Method for determining and visualizing a lofting area

Abstract

A computer-implemented method for determining a setting-out area for a work site in which a surveying instrument is deployed at a station in which an accuracy of no more than a predefined accuracy threshold can be achieved during operation of the surveying instrument, the method being performed by a computer system and comprising the steps of: - computing, for a station of the surveying instrument, a position and orientation vector (POS-2) and corresponding variances and covariances of position and orientation elements of the position and orientation vector, - computing the setting-out area based on the position and orientation vector, the variances and covariances of the position and orientation elements, a measurement accuracy of the surveying instrument, and the accuracy threshold, and - instructing a display to visualize a graphical representation of the setting-out area (LAY-2).

Description

[0001] The present invention relates to a method for determining a layout area in a workplace as defined in claim 1, a computer program as defined in claim 9, and an apparatus as defined in claim 10. Background Technology

[0002] In the construction industry, surveying instruments (such as total stations) are used to perform individual, high-accuracy measurements within the workplace. These measurements utilize precise electronic distance measuring devices, accurate motors that rotate these devices, and angle measuring devices. Within the total station is its coordinate system, which is typically oriented such that the x-axis points to the right, the y-axis to the ground, and the z-axis to the forward direction.

[0003] The known workflow for determining the pose (position and orientation) of a total station is based on measurement samples of distance and angle data acquired manually or automatically in the workplace. Based on a scalable set of mathematical equations, the pose can be calculated with varying degrees of accuracy depending on the amount of sampled information considered and its geometric distribution. To solve the pose calculation, a minimum number of measurement samples is required, but increasing the number of samples typically leads to the formation of an overdetermined set of mathematical equations and improves the overall accuracy of the pose calculation.

[0004] The basic concept of surveying with a total station is to initially locate multiple control points at dispersed positions within the work area to be surveyed. Typically, control points are established using prisms, peepholes, reflective foils, or other forms of reflective targets to return a laser beam to the total station. The exact location of each control point is determined and recorded based on coordinates in a specified coordinate system (usually the coordinate system of the work area plan). The total station can then observe multiple control points to determine its absolute position in the X, Y, Z coordinate system using standard triangulation techniques.

[0005] During operation, the operator sequentially determines distance and angle data for each control point. This data, along with the absolute position data of each control point (which is pre-loaded into the total station), is stored in the total station's computer system. The total station then implements an algorithm (often known as the free-station algorithm) to determine its pose based on the observations of these control points. The positioning accuracy of the total station is inversely proportional to the square root of the number of control points available from its location, the angular distribution of these control points, and the stability of the work area where these control points and the total station are located.

[0006] Typically, the pose and its standard deviation are presented to the operator as numerical values, and the interpretation of quality is determined by the operator and depends on their experience. To support operator interpretation of the pose and its quality, Leica released a new version of its iCON Field software, v7.5, in November 2022, which includes the ability to show the operator a recommended work area, a polygon created from control points used to calculate the pose. A drawback of this known feature is that the work area is not evaluated based on an accuracy threshold achievable during total station surveying and / or stakeout, and the pose is not used to determine the work area. Summary of the Invention

[0007] Therefore, a method for determining a stakeout area is desired, wherein an accuracy not exceeding a predefined accuracy threshold can be achieved during measurement and / or stakeout using a surveying instrument. The operator of the surveying instrument should be able to interpret the quality of the pose and the accuracy achievable during measurement and / or stakeout using the surveying instrument.

[0008] These objectives are achieved by implementing the features of the independent claims. The dependent claims describe features that further develop the invention in an advantageous manner.

[0009] According to one aspect of the invention, a computer-implemented method is provided for determining a stakeout area for a workplace, in which a surveying instrument is deployed at a station, and in which an accuracy not exceeding an accuracy threshold can be achieved during operation of the surveying instrument in the stakeout area, the method being executed by a computer system and comprising the following steps:

[0010] ■ For the station of this surveying instrument, calculate the pose vector and the corresponding variance and covariance of the pose elements of the pose vector.

[0011] ■Based on the pose vector, the variance and covariance of the pose elements of the pose vector, the measurement accuracy of the surveying instrument, and the accuracy threshold, calculate the stakeout area, and

[0012] ■ The indicator displays a graphical representation of the lofted area.

[0013] The method for determining a stakeout area according to the present invention supports operators of surveying instruments in understanding the results achieved during instrument setup. The operator is supported by a graphical representation of the stakeout area. Values ​​represented by the stakeout area, if presented as numbers in a spreadsheet, are generally much more difficult for operators to understand, especially if the dataset is large or complex. The stakeout area allows the operator to visualize and easily understand the data. The operator can easily check, via the graphical representation, whether the required accuracy was achieved during operations (stakeout or measurement) using surveying instruments at the workplace.

[0014] Preferably, the lofting area is defined by a circular outline, which has the following characteristics: The defined center and by The defined radius, where Curves with equal accuracy are concentric circles with the same center, where the radius of the circle increases as the accuracy threshold increases.

[0015] The lofting area can be defined as a complete circle within which an accuracy not exceeding an accuracy threshold can be achieved during the operation of the surveying instrument; or the lofting area can be the intersection of a complete circle and a predefined working area where the surveying instrument is deployed. The interior of the contour line corresponds to the lofting area within which an accuracy not exceeding the accuracy threshold can be achieved, while the exterior of the contour line cannot achieve an accuracy not exceeding the accuracy threshold.

[0016] Preferably, the stakeout area is associated with the workplace and is stored in the computer system and / or in a memory connected to the computer system, and the stakeout area is provided for operating the surveying instrument. By providing a stakeout area for operating the surveying instrument, the operator is supported in data interpretation, and can easily check whether the required accuracy can be achieved via a graphical representation of the stakeout area.

