Intelligent prism rotating method and device

Abstract

The invention relates to an intelligent prism rotating method and device, the device comprises a prism, the prism is installed on a support and can pitch to adjust the angle, a servo motor is installed in the support, the servo motor drives the support and the prism to integrally and horizontally rotate along a vertical axis, and the signal reflection center of the prism is located on a rotating shaft of the servo motor. A circuit board below the servo motor is provided with an MCU (Microprogrammed Control Unit), embedded software and a memory; a rotating base is arranged below the support, and the rotating base and the support are coaxially installed. A double-shaft inclination sensor is arranged in the bracket and is used for measuring a double-shaft inclination value of the prism in real time; a wireless communication antenna port for mounting an antenna is formed in the back surface of the bracket, and is connected with a total station control terminal in a wireless communication manner; compared with the prior art, the prism rotating body can quickly turn to the total station or always face the total station in dynamic measurement, and the working efficiency and the measurement precision are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of precision measurement technology, specifically to a method and apparatus for intelligent rotation of a prism. Background Technology

[0002] In some continuous dynamic measurement operations, such as track surveying, asphalt paving, and setting out, the prism moves dynamically, and the angular relationship between it and the total station is constantly changing. This requires continuous rotation of the prism or the use of a 360-degree prism. However, the accuracy of a 360-degree prism is lower than that of a precision circular prism, making it unsuitable for high-precision dynamic measurement work. Due to the limitations of machining precision and base leveling precision, the center of a precision prism will change during rotation. In precision measurement work, this effect is significant and reduces measurement accuracy.

[0003] In structural deformation monitoring work such as dam deformation monitoring, subway deformation monitoring, and foundation pit monitoring, and in control network measurement work such as CP3 control network measurement and traverse network measurement, according to measurement specifications or work instructions, it is necessary to conduct multi-directional observations of the same prism. While moving the total station, surveyors manually rotate all the prisms requiring repeated observations toward the total station in sequence. Only after all prisms are aligned with the total station can the observation work at the new station begin. These prisms are located far from the total station, dispersed, and numerous. In practice, the time spent rotating the prisms far exceeds the time required for measurement. To ensure measurement efficiency, multiple technicians are often needed to rotate the prisms or stand guard at the prisms requiring rotation, resulting in significant investment of personnel, materials, and equipment, and impacting observation efficiency. In automated monitoring projects, for observations requiring two directions, the current method uses two prisms coaxially installed. For this type of precision measurement, this arrangement introduces new sources of error and increases the workload for data processing. This coaxial prism device cannot solve the problem of observing more than two directions with the same prism. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a prism intelligent rotation device. By controlling the built-in motor to drive the prism rotating body, it can rotate to the required azimuth angle, so that the prism rotating body can quickly turn towards the total station or always remain facing the total station during dynamic measurement, which greatly improves the work efficiency and measurement accuracy.

[0005] To achieve the above objectives, a prism intelligent rotation device is designed, comprising a prism, a coarse sight mounted on the top of the prism, the prism being mounted on a bracket by prism fixing screws and having an adjustable pitch angle, a servo motor housed inside the bracket, the output end of the servo motor being connected to the bracket and driving the bracket and the prism as a whole to rotate horizontally along the vertical axis, the signal reflection center of the prism being located on the rotation axis of the servo motor; a circuit board arranged below the servo motor, the circuit board having an MCU, embedded software, and memory; a rotating base located below the bracket, the rotating base being coaxially mounted with the bracket, the bottom of the rotating base having mounting holes through which the prism rod is mounted; a dual-axis tilt sensor built into the bracket, the dual-axis tilt sensor being used to measure the dual-axis tilt value of the prism in real time; a wireless communication antenna port located on the back of the bracket, the wireless communication antenna port being used to mount an antenna and connect to the total station control terminal via wireless communication.

[0006] Furthermore, a quick-lock button and a power supply / charging port are arranged on the back of the rotating base. The quick-lock button is a grooved shaft equipped with a spring. The quick-lock button is used to quickly lock or release the connection between this device and the prism rod. A rotation button and a tilt angle measurement button are arranged on the front of the rotating base. The rotation button is a physical button. Pressing the rotation button once will cause the prism to automatically rotate horizontally by 180 degrees. Pressing the tilt angle measurement button can obtain the horizontal and vertical tilt angles of the prism's built-in dual-axis tilt sensor.

