual warning signals provides surveyors with an opportunity for timely intervention, ensuring that surveying work can be properly handled when difficulties arise.

[0014] Optional, also includes: Step 4120: When the obstacle type is tall and narrow, determine the horizontal coordinate coverage information through the obstacle size information. The horizontal coordinate coverage information includes left coverage information and right coverage information. Step 4121: Based on the left and right coverage information, determine the current total station horizontal movement parameters using the shortest path first algorithm; Step 4122: Control the horizontal movement device to perform obstacle avoidance operation according to the total station's horizontal movement parameters, and output the total station's horizontal movement adjustment signal.

[0015] By adopting the above technical solution and using the shortest path first algorithm to calculate the optimal horizontal movement parameters, the horizontal movement device is controlled to move the total station according to these parameters, avoiding obstacles of a high or narrow type. This ensures the smooth progress of municipal engineering surveying and positioning work.

[0016] Optionally, step 4121 may also include: Step 41210: Based on the left and right coverage information, determine the current moving target point using the shortest path first algorithm; Step 41211: Obtain the current moving target path image based on the current moving target point; Step 41212: Determine the features of obstacles along the current moving target path based on the current moving target path image; Step 41213: When there are no path obstacle features, determine the current total station horizontal movement parameters based on the current moving target point; Step 41214: When there are path obstacle features, determine the corrected moving target point based on the left and right coverage information, and obtain the corrected moving target path image; Step 41215: Determine obstacle features along the corrected path based on the corrected moving target path image; Step 41216: When there are obstacles in the path correction feature, output a manual warning signal; Step 41217: When there are no obstacles to correct the path, determine the current total station horizontal movement parameters based on the corrected target point.

[0017] By adopting the above technical solution, the system monitors the movement in real time while controlling the horizontal traverse device to perform obstacle avoidance operations according to the parameters. When the horizontal traverse device begins to move the total station, it continuously detects changes in the surrounding environment to determine if new obstacles have appeared. If a new obstacle enters the movement path, the system immediately stops the operation of the horizontal traverse device to avoid collision between the total station and the obstacle, ensuring equipment safety. Simultaneously, the system analyzes the newly appeared obstacle and recalculates the movement parameters to find the optimal path around it. If, after multiple calculations and attempts, a suitable path cannot be found, the system outputs a manual warning signal to notify the surveyor to intervene manually.

[0018] Optionally, it also includes a method for performing total station horizontal angle adjustment operations and total station pitch angle adjustment operations in response to a total station horizontal movement adjustment signal, the method comprising: Step 4123: Obtain the current horizontal angle of the total station and the theoretical coordinates of the target prism; Step 4124: Determine the corrected horizontal coordinates of the total station based on the total station's horizontal movement parameters and initial coordinates; Step 4125: Obtain the initial ground clearance of the total station corresponding to the initial coordinates of the total station; Step 4126: Measure the current height of the total station above the ground using the laser altimeter module; Step 4127: Obtain the total station height correction coordinates based on the current total station height above the ground and the initial total station height above the ground; Step 4128: Based on the target prism's theoretical coordinates, the total station's horizontal correction coordinates, and the total station's height correction coordinates, determine the theoretical horizontal angle adjustment value and the theoretical pitch angle adjustment value using the spatial polar coordinate conversion formula; Step 4129: Control the total station to perform the total station horizontal angle adjustment operation according to the theoretical horizontal angle adjustment value; Step 4130: Control the total station to perform the total station pitch angle adjustment operation according to the theoretical pitch angle adjustment value.

[0019] By adopting the above technical solution, calculating the theoretical horizontal angle adjustment value and the theoretical pitch angle adjustment value, and controlling the total station to perform the horizontal and pitch angle adjustment operations respectively, the total station can quickly and accurately align with the target prism after horizontal movement. This improves the accuracy and efficiency of measurement.

[0020] Optionally, it also includes a method for not outputting total station coordinate anomaly signals when the target prism reflection signal intensity does not fall within the currently expected target prism reflection intensity range, the method comprising: Step 4131: Acquire current image information; Step 4132: Determine the type of interfering obstacle based on the total station's measured angle and current image information; Step 4133: When the type of interference obstacle is transparent glass, do not output the total station coordinate anomaly signal, and perform signal gain operation; Step 4134: Real-time detection of the intensity of the target prism reflection signal; Step 4135: When the intensity of the target prism reflection signal falls within the current expected range of the target prism reflection intensity, stop the signal gain operation and perform the gain maintenance operation; Step 4136: After the signal gain operation is completed, if the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, perform obstacle avoidance operation.

[0021] By adopting the above technical solution, when encountering interference obstacles such as transparent glass, the total station will not output abnormal coordinate signals and will perform signal gain operation. Although transparent glass will interfere with the total station's measurement signals, it does not completely block signal propagation. Therefore, by increasing the signal strength, it is possible to overcome this interference and improve the accuracy of the measurement.

[0022] Optionally, if the target prism reflection signal intensity does not fall within the currently expected target prism reflection intensity range after the signal gain operation, the method for performing obstacle avoidance operation includes: Step 4137: Obtain the obstacle type based on the transparent glass size information; Step 4138: When the obstacle type is wide and low, determine the vertical coordinate coverage information through the transparent glass size information, and execute steps 4111 to 41194; Step 4139: When the obstacle type is tall and narrow, determine the horizontal coordinate coverage information through the transparent glass size information, and execute steps 4121 to 4130.

