CN103868504A - Autonomous surveying and mapping machine - Google Patents

Autonomous surveying and mapping machine Download PDF

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CN103868504A
CN103868504A CN201410113373.XA CN201410113373A CN103868504A CN 103868504 A CN103868504 A CN 103868504A CN 201410113373 A CN201410113373 A CN 201410113373A CN 103868504 A CN103868504 A CN 103868504A
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attitude
processing unit
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image
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CN103868504B (en
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许凯华
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • G05D3/206—Control of position or direction using feedback using a digital comparing device using clutch or brakes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to an autonomous surveying and mapping machine which comprises a measuring machine and an attitude measurement and control machine, wherein the measuring machine comprises a central processing unit (CPU) (28), an infrared laser source (1), a multi-light imaging unit (9), a precise distance measurement unit (24), a remote distance measurement unit (25), a high frequency distance measurement unit (26), an eccentric gear unit (27), an image identification unit (19), an image processing unit (20), a measuring machine power unit (29), a man-machine interaction unit (30), a memory unit (35), a global positioning unit (36), a communication unit (37) and a photoconductive resistor (75); the attitude measurement and control machine comprises an attitude measurement and control processor (40), a pitch attitude unit (41), a horizontal attitude unit (56), a heading attitude unit (59) and an attitude measurement and control machine power unit (74). The autonomous surveying and mapping machine has the characteristics of being high in accuracy, efficiency, reliability and cost performance, low in cost, portable and intelligent, and being capable of obtaining functionality by emergent property.

Description

Autonomous mapping machine
Technical field
The invention belongs to geographical information technology field, particularly relate to a kind of autonomous mapping machine.
Background technology
The market demand: geomatics industry has thousands of application to come from 4 core demands
1) obtain the three-dimensional terrestrial coordinate of object;
2) obtain the terrain and its features figure under three-dimensional terrestrial coordinate;
3) obtain the object space 3-dimensional image under three-dimensional terrestrial coordinate;
4) obtain the three-dimensional navigation figure based on 3-dimensional image under earth coordinates.
The state of the art: organize more the miscellaneous many group instrument and equipments of librarian use by different way segmentation obtain above-mentioned a certain core demand, form various application.The limitation existing is that the low service of efficiency is consuming time, somewhat expensive, work limited (as: the vehicle mounted road Digital Photogrammetric System with the current leading level in the world can only be used for the close-range photogrammetry of road and both sides, ten thousand yuan/cover of 600-800) etc.
There is in the market the Related product of 4 classes for field mapping: conventional instrument of surveying and mapping, " precision measurement robot ", the device integration system, the three-dimensional laser scanner that gather for close shot road photogrammetric data.
1, conventional instrument of surveying and mapping:
As stadimeter, spirit-leveling instrument, surveyor's table, inclinator, sedimentometer, transit, total powerstation (stadimeter+transit), GPS orientator and matching used data radio station/GPRS/3G communication facilities, super-station instrument (total powerstation+GPS orientator) etc.The whole world, the production and sales of Jun Youduo company of China.Conventional instrument of surveying and mapping is all without photogrammetric function.The limitation that conventional instrument of surveying and mapping exists is:
1) legacy equipment: the legacy equipments such as stadimeter, spirit-leveling instrument, surveyor's table, inclinator, sedimentometer, transit, mark post, prism all belong to simple function instrument, by angle measurement, survey high, range finding, the Integrated using of surveying the means such as level obtain between survey station and measured target under self-defined coordinate relative relation data.Legacy equipment relies on manual operation, and all large and effectively Correction of Errors methods of nothing of error of terrestrial coordinate are introduced in personal error and segmentation.Legacy equipment efficiency is very low, and the three-dimensional terrestrial coordinate of object space that obtains a low precision usually needs one group of professional and technical personnel's work really long days.A large amount of labor intensive and time, real work cost is high.
2) GPS orientator: instrument stand must be located on measured target and observe, first this need measured target to have the condition of setting up instrument, putting and also needing to drop into larger human and material resources and longer time before this, and needing the impact point of measuring usually not have the condition of setting up instrument.
3) total powerstation: can only angle measurement and range finding in self-defined coordinate system; Rely on manual operation completely, personal error is large and without effective Correction of Errors method; While measuring object space three-dimensional coordinate, need to possess plural known control point simultaneously; Determine that the local GPS of direct north palpus purchase controls net (having such net if local) data, or by gyroscope; Introducing terrestrial coordinate must be by GPS orientator.
4) super-station instrument: the three-dimensional terrestrial coordinate (600,000 yuans of Japanese topological health super-station instrument unit prices) that can also measure self except angle measurement, range finding.Super-station instrument exists and the similar problem of total powerstation.
2, " precision measurement robot " (total powerstation+servo-drive system, without camera function):
" precision measurement robot " is Novel total station, to there is " ATR function (prism aiming function) " with unique difference of conventional total powerstation: after artificial alignment prism target, obtain and store the three-dimensional coordinate data of these prisms under self-defined coordinate and the attitude data of self according to conventional total powerstation method.Manually start after servo-drive system, machine is with reference to coordinate data that last time, measurement was obtained and attitude data again automatic aiming prism and be again obtained from the three-dimensional coordinate data under definition coordinate, expands accordingly a function that can be used for deformation monitoring take prism as observed object.
Precision measurement robot is the exclusive product of Lai Ka company of Switzerland, and the measuring accuracy of its course angle and pitch angle reaches 0.5 rad, has represented the current global highest level of total powerstation; Moderate: in the time that the prism number of needs scanning is less than 10,450,000 yuans of unit prices; Prism number is greater than at 10 o'clock and separately makes system schema, raises the price in addition by system schema.
Precision measurement robot similarly limits to without camera function and existence and total powerstation.
3, the device integration system gathering for road photogrammetric data:
Road photogrammetric data acquisition system is in the market device integration system.The vehicle mounted road Digital Photogrammetric System of Google of the U.S., Japanese topological health is representative.Its hardware characteristics is by position measurement apparatus (GPS), attitude measurement equipment, positioning compensation equipment (INS or dead reckoning system), video equipment (CCD system), laser ranging scanner, carried-on-vehicle computer system equipment connection together, be arranged on automobile, among the advancing of vehicle, gather spatial position data and the attribute data of road and road both sides atural object, as: position coordinates, road (track) of road axis or sideline position coordinates, Target scalar are wide, bridge (tunnel) height, traffic sign, road equipment etc.Data sync storage is in carried-on-vehicle computer system; Software features is that the 3S based on GPS, RS, GIS, data is integrated, and the data that field data acquisition is returned are carried out post editing processing, forms various useful thematic data achievements, as map of navigation electronic etc.Its distinguishing feature is: a. is for road and close on the independently survey drawing formation system of both sides.Without by any base map, can measure by complete independently road network figure.In work flow, formed photogrammetric closed-loop control, spatial data obtains with the road that comprises rich properties information and the stereopsis that closes on both sides simultaneously, and field operation is closely connected with interior industry, has avoided the personal error under manual type; B. for the outcome data of the outdoor scene three-dimensional visualization of road.It is with planar mode Quick Acquisition road and the geographical spatial data of road adjacent periphery, and its outcome data is that the outdoor scene of taking continuously can measure image; C. road and road adjacent periphery information with defend sheet/boat sheet seamless link, formation is for " Incorporate " new generation GIS of road and adjacent periphery atural object.
The limitation existing is:
1) working range is limited to road, cannot conduct a field operation: mobile mapping system (road photogrammetric data acquisition system) is that the advanced persons' such as GPS (GPS), attitude measurement system, CCD (video system), INS (inertial navigation system or dead reckoning system), three-dimensional laser scanning system, carried-on-vehicle computer system sensor and equipment are assemblied on automobile, this just means that it can only be used for road and close on the photogrammetric of both sides, cannot carry out the photogrammetric of field environment.
2) close shot: be not with telescope, wide-angle photography.Can carry out close-range photogrammetry data acquisition to the scenery in the 200m of road both sides.The calculation accuracy of the three-dimensional terrestrial coordinate of object space is 1 meter of left and right.
3) mobile and operation: each equipment volume of composition system is large, weight is large, and system architecture is loose, must be fixed on the Attitudes such as automobile, many people's operations.
4) working method that in field data collection, industry is processed afterwards causes repeated field operation work inevitable.
5) need road to have GPS to control the support of net on the way.
6) expensive: all components of mobile mapping system is all outsourcing, the expensive price of these high-end devices makes the cost of " mobile mapping system " high, is 4,000,000 yuans/cover without the price of mobile mapping system (without the data acquisition system (DAS) of the distance measurement function) product of laser ranging scanner; There is the external product price of laser scanning and ranging equipment higher than 6,000,000 yuans/cover.
4, three-dimensional laser scanner
Three-dimensional laser scanner can provide close shot 3-dimensional image under self-defined coordinate: scan distance measuring method with high-rate laser and obtain a large amount of aim in short distance point range data synchronous recording range finding attitude data, thereby obtain impact point three-dimensional coordinate; With digital camera picked-up object scene image; By both stacks, obtain close shot 3-dimensional image.
The daytime that three-dimensional laser scanner can be widely used in indoor light environment and outdoor sunny weather the close-range target under environment.Sweden, the U.S., Japan, the production and sales of Chinese Jun Youshuo company.The field three-dimensional laser scanner of Rigle company of Sweden is in first place in the world: under fair weather, fair visibility condition, range finding can reach 2 kilometers.Three-dimensional laser scanner unit price be 600,000 yuans-4,000,000 yuans not etc.
Summary of the invention
The invention provides a kind of revolutionary product, object has five:
The one, use multi-systems integration method and the autonomous measuring method of machine based on fabric, by the core demand of geomatics industry and all application combine together, synchronously solve: obtain the three-dimensional terrestrial coordinate of impact point based on live-action image, obtain topomap under the three-dimensional terrestrial coordinate based on live-action image, obtain object space 3-dimensional image under earth coordinates, obtain the three-dimensional navigation figure based on 3-dimensional image under earth coordinates;
The 2nd, use multi-systems integration and the autonomous measuring method of machine based on fabric to obtain superhigh precision;
The 3rd, the emerging in large numbers property of utilizing the multi-systems integration based on fabric to produce expands flood tide user function and whole new set of applications, a machine functional coverage multiple types geomatics industry application and extension application thereof;
The 4th, use the multi-systems integration method acquisition low cost based on fabric, the product of high performance-price ratio;
The 5th, by the autonomous new method change conventional operation mode of measuring of machine, reduce very significantly manpower intervention, simplify workflow, reduce labour intensity and operation easier, reduction job costs, increase work efficiency.