[0017] Preferably, the lofting area is provided for lofting points of interest, and when selecting a point of interest, the computer system checks whether the point of interest is located inside or outside the lofting area, wherein:

[0018] ■ Upon confirming that the point of interest is located within the staking area, a predefined action is executed. This predefined action includes generating a message stating that the point of interest is located within the staking area and / or that the accuracy threshold can be achieved.

[0019] ■ Upon confirming that the point of interest is outside the staking area, perform a predefined action, which includes generating a message stating that the point of interest is not inside the staking area and / or the accuracy threshold cannot be achieved.

[0020] By checking via a computer system whether the selected point of interest for stakeout is located inside or outside the stakeout area, the operator is supported in achieving the required accuracy.

[0021] In a preferred embodiment, the pose and the corresponding variance and covariance are calculated by a free stationing algorithm based on a set of control points having known first coordinates in a first coordinate system of the workplace, and at least a subset of the set of control points having known second coordinates in a second coordinate system of the surveying instrument.

[0022] The free-station algorithm is typically used to determine the pose of a surveying instrument in a first coordinate system within a work area, along with its corresponding variance and covariance. To calculate the pose, at least two control points are required, and the pose is calculated based on the first coordinate of each control point in the first coordinate system and its second coordinate in the second coordinate system. The quality of the pose is proportional to the square root of the number of control points, the angular distribution of these control points, and the stability of the work area where the control points and the surveying instrument are deployed. A graphical representation of the staked area can support the operator in finding appropriate selections of control points to determine the pose of the surveying instrument via the free-station algorithm.

[0023] Preferably, at least one additional control point different from the subset of control points is selected from the set of control points, the second coordinates of the at least one additional control point are determined by the surveying instrument in the second coordinate system, and a new subset of control points is defined that includes the subset of control points and the at least one additional control point. The method further includes:

[0024] ■ Calculate the new pose and corresponding variance and covariance based on the first and second coordinates of the new control point subset.

[0025] ■Based on the new pose, the new variance and covariance, the measurement accuracy, and the at least one predefined accuracy, calculate the new stakeout area for the new subset of control points, and

[0026] ■ This indicates that the display will visualize a graphical representation of the new lofted area.

[0027] By calculating and visualizing stakeout areas for different subsets of control points, operators are supported in interpreting the data and in achieving greater accuracy during stakeout and / or measurement using surveying instruments. Operators can easily identify the impact of additional control points on the stakeout area (location and / or size).

[0028] In a preferred embodiment, the at least one accuracy threshold includes at least a first accuracy threshold and a second accuracy threshold different from the first accuracy threshold, and in the step of calculating the stakeout area, the computer system calculates the first stakeout area with respect to the first accuracy threshold and the second stakeout area with respect to the second accuracy threshold. By using the first accuracy threshold to calculate the first stakeout area and the second accuracy threshold to calculate the second stakeout area, the operator can be supported in interpreting the different levels of accuracy achievable during stakeout and / or measurement with surveying instruments.

[0029] Preferably, a first graphic representation of the first stakeout area is displayed, a second graphic representation of the second stakeout area is displayed, or both a first graphic representation of the first stakeout area and a second graphic representation of the second stakeout area are displayed. Different levels of accuracy may be required during stakeout operations using a surveying instrument at a workplace where the surveying instrument is deployed.

[0030] According to another aspect of the invention, a computer program is provided that includes instructions that, when executed by a computer system, cause the computer system to perform the method according to the invention. The computer program may be stored on the computer system or on a computer-readable medium communicatively connected to the computer system. The term "computer-readable medium" includes, but is not limited to, portable or non-portable storage devices, optical storage devices, and various other media capable of storing, containing, or carrying instructions and / or data.

[0031] According to another aspect of the invention, an apparatus is provided that includes means for performing the method according to the invention. Attached Figure Description

[0032] The following description or explanation of various aspects of the invention is by way of example only, with reference to the schematic examples shown in the accompanying drawings. Identical elements are labeled with the same reference numerals in the drawings. The described embodiments are generally not shown to scale and should not be construed as limiting the invention. Specifically,

[0033] Figure 1 The image shows an operator using a surveying instrument deployed in the workplace. The instrument includes a measuring unit mounted on a tripod and a remote control connected to the measuring unit via a communication link.

[0034] Figure 2A , Figure 2B It shows in Figure 1 An exemplary version of the measuring unit used in the surveying instrument ( Figure 2A ) and such Figure 2A The diagram shows the block diagram of the main components of the measurement unit. Figure 2B ),

[0035] Figure 3A , Figure 3B It shows in Figure 1 An exemplary version of the remote control used in the surveying instrument ( Figure 3A ) and such Figure 3A The diagram shows the block diagram of the main components of the remote control. Figure 3B ),

[0036] Figure 4 A flowchart illustrates the method for determining the stakeout area according to the present invention.

[0037] Figure 5A , Figure 5B The diagram illustrates the first type of lofting area formed as a complete circle. Figure 5A ) and the second type of lofting area formed as intersecting regions ( Figure 5B The graphical user interface of )

[0038] Figure 6A , Figure 6B The diagram illustrates the lofting area formed as a complete circle, as shown in the first graphic representation. Figure 6A ) and second graphic representation ( Figure 6B An exemplary version in )

[0039] Figure 7A , Figure 7B The figure illustrates a graphical user interface of an exemplary embodiment of the method for determining a stakeout area according to the present invention.

[0040] Figures 8A to 8H The graphical user interface of Figure 7 is illustrated during the setup of the total station via the free-setting process.

[0041] Figures 9A to 9C The first graphic representation is illustrated schematically. Figure 9A ), second graphic representation ( Figure 9B ), and the first graphic representation and the second graphic representation ( Figure 9C ). Detailed Implementation

[0042] Reference will now be made in detail to this preferred embodiment, examples of which are illustrated in the accompanying drawings. It should be understood that the technology disclosed herein is not intended to limit its application to the construction details and component arrangements set forth in the following description or shown in the drawings. The technology disclosed herein can have other embodiments and can be practiced or implemented in various ways.