[0007] Furthermore, the circuit board is used to receive and process the total station coordinates and prism coordinates, calculate the azimuth angles of the prism and total station, the horizontal and vertical tilt angles of the tilt sensor, receive and process wireless rotation commands, control the motor, calculate tilt compensation values, correct the prism center coordinates, store and process automatic rotation plans, manage power, manage charging, and process rotation trigger information from the rotation button 7; the back of the circuit board 6 is designed with concentric brushes, which are connected to the rotating base and used for power supply, charging, and communication.

[0008] Furthermore, a rechargeable lithium battery is installed on the outside of the servo motor. The rechargeable lithium battery is a toroidal rechargeable lithium battery used to power the servo motor and the circuit board.

[0009] Furthermore, the device has the following four automatic rotation modes: i. Automatically calculate the azimuth angle between the prism center and the total station in real time, and synchronously drive the servo motor so that the prism body of the device always faces the total station; ii. Press the rotation button on the prism, and the prism will automatically rotate 180 degrees; iii. When the prism's wireless communication module receives a rotation command, the prism automatically rotates at a certain angle or to a specified position according to the angle command. iv. The prism automatically rotates to a set angle or to a set direction at time intervals or at fixed points in time according to the work plan set on the built-in circuit board.

[0010] This invention also provides a method for intelligent prism rotation, comprising the following steps: a total station control terminal connects to the intelligent prism rotation device via wireless communication; at the initial position, the total station control terminal sends the total station coordinates (X... A Y A Z A ), and the coordinates of the prism center (X) of the device prism body. B0 Y B0 Z B0 At this point, the azimuth angle α between the prism and the total station is... AB0 The embedded software of the device sets the angle of the servo motor encoder to α. AB0 When the device moves, the total station locks onto the prism body and continuously measures the center coordinates of the prism body, sending these coordinates back to the device. When the device moves to a new position, the total station control terminal sends the center coordinates (X...) of the prism body. B1 Y B1 Z B1 The azimuth angle α between the center of the prism and the total station is then adjusted to the desired position. AB1 The prism embedded software controls the servo motor to rotate to α. AB1 This ensures that the device remains directly aligned with the total station throughout its continuous movement; where the azimuth angle α AB0 and α AB1 The calculation formula is as follows: .

[0011] Furthermore, it also includes the azimuth angle α between the prism and the total station. AB The steps to determine the specific angle value are as follows: ΔX AB = X B – X A ΔY AB = Y B – Y A According to ΔX AB ΔY AB Sign determination of α AB The quadrant in which it is located, a) ΔX AB >0 and ΔYAB If ≥0, it belongs to the first quadrant, α AB =α AB锐 b) ΔX AB <0 and ΔY AB If ≥0, it is in the second quadrant, α AB =180°-α AB锐 c) ΔX AB <0 and ΔY AB If <0, it is in the third quadrant, α AB =180°+α AB锐 d) ΔX AB >0 and ΔY AB If α < 0, it is in the fourth quadrant, α AB =360°-α AB锐 e) ΔX AB =0 and ΔY AB >0 then α AB = 90° f) ΔX AB =0 and ΔY AB <0 then α AB = 270°.

[0012] Furthermore, it also includes a method for checking the leveling accuracy, the steps of which are as follows: During precision control network measurement, after leveling the triangular base, press the measurement button on the prism base to obtain the horizontal axis tilt angle β of the prism's built-in dual-axis tilt sensor. 横正 and vertical axis tilt angle β 纵正 Press the 180-degree rotation button on the prism base, and the rotating body of the device will rotate 180 degrees, obtaining the horizontal axis tilt angle β of the prism's built-in dual-axis tilt sensor. 横反 and vertical axis tilt angle β 纵反 The embedded software of the device calculates the angle correction value of the dual-axis tilt sensor: Δ β横向改正 and Δ β纵向改正 The calculation formula is as follows: Δ β横向改正 = (β) 横反 - β 横正 ) ÷ 2 Δ β纵向改正 = (β) 纵反 – β 纵正 ) ÷ 2 When the prism is at position B0, the angle measurement value of the tilt sensor is β. B0横 and β B0纵, The leveling accuracy calculation for the triangular base is as follows: Δ横轴整平误差 = β B0横 - Δ β横向改正 Δ 纵轴整平误差 = β B0纵 - Δ β纵向改正 These two data points can be used to check the leveling accuracy of the triangular base.