One provided by the invention is is independently surveyed and drawn machine, comprises measuring machine and attitude observing and controlling machine,
Measuring machine comprises central processing unit 28 and the infrared laser light source 1, many photoimagings unit 9, precise distance measurement unit 24, long-distance ranging unit 25, high frequency range cells 26, eccentric wheel unit 27, image identification unit 19, graphics processing unit 20, measuring machine power supply unit 29, man-machine interaction unit 30, storage unit 35, global location unit 36, communication unit 37, the photoresistance 75 that are connected with central processing unit 28 respectively;
Attitude observing and controlling machine comprises attitude observing and controlling processor 40, and be connected with attitude observing and controlling processor 40 respectively face upward the attitude unit 41 of bowing, horizontal attitude unit 56, attitude unit, course 59 and attitude observing and controlling electromechanical source unit 74, central processing unit 28 is connected with attitude observing and controlling processor 40;
Measuring machine is connected by vertical pivot 60, the first transverse axis 42, the second transverse axis 76, the 3rd transverse axis 80 with attitude observing and controlling machine, and be demarcated as the entirety that more than one, light is coaxial, multiaxis is concentric, described many light coaxially refers to the optical axis of infrared laser light source 1, the optical axis of many photoimagings unit 9, the optical axis of precise distance measurement unit 24, the optical axis of long-distance ranging unit 25, the optical axis of high frequency range cells 26, and five demarcate on same axis; The orientation axis of the optical axis, global location unit 36 antenna phase center points that described multiaxis refers to axis, the precise distance measurement unit 24 of axis, the 3rd transverse axis 80 of axis, second transverse axis 76 of axis, first transverse axis 42 of vertical pivot 60 with one heart crossing formation of extended line of the axis during perpendicular to geoid surface with vertical pivot 60, six intersect at same spatial point after demarcating.
And, in described 3 d pose system,
The described attitude unit 41 of bowing of facing upward comprises first clutch 43, the first unit 44, the first scrambler 53, the first motor 54 and the first driving circuit 55, described the first unit 44 comprises the first Timing Belt amplifier 45, the second worm gear 46, the first synchronous pulley 47, the second worm screw 48, the second elastic mechanism 49, the first worm gear 50, the first elastic mechanism 51, the first worm screw 52, the first driving circuit 55, the first motor 54, the first worm screw 52 connects successively, the first worm gear 50 and the first worm screw 52 engage through the first elastic mechanism 51, the first worm gear 50 and the second worm screw 48 engage through the second elastic mechanism 49, between the second worm gear 46 and the second worm screw 48 through the first synchronous pulley 47 transmissions, between the second worm gear 46 and the first scrambler 53 through the first Timing Belt amplifier 45 transmissions, the second worm gear 46 connects first clutch 43, first clutch 43 connects the first transverse axis 42 when closed, attitude observing and controlling processor 40 and first clutch 43, the first scrambler 53, the first driving circuit 55 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, the first driving circuit 55 output orders to the first motor 54, the first motor 54 is exported and is faced upward through the first unit 44 motion result producing after the motion transmission of bowing and upload to central processing unit 28 through the second worm gear 46, the first Timing Belt amplifier 45, the first scrambler 53, attitude observing and controlling processor 40 successively, and the position that central processing unit 28 obtains the first transverse axis 42 reality arrives data,
If the ratio of gear of the first Timing Belt amplifier 45 is 1:H, after amplifying H times, the motion result that the first Timing Belt amplifier 45 produces the first unit 44 by the second worm gear 46 in the process of execution attitude observing and controlling processor 40 instructions passes to the first scrambler 53, and be converted to digital signal via the first scrambler 53 and be uploaded to attitude observing and controlling processor 40, attitude observing and controlling processor 40 obtains gained motion result the first transverse axis 42 real position arrival data and is uploaded to central processing unit 28 after doubly divided by H;
Attitude unit, described course 59 comprises second clutch 61, the second unit 62, the second scrambler 73, the second motor 71 and the second driving circuit 72, described the second unit 62 comprises the second Timing Belt amplifier 64, the 4th worm gear 63, the second synchronous pulley 65, the 4th worm screw 66, the 4th elastic mechanism 67, the 3rd worm gear 68, the 3rd elastic mechanism 69, the 3rd worm screw 70, the second driving circuit 72, the second motor 71, the 3rd worm screw 70 connects successively, the 3rd worm gear 68 and the 3rd worm screw 70 engage through the 3rd elastic mechanism 69, the 3rd worm gear 68 and the 4th worm screw 66 engage through the 4th elastic mechanism 67, between the 4th worm gear 63 and the 4th worm screw 66 through the second synchronous pulley 65 transmissions, between the 4th worm gear 63 and the second scrambler 73 through the second Timing Belt amplifier 64 transmissions, the 4th worm gear 63 connects second clutch 61, second clutch 61 connects vertical pivot 60 when closed, attitude observing and controlling processor 40 and second clutch 61, the second scrambler 73, the second driving circuit 72 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, the second driving circuit 72 output orders to the second motor 71, the second motor 71 is exported the motion result that carries out producing after the motion transmission of course through the second unit 62 and is uploaded to central processing unit 28 through the 4th worm gear 63, the second Timing Belt amplifier 64, the second scrambler 73, attitude observing and controlling processor 40 successively, and the position that central processing unit 28 obtains vertical pivot 60 reality arrives data,
If the ratio of gear of the second Timing Belt amplifier 64 is 1:I, after amplifying I times, the motion result that the second Timing Belt amplifier 64 produces the second unit 62 by the 4th worm gear 63 in the process of execution attitude observing and controlling processor 40 instructions passes to the second scrambler 73, and be converted to digital signal via the second scrambler 73 and be uploaded to attitude observing and controlling processor 40, attitude observing and controlling processor 40 obtains gained motion result vertical pivot 60 real position arrival data and is uploaded to central processing unit 28 after doubly divided by I.
And, the central axis l of described vertical pivot 60 1central axis l with benchmark the first transverse axis 42 2, the second transverse axis 76 central axis l 3, the 3rd transverse axis 80 central axis l 4geometric relationship be, central axis l 2, central axis l 3with central axis l 4parallel, central axis l 1with central axis l 2in the plane forming, central axis l 1perpendicular to central axis l 2, central axis l 3with central axis l 4;
Attitude observing and controlling machine is connected with measuring machine by vertical pivot 60, and the rotation of vertical pivot 60 produces the course motion of measuring machine;
The assembly being made up of with long-distance ranging unit 25 precise distance measurement unit 24 is connected with attitude observing and controlling machine by the first transverse axis 42, and the motion of bowing of facing upward of this assembly is produced by the rotation of the first transverse axis 42, and the course motion of this assembly is produced by the rotation of vertical pivot 60; The intersection point of the central axis of the mass centre of precise distance measurement unit 24 and the first transverse axis 42 is independently to survey and draw arbor Xi center, is the concentric reference-calibrating point of multiaxis;
Attitude observing and controlling machine is provided with tuning fork,
The assembly being made up of with many photoimagings unit 9 infrared laser light source 1 is connected with the tuning fork of attitude observing and controlling machine by the 3rd transverse axis 80, and the motion of bowing of facing upward of this assembly is produced by the rotation of the 3rd transverse axis 80, and course motion is produced by the rotation of vertical pivot 60;
High frequency range cells 26 is connected with the tuning fork of attitude observing and controlling machine by the second transverse axis 76,
While using high frequency range cells 26 to point target measuring distance, between the 3rd transverse axis 80 and high frequency range cells 26, a synchronising (connecting) rod is set, the motion of bowing of facing upward of high frequency range cells 26 is produced by the rotation of the 3rd transverse axis 80, in attitude observing and controlling machine, arrange and face upward accordingly the motion control unit of bowing, comprise the 7th scrambler 81, the 3rd clutch coupling 82, the second worm and gear group 83, the second motor and driving circuit 21, central processing unit 28, the second motor and driving circuit 21, the second worm and gear group 83 is connected successively with the 3rd clutch coupling 82, when the 3rd clutch coupling 82 closure, connect the 3rd transverse axis 80, the 3rd transverse axis 80, the 7th scrambler 81, central processing unit 28 connects successively, the course motion of high frequency range cells 26 is produced by the rotation of vertical pivot 60, and now eccentric wheel unit 27 is in the state of quitting work,
While using high frequency range cells 26 to carry out scan-type range finding to three-dimensional area target, eccentric wheel unit 27 is in running order, now synchronising (connecting) rod brake, the 3rd transverse axis 80 departs from interlock with high frequency range cells 26, high frequency range cells 26 is independence swing in high frequency on the second transverse axis 76 under the drive of eccentric wheel unit 27, the motion of bowing of facing upward of high frequency range cells 26 is controlled by eccentric wheel unit 27, in attitude observing and controlling machine, arrange and face upward accordingly the motion control unit of bowing, comprise the 6th scrambler 78, the first worm and gear group 77, the first motor and driving circuit 79, central processing unit 28, the first motor and driving circuit 79, the first worm and gear group 77 connects successively, the second transverse axis 76, the 6th scrambler 78, central processing unit 28 connects successively, the course motion of high frequency range cells 26 is produced by the rotation of vertical pivot 60.
And, in described measuring machine,
Infrared laser light source 1 comprises infrared laser camera lens 2, infrared laser focusing lens 3, infrared laser generator 4, pump supply source 5, the 3rd motor 7, the 3rd driving circuit 8 and the 3rd scrambler 6, infrared laser camera lens 2, infrared laser focusing lens 3, infrared laser generator 4, pump supply source 5 connect successively, the 3rd motor 7 is connected respectively with infrared laser focusing lens 3, the 3rd driving circuit 8, the 3rd scrambler 6, and central processing unit 28 is connected respectively with pump supply source 5, the 5th driving circuit 11, the 3rd scrambler 6;
Many photoimagings unit 9 comprises the 5th scrambler 10, the 5th driving circuit 11, the 6th worm gear 12, the 6th worm screw 13, the 4th motor 14, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD modules 18, the 5th worm gear 23, the 5th worm screw 31, the 4th scrambler 34, the 5th motor 32 and the 4th driving circuit 33, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD modules 18 connect successively, the 5th driving circuit 11, the 4th motor 14, the 6th worm screw 13, the 5th scrambler 10 connects successively, and the 6th worm screw 13 engages with the 6th worm gear 12, and the 6th worm gear 12 connects focusing lens 16, the four driving circuits 33, the 5th motor 32, the 5th worm screw 31, the 4th scrambler 34 connects successively, and the 5th worm screw 31 engages with the 5th worm gear 23, and the 5th worm gear 23 connects varifocal mirror group 22, central processing unit 28 and the 5th driving circuit 11, the 5th scrambler 10, the 4th scrambler 34, the 4th driving circuit 33, two filter sheet structure CCD modules 18 connect respectively.
And according to white light luminous flux, photoresistance 75 is sent signal controlling central processing unit 28 and is closed or open pump supply source 5, corresponding white light source or infrared laser light source; Many photoimagings unit 9 is connected with graphics processing unit 20, and imaging results judges image definition by graphics processing unit 20, and when the imaging results under white light source does not reach sharpness requirement, central processing unit 28 is opened pump supply source 5 infrared laser light source is provided.