[0043] Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered restrictive. As defined and used herein, all definitions should be understood to take precedence over dictionary definitions, definitions in incorporated documents by reference, and / or general meanings of the defined terms. Unless expressly indicated to the contrary, the indefinite article “a / an” as used herein in the specification and claims should be understood to mean “at least one / an”. As used herein in the specification and claims, the phrase “and / or” should be understood to mean “any one or both” of the elements so combined, i.e., elements that exist in combination in some cases and alternatively in others. Multiple elements listed with “and / or” should be interpreted in the same way, i.e., “one or more” of the elements so combined. In addition to the elements specifically identified by the “and / or” clause, other elements may optionally exist, whether or not they are related to the specifically identified element.

[0044] As used herein in the specification and claims, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” should be interpreted as inclusive, i.e., including at least one, but also including multiple elements or more than one element in a list of elements, and optionally, additional unlisted items. Only terms that explicitly indicate the opposite, such as “only one” or “exactly one”, or when used in a claim, “consisting of” will mean including multiple elements or exactly one element in a list of elements. Generally, the term “or” as used herein should only be interpreted as indicating an exclusive alternative (i.e., “one or the other but not both”) when preceded by an exclusive term (such as “one of the two,” “one of them,” “only one,” or “exactly one”); while when used in a claim, “consisting substantially of” should have its ordinary meaning as used in the field of patent law.

[0045] As used herein in the specification and claims, the phrase "at least one" relating to a list of one or more elements should be understood to mean at least one element selected from any one or more elements in the list of elements, but does not necessarily include at least one of every and all elements specifically listed in the list of elements, and does not exclude any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than those specifically identified within the list of elements referred to by the phrase "at least one," regardless of their relation to those specifically identified elements.

[0046] The use of “comprising,” “including,” or “having,” and its variations herein is intended to cover the items listed thereafter and their equivalents, as well as additional items. Unless otherwise limited, the terms “connection,” “linkage,” and “installation,” and their variations thereof, are used extensively herein and cover direct and indirect connections, links, and installations. Furthermore, the terms “connection” and “linkage,” and their variations thereof, are not limited to physical or mechanical connections or links.

[0047] Figure 1 The diagram illustrates an operator using a surveying instrument 10 deployed at a workplace 11. Workplace 11 can be a construction site (indoor or outdoor) or a surveying site, etc. In addition to the surveying instrument 10, a target 12, located away from the surveying instrument 10, can be deployed at workplace 11. Target 12 may include a reflector 13, such as a prism and / or a peephole, mounted on top of a pole 14.

[0048] The surveying instrument 10 is configured as a total station and includes a measuring unit 15 mounted on a support structure in the form of a tripod 16. The surveying instrument 10 also includes a removable control panel in the form of a remote controller 17, which can be used to remotely control the measuring unit 15 via a wireless connection 18.

[0049] Before an operator can use the total station 10 for stakeout, surveying, and / or other tasks, the total station must be set up at the workplace 11 via a setup process. Different setup processes are known from the prior art, such as free setup processes, model-based setup processes, automatic setup processes, or any other setup process.

[0050] The basic concept of the free station setup process is that, in the initial stage, multiple control points (here, control points CP-1, CP-2, CP-3, CP-4, CP-5, and CP-6) are located at dispersed positions within workplace 11. Control points are established using prisms, peepholes, reflective foils, or other forms of reflective targets used to return laser beams from the total station. The exact location of the control points is determined and recorded based on coordinates in a specified coordinate system (here, the coordinate system of workplace 11).

[0051] To determine the pose (position and orientation) of the total station 10 in the coordinate system of the workplace 11, the total station 10 observes multiple control points among the control points and acquires measurement samples of distance and angle data in the total station coordinate system. To distinguish between the coordinate systems, the coordinate system of the workplace 11 is referred to as the "first coordinate system" CF-1, and the coordinate system of the total station 10 is referred to as the "second coordinate system" CF-2. Coordinates in the first coordinate system CF-1 are referred to as "first coordinates," and coordinates in the second coordinate system CF-2 are referred to as "second coordinates."

[0052] Based on a set of mathematical equations, the pose of the total station can be calculated using the first coordinate of the control point in the first coordinate system CF-1 and the second coordinate of the control point in the second coordinate system CF-2. With an increase in the number of measurement samples and a good angular distribution of the control points at work site 11, the positional accuracy of the pose can be improved.

[0053] Figure 2A , Figure 2B Shown in 3D Figure 1 An exemplary version of the measuring unit 15 used in the surveying instrument 10 ( Figure 2A ) and such Figure 2A The block diagram of the main components of the measuring unit 15 shown in the figure ( Figure 2B ).

[0054] The surveying instrument 10 is designed as a robotic total station, and the measuring unit 15 includes a base 21, a support 22, and a measuring head 23. The measuring head 23 is enclosed by a housing 24, which includes an exit window 25. Within the housing 24, a distance measuring device capable of emitting a distance measuring beam and a tracking device capable of emitting radiation are arranged. The distance measuring beam and radiation are emitted out of the housing 24 through the exit window 25.

[0055] exist Figure 2A In an exemplary version, the support 22 is U-shaped and includes a bottom portion 27, a first side portion 28, and a second side portion 29. The support 22 can rotate completely around its circumference about a first axis of rotation 31 at a full 360° angle relative to the base 21. The measuring head 23 is pivotally mounted to the support 22 about a second axis of rotation 32 and is arranged between the first side portion 28 and the second side portion 29 of the support. Typically, the first axis of rotation 31 is aligned parallel to the local gravity direction 33, and the second axis of rotation 32 is aligned perpendicular to the local gravity direction 33.