[0013] Furthermore, it also includes a method for correcting the leveling error of the triangular base, the steps of which are as follows: When the device moves to position B1, the angle measurement value of the dual-axis tilt sensor is β. B1横 and β B1纵 The prism measurement coordinates are (X... B1 Y B1 Z B1 The distance H0 from the center of the prism body to the top surface of the device base is calculated by the embedded software of the device to be the lateral and longitudinal deviations of the prism body center caused by the leveling error of the triangular base. γ 横向 = H 0 × sin(β B1横 - Δ β横向改正 ) γ 纵向 = H 0 × sin(β B1纵 - Δ β纵向改正 ) The horizontal deviation of the prism body center of the device is: d = Sqrt(γ 横向 2 + γ 纵向 2 ) The corrected coordinates of the prism body center are: X 改正 = X B1 + d × sin(α AB1 + 90° + arctan(γ) 纵向 ÷γ 横向 )) Y 改正 = Y B1 + d × cos(α AB1 + 90° + arctan(γ) 纵向 ÷γ 横向 )) The device's embedded software transmits the correction data to the total station control terminal wirelessly, thereby obtaining the precise coordinates of the prism's center after eliminating the leveling error of the triangular base.

[0014] Furthermore, in the aforementioned intelligent prism rotation device, the prism constant, the distance from the prism center to the mounting hole, the mounting hole size, and the installation method are all consistent with those of the Leica circular prism, and it can be interchanged with the Leica circular prism without replacing the prism rod.

[0015] Compared with the prior art, the present invention has the following advantages.

[0016] (1) Based on the station coordinates of the total station and the current position coordinates of the prism body center of the device, the present invention calculates the azimuth angle between the prism body center and the total station. The embedded software of the device calculates the azimuth angle to which the prism body needs to be rotated to face the total station. The built-in motor of the control device drives the prism rotating body to rotate to that azimuth angle, so that it can quickly turn to the total station or always face the total station during dynamic measurement, which greatly improves the work efficiency and measurement accuracy.

[0017] (2) The present invention has a built-in tilt sensor and embedded software, which can measure and calculate the leveling error of the triangular base, thereby evaluating the leveling accuracy of the triangular base.

[0018] (3) The present invention can measure the dual-axis tilt value in real time. The embedded software calculates the offset value of the prism body center caused by leveling error and machining error, and corrects the measurement coordinates to eliminate leveling error and machining error, thereby greatly improving the measurement accuracy.

[0019] (4) The device of the present invention has four automatic rotation modes: automatically and in real time calculates the azimuth angle between the center of the prism body and the total station, and synchronously drives the servo motor so that the prism body always faces the total station; when the physical button on the prism is pressed, the prism automatically rotates horizontally by 180 degrees; when the prism wireless communication module receives the rotation command, the prism automatically rotates a certain angle or rotates to a specified position according to the angle of the rotation command; the prism automatically rotates a set angle or rotates to a set direction according to the work plan set on the built-in circuit board at time intervals or at fixed time points.

[0020] (5) The prism constant, the distance from the prism center to the mounting hole, the mounting hole size and the mounting method of the device of the present invention are consistent with those of the Leica circular prism, and can be interchanged with the Leica circular prism without replacing the prism rod.

[0021] (6) Each prism in the device of the present invention has a fixed and unique ID number, and supports multiple prisms to operate simultaneously.

[0022] (7) The device of the present invention keeps the reflection center of the prism unchanged during the rotation process, which greatly improves the accuracy of measuring the prism in multiple directions.

[0023] (8) The present invention can realize remote wireless control of prism rotation, and can set and change the work plan, automatically rotate at a set angle or to a set direction at time intervals or at fixed time points.

[0024] (9) The device of the present invention has two power supply methods: internal power supply and external power supply. The device is designed with concentric brushes. When the prism rotates, the rotating base and the rotating body maintain power supply and communication.

[0025] (10) The device of the present invention uses a custom ring-shaped rechargeable lithium battery to save space while ensuring working time. For long-term unattended automated monitoring, an external power supply can be used.

[0026] (11) The device of the present invention is small in size, simple to operate, rainproof and dustproof, suitable for field use, and is worth promoting and applying. Attached Figure Description

[0027] Figure 1 This is a front view of the device of the present invention. Figure 2 This is a side view of the device of the present invention; Figure 3 This is a schematic diagram of the rear structure of the device of the present invention; Figure 4 This is a schematic diagram of the structure during measurement using the intelligent rotation method of the present invention; Figure 5 This invention relates to the azimuth angle α between the prism and the total station. AB A diagram illustrating the determination of specific angle values.