And, forming autonomous imaging system by central processing unit 28, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, the job step of carrying out autonomous imaging process is as follows,
Step 1, carries out imaging source initial selected, is achieved as follows,
In the time that white light luminous flux is enough to make two filter sheet structure CCD module 18 white light imaging, the signal port of photoresistance 75 is in closure state, and central processing unit 28 cuts out pump supply source 5, enters step 2; When white light luminous flux is not enough to two filter sheet structure CCD module 18 white light imaging, the signal port of photoresistance 75 is in normally open, and central processing unit 28 is opened pump supply source 5, infrared laser light source 1 irradiates target, the infrared laser that many photoimagings unit 9 is accepted to return from target, enters step 4
Step 2, under white light source, the self-adaptation to fair visibility and haze environment and the autonomous selection of imaging source, be achieved as follows,
The focusing calibration value that central processing unit 28 reads focusing lens 16 drives the 4th motor 14 to arrive successively each corresponding calibration position, in each corresponding calibration position, white light signal arrives graphics processing unit 20 after being converted to digital signal via many photoimagings unit 9, graphics processing unit 20 obtains image value and compares, and record makes the 4th motor 14 calibration position of image value maximum for making the most clear place of image;
Central processing unit 28 carries out analyzing and processing to all image values of object scene,
If the absolute value of the difference of the maximal value of image value and minimum value is greater than default arithmetic number Q1, judge that survey station, in fair visibility environment, enters step 3;
If the absolute value of the difference of the maximal value of image value and minimum value is less than default arithmetic number Q1 and is greater than default arithmetic number Q2, judge that survey station, in moderate or slight haze environment, enters step 4;
If the absolute value of the difference of the maximal value of image value and minimum value is less than default arithmetic number Q2, judge that survey station is in severe haze environment, central processing unit 28 is reported to the police, and stops flow process;
Wherein, default arithmetic number Q1 is greater than default arithmetic number Q2;
Step 3, based on the automated imaging of white light source, is achieved as follows,
First carry out automatic focusing, central processing unit 28 sends instruction to the 5th driving circuit 11, the 4th motor 14, the 6th worm screw 13 are rotated, the motion state synchronous feedback of the 5th scrambler 10 real time record the 6th worm screw 13 is to central processing unit 28, central processing unit 28 calculates pulse modified value and sends accordingly next instruction, until the 6th worm screw 13 turns to the position of setting and completes the Focussing to focusing lens 16 by the 6th worm gear 12;
Then carry out automated imaging, white light signal arrives two filter sheet structure CCD modules 18 through object lens 15, focusing lens 16 and imaging lens group 17, two filter sheet structure CCD modules 18 reach graphics processing unit 20 after converting white light signal to digital signal, graphics processing unit 20 obtains clearly scene image and is uploaded to central processing unit 28, complete the automated imaging task based on white light source, process ends;
Step 4, based on the automated imaging of infrared laser light source, is achieved as follows,
First infrared laser range of exposures accurately covers the visual field of many photoimagings unit 9, complete two work by central processing unit 28 simultaneously, the one, automatic zoom, comprise and open the 4th driving circuit 33, make the 5th motor 32 drive the 5th worm screw 31 to move to Pi position, the 5th worm screw 31 drives the 5th worm gear 23 to make varifocal mirror group 22 that the visual field of many photoimagings unit 9 is adjusted to and carried out the required size of i generic task, and the actual in-position of the 5th worm screw 31 is uploaded to central processing unit 28 by the 4th scrambler 34; The 2nd, visual field overlaps with range of exposures, comprises that sending instruction to the 3rd driving circuit 8 makes the 3rd motor 7 drive infrared laser focusing lens 3 to move to Qi position, makes the range of exposures of infrared laser light source 1 just in time cover the visual field of many photoimagings unit 9;
Wherein, visual field when i generic task is carried out in the visual field of demarcating constant P i and be many photoimagings unit 9, is called Pi imaging viewing field, i=1,2,3 ... ..J, J is total class number, demarcating constant Qi is and Pi infrared laser focus value one to one, infrared laser focusing lens 3 infrared laser range of exposures in the time of Qi position overlaps with Pi imaging viewing field, and after Pi is demarcated, Qi demarcates according to Pi;
Then carry out automated imaging, the infrared laser signal returning from object scene arrives two filter sheet structure CCD modules 18 by object lens 15, focusing lens 16, imaging lens group 17, two filter sheet structure CCD modules 18 reach graphics processing unit 20 after converting infrared laser signal to digital signal, graphics processing unit 20 obtains clear scene image and is uploaded to central processing unit 28,, complete the automated imaging task based on infrared laser light source.
And, by attitude unit, course 59, eccentric wheel unit 27, high frequency range cells 26 synchronous workings, complete the scan-type automatic range of high frequency range cells 26 in many photoimagings telescope 9 visual fields, obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data, generating three-dimensional field live-action image; By setting attitude motion terminal position, be supported in and define arbitrarily working range or the panorama working range generating three-dimensional field live-action image around 360 ° of survey stations.
And, central processing unit 28, eccentric wheel unit 27, the first worm and gear group 77, the first motor and driving circuit 79, the 6th scrambler 78, the second transverse axis 76, high frequency range cells 26, attitude observing and controlling processor 40, attitude unit, course 59, face upward the attitude unit 41 of bowing, attitude observing and controlling electromechanical source unit 74, graphics processing unit 20, photoresistance 75, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, global location unit 36, communication unit 37 forms scan-type automatic range and synchronous attitude determination system automatically, carry out and automatically generate arbitrary shape, the three-dimensional field live-action image of Arbitrary width size, by the on-the-spot three-dimensional live-action image of panorama that automatically generates in real time of zero lap splicing of panoramic picture,
The job step of the three-dimensional field live-action image of described automatic generation arbitrary shape, Arbitrary width size is as follows,
1) define arbitrarily working range, be achieved as follows,
The closed curve C that sketches the contours arbitrary shape on the two-dimentional field live-action image showing at the touch-screen of man-machine interaction unit 30, the region M that central processing unit 28 surrounds C is defined as working range,
Eccentric wheel unit 27 defines high frequency range cells 26 along facing upward the reciprocating terminal of the direction of bowing position by the instruction of central processing unit 28, comprises in the plane that the optical axis of its axis at vertical pivot 60 and high frequency range cells 26 is formed and all dropping on closed curve C around reciprocating terminal position, the axis of the second transverse axis 76;
The instruction that central processing unit 28 is pressed in attitude unit, course 59, turns over the course heading as terminal take the border of region M continuously; The synchronous interaction of eccentric wheel unit 27 and attitude unit, course 59 makes working range just in time cover region M;
2) synchro measure, is achieved as follows,
Take GPS time as benchmark, attitude unit, course 59, eccentric wheel unit 27, high frequency range cells 26 synchronous workings, complete the scan-type automatic range of high frequency range cells 26 in 9 visual fields, many photoimagings unit, and only 1) define in working range and to obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data;
Attitude unit, described course 59 carries out course motion, and central processing unit 28 instruction attitude observing and controlling processors 40 are adjusted to course angle reference position and continuously moved to stop position, and instruction is carried out and completed to attitude observing and controlling processor 40 by attitude unit, course 59;
The motion of bowing is faced upward in described eccentric wheel unit 27, the amplitude of fluctuation of pitch angle is adjusted to the scope defining from reference position to stop position in central processing unit 28 instruction eccentric wheel unit 27, and drive high frequency range cells 26 axis direction reciprocally swinging along vertical pivot 60 in defined scope, high frequency range cells 26 synchronous workings, obtain range data continuously; The instruction that eccentric wheel unit 27 is carried out and completed comprises, the amplitude of fluctuation of pitch angle is locked in to the scope defining from reference position to stop position, and the unidirectional continuous rotation of motor is converted to level and smooth continuous to-and-fro movement, drive the LASER Discharge Tube of high frequency range cells 26 and laser pick-off pipe take the mass centre of high frequency range cells 26 as the center of circle, take described amplitude of fluctuation as range of movement, in the plane of the axis of vertical pivot 60 and the optical axis of high frequency range cells 26 formation around the axis to-and-fro movement of the second transverse axis 76;
3) space coupling, generating three-dimensional terrestrial coordinate dot matrix cloud on object scene image;
4) automatically generate the three-dimensional field live-action image of arbitrary shape, Arbitrary width size, including comprising the data mining program non-linear K nearest neighbor point algorithm by central processing unit 28 operations, in the live-action image of described two-dimentional field, utilize known three-dimensional terrestrial coordinate dot matrix cloud to calculate three-dimensional terrestrial coordinate to the point without three-dimensional terrestrial coordinate, on the M of region, obtain three-dimensional field live-action image;
The job step that described scene generates the three-dimensional live-action image of panorama in real time is automatically as follows,
Central processing unit 28 synchronously completes quadrinomial job, the one, according to the pitch angle working range of setting, the motion start-stop position of eccentric wheel unit 27 in pitch angle direction is set, start eccentric wheel unit 27 to-and-fro movement synchronously return to it to central processing unit 28 and face upward the attitude data of bowing in specified scope; The 2nd, open high frequency range cells 26 it is found range also continuously synchronously to central processing unit 28 layback data; The 3rd, unlatching attitude unit, course 59 makes it turn over continuously 360 ° and also synchronously returns to course data to central processing unit 28; The 4th,, at different pitch angles, complete around the two-dimentional field live-action image of 360 ° of survey stations and take by course angle, splice the panorama two dimension field live-action image generating around 360 ° of survey stations by zero lap, automatic generating three-dimensional image on the panorama two dimension field live-action image around 360 ° of survey stations, obtains the three-dimensional field of the panorama live-action image around 360 ° of survey stations.
And, by central processing unit 28, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, attitude unit, course 59, face upward the attitude unit 41 of bowing, long-distance ranging unit 25, precise distance measurement unit 24, the first transverse axis 42, vertical pivot 60, high frequency range cells 26, the second transverse axis 76, global location unit 36, communication unit 37 and form three-dimensional terrestrial coordinate automatic telemetering system, carry out the three-dimensional terrestrial coordinate that automatic telemetering obtains measured target
The job step of three-dimensional terrestrial coordinate that described automatic telemetering obtains measured target is as follows,
1) the accurately aiming automatically based on image, is achieved as follows,
In the two-dimentional field live-action image showing at the touch-screen of man-machine interaction unit 30, click impact point, central processing unit 28 is adjusted to minimum by the visual field of many photoimagings unit 9 automatically, it is maximum that enlargement factor reaches, and carry out Digital Zoom amplification on impact point live-action image after the high power optical amplifier obtaining in many photoimagings unit 9, obtain the impact point sharp image after optics and digital two-stage are amplified, therein selected measured target; Click measured target, face upward the attitude unit 41 of bowing, attitude unit, course 59 aims at measured target, and by obtained course attitude data with face upward the attitude data of bowing and be uploaded to central processing unit 28;
2) automatic range based on automatically accurately aiming at, is achieved as follows,
Central processing unit 28 adopts long-distance ranging unit 25, high frequency range cells 26 or precise distance measurement unit 24 to carry out range observation to measured target according to distance, obtains range data;
3) the three-dimensional terrestrial coordinate of automatic acquisition measured target, is achieved as follows,
Central processing unit 28 resolves according to survey station data and target data the three-dimensional terrestrial coordinate that obtains measured target, and described target data comprises 1) gained course attitude data and face upward the attitude data of bowing, 2) gained range data.