[0056] An azimuth motor and a first angle encoder may be located in the bottom portion 27 of the support 22, allowing the measuring unit 15 to rotate about a first rotation axis 31 and determine the direction of the distance measuring beam in a first plane perpendicular to the first rotation axis 31. A pitch motor and a second angle encoder may be located in the first side portion 28 of the support 22, allowing the measuring head 23 to pivot about a second rotation axis 32 and determine the direction of the distance measuring beam in a second plane perpendicular to the second rotation axis 32. To make the instrument 12 fully automatic, a self-leveling device may be included, which may be arranged in the bottom portion 27 of the support 22.

[0057] Figure 2BA block diagram of the main components of the measurement unit 15 of the surveying instrument 10 is shown. The measurement unit 15 includes a first electronic device 41, a distance measuring device 42, a first angle encoder 43, an azimuth motor device 44, a second angle encoder 45, and a pitch motor device 46. Optionally, the measurement unit 15 may additionally include one or more cameras, such as a tracking camera configured to track a reflector target, or a targeting camera configured to allow an operator to aim at a point of interest.

[0058] The first electronic device 41 includes a first processing circuit (µP) 50, a first memory circuit 51 (which may include associated random access memory (RAM) and read-only memory (ROM)), a first communication circuit 52, and a first input / output (I / O) interface circuit 53. The first processing circuit 50 (also referred to as a device control unit) can communicate with the first memory circuit 51 and the first communication circuit 52 and is configured to control the laser instrument 12. The first communication circuit 52 includes a first transmitter circuit 54 and a first receiver circuit 55 and is configured to be connected to the communication circuitry of a remote controller via a communication link. The first input / output interface circuit 53 is the interface between the first processing circuit 50 and various types of motor driver circuits and sensor circuits of the measurement unit 15.

[0059] The distance measuring device 42 includes a laser emitter 56, a laser driver circuit 57, a photoelectric sensor 58, and a laser receiver interface circuit 59. The laser driver circuit 57 provides current to the laser emitter 56, which emits the distance measuring beam. The photoelectric sensor 58 receives at least a portion of the distance measuring beam reflected at a target or surface in the workplace, and the current signal output by the photoelectric sensor 58 is directed to the laser receiver interface circuit 59. After appropriate amplification, demodulation, and processing, the distance data is transmitted to the first processing circuit 50 via the first input / output interface circuit 53.

[0060] The first angle encoder 43 provides an input signal to the first processing circuit 50, enabling the first processing circuit to know precisely the horizontal angle at which the laser emitter 56 is positioned in the horizontal plane; the output signal of the first angle encoder 43 is directed to the first input / output interface circuit 53. The orientation motor device 44 includes an orientation motor 62 and an orientation motor driver circuit 63, which is the driving force for rotating the main housing 22 of the measuring unit 15 about the first rotation axis 31, and the orientation motor driver circuit provides appropriate current and voltage to drive the orientation motor 62.

[0061] The second angle encoder 45 provides an input signal to the first processing circuit 50, enabling the first processing circuit to know precisely the second angle at which the laser emitter 56 is positioned in the second plane; the output signal of the second angle encoder 45 is directed to the first input / output interface circuit 53. The pitch motor device 46 includes a pitch motor 65 and a pitch motor driver circuit 66, which is the prime mover for pivoting the measuring head 23 about the second rotation axis 32, and the pitch motor driver circuit provides appropriate current and voltage to drive the pitch motor 65.

[0062] Figure 3A , Figure 3B Previous view ( Figure 3A ) shows in Figure 1 An exemplary version of the remote control 17 used in the surveying instrument 10 and such Figure 3A Block diagram of the main components of remote controller 17 shown in the figure ( Figure 3B ).

[0063] The remote control 17 is designed as a tablet computer and includes a housing 81, a touch screen display 82, a battery 83, a set of buttons 84 (e.g., volume control buttons, power on / off buttons, and display control buttons), a set of indicators 85 (e.g., for operating status, data storage status, and battery status), a set of connectors 86 (e.g., for docking, data storage, and USB), and a card slot 87.

[0064] Figure 3B A block diagram of the main components of the remote controller 17 is shown. The remote controller 17 may include a second electronic device 91, a display device 92, and an input device 93.

[0065] The second electronic device 91 includes a second processing circuit (µP) 94, a second memory circuit 95 (which may include associated random access memory (RAM), read-only memory (ROM), and some type of bulk memory (BULK)), a second communication circuit 96, and a second input / output (I / O) interface circuit 97. The second processing circuit 94 can communicate with the second memory circuit 95 and the second communication circuit 96 and is configured to control the remote controller 17. The second communication circuit 96 includes a second transmitter circuit 98 and a second receiver circuit 99 and is configured to be connected to the first communication circuit 52 of the measurement unit 15 via wireless communication 18. The second input / output interface circuit 97 is the interface between the second processing circuit 94 and various driver circuits of the remote controller 17.

[0066] The second memory circuit 95 may store several program codes having computer-executable instructions for performing a method. The stored program code may include program code for performing a method for determining a stakeout area for a workplace where a surveying instrument is deployed, wherein an accuracy not exceeding a predefined accuracy threshold can be achieved during operation of the surveying instrument in the stakeout area.

[0067] The method used to determine the stakeout area is executed by a computer system. The term "computer system" is defined as a device or collection of devices, including input and output support devices, and excluding calculators that are not programmable and cannot be used in conjunction with external files containing computer programs, electronic instructions, input data, and output data, which perform logic, arithmetic, data storage and retrieval, communication control, and other functions. A computer system may include, but is not limited to, processing units, microprocessors, control units, microcontrollers, and various other units capable of processing and / or controlling.