[0028] In the diagram: 1. Coarse sight; 2. Prism; 3. Bracket; 4. Servo motor; 5. Rechargeable lithium battery; 6. Circuit board; 7. Rotary button; 8. Rotating base; 9. Mounting hole; 10. Prism fixing screw; 11. Quick lock button; 12. Screw; 13. Power supply / charging port; 14. Wireless communication antenna port; 15. Dual-axis tilt sensor; 16. Display screen; 17. Tilt angle measurement button. Detailed Implementation

[0029] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] As attached Figure 1 To be continued Figure 3As shown, this invention provides a prism intelligent rotation device, including a coarse sight 1, a prism 2, a bracket 3, a servo motor 4, a rechargeable lithium battery 5, a circuit board 6, a rotation button 7, a rotation base 8, mounting holes 9, a prism fixing screw 10, a quick-lock button 11, a screw 12, a power supply / charging port 13, a wireless communication antenna port 14, a dual-axis tilt sensor 15, a display screen 16, and a tilt angle measurement button 17. The coarse sight 1 is mounted on the top of the prism 2, which is mounted on the bracket 3 via the prism fixing screw 10. The prism 2 can be tilted to adjust its angle. The bracket 3 houses the servo motor 4, whose output is connected to the bracket 3, driving the bracket 3 and the prism 2 to rotate horizontally along the vertical axis. The signal reflection center of the prism 2 is located on the rotation axis of the servo motor 4. A circuit board 6 is arranged below the servo motor 4, containing an MCU, embedded software, and a memory. The circuit board 6 is used to receive and process total station settings. The device includes coordinate and prism coordinates, calculates the azimuth angles of the prism and total station, the horizontal and vertical tilt angles of the tilt sensor, receives and processes wireless rotation commands, controls the motor, calculates tilt compensation values, corrects the prism center coordinates, stores and processes automatic rotation plans, manages power and charging, and processes rotation trigger information from the rotation button 7. A concentric brush is designed on the back of the circuit board 6, which is connected to the rotating base 8 and used for power supply, charging, and communication. The rotating base 8 is located below the bracket 3 and is coaxially mounted with the bracket 3. The bottom of the rotating base 8 has mounting holes 9 through which the device is mounted on the prism rod. The bracket 3 has a built-in dual-axis tilt sensor 15, which is used to measure the dual-axis tilt values ​​of the prism 2 in real time. A wireless communication antenna port 14 is located on the back of the bracket 3, used to mount an antenna and connect to the total station control terminal wirelessly.

[0031] A rechargeable lithium battery 5 is installed on the outside of the servo motor 4. The rechargeable lithium battery 5 is a ring-shaped rechargeable lithium battery and is used to power the servo motor 4 and the circuit board 6. A quick lock button 11 and a power supply charging port 13 are arranged on the back of the rotating base 8. The quick lock button 11 is a grooved shaft with a spring. The quick lock button 11 is used to quickly lock or release the connection between the device and the prism rod. A rotation button 7 and a tilt angle measurement button 17 are arranged on the front of the rotating base 8. The rotation button 7 is a physical button. Pressing the rotation button 7 once will make the prism 2 automatically rotate horizontally by 180 degrees. Pressing the tilt angle measurement button 17 will obtain the horizontal axis tilt angle and the vertical axis tilt angle of the dual-axis tilt sensor 15 built into the prism 2.

[0032] In the intelligent prism rotation device described in this invention, the azimuth angle between the prism center and the total station is calculated based on the station coordinates of the total station and the current position coordinates of the prism body center. The embedded software of this invention calculates the azimuth angle to which the prism body needs to rotate to face the total station, and controls the built-in motor of this invention to drive the prism rotating body to rotate to that azimuth angle, so that it can quickly turn towards the total station or always remain facing the total station during dynamic measurement. In addition, it has three automatic rotation modes: ① Pressing the physical button on the prism, the prism automatically rotates 180 degrees. ② The prism wireless communication module receives the rotation command, and the prism automatically rotates a certain angle according to the rotation command angle or rotates to a specified azimuth. ③ The prism automatically rotates a set angle or rotates to a set direction at time intervals or at fixed time points according to the work plan set on the built-in board.