And, obtain continuously field live-action image in hunting zone by automated imaging process, from the live-action image of field, identify specific objective by image identification unit 19, and follow the tracks of specific objective by facing upward bow attitude unit 41 and attitude unit, course 59.
And, by central processing unit 28, long-distance ranging unit 25, image identification unit 19, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, global location unit 36, communication unit 37, measuring machine power supply unit 29, attitude unit, course 59, face upward the attitude unit 41 of bowing, the first transverse axis 42, vertical pivot 60, the second worm and gear group 83, the second motor and driving circuit 21, the 7th scrambler 81, the 3rd clutch coupling 82, the 3rd transverse axis 80 forms movable object tracking measuring system, carry out autonomous tracking measurement moving target,
The job step of described autonomous tracking measurement moving target is as follows,
1) image processor target, is achieved as follows,
After inputted search scope, central processing unit 28 is coordinated related work unit synchronous working, comprise closed first clutch 43, second clutch 61, the 3rd clutch coupling 82, the second motor and driving circuit 21, the second worm and gear group 83 and attitude unit, course 59 drive infrared laser light source 1, many photoimagings unit 9 to move continuously, and circulation covers hunting zone; Infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20 are pressed automated imaging process, obtain continuously field live-action image in hunting zone;
2) autonomous discovery, identification target, be achieved as follows,
Image identification unit 19 is found and identification specific objective by comparison field live-action image data and specific objective data; In the time that image identification unit 19 can not complete image recognition task at the appointed time, central processing unit 28 starts voluntarily communication unit 37 and links rear data center, completes image recognition task by cloud computing and storehouse, high in the clouds;
3) autonomous tracking aiming target, is achieved as follows,
The recognition result that central processing unit 28 provides take image identification unit 19 is tracing object, instruction is faced upward bow attitude unit 41 and attitude unit, course 59 and is driven infrared laser light source 1, many photoimagings unit 9 to move continuously, make the image of tracing object remain the graduation center in live-action image in the wild, make the optical axis of many photoimagings unit 9 remain aiming tracing object, face upward bow attitude unit 41 and attitude unit, course 59 and synchronously feed back attitude data to central processing unit 28;
4) the autonomous tracking range finding based on tracking aiming, is achieved as follows,
The tracing object that long-distance ranging unit 25 aims at many photoimagings unit 9 continuously range finding also synchronously feeds back range data to central processing unit 28;
5) autonomous tracking measurement, is achieved as follows,
Central processing unit 28 calculates the real-time three-dimensional terrestrial coordinate of tracing object according to survey station data and target data continuous solution;
6) to the relocking of target, be achieved as follows,
If many photoimagings unit 9 is losing lock in the process of following the tracks of specific objective, central processing unit 28 is according to the tracking measurement data of the three-dimensional terrestrial coordinate of specific objective are calculated to the locus that its next moment may occur, make infrared laser light source 1, many photoimagings unit 9 successively aim at these locus by facing upward bow attitude unit 41 and attitude unit, course 59, wait for the appearance again of specific objective;
7) synchronous data transmission, is achieved as follows,
By communication unit 37, rearward data center or other need real-time imaging and the real-time three-dimensional terrestrial coordinate of the device synchronization transmission specific objective of awareness information to central processing unit 28.
And, be measured target to selecting any number of Target scalars that need monitoring in distortion measurement object, each measured target is continued to monitor, be included in image that multiple time points obtain measured target, attitude data while aiming at measured target, survey station be to the range data of measured target, the three-dimensional coordinate of measured target, obtains the deformation data of distortion measurement object.
And, by central processing unit 28, precise distance measurement unit 24, image identification unit 19, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, attitude unit, course 59, face upward the attitude unit 41 of bowing, the first transverse axis 42, vertical pivot 60 and form deformation monitoring system, carry out the deformation monitoring based on field ground feature image, image recognition and three-dimensional coordinate measurement
The job step of the described deformation monitoring based on field ground feature image, image recognition and three-dimensional coordinate measurement is as follows,
1) study distortion measurement object, is achieved as follows,
On the touch-screen of man-machine interaction unit 30, selecting any number of Target scalars that need monitoring in distortion measurement object is measured target, the relevant information that central processing unit 28 collaborative each related work unit obtained and stored each Target scalar, obtain learning outcome as follows
With the measured target image data of central point graduation, be called for short initial image;
Attitude data while aiming at measured target, is called for short reference attitude;
Survey station is to the range data of measured target, initial distance;
The three-dimensional coordinate of measured target, is called for short origin coordinates;
Measure the time of measured target three-dimensional coordinate, be called for short initial time;
2) run-home atural object again, is achieved as follows,
Starting working by the time interval of setting in central processing unit 28 collaborative each related work unit, completes 4 tasks as follows,
By facing upward bow attitude unit 41 and attitude unit, course 59, aiming attitude is adjusted to reference attitude;
Again obtain the Target scalar image data with central point graduation by infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20, be called for short image again;
In initial image, excavate image data again by image identification unit 19, the central point graduation position of two images is all occurred on initial image;
Central processing unit 28 by two central point graduation the alternate position spike on initial image calculate again run-home atural object attitude adjust parameter, facing upward bow attitude unit 41 and attitude unit 59, course adjusts parameter according to attitude aiming attitude is adjusted on Target scalar, obtain autonomous mapping machine attitude data when run-home atural object again, be called for short attitude again, complete the autonomous mapping machine task of run-home atural object again;
3) measurement target atural object again, is achieved as follows,
Central processing unit 28 collaborative each related work unit measurement target atural objects again, are again measured and are again obtained survey station to the range data between Target scalar by precise distance measurement unit 24, are called for short distance again;
Central processing unit 28 calculates the three-dimensional coordinate of Target scalar according to distance, again attitude and survey station three-dimensional coordinate data again, be called for short coordinate again;
Obtain again the time of coordinate and be called for short the time again;
4) the displacement vector data of acquisition Target scalar, are achieved as follows,
Origin coordinates and initial time, again coordinate and again the time delineated respectively two 4 dimension events, the former is the Target scalar three-dimensional coordinate obtaining in initial time, the latter is the Target scalar three-dimensional coordinate obtaining in time again; Take the former as starting point, the latter is terminal, obtains the displacement vector of Target scalar in setting-up time section;
5) the deformation data of acquisition distortion measurement object, are achieved as follows,
The deformation of measuring object in setting-up time section has been delineated in the set that the displacement vector of multiple Target scalars in setting-up time section forms.
Autonomous mapping machine provided by the invention is a kind of autonomous mapping type geography information robot, can be in the daytime, independently gather, process Dynamic and Multi dimensional geography information under night vision, mild or moderate haze condition.Autonomous mapping type geography information disclosed by the invention robot has quadruple advantage: the one, there is emerging in large numbers property: the requirement item that robot chooses by operator, self-organization forms the system with corresponding function in all resources.These systems that form around demand make the multiple application of a machine functional coverage geomatics industry, can be widely used in the whole operations in photogrammetric, engineering survey, geodetic surveying; To the deformation monitoring of rubble flow, snowslide, rockfall, all kinds of geologic hazards of massif displacement; The monitoring of all kinds of engineering project disasters such as deformation, crack to buildings/dam/gate/bridge/mine tailing; Various geomatics industry classes application and the extension application thereof such as quick surveying, accurate aiming location, remote object identification, long-range accurate tracking on a large scale; The 2nd, low cost, high performance-price ratio; The 3rd, change traditional working mode, obtain high measurement accuracy, significantly improve work efficiency, reduce labour intensity and cost; The 4th, can carry out personalized simplification, strengthening and extension for user's request, develop out brand-new product line.
Accompanying drawing explanation
Fig. 1 is the structural representation that the embodiment of the present invention is is independently surveyed and drawn machine;
Fig. 2 is that the autonomous mapping arbor of the embodiment of the present invention is schematic diagram;
Fig. 3 is the Principle of Communication figure of the embodiment of the present invention;
Fig. 4 is the schematic block circuit diagram of the embodiment of the present invention;
Fig. 5 is the assembling schematic diagram of the embodiment of the present invention.
Embodiment
The present invention is a kind of Portable field workstation.For narrating accurately, in the present invention " road " is defined as: the earth top that is suitable for running car." field " is defined as: comprise road at interior earth top.
Describe technical solution of the present invention in detail below in conjunction with drawings and Examples.
Referring to Fig. 1,4, the autonomous mapping machine that embodiment provides, comprises measuring machine and attitude observing and controlling machine.
Measuring machine comprises central processing unit 28 and the infrared laser light source 1, many photoimagings unit 9, precise distance measurement unit 24, long-distance ranging unit 25, high frequency range cells 26, eccentric wheel unit 27, image identification unit 19, graphics processing unit 20, measuring machine power supply unit 29, man-machine interaction unit 30, storage unit 35, global location unit 36, communication unit 37, the photoresistance 75 that are connected with central processing unit 28 respectively;
Attitude observing and controlling machine comprises attitude observing and controlling processor 40, and be connected with attitude observing and controlling processor 40 respectively face upward the attitude unit 41 of bowing, horizontal attitude unit 56, attitude unit, course 59 and attitude observing and controlling electromechanical source unit 74, central processing unit 28 is connected with attitude observing and controlling processor 40.
Measuring machine is connected, and is demarcated as the entirety that more than one, light is coaxial, multiaxis is concentric by vertical pivot 60, the first transverse axis 42, the second transverse axis 76, the 3rd transverse axis 80 with attitude observing and controlling machine.
Described many light coaxially refers to the optical axis of infrared laser light source 1, the optical axis of many photoimagings unit 9, the optical axis of precise distance measurement unit 24, the optical axis of long-distance ranging unit 25, the optical axis of high frequency range cells 26, and five demarcate on same axis.When concrete enforcement, five can precise distance measurement unit 24 optical axis be benchmark, demarcate under meaning on same axis in axle system.Take the optical axis of astronomical telescope image-generating unit 5 as benchmark, the optical axis of other 4 working cells is all taken this as the standard and is carried out data scaling, realizes four light in overall measurement result coaxial.