[0023] By adopting the above technical solution, corresponding avoidance operations can be carried out according to different types of transparent glass obstacles. For transparent glass of wide and low or tall and narrow types, the previous obstacle handling process is followed; this approach further enhances the system's ability to cope with different types of obstacles and reduces human error and time costs in the measurement process.

[0024] Secondly, the present invention provides a municipal engineering surveying and positioning system, which adopts the following technical solution: A municipal engineering surveying and positioning system, comprising: The acquisition module is used to acquire the initial coordinates of the total station, the total station measurement angle, the target prism reflection signal, and the intensity of the target prism reflection signal. A memory for storing a program for a municipal engineering surveying and positioning method as described above; The processor loads and executes programs from memory.

[0025] By adopting the above technical solution, the system can effectively store various types of data collected by the acquisition module, and the processor processes the data according to the stored measurement and positioning method program, thereby achieving accurate measurement and positioning of municipal engineering projects. The processor's loading and execution enable the system to react to various situations according to steps and logic.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: By automatically identifying obstacle types through image recognition, it performs height adjustment or horizontal movement avoidance operations for obstacles that are wide and short or tall and narrow, and optimizes adjustment parameters with the help of the shortest path first algorithm. This eliminates the need for manual inspection of obstacle locations and manual adjustment of instruments, reducing manual intervention and significantly improving the efficiency of on-site measurement in municipal engineering. After adjusting the instrument's height or horizontal position, the total station's three-dimensional coordinates are simultaneously corrected, and the pitch and horizontal angles are precisely adjusted. Meanwhile, for interference obstacles such as transparent glass, a signal gain strategy is adopted instead of directly interrupting the process, effectively avoiding measurement errors caused by equipment adjustments or signal attenuation, and ensuring the accuracy of the positioning results and the continuity of the measurement process. Attached Figure Description

[0027] Figure 1 This is a flowchart of a municipal engineering measurement and positioning method according to an embodiment of this application; Figure 2 This is a schematic diagram of a wide and low type obstacle with two height adjustment directions in an embodiment of this application. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0029] This invention discloses a method for surveying and positioning in municipal engineering projects. (Refer to...) Figure 1 A method for measuring and positioning in municipal engineering includes: Step 1: In response to the total station positioning signal, obtain the initial coordinates of the total station.

[0030] The total station positioning signal refers to the confirmation signal triggered by the instrument's own level sensor and centering module after the total station has been set up at the designated station location and the centering and leveling operations have been completed. This signal indicates that the total station is in a stable and measurable state. The initial coordinates of the total station refer to the three-dimensional spatial coordinates (X, Y, Z) of the station location, which are derived from the coordinates of known measurement control points in municipal engineering projects.

[0031] Step 2: Obtain the total station measurement angle, the target prism reflection signal, and the intensity of the target prism reflection signal.

[0032] The angle measured by the total station refers to the horizontal and vertical angles acquired by the instrument's angle encoder when the total station is aimed at the target prism. The target prism reflection signal refers to the light signal emitted by the total station's laser transmitter, which, after illuminating the target prism, is reflected back to the total station's photoelectric receiver via the prism's directional reflection. The ranging laser here can be either infrared or visible laser. Specifically, the horizontal angle is the angle between the total station's longitudinal axis and true north, and the vertical angle is the angle between the line of sight and the horizontal plane.

[0033] The target prism reflection signal intensity refers to the energy value of the reflected light signal detected by the total station's photoelectric receiving device, expressed in power units (mW), reflecting the effectiveness of the reflected signal.

[0034] Step 3: When the intensity of the target prism reflection signal falls within the range of the current expected target prism reflection intensity, analyze the target prism reflection signal to obtain the target prism measurement parameters.

[0035] The currently projected range of target prism reflection intensity refers to the effective signal strength interval calibrated through multiple experiments based on theoretical distance measurements between the total station and the target prism, and environmental conditions. The lower limit of the interval is the minimum signal strength at which the total station can stably resolve distance measurement information, and the upper limit is the maximum signal strength to avoid saturation of the photoelectric receiving device. The target prism measurement parameters refer to the slope distance between the total station and the target prism obtained by resolving the reflected signal, and the actual distance measurement value after correction based on the prism constant. The methods for obtaining these parameters are common techniques in this field and will not be elaborated upon here.

[0036] When the intensity of the target prism's reflected signal falls within the range of the currently expected target prism's reflected signal intensity, it indicates that the reflected signal quality is good and can provide reliable data support for subsequent measurement and positioning.

[0037] Step 30: Determine the target position coordinates using the total station's initial coordinates, total station measurement angles, and target prism measurement parameters.

[0038] The target location coordinates refer to the three-dimensional spatial coordinates (X, Y, Z) of the municipal engineering measurement point to be measured, which are calculated from the initial coordinates of the total station, the measurement angle, and the prism slope distance using the spatial polar coordinate conversion formula.

[0039] Step 4: Acquire the current image information when there is no target prism reflection signal.

[0040] Current image information refers to the environmental image frames captured by the vision camera integrated with the total station at the current measurement angle direction, including visual features such as the outline, position, and size of obstacles.

[0041] When there is no target prism reflection signal, it means that the laser path emitted by the total station is completely blocked by a solid obstacle or the target prism is not within the aiming range of the total station, resulting in the photoelectric receiving device not detecting any reflection signal.

[0042] Step 40: Determine the obstacle size information based on the current image information.

[0043] Obstacle size information refers to the geometric parameters of obstacles extracted from the current image information through image recognition algorithms, including the obstacle's height and width.

[0044] Step 41: Perform obstacle avoidance operation based on obstacle size information.