[0033] This invention also provides a method for intelligent rotation of a prism, comprising the following steps: The device of this invention connects to a total station control terminal (laptop, industrial computer, tablet, surveying handbook, etc.) via wireless communication. At the initial position, the total station control terminal sends the total station's station coordinates (X... A Y A Z A ), and the coordinates (X) of the prism center of the prism body in the device of the present invention. B0 Y B0 Z B0 At this point, the azimuth angle α between the prism and the total station is... AB0 The embedded software of this invention sets the angle of the servo motor encoder to α. AB0 When the device of the present invention moves, the total station locks onto the prism body of the device and continuously measures the center coordinates of the prism body and sends the center coordinates of the prism body to the device of the present invention. When the device of the present invention moves to a new position, the total station control terminal sends the center coordinates (X) of the prism body of the device of the present invention. B1 Y B1 Z B1 When the device of the present invention is used, the azimuth angle α between the center of the prism and the total station is... AB1 The prism embedded software controls the servo motor to rotate to α. AB1 This ensures that the device of the present invention remains directly facing the total station during continuous movement. The azimuth angle α... AB0 and α AB1 The calculation formula is as follows:

[0034] Reference Appendix Figure 5 The azimuth angle α between the prism and the total station AB The steps for determining the specific angle value are as follows: ΔX AB = X B – X A ; ΔY AB = Y B – Y A ; According to ΔX AB ΔY AB Sign determination of α AB The quadrant in which it is located, a) ΔX AB >0 and ΔY AB If ≥0, it belongs to the first quadrant, α AB =α AB锐 b) ΔX AB <0 and ΔY AB If ≥0, it is in the second quadrant, α AB =180°-α AB锐 c) ΔX AB <0 and ΔY AB If <0, it is in the third quadrant, α AB =180°+α AB锐 d) ΔX AB >0 and ΔY AB If α < 0, it is in the fourth quadrant, α AB =360°-α AB锐 e) ΔX AB =0 and ΔY AB >0 then α AB = 90° f) ΔX AB =0 and ΔY AB <0 then α AB = 270°.

[0035] This invention also provides a method for checking leveling accuracy, the steps of which are as follows: During precision control network measurement, after leveling the triangular base, press the measurement button on the prism base to obtain the horizontal axis tilt angle β of the prism's built-in tilt sensor. 横正 and vertical axis tilt angle β 纵正 Press the 180-degree rotation button on the prism base, and the rotating body of the device of the present invention will rotate 180 degrees to obtain the horizontal axis tilt angle β of the current prism built-in tilt sensor. 横反 and vertical axis tilt angle β 纵反 The embedded software of this invention calculates the tilt sensor angle correction value: Δ β横向改正 and Δ β纵向改正The calculation formula is as follows: Δ β横向改正 = (β) 横反 - β 横正 ) ÷ 2; Δ β纵向改正 = (β) 纵反 – β 纵正 ) ÷ 2; When the prism is at position B0, the angle measurement value of the tilt sensor is: β B0横 and β B0纵, The leveling accuracy calculation for the triangular base is as follows: Δ 横轴整平误差 = β B0横 - Δ β横向改正 Δ 纵轴整平误差 = β B0纵 - Δ β纵向改正 These two data points are used to check the leveling accuracy of the triangular base.

[0036] As a further embodiment, the present invention provides a method for correcting the leveling error of a triangular base, the steps of which are as follows: When the device of the present invention moves to position B1, as shown in the attached diagram. Figure 4 As shown, the angle measurement value of the tilt sensor is: β B1横 and β B1纵 The prism measurement coordinates are (X... B1 Y B1 Z B1 The distance H0 between the center of the prism body and the top surface of the base of the device is calculated by the embedded software of the device to be the lateral and longitudinal deviations of the center of the prism body due to the leveling error of the triangular base. γ 横向 = H 0 × sin(β B1横 - Δ β横向改正 ) γ 纵向 = H 0 × sin(β B1纵 - Δ β纵向改正 ) The horizontal deviation of the prism body center of the invented device is: d = Sqrt(γ 横向 2 + γ 纵向 2 ) The corrected coordinates of the prism body center of the inventive device are: X 改正 = X B1 + d × sin(αAB1 + 90° + arctan(γ) 纵向 ÷γ 横向 )) Y 改正 = Y B1 + d × cos(α AB1 + 90° + arctan(γ) 纵向 ÷γ 横向 )) Since the distance H0 from the center of the prism body to the top surface of the base of the device is relatively small, and the plane and elevation of the high-precision control network are measured separately, no correction is made to the Z-coordinate of the prism body center. The embedded software of the device transmits the correction data to the total station control terminal wirelessly, thereby obtaining the accurate coordinates of the prism body center after eliminating the leveling error of the triangular base.