The orientation axis of the optical axis, global location unit 36 antenna phase center points that described multiaxis refers to axis, the precise distance measurement unit 24 of axis, the 3rd transverse axis 80 of axis, second transverse axis 76 of axis, first transverse axis 42 of vertical pivot 60 with one heart crossing formation of extended line of the axis during perpendicular to geoid surface with vertical pivot 60, six intersect at same spatial point after demarcating.
Referring to Fig. 2, the central axis l of described vertical pivot 60 1central axis l with benchmark the first transverse axis 42 2, the second transverse axis 76 central axis l 3, the 3rd transverse axis 80 central axis l 4geometric relationship: l 1⊥ l 2and meeting at spatial point O (0,0,0), long-distance ranging unit 25 is take precise distance measurement unit 24 as benchmark calibration is together time, optical axis and the l of precision/long-distance ranging unit 2meet at spatial point O; l 1⊥ l 3and meet at spatial point O 1(0,0, h 1), l 2//l 3and distance is h 1, the optical axis of high frequency range cells 26 and l 3meet at spatial point O 3(x 1, 0, h 1) and and O 1central axis l coexists 3upper, O 1with O 3between distance be x 1; l 1⊥ l 4and meet at spatial point O 2(0,0, h 1+ h 2), l 3//l 4and distance is h 2, many photoimagings unit 9 is take infrared laser light source 1 as benchmark calibration is together time, optical axis and the l of infrared laser/many photoimagings unit 4meet at spatial point O 2;
Central axis l 1, l 2, l 3, l 4with spatial point O, O 1, O 2, O 3all at same Π 1in plane, Π 1plane is by l 1, l 2open into; Π 1plane and Π 2planar quadrature, Π 2plane is independently to survey and draw machine base plane.
The axis of vertical pivot 60, the axis of the first transverse axis 42, the axis of the second transverse axis 76, the axis of the 3rd transverse axis 80, the optical axis of precise distance measurement unit 24, the orientation axis of the antenna phase center of global location unit 36 and the crossing formation of vertical pivot 60 extended line, spatial point O1, spatial point O2, spatial point O3 demarcates meaning downcrossings in same spatial point O (0 in axle system, 0, 0): the intersection point O (0 of the central axis of the mass centre of precise distance measurement unit 24 and the first transverse axis 42, 0, 0) be independently to survey and draw arbor Xi center, the central axis of all related works unit and intersection point O1, O2, O3 all takes this as the standard and carries out data scaling, realize multiaxis in overall measurement result concentric.
It is integrated that autonomous mapping machine has been realized system hardware based on close physical structure, while specifically enforcement, can form corresponding system and satisfy the demands according to being applied in all resources of autonomous mapping machine self-organization.Can pre-set program, operator chooses after requirement item on the menu of man-machine interaction unit 30, and central processing unit 28 is according to the routine call correlation unit of setting.
Therefore, the complication system (having the system of emerging in large numbers property) that autonomous mapping machine provided by the invention is optical, mechanical and electronic integration, is made up of the multi-systems integration based on fabric.
Multisystem means following 15 systems:
1) optical, mechanical and electronic integration has an encoder system higher than 0.1 rad of resolution;
2) the full-automatic attitude TT&C system with 0.1 rad of precision of optical, mechanical and electronic integration;
3) full automatic fast zoom, focusing system;
4) full automatic opto-electronic conversion and imaging system;
5) full automatic 3-dimensional image (under terrestrial coordinate) imaging system;
6) environment self-adaption and light source automatic recognition system;
7) white light/infrared laser automatic switchover, ganged focus, automatic imaging system;
8) comprise multiple DSP in interior many interfaces of multinuclear high speed embedded system;
9) Big Dipper, GPS, GLONASS, the integrated GPS of Galileo;
10) range measurement system of compatible multiple distance measuring method;
11) image identification system;
12) remote infrared laser illumination system;
13) the relevant dedicated system including steering gear system;
14) the many nets converged communication system including various public network communication, self-organized network communication;
15) bear the rear data center of cloud computing, storehouse, high in the clouds, scheduling, commander, a task such as collaborative.
Multi-systems integration based on fabric means:
1) the multisystem function integration of the polynary computer hardware close physical structure based on chip, DSP, module;
2) the multisystem function integration of the computer software based on multisource data fusion;
3) the multisystem function integration of the close physical structure based on optical, mechanical and electronic integration;
4) based on above-mentioned three integrated optical, mechanical and electronic integration;
5) the interior industry field process based on many nets converged communication is integrated.
1. measuring machine
Precise distance measurement unit 24 means that distance accuracy is the portable small-sized laser ranging system of mm level, adopts phase type distance-finding method.The highest level of this series products is at present: be 1000 meters without the maximum ranging under cooperative target condition, using the maximum ranging under reflecting prism cooperative target condition is 3000 meters-4000 meters; Distance accuracy 2-3mm+2ppm;
Long-distance ranging unit 25 means that ranging exceedes the portable small-sized laser ranging system of 10 kilometers.General pulse laser range finder can be measured tens of even distances of tens thousand of kilometers, and precision is generally 0.5m-5m.This series products that uses lithium battery power supply and meet field portable condition adopts solid type and two kinds of distance-finding methods of semiconductor-type, and known current highest level is: 40,000 meters of ranging, 5 decimeters of distance accuracies, range frequency 15Hz;
High frequency range cells 26 means that range frequency exceedes the portable small-sized laser ranging system of 1000Hz, adopts phase type range finding.Common high frequency ranging laser, for 3 D laser scanning, is used for tens meters of close shot laser scannings in-200 meters of distances.Take ranging, under the prerequisite of the first index, known current highest level is: 2000 meters of maximum ranging, distance accuracy centimetre-sized, range frequency 500,000Hz.
Described infrared laser light source 1 comprises infrared laser camera lens 2, infrared laser focusing lens 3, infrared laser generator 4, pump supply source 5, the 3rd motor 7, the 3rd driving circuit 8 and the 3rd scrambler 6, infrared laser camera lens 2, infrared laser focusing lens 3, infrared laser generator 4, pump supply source 5 connect successively, the 3rd motor 7 is connected respectively with infrared laser focusing lens 3, the 3rd driving circuit 8, the 3rd scrambler 6, and central processing unit 28 is connected respectively with pump supply source 5, the 5th driving circuit 11, the 3rd scrambler 6.
Described many photoimagings unit 9 comprises the 5th scrambler 10, the 5th driving circuit 11, the 6th worm gear 12, the 6th worm screw 13, the 4th motor 14, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD modules 18, the 5th worm gear 23, the 5th worm screw 31, the 4th scrambler 34, the 5th motor 32 and the 4th driving circuit 33, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD modules 18 connect successively, the 5th driving circuit 11, the 4th motor 14, the 6th worm screw 13, the 5th scrambler 10 connects successively, and the 6th worm screw 13 engages with the 6th worm gear 12, and the 6th worm gear 12 connects focusing lens 16, the four driving circuits 33, the 5th motor 32, the 5th worm screw 31, the 4th scrambler 34 connects successively, and the 5th worm screw 31 engages with the 5th worm gear 23, and the 5th worm gear 23 connects varifocal mirror group 22, central processing unit 28 and the 5th driving circuit 11, the 5th scrambler 10, the 4th scrambler 34, the 4th driving circuit 33, two filter sheet structure CCD modules 18 connect respectively.
Whether described graphics processing unit 20 is clear for judging imaging gained image, and graphics processing unit 20 is connected respectively with central processing unit 28, many photoimagings unit 9.Graphics processing unit 20 is DSP, realize based on the clear judgment technology of conventional images, when concrete enforcement, can be divided into three parts: scene image Extraction parts carries out RGB tri-color bitmap data extractions, gradation of image processing, filtering to scene image, search calculating section completes operator calculating, rim detection, obtains image value, and image definition judging section is for relatively obtaining the motor position of image value maximum.
The module of global location unit 36 and antenna are the locating devices of the Big Dipper, GPS, GLONASS, Galileo 4 system integrations, can utilize net location, 4 skies simultaneously; Communication unit 37 is supported 3G, 4G, self-organized network communication, comprises 3G/4G module 38 and radio station module 39, and central processing unit 28 is connected respectively with 3G/4G module 38, radio station module 39.Image identification unit 19 can adopt a DSP to realize, can be with reference to conventional images recognition technology.Man-machine interaction unit 30 generally comprises keyboard, touch-screen, mouse, and measuring machine power supply unit 29 generally comprises lithium battery and charging circuit, power management chip.
Central processing unit 28 can be further expanded and be connected other unit by Peripheral Interface.
2. attitude observing and controlling machine
Attitude observing and controlling machine forms by facing upward the attitude unit 41 of bowing, attitude unit, course 59, horizontal attitude unit 56 and attitude observing and controlling processor 40.Horizontal attitude unit 56, attitude unit, course 59, attitude observing and controlling electromechanical source unit 74 and attitude observing and controlling processor 40 are connected with attitude observing and controlling processor 40 respectively, and central processing unit 28 is connected with attitude observing and controlling processor 40.Attitude observing and controlling electromechanical source unit 74 generally comprises lithium battery and charging circuit, power management chip.
1) face upward the attitude unit 41 of bowing work system form with precision control:
Facing upward the attitude unit 41 of bowing is made up of first clutch 43, the first unit 44, the first scrambler 53, the first motor 54, the first driving circuit 55.
Precision control: the first unit 44 is made up of the first Timing Belt amplifier 45, the second worm gear 46, the first synchronous pulley 47, the second worm screw 48, the second elastic mechanism 49, the first worm gear 50, the first elastic mechanism 51, the first worm screw 52.
The first driving circuit 55, the first motor 54, the first worm screw 52 connects successively, the first worm gear 50 and the first worm screw 52 engage through the first elastic mechanism 51, the first worm gear 50 and the second worm screw 48 engage through the second elastic mechanism 49, between the second worm gear 46 and the second worm screw 48 through the first synchronous pulley 47 transmissions, between the second worm gear 46 and the first scrambler 53 through the first Timing Belt amplifier 45 transmissions, the second worm gear 46 connects first clutch 43, first clutch 43 connects the first transverse axis 42 when closed, attitude observing and controlling processor 40 and first clutch 43, the first scrambler 53, the first driving circuit 55 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, the first driving circuit 55 output orders to the first motor 54, the first motor 54 is exported and is faced upward through the first unit 44 motion result producing after the motion transmission of bowing and upload to central processing unit 28 through the second worm gear 46, the first Timing Belt amplifier 45, the first scrambler 53, attitude observing and controlling processor 40 successively, and the position that central processing unit 28 obtains the first transverse axis 42 reality arrives data.
Use the second fine-tuning elastic mechanism 49 to make the engagement comprehensively that is in operation all the time of the first worm gear 50 and the second worm screw 48, make forward and reverse rotary gap of the worm-and-wheel gear that the first worm gear 50 and the second worm screw 48 form reach minimum.
Use the first fine-tuning elastic mechanism 51 to make the engagement comprehensively that is in operation all the time of the first worm gear 50 and the first worm screw 52, make forward and reverse rotary gap of the worm-and-wheel gear that the first worm gear 50 and the first worm screw 52 form reach minimum.