[0068] In an exemplary version of the surveying instrument 10, the computer system is integrated into the second processing circuitry 94 of the second electronic device 91 of the remote controller 17. Alternatively, the computer system may be integrated into the first processing circuitry 50, or into both the first and second processing circuitries 94, or into any other suitable type of processing circuitry.

[0069] Display device 92 includes a display 101 and a display driver circuit 102. The display driver circuit communicates with a second I / O interface circuit 97 and provides the display 101 with the correct interface signals and data signals. For example, if remote control 17 is a laptop computer, this would be a standard display seen in most laptop computers. Alternatively, if remote control 17 is a tablet computer or smartphone, in which case the display device is a smaller physical device, and display device 101 could be a touchscreen display.

[0070] The user-operated input device 93 includes a keypad 103 and a keypad driver circuit 104. The keypad driver circuit communicates with the second I / O interface circuit 97 and controls the signals that interface with the keypad 103. If the display device 101 is a touchscreen display, the remote control 17 may not have a separate keypad, as most commands or data for input functions will be used through the touchscreen display itself, and the keypad is integrated into the touchscreen display. Some type of power on / off button may exist, but this is not necessarily considered a true keypad and is generally not used for data input.

[0071] Figure 4A flowchart illustrates a method according to the invention for determining a stakeout area in a workplace, in which surveying instruments are deployed at survey stations. Surveying instrument 10 is deployed at workplace 11, and computer system 94 can be used to execute the method according to the invention.

[0072] The workplace defines a three-dimensional environment, in which surveying instrument 10 is deployed at a survey station, and the layout area is defined at workplace 11, wherein during the operation of surveying instrument 10, an accuracy threshold not exceeding a predefined threshold can be achieved. The accuracy range. The term "station" is used to describe a fixed location in the workplace where the surveying instrument 10 is positioned and does not move. At its station, the position of the surveying instrument 10 is fixed, but the head of the surveying instrument 10 can rotate about its rotation axes 31, 32.

[0073] Measurements performed using surveying instrument 10 are typically described by a well-established error model, in which angle and distance measurements are processed to have measurement accuracy for the horizontal angle HA. Furthermore, it has high accuracy in measuring horizontal distance HD. Independent random variables.

[0074] The method for determining the layout area according to the present invention is executed by a computer system 94 and includes the following steps:

[0075] ■ For the station of the surveying instrument 10, calculate the pose vector ( ) and the pose vector ( The corresponding variance of the pose elements of ) ) and covariance ( , (Step S10)

[0076] ■Based on this pose vector ( ), the pose vector ( The variance of the pose elements () , , ) and covariance ( , The measurement accuracy of the surveying instrument 10 ), and the accuracy threshold ( ) Calculate the layout area (step S20), and

[0077] ■ Instruct the display to visualize the graphical representation of the lofting area (step S30).

[0078] The pose of the total station can be calculated through a free station setup process, a model-based station setup process, an automatic station setup process, or any other station setup process. If the station setup process is a free station setup process, at least two control points are used, which have known first coordinates in the first coordinate system CF-1 of the workplace 11 and known second coordinates in the second coordinate system CF-2 of the surveying instrument 10.

[0079] In statistics, the covariance matrix is ​​a square matrix that gives the covariance values ​​between every pair of elements of a given random vector. (Pose vector) The well-known covariance matrix of ) It can be written as:

[0080]

[0081] The diagonal elements of the covariance matrix ( , , ) represents a variable and The variance (i.e., the covariance of an element with itself), and the off-diagonal elements of the covariance matrix ( , , ) represents a pair of pose elements The covariance between them.

[0082] Observation point This can be represented by variables HD and HA, where HD is the horizontal distance and HA is the horizontal angle. Using pose ( ), observation point The coordinates E and N can be calculated using the following formula:

[0083]

[0084]

[0085] The covariance matrices of E and N can be calculated using the well-known variance propagation formula: :

[0086] ,in, and

[0087]

[0088] The accuracy achievable at observation point OP can be expressed by the following formula. :

[0089]

[0090] Equal accuracy The curve can be represented by the following formula:

[0091]

[0092] Equal accuracy The curve takes the form of concentric circles and can be transformed into equations for the center and radius. The center is defined in the first coordinate system CF-1 of workplace 11 by the following equation:

[0093]

[0094] The radius is defined by the following formula:

[0095] ,in .

[0096] For reference Figure 4 The discussion focuses on achieving an accuracy threshold of no more than [a certain value] during the operation of the surveying instrument 10. The layout area is circular to ensure accuracy. Figure 5A , Figure 5B The diagram illustrates the first type of lofting area formed as a complete circle. Figure 5A ) and the second type of lofting area formed as intersecting regions ( Figure 5B The graphical user interface (GUI) of .

[0097] Figure 5A The illustration shows a graphical user interface illustrating a first type of lofting area. The lofting area is formed as a complete circle projected onto a two-dimensional plane of the workplace. Figure 5B The illustration shows a graphical user interface illustrating a second type of lofting area. The lofting area is formed as the intersection of a full circle and a predefined work area at the workplace. In practice, the operator is interested in the portion of the work area where they can achieve an accuracy below a predefined accuracy threshold. The intersection area visualizes this portion of the work area.

[0098] Both types of stakeout areas allow operators to easily check whether they are achieving the required accuracy during stakeout or measurement using surveying instruments at the workplace. Both types of stakeout areas enable operators to visualize and easily understand the data.

[0099] Figure 6A , Figure 6B The diagram illustrates the lofting area formed as a complete circle, as shown in the first graphic representation. Figure 6A ) and second graphic representation ( Figure 6B An example version of ).

[0100] Figure 6AA first graphic representation of a lofted area is shown, comprising a contour line 111 with equal accuracy, wherein the interior of the contour line is filled. The first graphic representation of the lofted area is referred to as a “full circle (positive)” and refers to the feature “graphic representation” of the present invention.