[0045] Obstacle avoidance refers to adjustments made to avoid laser path obstruction by different types of obstacles. Specifically, obstacle avoidance includes two methods: for wide and low obstacles, the total station is raised by controlling the motorized telescopic tripod; for tall and narrow obstacles, the total station is moved to a horizontal position by controlling the horizontally movable chassis. The motorized telescopic tripod is driven by a built-in motorized actuator and equipped with a displacement sensor to control the raising height.

[0046] The horizontally moving chassis is fixedly connected to the electrically telescopic tripod at the end furthest from the ground by bolts. The chassis employs a tracked structure to adapt to terrains such as construction site dirt roads and gravel roads. Driven by a servo motor, the chassis is equipped with an inertial measurement sensor and a braking device, allowing it to move horizontally to the target position as needed. Simultaneously, the chassis integrates a level sensor to assist the electrically telescopic tripod in performing secondary leveling of the total station.

[0047] Step 42: After performing the obstacle avoidance operation, reacquire the target prism reflection signal intensity and execute steps 3 to 30.

[0048] After the obstacle avoidance operation is performed, the total station coordinates, total station pitch angle, and total station horizontal angle will be updated. The coordinate update here refers to the correction of the total station's three-dimensional coordinates based on the height of the electric telescopic tripod or the distance the horizontal moving chassis moves. The angle adjustment refers to the adjustment of the total station's horizontal and vertical angles based on the conversion results between the corrected coordinates and the prism's theoretical coordinates, to ensure that the laser path avoids obstacles.

[0049] Step 5: When the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, output the total station coordinate anomaly signal.

[0050] The total station coordinate anomaly signal refers to the warning signal output by the total station control unit, which indicates that the artificial target prism reflection signal is invalid and the target coordinates cannot be accurately calculated.

[0051] When the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, it indicates that there is a semi-transparent obstacle in the laser path causing signal attenuation or that there is a deviation in the aiming angle between the total station and the prism. In either case, it is impossible to stably resolve the effective ranging parameters, so an abnormal total station coordinate signal is output to notify manual intervention.

[0052] The methods for performing obstacle avoidance operations based on obstacle size information include: Step 410: Establish a two-dimensional plane coordinate system based on the current image parameters.

[0053] A two-dimensional plane coordinate system is a two-dimensional rectangular coordinate system established with the reference point of image acquisition as the origin and based on parameters such as the pixel resolution and imaging angle of the current image. It is used to calibrate the position, size and geometric boundary of obstacles in the image plane.

[0054] Step 411: Parse the obstacle size information to obtain the obstacle type.

[0055] Obstacle size information refers to the set of geometric feature parameters of an obstacle, such as length, width, height, and thickness, obtained through image recognition, laser scanning, and other methods.

[0056] Obstacle types refer to categories classified according to the size characteristics of obstacles, such as wide and low obstacles, tall obstacles, etc. Specifically, size characteristics here refer to the aspect ratio, and the relative relationship between vertical height and lateral span.

[0057] Step 4110: When the obstacle type is wide and low, determine the vertical coordinate coverage information through the obstacle size information.

[0058] "Wide and low" obstacles refer to those with a relatively large lateral span and relatively small vertical height. These obstacles typically obstruct the horizontal laser path of the total station, but offer relatively open vertical space. The vertical coordinate coverage information refers to the start and end coordinate intervals of the obstacle along the vertical direction in an established two-dimensional coordinate system when the obstacle is of the "wide and low" type. This reflects the obstacle's coverage area in the vertical dimension. When an obstacle is of the "wide and low" type, it indicates that it has the dimensional characteristics of a large lateral span and a low vertical height. In total station surveying operations, it easily obstructs the horizontal field of view, but this can be avoided by adjusting the vertical height of the total station.

[0059] Step 4111: Obtain the camera height and total station height, and determine the relative height using the camera height and total station height.

[0060] Camera height refers to the vertical distance from the camera's imaging reference plane to the measurement reference plane. Total station height refers to the vertical distance from a fixed reference plane of the instrument itself to the reference ground level on site. The total station internally marks a fixed reference plane, which serves as the calculation benchmark for angle and distance measurements. Regardless of the data being measured, the instrument uses this plane as the starting point for calculations, and its position remains constant within the instrument. In this case, the measurement reference plane is the ground.

[0061] Relative height refers to the difference between the camera height and the total station height.

[0062] Step 4112: Determine the total station height adjustment parameters based on the relative height and obstacle longitudinal coordinate coverage information.

[0063] The total station height adjustment parameter refers to the specific value that needs to be adjusted upwards or downwards, calculated based on the relative height and obstacle longitudinal coordinate coverage information, to avoid obstruction of the total station's field of view by wide and low types.

[0064] Step 4113: Determine the current adjustable height range of the tripod based on the total station height and the telescopic tripod parameter library.

[0065] The telescopic tripod parameter library refers to a structured database that stores the minimum and maximum support heights of telescopic tripods.

[0066] The adjustable height range of the tripod currently refers to the height adjustment range that the tripod can achieve by retrieving parameters from the parameter library, that is, the range from the minimum support height to the maximum support height of the tripod.

[0067] Step 4114: When the total station height adjustment parameter falls within the current adjustable height range of the tripod, perform obstacle avoidance operation according to the current adjustable height range of the tripod and output the total station height adjustment signal.

[0068] The total station height adjustment signal refers to the command signal generated by the system based on the calculated total station height adjustment parameters, used to control the telescopic tripod to perform height adjustment actions.