[0037] In the intelligent prism rotation device of the present invention, the prism constant, the distance from the prism center to the mounting hole, the mounting hole size and the installation method are all consistent with those of the Leica circular prism, and it can be interchanged with the Leica circular prism without replacing the prism rod.

[0038] The contents not described in detail in this specification are existing technologies known to those skilled in the art. The standard parts used can be purchased from the market, and the irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the circuit connection adopts conventional connection methods in the existing technology, which will not be described in detail here.

[0039] This invention is not limited to the above-described embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of this invention shall be considered equivalent substitutions and shall be included within the scope of protection of this invention.

Claims

1. A prism intelligent rotation device, characterized in that: The system includes a prism (2), a coarse sight (1) mounted on the top of the prism (2), the prism (2) being mounted on a bracket (3) by prism fixing screws (10) and having an adjustable pitch angle, a servo motor (4) inside the bracket (3), the output end of the servo motor (4) being connected to the bracket (3) and driving the bracket (3) and the prism (2) to rotate horizontally along the vertical axis, the signal reflection center of the prism (2) being located on the rotation axis of the servo motor (4); a circuit board (6) is arranged below the servo motor (4), the circuit board (6) having an MCU and embedded software. The bracket (3) is equipped with a rotating base (8) below it. The rotating base (8) is coaxially mounted with the bracket (3). The bottom of the rotating base (8) is provided with a mounting hole (9) and is mounted on the prism rod through the mounting hole (9). The bracket (3) is equipped with a dual-axis tilt sensor (15) which is used to measure the dual-axis tilt value of the prism (2) in real time. The back of the bracket (3) is provided with a wireless communication antenna port (14) which is used to install an antenna and connect to the total station control terminal through wireless communication.

2. The apparatus as described in claim 1, characterized in that: The rotating base (8) has a quick-lock button (11) and a power supply charging port (13) arranged on the back. The quick-lock button (11) is a grooved shaft with a spring. The quick-lock button (11) is used to quickly lock or release the connection between the device and the prism rod. The rotating base (8) has a rotation button (7) and a tilt angle measurement button (17) arranged on the front. The rotation button (7) is a physical button. Pressing the rotation button (7) once will cause the prism (2) to automatically rotate horizontally by 180 degrees. Pressing the tilt angle measurement button (17) will obtain the horizontal axis tilt angle and vertical axis tilt angle of the dual-axis tilt sensor (15) built into the prism (2).

3. The apparatus as described in claim 2, characterized in that: The circuit board (6) is used to receive and process the total station coordinates and prism coordinates, calculate the azimuth angle of the prism and the total station, the horizontal and vertical tilt angles of the tilt sensor, receive and process wireless rotation commands, control the motor, calculate tilt compensation values, correct the prism center coordinates, store and process automatic rotation plans, manage power, manage charging, and process rotation trigger information of the rotation button (7); the back of the circuit board (6) is designed with concentric brushes, which are connected to the rotating base (8) and used for power supply, charging and communication.

4. The apparatus as described in claim 3, characterized in that: A rechargeable lithium battery (5) is installed on the outside of the servo motor (4). The rechargeable lithium battery (5) is a ring-shaped rechargeable lithium battery. The rechargeable lithium battery (5) is used to power the servo motor (4) and the circuit board (6).

5. The apparatus as described in claim 3, characterized in that: The device has the following four automatic rotation modes: i. Automatically calculate the azimuth angle between the center of the prism and the total station in real time, and synchronously drive the servo motor (4) so ​​that the prism of the device always faces the total station; ii. Press the rotation button (7) on the prism (2), and the prism (2) will automatically rotate 180 degrees; iii. When the prism wireless communication module receives the rotation command, the prism (2) automatically rotates at a certain angle or to a specified position according to the angle of the rotation command; iv. The prism (2) rotates automatically at a set angle or to a set direction at time intervals or at fixed time points according to the work plan set on the built-in circuit board (6).