[0101] Figure 6B A second graphic representation including a contour line 111 with equal accuracy is shown, wherein the outside of the contour line is filled. The second graphic representation of the lofted area is referred to as a "full circle (negative)" and refers to the feature "graphic representation" of the present invention.

[0102] Figure 7A , Figure 7B A graphical user interface for an exemplary embodiment of the method for determining a stakeout area according to the present invention is illustrated. Before an operator can use the total station 10 to perform stakeout, measurement, and / or other tasks at the workplace, the total station 10 must be set up at the workplace 11 via a station setup process.

[0103] exist Figure 7A In the exemplary version shown, the station setup process is a free setup process using a set of control points. In the initial stage, the operator has loaded a floor plan of the workplace and a set of control points CP-1 to CP-13 into the computer system. The control points have known first coordinates in a first coordinate system CF-1 of the workplace. To determine the pose of the total station 10 in the first coordinate system CF-1, the total station 10 observes several of the control points and acquires measurement samples of distance and angle data in a second coordinate system CF-2 of the total station 10.

[0104] The measurement can be performed manually by the operator, semi-automatically, or automatically by the total station 10. In the exemplary version, control points are formed by reflective foils (CP-1, CP-11, and CP-12), two-dimensional peepholes (CP2 to CP-10), and a glass prism (CP-13), and the measurement is performed semi-automatically by the total station 10. The operator selects a control point from this group of control points by clicking and confirms the selection by clicking the measurement button 121.

[0105] Figure 7B The diagram illustrates a graphical user interface that allows operators to define the layout area. Figure 7B In the exemplary version shown, the operator can select the accuracy threshold for calculating the loft area and the type of loft area for visualization. As discussed with reference to Figures 5 and 6, the loft area can be a full circle (positive), a full circle (negative), or a full circle intersecting with the work area.

[0106] You can select the accuracy threshold and the type of stakeout area from the menu. Figure 7BIn the image, both menus for accuracy threshold and stakeout area type are shown. This is for illustrative purposes. In practice, only one menu should be shown. Instead, [the text abruptly ends here]. Figure 7B The predefined value for the accuracy threshold shown can be defined by the operator by setting a value in millimeters.

[0107] Figures 8A to 8H The graphical user interface of Figure 7 is illustrated during the setup of the total station 10 via the free setup process. As explained with respect to Figure 7, the operator has loaded the layout of the work area and control points CP-1 to CP-13 into the computer system 94.

[0108] To set up the total station 10, the operator selects the first control point from the group of control points, in this case, control point CP-2. When the operator selects CP-2 and confirms the selection by clicking the measurement button 121, the total station 10 is instructed by the computer system 94 to measure the distance and angle data of control point CP-2. Once the distance and angle data of control point CP-2 have been measured, the measurement of CP-2 can be shown by highlighting it on the plan view. Figure 8A ).

[0109] The operator then selects a second control point from the group of control points, in this case, control point CP-13. When the operator selects CP-13 and clicks the measure button 121, the computer system 94 instructs the total station 10 to measure the distance and angle data of control point CP-13. Once the distance and angle data of CP-13 have been measured, the measurement of CP-13 can be shown by highlighting it on the plan view. Figure 8B ).

[0110] Since the second coordinates can be obtained for at least two control points in the second coordinate system CF-2 of the total station 10, the pose POS-1 and the corresponding variance and covariance can be calculated by the computer system 94 based on the first and second coordinates of control points CP-2 and CP-13 (step S10).

[0111] Control points CP-2 and CP-13 have known Euclidean coordinates in the first coordinate system CF-1 of the workplace. and And angle and distance data and Measurements have already been taken using surveying instrument 10.

[0112] Under the assumption that the orientation of surveying instrument 10 is zero, Euclidean coordinates and In the second coordinate system CF-2, for control points CP-2 and CP-13, it can be written as:

[0113]

[0114]

[0115] Euclidean coordinates can be used with the help of rotation angles rotation matrix Translation vector Transform from the second coordinate system CF-2 to the first coordinate system CF-1:

[0116]

[0117] Define the following quantities:

[0118] ,as well as

[0119] ,

[0120] We are targeting the rotation angle Sum get:

[0121] .

[0122] Translation vector It is given by the following formula:

[0123]

[0124]

[0125] Pose vector ( () is defined by the following formula:

[0126]

[0127] Such as about Figure 4 The pose vector being discussed ( The covariance matrix of is given by the pose vector ( The square matrix of covariance values ​​between each pair of pose elements. Pose vector ( The covariance matrix of can be estimated using well-known mathematical methods (such as the least squares formula).

[0128] The least squares method finds the parameters using the following formula:

[0129] ,in

[0130] The model equations revolve around the estimated parameter vector (in Linearization:

[0131]

[0132] According to Jacobi's definition, we obtain the following for the components of A:

[0133]

[0134] covariance matrix Calculated as

[0135]

[0136] for Figure 7B The free station setting method shown in the figure can be used to write the model equations for control points CP-2 and CP-13 as follows:

[0137] ,

[0138] ,

[0139] Once the pose vector and the corresponding variance and covariance of the pose elements are calculated, the measurement accuracy σ can be determined based on the pose vector, variance, covariance, and measurement accuracy σ. HD σ HA The lofting area is calculated using equations for the center and radius of the lofting area, along with an accuracy threshold (step S20). Finally, the lofting area is visualized using the graphical representation LAY-1 (step S30). The lofting area is represented by a circular outline and a full circle (positive). Figure 8B Within the colored circle, a predefined accuracy threshold can be achieved, but outside the colored circle, the accuracy threshold cannot be achieved.