[0069] When the total station's height adjustment parameters fall within the adjustable height range of the current tripod, it means that the telescopic tripod used can meet the height adjustment requirements for the total station to avoid obstacles through its own height adjustment, and can perform obstacle avoidance operations.

[0070] Step 4115: When the total station height adjustment parameter does not fall within the current adjustable height range of the tripod, output a manual warning signal.

[0071] Manual early warning signals refer to signals indicating that a problem has occurred in the current surveying environment that the total station cannot solve, and the system uses these signals to prompt that manual intervention is required.

[0072] When the total station's height adjustment parameters do not fall within the adjustable height range of the current tripod, it indicates that the height adjustment capability of the telescopic tripod cannot meet the total station's obstacle avoidance needs, and the field of view avoidance cannot be completed through automatic adjustment, requiring manual intervention.

[0073] This also includes a method for performing a total station pitch angle adjustment operation in response to a total station height adjustment signal, the method comprising: Step 4116: Obtain the current ray elevation angle of the total station and the theoretical coordinates of the target prism.

[0074] The current ray elevation angle of the total station refers to the angle between the measuring ray emitted by the total station at its current altitude and the horizontal reference plane.

[0075] The theoretical coordinates of a target prism refer to the three-dimensional spatial coordinates of the target prism's location pre-planned according to the measurement task. The theoretical coordinates of the target prism are the ideal point marked on the design drawings, which are precise and error-free on the drawings. However, on the construction site, various human or environmental errors can occur when placing the prism at this ideal point. These errors are beyond the control of the theoretical coordinates but will directly cause subsequent construction to deviate from the design plan. Even if the theoretical coordinates are accurate, if the prism is placed crookedly, the construction will follow the crooked point, resulting in misaligned roads and pipelines. A total station is used to measure the actual three-dimensional coordinates of the prism and then compare them with the theoretical coordinates to calculate the deviation. If the deviation is within the allowable range, it means the prism is placed accurately, and subsequent construction can proceed according to this point. If the deviation exceeds the allowable range, the construction personnel are guided to adjust the prism position until the actual coordinates match the theoretical coordinates.

[0076] Step 4117: Determine the total station height correction coordinates using the total station height adjustment parameters and the total station initial coordinates.

[0077] Total station height correction coordinates refer to the real-time three-dimensional spatial coordinates of a total station obtained by correcting the elevation values ​​in the initial three-dimensional coordinates of the total station using the total station height adjustment parameters. The planar coordinates remain unchanged, and only the elevation dimension values ​​are updated.

[0078] Step 4118: Based on the theoretical coordinates of the target prism and the total station height correction coordinates, determine the theoretical pitch angle adjustment value using the spatial polar coordinate conversion formula.

[0079] The spatial polar coordinate conversion formula is a mathematical formula used to establish the conversion relationship between spatial rectangular coordinates and polar coordinates. It is based on the three-dimensional coordinate difference between the total station height correction coordinates and the target prism theoretical coordinates. This formula is existing technology and will not be elaborated on here.

[0080] The theoretical elevation angle adjustment value refers to the angle difference that needs to be adjusted based on the spatial polar coordinate conversion formula to ensure that the total station's measuring light beam is accurately aimed at the target prism. This difference can be used to determine the adjustment direction and adjustment range.

[0081] Step 4119: Control the total station to perform the total station pitch angle adjustment operation according to the theoretical pitch angle adjustment value in order to obtain the target prism reflection signal.

[0082] The pitch angle adjustment operation of a total station refers to the mechanical action by which the total station, after receiving a control command, adjusts the current elevation angle of the light beam to the theoretical pitch angle through its own pitch adjustment mechanism.

[0083] This also includes: Step 41190: If the target prism reflection signal cannot be obtained after performing the total station pitch angle adjustment operation, determine the adjustable angle range based on the total station measurement angle.

[0084] The adjustable angle range refers to the effective pitch angle adjustment range that the total station can achieve by measuring angle analysis, based on the pitch angle limits of its own mechanical structure and the obstruction boundaries of obstacles at the current installation height, while also meeting the limits of the instrument's mechanical movement and avoiding obstruction from obstacles.

[0085] If the target prism reflection signal is still not obtained after performing the pitch angle adjustment operation of the total station, it indicates that the current pitch angle adjustment has not made the measuring light accurately aligned with the target prism or the adjustment angle has exceeded the mechanical limit range of the total station.

[0086] Step 41191: When the theoretical pitch angle adjustment value does not fall within the adjustable angle range, output the total station pitch angle limitation signal.

[0087] The total station pitch angle limitation signal is a command signal generated by the system when it detects that the theoretical pitch angle adjustment value exceeds the adjustable angle range. This signal indicates that obstacle avoidance and prism aiming cannot be completed by adjusting the pitch angle alone.

[0088] When the theoretical pitch angle adjustment value does not fall within the adjustable angle range, it means that adjusting the pitch angle alone cannot meet the aiming requirements. It is necessary to switch to the height adjustment dimension and find a new feasible aiming angle by changing the total station's setup height.

[0089] Step 41192: In response to the total station pitch angle limitation signal, redetermine the relative height and determine the corrected total station height adjustment parameters through the longitudinal coordinate coverage information.

[0090] Correcting the total station's height adjustment parameters refers to adjusting the parameters when the theoretical pitch angle corresponding to the original height adjustment direction exceeds the adjustable range, referring to... Figure 2 The obstacles blocking the total station's laser emission point have adjustment gaps both above and below. Switching to another height adjustment direction, for example, changing the original adjustment to raise and then lowering, the calculated new height adjustment value is intended to make the theoretical pitch angle at the new height fall within the adjustable angle range.