Synchronizing wheel (can adopt metal, macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) that the transmission of the first synchronous pulley 47 is is 1:1 by ratio of gear forms.Sometimes because the difference of erection sequence must install strainer additional.The worm-and-wheel gear that the transmission of the first synchronous pulley 47 forms the second worm gear 46 and the second worm screw 48 tight engagement that is in operation does not produce gap.
Synchronizing wheel (can adopt metal, macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) that the transmission of the first Timing Belt amplifier 45 is is 1:H by ratio of gear forms.Sometimes because the difference of erection sequence must install strainer additional.The mechanism that the transmission of the first Timing Belt amplifier 45 forms the second worm gear 46 and the first scrambler 53 tight engagement that is in operation does not produce gap.
In the time that the ratio of gear of the first worm screw 52 first worm gear 50 transmission groups ratio of gear that is N and the second worm screw 48 second worm gear 46 transmission groups is M, the ratio of gear of the first unit 44 is N × M.If now the maximum error of the first motor 54 corresponding pulse signals is h rad, the maximum error of the corresponding pulse signal of transverse axis is
(h/N rad+a rad+b rad)/M+c rad (a)
In above formula, a is the mechanical clearance between the first worm screw 52 and the first worm gear 50, and the first elastic mechanism 51 makes the variation range of a enough little; B is the mechanical clearance between the first worm gear 50 and the second worm screw 48, and the second elastic mechanism 49 makes the variation range of b enough little; C is the mechanical clearance between the second worm screw 48 and the second worm gear 46, and measured data proves that the first synchronous pulley 47 can make the absolute value of c go to zero.Selected the first motor 54 and set segmentation number after h become known constant, therefore enough large N and M just make the absolute value of (a) formula fully little.Measured data proves, after the transmission through the first unit 44, the first motor 54 carry out the kinematic error producing in the process of attitude observing and controlling processor 40 instructions reduced about N × M doubly.This makes to face upward the bow observing and controlling precision of attitude can reach 0.1 rad or higher (the global full accuracy of facing upward at present the attitude observing and controlling of bowing is 0.5 rad, is created and is kept by the precision measurement robot of Lai Ka company of Switzerland).
2) face upward reading of the attitude data of bowing:
The first motor 54 carry out the kinematic error producing in the process of attitude observing and controlling processor 40 instructions reduced about N × M can reach the precision that error is less than 0.1 rad after doubly, this precision is far beyond the resolution of most angular encoders.
Assist the first scrambler 53 to complete data with the first Timing Belt amplifier 45 and read, can effectively reduce angular encoder reading difficulty and having avoided developing the series of problems that ultrahigh resolution angular encoder brings completely for this reason and specially superhigh precision data: the motion result of the first unit 44 is expressed by the second worm gear 46.After the motion result that the first Timing Belt amplifier 45 produces the first unit 44 by the second worm gear 46 in the process of execution attitude observing and controlling processor 40 instructions amplifies H times, pass to the first scrambler 53 and be converted to digital signal via the first scrambler 53 and be uploaded to attitude observing and controlling processor 40.Attitude observing and controlling processor 40 obtains gained motion result data the first transverse axis 42 real position arrival data and is uploaded to central processing unit 28 after H times.
3) work system of course attitude unit 59 forms and precision control:
Attitude unit 59, course is made up of second clutch 61, the second unit 62, the second scrambler 73, the second motor 71, the second driving circuit 72.
Precision control: the second unit 62 is made up of the second Timing Belt amplifier 64, the 4th worm gear 63, the second synchronous pulley 65, the 4th worm screw 66, the 4th elastic mechanism 67, the 3rd worm gear 68, the 3rd elastic mechanism 69, the 3rd worm screw 70.
The second driving circuit 72, the second motor 71, the 3rd worm screw 70 connects successively, the 3rd worm gear 68 and the 3rd worm screw 70 engage through the 3rd elastic mechanism 69, the 3rd worm gear 68 and the 4th worm screw 66 engage through the 4th elastic mechanism 67, between the 4th worm gear 63 and the 4th worm screw 66 through the second synchronous pulley 65 transmissions, between the 4th worm gear 63 and the second scrambler 73 through the second Timing Belt amplifier 64 transmissions, the 4th worm gear 63 connects second clutch 61, second clutch 61 connects vertical pivot 60 when closed, attitude observing and controlling processor 40 and second clutch 61, the second scrambler 73, the second driving circuit 72 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, the second driving circuit 72 output orders to the second motor 71, the second motor 71 is exported the motion result that carries out producing after the motion transmission of course through the second unit 62 and is uploaded to central processing unit 28 through the 4th worm gear 63, the second Timing Belt amplifier 64, the second scrambler 73, attitude observing and controlling processor 40 successively, and the position that central processing unit 28 obtains vertical pivot 60 reality arrives data.
Use the 4th fine-tuning elastic mechanism 67 to make the engagement comprehensively that is in operation all the time of the 3rd worm gear 68 and the 4th worm screw 66, make forward and reverse rotary gap of the worm-and-wheel gear that the 3rd worm gear 68 and the 4th worm screw 66 form reach minimum.
Use the 3rd fine-tuning elastic mechanism 69 to make the engagement comprehensively that is in operation all the time of the 3rd worm gear 68 and the 3rd worm screw 70, make forward and reverse rotary gap of the worm-and-wheel gear that the 3rd worm gear 68 and the 3rd worm screw 70 form reach minimum.
Synchronizing wheel (can adopt metal, macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) that the transmission of the second synchronous pulley 65 is is 1:1 by ratio of gear forms.Sometimes because the difference of erection sequence must install strainer additional.The worm-and-wheel gear that the transmission of the second synchronous pulley 65 forms the 4th worm gear 63 and the 4th worm screw 66 tight engagement that is in operation does not produce gap.
Synchronizing wheel (can adopt metal, macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) that the transmission of the second Timing Belt amplifier 64 is is 1:I by ratio of gear forms.Sometimes because the difference of erection sequence must install strainer additional.The mechanism that the transmission of the second Timing Belt amplifier 64 forms the 4th worm gear 63 and the second scrambler 73 tight engagement that is in operation does not produce gap.
In the time that the ratio of gear of the 3rd worm screw 70 the 3rd worm gear 68 transmission groups ratio of gear that is R and the 4th worm screw 66 the 4th worm gear 63 transmission groups is S, the ratio of gear of the second unit 62 is R × S.If now the maximum error of the second motor 71 corresponding pulse signals is f rad, the maximum error of the corresponding pulse signal of vertical pivot is
(f/R rad+d rad+e rad)/S+g rad (b)
In above formula, d is the mechanical clearance between the 3rd worm screw 70 and the 3rd worm gear 68, and the 3rd elastic mechanism 69 makes the variation range of d enough little; E is the mechanical clearance between the 3rd worm gear 68 and the 4th worm screw 66, and the 4th elastic mechanism 67 makes the variation range of e enough little; G is the mechanical clearance between the 4th worm screw 66 and the 4th worm gear 63, and measured data proves that the second synchronous pulley 65 goes to zero the absolute value of g.Selected the second motor 71 and set segmentation number after f become known constant, therefore enough large R and S just make the absolute value of (b) formula fully little.Measured data proves, after the transmission through the second unit 62, the second motor 71 carry out the kinematic error producing in the process of attitude observing and controlling processor 40 instructions reduced about R × S doubly.This makes to face upward the bow observing and controlling precision of attitude can reach 0.1 rad or higher (the global full accuracy of course attitude observing and controlling is at present 0.5 rad, is created and is kept by the precision measurement robot of Lai Ka company of Switzerland).
4) reading of course attitude data:
The second motor 71 carry out the kinematic error producing in the process of attitude observing and controlling processor 40 instructions reduced about R × S can reach the precision that error is less than 0.1 rad after doubly, this precision is far beyond the resolution of most angular encoders.
Assist the second scrambler 73 to complete data with the second Timing Belt amplifier 64 and read, can effectively reduce angular encoder reading difficulty and having avoided developing the series of problems that ultrahigh resolution angular encoder brings completely for this reason and specially superhigh precision data: the motion result of the second unit 62 is expressed by the 4th worm gear 63.After the motion result that the second Timing Belt amplifier 64 produces the second unit 62 by the 4th worm gear 63 in the process of execution attitude observing and controlling processor 40 instructions amplifies I times, pass to the second scrambler 73 and be converted to digital signal via the second scrambler 73 and be uploaded to attitude observing and controlling processor 40.Attitude observing and controlling processor 40 obtains the data obtained vertical pivot 60 real position arrival data and is uploaded to central processing unit 28 after I times.
5) horizontal attitude unit:
Horizontal attitude unit 56 is made up of machinery leveling module 57 and electronic compensation module 58, and attitude observing and controlling processor 40 is connected with electronic compensation module 58.Adjust after machinery leveling module 57, electronic compensation module 58 automatically compensates to horizontal attitude the precision of 1 rad and uploads the horizontal attitude data after compensation to attitude observing and controlling processor 40.
6) independently survey and draw the basic 3 d pose observing and controlling of machine:
Set up autonomous mapping machine and adjust pitch angle and the course angle auto zero of attitude observing and controlling machine after horizontal attitude unit 56 and put in place, independently mapping machine enters duty.Setting program on attitude observing and controlling processor 40 makes independently to survey and draw facing upward of machine bow attitude observing and controlling and course attitude observing and controlling synchronous operation.
Autonomous mapping machine face upward the attitude observing and controlling of bowing: central processing unit 28 sends to attitude observing and controlling processor 40 instruction that pitch angle is turned to assigned address, attitude observing and controlling processor 40 is opened the first driving circuit 55 rotates the first motor 54, by the transmission of the first unit 44, the first transverse axis 42 is rotated to assigned address.The transmission of the first unit 44 makes pitch angle with the disposable arrival assigned address of setting accuracy.The first scrambler 53 is measured in real time the motion in-position of the second worm gear 46 and synchronously uploads to attitude observing and controlling processor 40: the position that the first scrambler 53 is measured the second worm gear 46 arrives data and is uploaded to attitude observing and controlling processor 40, and attitude observing and controlling processor 40 accordingly Accurate Estimation goes out the position arrival data of the first transverse axis 42 and is synchronously uploaded to central processing unit 28.
The course attitude observing and controlling of autonomous mapping machine: central processing unit 28 sends to attitude observing and controlling processor 40 instruction that course angle is turned to assigned address, attitude observing and controlling processor 40 is opened the second driving circuit 72 rotates the second motor 71, by the transmission of the second unit 62, vertical pivot 60 is rotated to assigned address.The transmission of the second unit 62 makes course angle with the disposable arrival assigned address of setting accuracy.The second scrambler 73 is measured in real time the motion in-position of the 4th worm gear 63 and synchronously uploads to attitude observing and controlling processor 40.Attitude observing and controlling processor 40 accordingly Accurate Estimation goes out the position arrival data of vertical pivot 60 and is synchronously uploaded to central processing unit 28.