[0140] Figure 8B A warning symbol is displayed. The computer system 94 performs an angle check and determines the angle between control points CP-2 and CP-13. To continue, the operator must click the "OK" button to confirm that they are aware of the poor station geometry. In the exemplary version of Figure 8, control points CP-2 and CP-13 are used to calculate the pose POS-1 and the lofting area LAY-1.

[0141] When visualizing the stakeout area LAY-1 corresponding to control points CP-2 and CP-13, the operator can decide whether to perform further measurements or end the setup process. By clicking the confirmation button 122, the setup process is ended, and the total station 10 is operated using the current values ​​of pose POS-1 and stakeout area LAY-1.

[0142] To continue the station setup process, the operator selects a third control point from the group of control points, in this case, control point CP-10. When the operator selects CP-10 and clicks the measure button 121, the computer system 94 instructs the total station 10 to measure the distance and angle data of control point CP-10. Once the distance and angle data of CP-10 have been measured, the measurement of CP-10 can be shown by highlighting control point CP-10 and / or by connecting control point CP-10 to the current pose via arrows. Figure 8D ).

[0143] Once the second coordinates of control point CP-10 are available, the method including steps S10, S20, and S30 is repeated for the subset consisting of control points CP-2, CP-13, and CP-10. The computer system 94 calculates the new pose vector POS-2, along with its corresponding variance and covariance, based on the first and second coordinates of control points CP-2, CP-13, and CP-10 (step S10). Based on the new pose POS-2, corresponding variance and covariance, and measurement accuracy σ... HD σ HA And an accuracy threshold, the new lofting area is calculated using the equations for the center and radius of the lofting area described above (step S20). The new lofting area is visualized using the graphical representation LAY-2 (step S30). The new lofting area LAY-2 is represented by a colored circle ( Figure 8D ).

[0144] The new lofting area is calculated using three control points, increasing both the full circle and the area where the full circle intersects with the working area. The small angle between control points CP-2 and CP-13 results in the lofting area LAY-1 being much smaller than the new lofting area LAY-2 corresponding to control points CP-2, CP-13, and CP-10.

[0145] Figure 8E A graphical representation of the lofting area corresponding to control points CP-13 and CP-10 is shown in LAY-3. The operator selects control points CP-13 and CP-10 by unchecking the checkbox for control point CP-2 and confirms the selection by clicking the confirmation button 122. The method including steps S10, S20, and S30 is repeated for the subset consisting of control points CP-13 and CP-10. The computer system 94 calculates a new pose vector POS-3 and the corresponding variance and covariance based on the first and second coordinates of control points CP-13 and CP-10 (step S10). Based on the new pose POS-3, the corresponding variance and covariance, and the measurement accuracy σ... HD σ HAThe new layout area is calculated using the equations for the center and radius of the layout area described above, along with an accuracy threshold (step S20). The new layout area is then visualized using the LAY-3 graphical representation (step S30).

[0146] When visualizing and setting out the layout area LAY-3 corresponding to control points CP-13 and CP-10, the operator can decide whether to perform further measurements or end the setup process. The setup process ends by clicking the confirmation button 122, and the total station 10 is operated using the pose and current values ​​of the layout area.

[0147] To continue the station setup process, the operator selects a fourth control point from the group of control points, in this case, control point CP-8. When the operator selects CP-8 and clicks the measure button 121, the computer system 94 instructs the total station 10 to measure the distance and angle data of control point CP-8. Once the distance and angle data of control point CP-8 have been measured, the measurement of CP-8 can be shown by highlighting control point CP-8 and / or by connecting control point CP-8 to the current pose via arrows. Figure 8F ).

[0148] Figure 8F A warning symbol is displayed for control point CP-8. Computer system 94 performs a distance check. Because the measured distance for control point CP-8 does not match the CAD information obtained from the plan, computer system 94 issues a warning to the operator. Figure 8G The illustration shows a warning given to the operator. To continue, the operator must click the "OK" button to acknowledge that they are aware of the poor measurement quality of control point CP-8. In the exemplary version of Figure 8, control point CP-8 cannot be used to calculate the pose and loft area.

[0149] Due to poor measurement quality of control point CP-8, the stakeout area was not calculated for control points CP-2, CP-13, CP-10, and CP-8. The operator can decide whether to repeat the measurement of control point CP-8, perform further measurements, or terminate the station setup process. By clicking the confirmation button 122, the station setup process is terminated, and the total station 10 is operated using the current pose and stakeout area values.

[0150] To continue the station setup process, the operator selects the fifth control point from the group of control points, in this case, control point CP-7. When the operator selects CP-7 and clicks the measurement button 121, the computer system 94 instructs the total station 10 to measure the distance and angle data of control point CP-7. Once the distance and angle data of control point CP-7 have been measured, the measurement of CP-7 can be shown by highlighting control point CP-7 and / or by connecting control point CP-7 to the current pose via arrows. Figure 8H ).

[0151] Once the second coordinates of control point CP-7 are available, the method including steps S10, S20, and S30 is repeated for the subset consisting of control points CP-2, CP-13, CP-10, and CP-7. The computer system 94 calculates the new pose vector POS-4, along with its corresponding variance and covariance, based on the first and second coordinates of control points CP-2, CP-13, CP-10, and CP-7 (step S10). Based on the new pose POS-3, corresponding variance and covariance, and measurement accuracy σ... HD σ HA The new layout area is calculated using the equations for the center and radius of the layout area described above, along with an accuracy threshold (step S20). The new layout area is then visualized using the LAY-4 graphical representation (step S30).

[0152] The new poses POS-2, POS-3, and POS-4 are features corresponding to the terms "pose" and "new pose" in this invention, and the new lofting regions LAY-2, LAY-3, and LAY-4 are features corresponding to the terms "lofting region" and "new lofting region" in this invention.