[0091] Step 41193: Use the corrected total station height adjustment parameters as the total station height adjustment parameters and execute steps 4113 to 41191.

[0092] When there is a corrected total station height adjustment parameter and the theoretical pitch angle adjustment value falls within the adjustable angle range, it means that by adjusting the total station height, the measuring light can avoid obstacles and accurately aim at the target prism. At this time, after executing step 41191, the output of the total station angle limitation signal will stop.

[0093] Step 41194: When there is no corrected total station height adjustment parameter or a total station angle limitation signal exists, output a manual warning signal.

[0094] When there is no corrected total station height adjustment parameter or a total station angle limitation signal exists, it indicates that there is no new height adjustment direction or an attempt has been made to switch the height adjustment direction, but the theoretical pitch angle corresponding to the new height is still outside the adjustable range. That is, the adjustment in both the upper and lower height directions cannot make the pitch angle meet the aiming requirements, and manual intervention is required to troubleshoot. Therefore, a manual warning signal is output.

[0095] This also includes: Step 4120: When the obstacle type is tall and narrow, determine the horizontal coordinate coverage information through the obstacle size information. The horizontal coordinate coverage information includes left coverage information and right coverage information.

[0096] The "tall and narrow" type refers to obstacles with a relatively small lateral span and a relatively large vertical height. These obstacles usually block the laser path of a total station in a specific direction, but the lateral space is relatively open.

[0097] Horizontal coordinate coverage information refers to the start and end coordinate intervals of the obstacle along the horizontal direction in an established two-dimensional coordinate system when the obstacle is tall and narrow, reflecting the obstacle's coverage range in the horizontal dimension. Left coverage information refers to the start and end coordinate intervals of the obstacle along the negative horizontal direction in an established two-dimensional coordinate system, reflecting the obstacle's coverage range in the left horizontal dimension; right coverage information refers to the start and end coordinate intervals of the obstacle along the positive horizontal direction in an established two-dimensional coordinate system, reflecting the obstacle's coverage range in the right horizontal dimension.

[0098] Step 4121: Based on the left and right coverage information, determine the current total station horizontal movement parameters using the shortest path first algorithm.

[0099] The shortest path first algorithm, used in this step, calculates the distance cost required to move left or right to avoid obstacle occlusion based on the left and right coverage information of tall, narrow obstacles, combined with the relative relationship between the total station's current position and the target aiming direction. It then selects the lateral movement direction with the shortest distance and highest efficiency. It's worth noting that in step 4112, when determining the total station's height adjustment parameters based on relative height and obstacle longitudinal coordinate coverage information, there may be two adjustment directions: raising or lowering. In this case, the shortest path first algorithm is needed to determine the current total station height adjustment parameters. The target aiming direction refers to the direction the total station uses to aim at the target prism.

[0100] The current total station horizontal movement parameters refer to the specific parameters used to control the horizontal movement device to perform lateral avoidance actions, calculated by the shortest path first algorithm. These parameters include the direction of movement and the distance of movement.

[0101] Step 4122: Control the horizontal movement device to perform obstacle avoidance operation according to the total station's horizontal movement parameters, and output the total station's horizontal movement adjustment signal.

[0102] The horizontal moving device refers to the horizontal moving chassis mentioned above, which will not be elaborated upon here.

[0103] The total station horizontal movement adjustment signal refers to the instruction signal generated by the system based on the current total station horizontal movement parameters. It includes control instructions such as movement direction, distance, and speed, and is used to drive the horizontal movement device to perform lateral movement.

[0104] Step 4121 further includes: Step 41210: Based on the left and right coverage information, determine the current moving target point using the shortest path first algorithm.

[0105] The current moving target point refers to the horizontal displacement endpoint that can avoid the obstruction of the original tall and narrow obstacle, calculated by the shortest path first algorithm, combined with the left and right coverage information of the tall and narrow obstacle, the current horizontal position of the total station and the target aiming direction.

[0106] Step 41211: Obtain the current moving target path image based on the current moving target point.

[0107] The current moving target path image refers to the environmental image frame acquired by the vision camera integrated into the total station, covering the complete path area from the current horizontal position of the total station to the current moving target point.

[0108] Step 41212: Determine the features of obstacles along the path based on the current moving target path image.

[0109] Path obstacle features refer to the geometric and positional parameters of newly added obstacles within the path area extracted from the current moving target path image using image recognition algorithms, including the obstacle's lateral span, longitudinal length, and relative distance to the total station.

[0110] Step 41213: When there are no path obstacle features, determine the current total station horizontal movement parameters based on the current moving target point.

[0111] When there are no obstacles in the path, it means that there are no new obstacles in the path area where the total station moves from the current position to the current target point, and the path is unobstructed. At this time, the horizontal movement parameters of the total station can be determined based on the current target point.

[0112] Step 41214: When there are path obstacle features, determine the corrected moving target point based on the left and right coverage information, and obtain the corrected moving target path image.

[0113] The corrected moving target point refers to the suboptimal horizontal displacement endpoint calculated by combining the left and right coverage information of tall and narrow obstacles when there are obstacles on the path of the original current moving target point.

[0114] Corrected moving target path image refers to an environmental image frame captured by a vision camera, covering the complete path area from the current horizontal position of the total station to the corrected moving target point.

[0115] Step 41215: Determine the obstacle features of the corrected path based on the corrected moving target path image.

[0116] Obstacle features in a corrected path refer to the geometric and positional parameters of newly added obstacles within the corrected path region extracted from the corrected moving target path image using image recognition algorithms.