Real-time data communication between central processing unit 28 and attitude observing and controlling processor 40 has guaranteed the integrated of measuring machine and attitude observing and controlling machine.
7) motion of integral shaft system and assembling
The 3rd transverse axis 80 is set in attitude observing and controlling machine and faces upward accordingly the motion control unit of bowing, comprise the 7th scrambler 81, the 3rd clutch coupling 82, the second worm and gear group 83, the second motor and driving circuit 21, central processing unit 28, the second motor are connected successively with driving circuit 21, the second worm and gear group 83 and the 3rd clutch coupling 82, the 3rd clutch coupling 82 connects the 3rd transverse axis 80, the three transverse axis 80, the 7th scrambler 81, central processing unit 28 and connects successively when closed;
The second transverse axis 76 is set in attitude observing and controlling machine and faces upward accordingly the motion control unit of bowing, comprise the 6th scrambler 78, the first worm and gear group 77, the first motor and driving circuit 79, central processing unit 28, the first motor are connected successively with driving circuit 79, the first worm and gear group 77, and the second transverse axis 76, the 6th scrambler 78, central processing unit 28 connect successively.
Attitude observing and controlling machine is provided with tuning fork, referring to Fig. 5 tuning fork rotating part.Central processing unit and peripheral circuit thereof can other integrated settings, and the each axle assembling of mechanical part is as follows:
1) vertical pivot 60 base course motions
Attitude observing and controlling machine is connected with measuring machine by vertical pivot 60, and the course motion of measuring machine and affiliated unit thereof produces by the rotation of vertical pivot 60, and course kinematic accuracy is via 59 observing and controlling of attitude unit, course.
2) the intersection point Shi Zhouxi center of the mass centre of the first transverse axis 42 and precise distance measurement unit 24
The intersection point of the central axis of the mass centre of precise distance measurement unit 24 and the first transverse axis 42 is independently to survey and draw arbor Xi center: the central axis of all related works unit and the intersection point of axis and axis are all taken this as the standard and demarcated, and realize multiaxis concentric.
The assembly being made up of with long-distance ranging unit 25 precise distance measurement unit 24 is connected with attitude observing and controlling machine by the first transverse axis 42.The motion of bowing of facing upward of this assembly is produced by the rotation of the first transverse axis 42, faces upward the kinematic accuracy of bowing via facing upward attitude unit 41 observing and controlling of bowing; The course motion of this assembly is produced by the rotation of vertical pivot 60, and course kinematic accuracy is via 59 observing and controlling of attitude unit, course.
3) the second transverse axis 76 and swing in high frequency
The second transverse axis 76 is for the swing in high frequency on supporting axis.High frequency range cells 26 is connected with the tuning fork of attitude observing and controlling machine by the second transverse axis 76.In the measuring machine embodiment shown in Fig. 1:
While using high frequency range cells 26 to point target measuring distance (obtaining the range data of centimetre-sized precision), the motion of bowing of facing upward of high frequency range cells 26 produces [the 3rd transverse axis 80 drives high frequency range cells 26 to move by synchronising (connecting) rod] by the rotation of the 3rd transverse axis 80, faces upward the kinematic accuracy of bowing via the second worm and gear group 83, the second motor and driving circuit 21, the 7th scrambler 81 observing and controlling.Its course motion is produced by the rotation of vertical pivot 60, and course kinematic accuracy is via 59 observing and controlling of attitude unit, course;
While using high frequency range cells 26 to carry out scan-type range finding to three-dimensional area target, the second transverse axis 76 supports eccentric wheel unit 27 along the swing in high frequency of facing upward the direction of bowing.The motion of bowing of facing upward of high frequency range cells 26 is controlled by eccentric wheel unit 27, faces upward the kinematic accuracy of bowing by the first worm and gear group 77, the first motor and driving circuit 79, the 6th scrambler 78 observing and controlling.Course motion is produced by the rotation of vertical pivot 60, and course kinematic accuracy is by 59 observing and controlling of attitude unit, course.
4) attitude motion of the 3rd transverse axis 80 and large quality component
The 3rd transverse axis 80 is for supporting the attitude motion of large quality component.In the measuring machine embodiment shown in Fig. 1, infrared laser light source 1 and many photoimagings unit 9 are large quality part (long-distance ranging unit 25 often become the parts of quality maximum in measuring machine in the time that measuring distance exceedes 25 kilometers), and the assembly that both form is connected with attitude observing and controlling machine tuning fork by the 3rd transverse axis 80.The motion of bowing of facing upward of this assembly is produced by the rotation of the 3rd transverse axis 80, faces upward the kinematic accuracy of bowing via the second worm and gear group 83, the second motor and driving circuit 21, the 7th scrambler 81 observing and controlling.Its course motion is produced by the rotation of vertical pivot 60, and course kinematic accuracy is via 59 observing and controlling of attitude unit, course.
5) synchronising (connecting) rod
Between the 3rd transverse axis 80 and high frequency range cells 26, there is a synchronising (connecting) rod: while using high frequency range cells 26 to find range to point target, infrared laser light source 1, many photoimagings unit 9 and high frequency range cells 26 realize the synchronous interaction in pitch angle direction by synchronising (connecting) rod.Now eccentric wheel unit 27 is in the state of quitting work; While using high frequency range cells 26 to carry out scan-type range finding to three-dimensional area target, eccentric wheel unit 27 is in running order, now synchronising (connecting) rod brake, the 3rd transverse axis 80 departs from interlock with high frequency range cells 26, and high frequency range cells 26 is independence swing in high frequency on the second transverse axis 76 under the drive of eccentric wheel unit 27.
3. the communication of autonomous mapping machine:
Fig. 3 is the Principle of Communication figure that independently surveys and draws machine, below annotates by the mode of layering from top to bottom.Ground floor: the cloud that the left side indicates " HA Global Positioning Satellite " represents the sky net forming for the satellite group of global location, the available resources such as Galileo, Muscovite GLONASS of the GPS that comprises the Chinese Big Dipper, the U.S., European Union.For example, GPS contains 26-30 satellite (24 operation, other backup) for the satellite group of global location, divides 6 tracks etc.These 24 work satellites have just formed GPS days nets.In like manner explain Big Dipper sky net, Galileo sky net and GLONASS days nets.The right indicates the cloud of " remote sensing satellite " and represents by various countries, various for observing the available resources (as spacer remote sensing image etc.) of RS satellite of earth resources; The second layer: the autonomous mapping machine that the left side is the art of this patent, the right is base station.The lightning shape symbol middle that indicates " MANET " printed words represents the radio communication of independently being undertaken by MANET between mapping machine, indicates " ground RS data " lightning shape symbol that is positioned at both sides of printed words and represents independently to survey and draw the ground remote sensing function of machine; The 3rd layer: ground communication network.The cloud that the left side indicates " cable/radio telephone set net " printed words represents that its terminal comprises mobile phone and base for the telephone network of ground call.The cloud that centre indicates " wireless Internet (2.5G/3G/4G) " printed words represents wireless data network.The cloud that the right indicates " land station " printed words represents land station's network of remote sensing satellite; The 4th layer: the data platform of ground communication network.The square frame that indicates " 2.5G platform ", " 3G platform ", " 4G platform ", " RS data platform " represents respectively 2.5G wireless data communications platform, 3G wireless data communications platform, 4G wireless data communications platform and the remotely-sensed data platform being connected with each land station; Layer 5: the cloud that indicates " wired Internet " printed words represents general the Internet, the icon representation that the left side indicates B/S rear data center printed words is connected to the computer server of receiving and sending messages in B/S mode on the Internet, and the icon representation that the right indicates C/S rear data center printed words is connected to the computer server of receiving and sending messages in C/S mode on the Internet; Traffic symbols between each layer: lightning shape symbol represents the data link of communication, straight line is connected and represents the data link of wire communication mode.
4. autonomous mapping machine function realizing method
The embodiment of autonomous mapping machine can be summarized as the system being made up of whole chips, circuit, module, working cell around central processing unit 28 practical functions.The function of autonomous mapping machine is not the inherent function of certain working cell or the stack of some working cell function, but the result of tissue: the function of independently surveying and drawing machine is its all chips, circuit, module, working cell, system software produces according to Principles of Computer Composition and multisource data fusion principle tissue, is the result of independently surveying and drawing the emerging in large numbers property of system of machine.Cannot be exhaustive as computer application program and function thereof, the function of independently surveying and drawing machine also cannot be exhaustive one by one.
Autonomous mapping machine function realizing method: the machine of independently surveying and drawing is the polynary computer system of optical, mechanical and electronic integration physically.Its function realizing method can be summarized as in the polynary computer system of such optical, mechanical and electronic integration and move various computer applied algorithms.For example: operation " level line program " can obtain the topomap based on live-action image; Operation can obtain the tracking measurement function to arbitrary target to " the tracking measurement program of arbitrary target "; Various and application program temporal and spatial correlations, that write according to real needs in the fields such as operation engineering design, engineering setting out, project supervision, engineering operation, geodetic surveying, engineering survey, disaster monitoring, emergency processing, can obtain corresponding function.
Based on above technical scheme, the autonomous mapping machine that the embodiment of the present invention provides can bring many-sided improvement effect for space measurement field, for ease of understanding for the purpose of the technology of the present invention effect, provides the working method feature of the embodiment of the present invention to be described as follows.1, geomatics industry core demand and whole application are combined together unified solution:
Automatic synchronization obtains the three-dimensional terrestrial coordinate of target and target image, automatically obtains and have the topomap of image on the spot, automatically obtain 3-dimensional image under earth coordinates, automatically obtain the three-dimensional navigation figure under earth coordinates; Produce by multi-systems integration and data fusion emerging in large numbers property, by the derivative a large number of users function of emerging in large numbers property, with completely new approach essence improvement quality, the application of wide spread geomatics industry class and extended field application thereof.
2, independently adapt to working environment, all weather operations:
Independently realize all weather operations, under the various conditions of completely unglazed night, daytime, slight and moderate haze automatic acquisition object scene image and on its screen blur-free imaging.Fast, accurately, do not need manpower intervention.
3, independently adapt to target, independently determine working method:
Judge voluntarily target range, decide precise space surveying work pattern, remote space surveying work pattern, high frequency spatial surveying work pattern in its sole discretion, the autonomous technical indicator optimization realizing for specific works target on the basis of self ability to work.Efficiently, accurately, do not need manpower intervention.
4, automatically accurately aim at, change existing artificial aiming working method, greatly improve pointing accuracy and efficiency:
Abandon based on telescopical artificial aiming working method.On the display screen of autonomous mapping machine, click impact point, optics, electronics two-stage that the machine of independently surveying and drawing is realized automatically to the thin portion of impact point are amplified.Again click the thin portion of impact point after two-stage is amplified, the machine of independently surveying and drawing is with the precision automatic aiming target of 0.1 rad.Efficiently, accurately.