[0153] To increase the lofting area, the operator can adapt the selection of control points used for calculating the pose and lofting area. These control points considered in the lofting area are indicated by checked checkboxes in the "Measurements" section. Figure 8H ).

[0154] In the exemplary version of the lofting area shown in Figures 5 through 8, the accuracy threshold includes a single value. Alternatively, the accuracy threshold may include a first accuracy threshold. and a second accuracy threshold that is different from the first accuracy threshold. In step S20, which calculates the layout area, the computer system 94 can calculate the accuracy threshold. The corresponding first lofting area L-1 and the second accuracy threshold The corresponding second lofting area L-2. In step S30, which visualizes the graphical representation of the lofting area, a first graphical representation of the first lofting area, a second graphical representation of the second lofting area, or a first graphical representation of the first lofting area and a second graphical representation of the second lofting area can be displayed. Figures 9A to 9C The diagram illustrates three options for visualizing the first and second lofting areas.

[0155] In the exemplary version of Figure 9, the first graphical representation is related to the first accuracy threshold. The relevant first contour line ( Figure 9A ), and the second graphical representation is related to the second accuracy threshold. The relevant second contour line ( Figure 9B ).exist Figure 9C The image shows the first and second contour lines.

[0156] The layout area determined during the setup of the total station 10 is provided for layout of points of interest (POIs). When the operator selects a POI, the computer system 94 checks whether the selected POI is located inside or outside the layout area.

[0157] like Figure 9A As shown, the point of interest (POI) is located outside the (first) lofting region L-1. A predefined action can be performed upon confirming that the POI is outside the (first) lofting region L-1. The predefined action may include generating a message stating that the POI is not located inside the (first) lofting region and / or that the (first) accuracy threshold cannot be achieved.

[0158] like Figure 9B As shown, the point of interest (POI) is located inside the (second) lofting region L-2. A predefined action can be performed upon confirming that the POI is located inside the (second) lofting region L-2. The predefined action may include generating a message stating that the POI is inside the (second) lofting region and / or that a (second) accuracy threshold is achieved.

Claims

1. A computer-implemented method for determining a stakeout area for a workplace (11), in which a surveying instrument (10) is deployed at a station, and in the stakeout area, an accuracy not exceeding a predefined threshold can be achieved during operation of the surveying instrument (10). The accuracy of the method, which is performed by a computer system (94) and includes the following steps: ■ For the station of the surveying instrument (10), calculate the pose vector ( ) and the corresponding variance of the pose elements of the pose vector ( ) and covariance ( ), ■Based on this pose vector ( ), the variance of these pose elements ( ) and covariance ( ), based on the measurement accuracy of the surveying instrument (10) ), and the accuracy threshold ( ), calculate the layout area, and ■ The indicator displays a graphical representation of the lofted area (LAY-1, LAY-2, LAY-3, LAY-4).

2. The method as described in claim 1, wherein, The lofted area is defined by a circular outline, which has the characteristics of... The defined center and by The defined radius, where .

3. The method as described in any one of claims 1 or 2, wherein, The layout area is associated with the workplace (11) and is stored in the computer system (94) and / or stored in a memory connected to the computer system (94), and the layout area is provided for operation of the surveying instrument (10).

4. The method of claim 3, wherein, The lofting area is provided for lofting points of interest (POIs), and when a POI is selected, the computer system (94) checks whether the POI is located inside or outside the lofting area, wherein: ■ Upon confirming that the point of interest (POI) is located within the stakeout area, a predefined action is executed. This predefined action includes generating a message stating that the POI is located within the stakeout area and / or that the accuracy threshold can be achieved. ■ Upon confirming that the point of interest (POI) is outside the staking area, perform a predefined action, which includes generating a message stating that the POI is not inside the staking area and / or the accuracy threshold cannot be achieved.

5. The method according to any one of claims 1 to 4, wherein, The pose vector and the corresponding variances and covariances of these pose elements are calculated by the free stationing algorithm based on a set of control points (CP-1, ..., CP-13) having known first coordinates in the first coordinate system (CF-1) of the workplace (11), and at least one subset of the control points (CP-2, CP-10, CP-13) having known second coordinates in the second coordinate system (CF-2) of the surveying instrument (10).

6. The method as described in claim 5, wherein, From the set of control points, at least one additional control point (CP-7) different from the subset of control points is selected. The surveying instrument (10) determines the second coordinates of the at least one additional control point (CP-7) in the second coordinate system (CF-2), and defines a new subset of control points containing the subset of control points and the at least one additional control point. The method further includes: ■ Calculate the new pose vector and the corresponding variance and covariance of the pose elements of the new pose vector based on the first and second coordinates of the new control point subset. ■ Based on this new pose vector, the corresponding variance and covariance of these pose elements, and the measurement accuracy (σ) of the surveying instrument HD , σ HA ), and the at least one accuracy threshold, for the new subset of control points, calculate the new stakeout area, and ■ This indicates that the display will visualize a graphical representation of the new lofted area.

7. The method according to any one of claims 1 to 6, wherein, The at least one accuracy threshold includes at least a first accuracy threshold ( ) and the first accuracy threshold ( Different second accuracy thresholds ( ), and in the step of calculating the stakeout area, the computer system (94) calculates the accuracy threshold ( The first lofting area (L-1) corresponding to the second accuracy threshold () and the second accuracy threshold () The corresponding second layout area (L-2).

8. The method as described in claim 7, wherein, Display a first graphic representation of the first layout area (L-1), display a second graphic representation of the second layout area (L-2), or display a first graphic representation of the first layout area (L-1) and a second graphic representation of the second layout area (L-2).

9. A computer program comprising instructions that, when executed by a computer system (94), cause the computer system (94) to perform the method according to any one of claims 1 to 8.

10. An apparatus comprising means for performing the method according to any one of claims 1 to 8.

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