[0117] Step 41216: When there are obstacles in the path correction feature, output a manual warning signal.

[0118] When the path correction obstacle feature is present, it indicates that both the current moving target point path and the corrected moving target point path have new obstacles. It is impossible to avoid all obstructions by automatically adjusting the horizontal movement parameters, and manual intervention is required to investigate. Therefore, a manual warning signal is output.

[0119] Step 41217: When there are no obstacles to correct the path, determine the current total station horizontal movement parameters based on the corrected target point.

[0120] When there are no obstacles on the corrected path, it means that there are no new obstacles in the path area from the current position to the corrected target point, and the path is clear. The final horizontal movement parameters can be determined based on the corrected target point, and obstacle avoidance operation can be performed.

[0121] This also includes a method for performing total station horizontal angle adjustment operations and total station pitch angle adjustment operations in response to a total station horizontal movement adjustment signal, the method comprising: Step 4123: Obtain the current horizontal angle of the total station and the theoretical coordinates of the target prism.

[0122] The current horizontal angle of the total station refers to the horizontal angle collected in real time by the instrument's angle encoder when the total station is in its current position before horizontal movement and is aimed at the target prism.

[0123] Step 4124: Determine the corrected horizontal coordinates of the total station based on the total station's horizontal movement parameters and initial coordinates.

[0124] The total station's horizontally corrected coordinates refer to the real-time three-dimensional spatial coordinates obtained by correcting the initial planar coordinates (X, Y) in the total station's three-dimensional coordinate system using the total station's horizontal movement parameters. Specifically, the horizontal movement parameters are corrected for the horizontal movement direction and distance.

[0125] Step 4125: Obtain the initial ground clearance of the total station corresponding to the initial coordinates of the total station.

[0126] The initial height of a total station from the ground refers to the vertical distance from the fixed reference surface marked inside the total station body to the measurement reference surface after the total station has completed its initial setup, centering, and leveling.

[0127] Step 4126: Measure the current height of the total station above the ground using the laser altimeter module.

[0128] The current total station height refers to the vertical distance from the fixed reference surface marked inside the total station body to the measurement reference surface, which is measured in real time by the laser height measurement module after the total station has completed horizontal movement.

[0129] Step 4127: Obtain the total station height correction coordinates based on the current total station height above the ground and the initial total station height above the ground.

[0130] When there are current total station height above ground and initial total station height above ground, it means that the total station's height has changed during horizontal movement, and the total station's height coordinates need to be corrected.

[0131] Step 4128: Based on the target prism's theoretical coordinates, the total station's horizontal correction coordinates, and the total station's height correction coordinates, determine the theoretical horizontal angle adjustment value and the theoretical pitch angle adjustment value using the spatial polar coordinate conversion formula.

[0132] The theoretical horizontal angle adjustment value refers to the angle difference that the total station needs to adjust in order to ensure that the measuring light of the total station is accurately aimed at the target prism in the horizontal direction. This adjustment is calculated using the spatial polar coordinate conversion formula based on the difference in planar position between the theoretical coordinates of the target prism and the height correction coordinates of the total station. It includes the adjustment direction and adjustment range.

[0133] Step 4129: Control the total station to perform the total station horizontal angle adjustment operation according to the theoretical horizontal angle adjustment value.

[0134] The horizontal angle adjustment operation of a total station refers to the mechanical action by which the total station, after receiving a control command, adjusts the current horizontal angle to the theoretical horizontal angle through its own horizontal adjustment mechanism, such as the horizontal rotation head, so as to achieve precise alignment of the measuring light with the target prism in the horizontal direction.

[0135] Step 4130: Control the total station to perform the total station pitch angle adjustment operation according to the theoretical pitch angle adjustment value.

[0136] The operation of adjusting the pitch angle of the total station has been introduced in the previous text and will not be repeated here.

[0137] This also includes a method for not outputting total station coordinate anomaly signals when the intensity of the target prism reflection signal does not fall within the currently expected range of the target prism reflection intensity. This method includes: Step 4131: Acquire current image information.

[0138] The current image information has been introduced in the previous text and will not be repeated here.

[0139] Step 4132: Determine the type of interference obstacle based on the angle measured by the total station and the current image information.

[0140] Interference obstacle type refers to the category of obstacles identified from the current image information based on the aiming direction corresponding to the total station measurement angle. These obstacles can affect the transmission of laser signals but do not completely block the laser path, and are different from solid obstacles that completely block the laser.

[0141] Step 4133: When the type of interference obstacle is transparent glass, do not output the total station coordinate anomaly signal, and perform signal gain operation.

[0142] Transparent glass type refers to a type of interference obstacle, specifically a transparent obstacle that can transmit the total station ranging laser, but whose laser signal energy is attenuated due to the glass material, thickness, and surface reflectivity, thus causing a decrease in the intensity of the target prism's reflected signal.

[0143] Signal gain operation refers to the adjustment action performed by the total station's photoelectric receiving device. This is done by increasing the amplification factor of the receiving circuit and optimizing the signal filtering threshold to improve the detection sensitivity of weak reflected light signals, thereby compensating for insufficient signal strength caused by transmission attenuation through transparent glass.

[0144] When the type of interference obstacle is transparent glass, it means that the reason why the intensity of the target prism reflection signal does not fall within the current expected range of the target prism reflection intensity is that the laser signal is attenuated after being transmitted through the glass, rather than the total station coordinates being abnormal or the prism aiming being deviated. Therefore, there is no need to output a total station coordinates abnormality signal, and the effective signal can be recovered by adjusting the signal gain.