6. A method for intelligent rotation of a prism, characterized in that, Includes the following steps: The total station control terminal connects to the intelligent prism rotation device wirelessly. At the initial position, the total station control terminal sends the total station's set-point coordinates (X... A Y A Z A ), and the coordinates of the prism center (X) of the device prism body. B0 Y B0 Z B0 At this time, the azimuth angle α between the prism and the total station is... AB0 The embedded software of the device sets the angle of the servo motor encoder to α. AB0 When the device moves, the total station locks onto the prism body and continuously measures the center coordinates of the prism body, sending these coordinates back to the device. When the device moves to a new position, the total station control terminal sends the center coordinates (X...) of the prism body. B1 Y B1 Z B1 The azimuth angle α between the center of the prism and the total station is then adjusted. AB1 The prism embedded software controls the servo motor to rotate to α. AB1 This ensures that the device remains directly aligned with the total station throughout its continuous movement; where the azimuth angle α AB0 and α AB1 The calculation formula is as follows: 。 7. The method as described in claim 6, characterized in that, This also includes the azimuth angle α between the prism and the total station. AB The steps to determine the specific angle value are as follows: ΔX AB = X B – X A DY AB = Y B - Y A According to ΔX AB ΔY AB Sign determination of α AB The quadrant in which it is located, a) ΔX AB >0 and ΔY AB If ≥0, it belongs to the first quadrant, α AB =α AB锐 b) ΔX AB <0 and ΔY AB If ≥0, it is in the second quadrant, α AB =180°-α AB锐 c) ΔX AB <0 and ΔY AB If <0, it is in the third quadrant, α AB =180°+α AB锐 d) ΔX AB >0 and ΔY AB If α < 0, it is in the fourth quadrant, α AB =360°-α AB锐 e) ΔX AB = 0 and ΔY AB > 0 then α AB = 90° f) ΔX AB = 0 and ΔY AB < 0 then α AB = 270°.

8. The method as described in claim 6, characterized in that, It also includes a method for checking leveling accuracy, the steps of which are as follows: During precision control network measurement, after leveling the triangular base, press the measurement button on the prism base to obtain the horizontal axis tilt angle β of the prism's built-in dual-axis tilt sensor. 横正 and vertical axis tilt angle β 纵正 Press the 180-degree rotation button on the prism base, and the rotating body of the device will rotate 180 degrees, obtaining the horizontal axis tilt angle β of the prism's built-in dual-axis tilt sensor. 横反 and vertical axis tilt angle β 纵反 The embedded software of the device calculates the angle correction value of the dual-axis tilt sensor: Δ β横向改正 and Δ β纵向改正 The calculation formula is as follows: D β横向改正 = (b) 横反 - b 横正 )÷ 2 D β纵向改正 = (b) 纵反 – b 纵正 )÷ 2 When the prism is at position B0, the angle measurement value of the tilt sensor is β. B0横 and β B0纵, The leveling accuracy calculation for the triangular base is as follows: D 横轴整平误差 = b B0横 - D β横向改正 D 纵轴整平误差 = b B0纵 - D β纵向改正 These two data points can be used to check the leveling accuracy of the triangular base.

9. The method as described in claim 7, characterized in that, It also includes a method for correcting leveling errors in the triangular base, the steps of which are as follows: When the device moves to position B1, the angle measurement value of the dual-axis tilt sensor is β. B1横 and β B1纵 The prism measurement coordinates are (X... B1 Y B1 Z B1 The distance H0 from the center of the prism body to the top surface of the device base is calculated by the embedded software of the device to be the lateral and longitudinal deviations of the prism body center caused by the leveling error of the triangular base. c 横向 = H 0 × sin(β B1横 - D β横向改正 ) c 纵向 = H 0 × sin(β B1纵 - D β纵向改正 ) The horizontal deviation of the prism body center of the device is: d = Sqrt(γ 横向 2 + c 纵向 2 ) The corrected coordinates of the prism body center are: X 改正 = X B1 + d × sin(α AB1 + 90°+ arcane(γ 纵向 ÷γ 横向 )) AND 改正 = And B1 + d × cos(α AB1 + 90°+ arctan(γ 纵向 ÷γ 横向 )) The device's embedded software transmits the correction data to the total station control terminal wirelessly, thereby obtaining the precise coordinates of the prism's center after eliminating the leveling error of the triangular base.

10. The method as described in claim 6, characterized in that: In the aforementioned intelligent prism rotation device, the prism constant, the distance from the prism center to the mounting hole, the mounting hole size, and the installation method are all consistent with those of the Leica circular prism, and it can be interchanged with the Leica circular prism without replacing the prism rod.

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