[0145] Step 4134: Real-time detection of the intensity of the target prism reflection signal.

[0146] Step 4135: When the intensity of the target prism reflection signal falls within the range of the current expected target prism reflection intensity, stop the signal gain operation and perform the gain maintenance operation.

[0147] Gain maintenance operation refers to a continuous control action in which, after the signal gain operation has brought the reflected signal strength to a certain level, the total station's photoelectric receiving device maintains the current gain parameters such as amplification factor and filtering threshold unchanged, so as to keep the reflected signal strength stable within a preset range.

[0148] When the intensity of the target prism reflection signal falls within the range of the current expected target prism reflection intensity, it indicates that the signal gain operation has effectively compensated for the transmission attenuation of the laser signal, and the quality of the reflected signal meets the requirements of the ranging parameter analysis. At this time, stopping the gain adjustment and maintaining the existing parameters can avoid signal saturation distortion caused by excessive gain.

[0149] Step 4136: After the signal gain operation is completed, if the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, perform obstacle avoidance operation.

[0150] If the intensity of the target prism's reflected signal does not fall within the range of the currently expected target prism's reflected signal intensity after the signal gain operation is completed, it indicates that the attenuation of the laser signal by the transparent glass exceeds the gain compensation capability of the total station's photoelectric receiving device. Effective reflected signals cannot be recovered by signal adjustment alone, and obstacle avoidance operation must be performed to avoid the glass blocking the path.

[0151] Among them, when the target prism reflection signal intensity does not fall within the currently expected target prism reflection intensity range after the signal gain operation is completed, the method for performing obstacle avoidance operation includes: Step 4137: Obtain the obstacle type based on the transparent glass size information.

[0152] Step 4138: When the obstacle type is a wide and low obstacle, determine the vertical coordinate coverage information through the transparent glass size information, and execute steps 4111 to 41194.

[0153] When the obstacle type is a wide and low obstacle, it means that the transparent glass obstacle has the size characteristics of a large lateral span and a low vertical height. Its attenuation effect on the total station's ranging laser is concentrated in a specific vertical height range. By executing the height adjustment process from steps 4111 to 41194, the laser emitting end of the total station can be moved out of this vertical attenuation range, thereby eliminating the attenuation effect of the glass on the signal.

[0154] Step 4139: When the obstacle type is tall and narrow, determine the horizontal coordinate coverage information through the transparent glass size information, and execute steps 4121 to 4130.

[0155] When the obstacle type is tall and narrow, it means that the transparent glass obstacle has the size characteristics of large vertical height and small horizontal span. Its attenuation effect on the total station's ranging laser is concentrated in a specific horizontal range. By executing the horizontal movement and angle adjustment process of steps 4121 to 4130, the laser emission path of the total station can be moved out of the horizontal attenuation range caused by the transparent glass, thereby eliminating the attenuation effect of the glass on the signal and eliminating the need to output abnormal coordinate signals of the total station.

[0156] Based on the same inventive concept, embodiments of the present invention provide a municipal engineering measurement and positioning system.

[0157] A municipal engineering surveying and positioning system, comprising: The acquisition module is used to acquire the initial coordinates of the total station, the total station measurement angle, the target prism reflection signal, and the intensity of the target prism reflection signal. A memory used to store a program for a municipal engineering surveying and positioning method; The processor loads and executes programs from memory.

[0158] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for measuring and positioning in municipal engineering, characterized in that, include: Step 1: In response to the total station positioning signal, obtain the initial coordinates of the total station; Step 2: Obtain the total station measurement angle, the target prism reflection signal, and the target prism reflection signal intensity; Step 3: When the intensity of the target prism reflection signal falls within the range of the currently expected target prism reflection intensity, analyze the target prism reflection signal to obtain the target prism measurement parameters; Step 30: Determine the target position coordinates using the total station's initial coordinates, total station measurement angles, and target prism measurement parameters; Step 4: Acquire current image information when there is no target prism reflection signal; Step 40: Determine the obstacle size information based on the current image information; Step 41: Perform obstacle avoidance operation based on obstacle size information; Step 42: After performing the obstacle avoidance operation, reacquire the target prism reflection signal intensity and execute steps 3 to 30; Step 5: When the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, output the total station coordinate anomaly signal.

2. The municipal engineering surveying and positioning method according to claim 1, characterized in that, Methods for performing obstacle avoidance operations based on obstacle size information include: Step 410: Establish a two-dimensional plane coordinate system based on the current image parameters; Step 411: Parse the obstacle size information to obtain the obstacle type; Step 4110: When the obstacle type is wide and low, determine the vertical coordinate coverage information through the obstacle size information; Step 4111: Obtain the camera height and total station height, and determine the relative height using the camera height and total station height; Step 4112: Determine the total station height adjustment parameters based on relative height and obstacle longitudinal coordinate coverage information; Step 4113: Determine the current adjustable height range of the tripod based on the total station height and the telescopic tripod parameter library; Step 4114: When the total station height adjustment parameter falls within the current adjustable height range of the tripod, perform obstacle avoidance operation according to the current adjustable height range of the tripod and output the total station height adjustment signal; Step 4115: When the total station height adjustment parameter does not fall within the current adjustable height range of the tripod, output a manual warning signal.

3. The municipal engineering surveying and positioning method according to claim 2, characterized in that, It also includes a method for performing a total station pitch angle adjustment operation in response to a total station height adjustment signal, the method comprising: Step 4116: Obtain the current ray elevation angle of the total station and the theoretical coordinates of the target prism; Step 4117: Determine the total station height correction coordinates using the total station height adjustment parameters and the total station initial coordinates; Step 4118: Based on the theoretical coordinates of the target prism and the total station height correction coordinates, determine the theoretical pitch angle adjustment value using the spatial polar coordinate conversion formula; Step 4119: Control the total station to perform the total station pitch angle adjustment operation according to the theoretical pitch angle adjustment value in order to obtain the target prism reflection signal.

4. The municipal engineering surveying and positioning method according to claim 3, characterized in that, Also includes: Step 41190: If the target prism reflection signal cannot be obtained after performing the total station pitch angle adjustment operation, determine the adjustable angle range based on the total station measurement angle; Step 41191: When the theoretical pitch angle adjustment value does not fall within the adjustable angle range, output the total station pitch angle limitation signal; Step 41192: In response to the total station pitch angle limitation signal, redetermine the relative height and determine the corrected total station height adjustment parameters through the longitudinal coordinate coverage information; Step 41193: Use the corrected total station height adjustment parameters as the total station height adjustment parameters and execute steps 4113 to 41191; Step 41194: When there are signals indicating that the total station height adjustment parameters need to be corrected and the total station angle is limited, output a manual warning signal.

5. A municipal engineering measurement and positioning method according to claim 2, characterized in that, Also includes: Step 4120: When the obstacle type is tall and narrow, determine the horizontal coordinate coverage information through the obstacle size information. The horizontal coordinate coverage information includes left coverage information and right coverage information. Step 4121: Based on the left and right coverage information, determine the current total station horizontal movement parameters using the shortest path first algorithm; Step 4122: Control the horizontal movement device to perform obstacle avoidance operation according to the total station's horizontal movement parameters, and output the total station's horizontal movement adjustment signal.

6. A municipal engineering surveying and positioning method according to claim 5, characterized in that, Step 4121 also includes: Step 41210: Based on the left and right coverage information, determine the current moving target point using the shortest path first algorithm; Step 41211: Obtain the current moving target path image based on the current moving target point; Step 41212: Determine the features of obstacles along the current moving target path based on the current moving target path image; Step 41213: When there are no path obstacle features, determine the current total station horizontal movement parameters based on the current moving target point; Step 41214: When there are path obstacle features, determine the corrected moving target point based on the left and right coverage information, and obtain the corrected moving target path image; Step 41215: Determine obstacle features along the corrected path based on the corrected moving target path image; Step 41216: When there are obstacles in the path correction feature, output a manual warning signal; Step 41217: When there are no obstacles to correct the path, determine the current total station horizontal movement parameters based on the corrected target point.

7. A municipal engineering surveying and positioning method according to claim 5, characterized in that, It also includes a method for performing total station horizontal angle adjustment operations and total station pitch angle adjustment operations in response to a total station horizontal movement adjustment signal, the method comprising: Step 4123: Obtain the current horizontal angle of the total station and the theoretical coordinates of the target prism; Step 4124: Determine the corrected horizontal coordinates of the total station based on the total station's horizontal movement parameters and initial coordinates; Step 4125: Obtain the initial ground clearance of the total station corresponding to the initial coordinates of the total station; Step 4126: Measure the current height of the total station above the ground using the laser altimeter module; Step 4127: Obtain the total station height correction coordinates based on the current total station height above the ground and the initial total station height above the ground; Step 4128: Based on the target prism's theoretical coordinates, the total station's horizontal correction coordinates, and the total station's height correction coordinates, determine the theoretical horizontal angle adjustment value and the theoretical pitch angle adjustment value using the spatial polar coordinate conversion formula; Step 4129: Control the total station to perform the total station horizontal angle adjustment operation according to the theoretical horizontal angle adjustment value; Step 4130: Control the total station to perform the total station pitch angle adjustment operation according to the theoretical pitch angle adjustment value.

8. A municipal engineering surveying and positioning method according to claim 7, characterized in that, It also includes a method for not outputting total station coordinate anomaly signals when the target prism reflection signal intensity does not fall within the currently expected target prism reflection intensity range. This method includes: Step 4131: Acquire current image information; Step 4132: Determine the type of interfering obstacle based on the total station's measured angle and current image information; Step 4133: When the type of interference obstacle is transparent glass, do not output the total station coordinate anomaly signal, and perform signal gain operation; Step 4134: Real-time detection of the intensity of the target prism reflection signal; Step 4135: When the intensity of the target prism reflection signal falls within the current expected range of the target prism reflection intensity, stop the signal gain operation and perform the gain maintenance operation; Step 4136: After the signal gain operation is completed, if the intensity of the target prism reflection signal does not fall within the range of the currently expected target prism reflection intensity, perform obstacle avoidance operation.

9. A municipal engineering surveying and positioning method according to claim 8, characterized in that, When the signal gain operation has ended and the intensity of the target prism reflection signal does not fall within the currently expected range of target prism reflection intensity, the methods for performing obstacle avoidance operations include: Step 4137: Obtain the obstacle type based on the transparent glass size information; Step 4138: When the obstacle type is wide and low, determine the vertical coordinate coverage information through the transparent glass size information, and execute steps 4111 to 41194; Step 4139: When the obstacle type is tall and narrow, determine the horizontal coordinate coverage information through the transparent glass size information, and execute steps 4121 to 4130.

10. A municipal engineering surveying and positioning system, characterized in that, include: The acquisition module is used to acquire the initial coordinates of the total station, the total station measurement angle, the target prism reflection signal, and the intensity of the target prism reflection signal. A memory for storing a program of a municipal engineering surveying and positioning method as described in any one of claims 1 to 9; The processor loads and executes programs from memory.

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