5, automatic telemetering obtains the three-dimensional terrestrial coordinate of impact point, changes routine measurement mode and improves measuring accuracy and work efficiency, reduction labour cost and labour intensity:
Click the arbitrfary point on screen, independently survey and draw machine automatic aiming, automatically within 1-5 second, obtain/store/show the three-dimensional coordinate of this impact point under earth coordinates.Do not need cooperative target, do not need artificial aiming, remove to set up instrument on the impact point that do not need manually to trek, directly the three-dimensional terrestrial coordinate of arbitrary target points in its visual field and finding range is obtained in remote measurement.Measuring accuracy and efficiency are higher than existing routine measurement mode, and labour cost and labour intensity are far below existing routine measurement mode.
6, the round-the-clock high density deformation monitoring that automatically completes, improves monitoring effect, raises the efficiency and reduce costs:
Conventional GPS deformation monitoring mode: some observation stakes are set in subject (engineering body, massif), GPS orientator is placed in to observation stake is upper measures: a point of a stake monitoring target body (the deformation situation that stake less cannot reflection object body, stake high cost at most), the place that observation stake cannot be set can not be monitored.
Feature when autonomous mapping machine is used for deformation monitoring:
1) change conventional deformation monitoring mode:
An autonomous mapping machine can be measured multiple targets long-term repetition continuously by full-automatic tracking within the utmost point short time;
2) greatly improve monitoring point density essence and improve monitoring effect, high-level efficiency, low cost:
Under equal monitoring index (the time period length between precision, two secondary data etc.), (the fast deformation of can making up the number ten, real-time resolving), hundreds of effect of simultaneously working to the GPS orientator of thousands of (slow deformation, resolve) mm class precisions afterwards.Greatly raise the efficiency, reduce costs when greatly thereby raising monitoring point density essence is improved monitoring effect;
3) be not limited to observation stake and prism, can carry out to the atural object in its range finding the deformation monitoring of mm class precision;
4) synchronously obtain real-time image scene;
5) independently survey and draw the difference of machine deformation monitoring system and existing precision measurement Robotics: the former can work under mild or moderate haze, daytime, night condition, take natural feature on a map, Human Architecture as measured target; The latter need daytime fine weather and fair visibility, take the artificial on-the-spot prism arranging as cooperative target.
7, three-dimensional object space terrestrial coordinate and object space image are combined together, synchronously obtain:
Automatically Fast synchronization obtains the three-dimensional terrestrial coordinate of impact point and the impact point periphery atural object image centered by this impact point.
8, independently generate the three-dimensional object space image under earth coordinates:
In any object space image that can obtain at it, automatically generate the three-dimensional coordinate dot matrix cloud under earth coordinates, density is adjustable.Realize the space measurement field work of portable unit.
9, independently generate the full-view image under earth coordinates:
Automatically generate 360 ° of panorama object space images with the three-dimensional terrestrial coordinate of object space: automatic Mosaic, the automated imaging of several continuous images (visual field is adjustable and the central point of every width image with the three-dimensional terrestrial coordinate of object space).Realize the space measurement field work of portable unit.
10, field survey district layout:
On Aero-Space remote sensing image or topomap, show, plan and survey/do not survey region, carry out field station location layout.
11, automatic mapping contour line, automatically generates with the topomap of image on the spot:
Complete the surveying work on the each location in field according to location layout, automatic Mosaic, real-time one-tenth figure.
12, automatically generate and survey district three-dimensional navigation figure:
Complete the photogrammetric work in field on each location according to location layout, automatic Mosaic, real-time one-tenth figure.
13, many nets converged communication, interior industry, field operation are integrated.
14, high-precision attitude observing and controlling:
Course angle observing and controlling error: 0.1 "; Pitch angle observing and controlling error: 0.1 ".
15, the three-dimensional terrestrial coordinate of high-precision object space:
Under cooperative target condition, when range finding is less than or equal to 1,000m, measuring accuracy can reach mm level; Have under prism condition, when range finding is less than or equal to 3,000m, measuring accuracy can reach mm level;
Under cooperative target condition, when range finding is less than or equal to 25,000m, measuring error is decimeter grade; When range finding is greater than 25,000m and is less than 40,000m, measuring error sub-meter grade.
16, drawing formation system is independently surveyed in field:
Without by any base map, complete independently field topomap and field three-dimensional navigation figure measure.In work flow, formed photogrammetric closed-loop control, the spatial data under earth coordinates obtains with the stereopsis that comprises rich properties information simultaneously, and field operation and interior industry are integrated, high-efficiency high-precision.
17, the outcome data of field outdoor scene three-dimensional visualization:
It gathers the field geographical spatial data under earth coordinates in planar mode, and its outcome data is that the outdoor scene of taking continuously can measure image.
18, field outdoor scene can measure image and defend sheet/boat sheet seamless link:
Form field outdoor scene and can measure image and a new generation's " Incorporate " field Geographic Information System of defending sheet/boat sheet seamless link.
19, the three-dimensional terrestrial coordinate of high-precision object space:
By the main error source that affects the three-dimensional terrestrial coordinate measuring accuracy of object space be thought of as survey station positioning error, survey station is looked under the prerequisite of northern error, attitude measurement error, image error, pointing error, range observation error, independently surveying and drawing facility has very high measuring accuracy.
Survey station positioning error: existing differential position can reach centimetre-sized positioning precision in 1 minute, reaches the positioning precision of mm level in 30 minutes;
Autonomous mapping machine attitude measurement error: course angle observing and controlling error is less than or equal to 0.1 ", pitch angle observing and controlling error be less than or equal to 0.1 ";
The imaging definition of autonomous mapping machine: according to automatic imaging method and automatic releasing general objective method, can obtain impact point particulars image clearly;
The pointing error of autonomous mapping machine: according to automatic imaging method and accurate method of sight automatically, " the pointing accuracy of level that can obtain 0.1;
Survey station is looked for northern error: tracking measurement robot, in the time that global location unit 36 and known terrestrial coordinate spot placement accuracy reach mm level and distance is greater than 500 meters between the two, attitude measurement accuracy, remotely sensed image sharpness and the automatic aiming accuracy guarantee of 3 d pose system adopt location to look for the survey station of northern method to look for northern error to be less than or equal to 5 ".
Autonomous mapping machine: under cooperative target condition, when range finding is less than or equal to 40,000m, long-distance ranging unit 25 measuring error decimeter grades, this is maximum error source; When range finding is less than or equal to 2,000m, high frequency range cells 26 measuring error centimetre-sized, this is maximum error source.When range finding is less than or equal to 1,000m, precise distance measurement unit 24 measuring error 2mm+-2ppm, this is maximum error source.
In sum, the machine of independently surveying and drawing is in the time of 40 kilometers of distance objectives, and the precision of the three-dimensional terrestrial coordinate of remote measurement measuring target point can reach sub-meter grade; In 2 kilometers of distance objectives time, the precision of the three-dimensional terrestrial coordinate of remote measurement measuring target point can reach centimetre-sized; In 1 kilometer of distance objective time, under self-defined coordinate, the precision of remote measurement measuring target point three-dimensional coordinate can reach grade.
... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ... ..., etc.
For the sake of ease of implementation, provide several typical case's application as follows:
One, autonomous imaging
The present invention can realize autonomous imaging, comprises according to white light luminous flux, and photoresistance 75 is sent signal controlling central processing unit 28 and closed or open pump supply source 5, corresponding white light source or infrared laser light source; Imaging results judges image definition by graphics processing unit 20, and when the imaging results under white light source does not reach sharpness requirement, central processing unit 28 is opened pump supply source 5 infrared laser light source is provided.Can form autonomous imaging system by central processing unit 28, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, carry out autonomous imaging process as follows,
Step 1, carries out imaging source initial selected, is achieved as follows,
When being included in white light luminous flux and being enough to make two filter sheet structure CCD module 18 white light imaging, the signal port of photoresistance 75 is in closure state, and central processing unit 28 cuts out pump supply source 5, enters step 2; When white light luminous flux is not enough to two filter sheet structure CCD module 18 white light imaging, the signal port of photoresistance 75 is in normally open, and central processing unit 28 is opened pump supply source 5, infrared laser light source 1 irradiates target, the infrared laser that many photoimagings unit 9 is accepted to return from target, enters step 4
Step 2, under white light source, the self-adaptation to fair visibility and haze environment and the autonomous selection of imaging source, be achieved as follows,
The focusing calibration value that central processing unit 28 reads focusing lens 16 drives the 4th motor 14 to arrive successively each corresponding calibration position, in each corresponding calibration position, white light signal arrives graphics processing unit 20 after being converted to digital signal via many photoimagings unit 9, graphics processing unit 20 obtains image value and compares, and record makes the 4th motor 14 calibration position of image value maximum for making the most clear place of image;
Central processing unit 28 carries out analyzing and processing to all image values of object scene,
If the absolute value of the difference of the maximal value of image value and minimum value is greater than default arithmetic number Q1, judge that survey station, in fair visibility environment, enters step 3;
If the absolute value of the difference of the maximal value of image value and minimum value is less than default arithmetic number Q1 and is greater than default arithmetic number Q2, judge that survey station, in moderate or slight haze environment, enters step 4;
If the absolute value of the difference of the maximal value of image value and minimum value is less than default arithmetic number Q2, judge that survey station is in severe haze environment, central processing unit 28 is reported to the police, and stops flow process;
Wherein, default arithmetic number Q1 is greater than default arithmetic number Q2;
Step 3, based on the automated imaging of white light source, is achieved as follows,
First carry out automatic focusing, central processing unit 28 sends instruction to the 5th driving circuit 11, the 4th motor 14, the 6th worm screw 13 are rotated, the motion state synchronous feedback of the 5th scrambler 10 real time record the 6th worm screw 13 is to central processing unit 28, central processing unit 28 calculates pulse modified value and sends accordingly next instruction, until the 6th worm screw 13 turns to the position of setting and completes the Focussing to focusing lens 16 by the 6th worm gear 12;
Then carry out automated imaging, white light signal arrives two filter sheet structure CCD modules 18 through object lens 15, focusing lens 16 and imaging lens group 17, two filter sheet structure CCD modules 18 are uploaded to graphics processing unit 20 after converting white light signal to digital signal, graphics processing unit 20 obtains clearly scene image and is uploaded to central processing unit 28, complete the automated imaging task based on white light source, process ends;
Step 4, based on the automated imaging of infrared laser light source, is achieved as follows,
First infrared laser range of exposures accurately covers the visual field of many photoimagings unit 9:
Central processing unit 28 completes two work simultaneously, the one, automatic zoom, comprise and open the 4th driving circuit 33, make the 5th motor 32 drive the 5th worm screw 31 to move to Pi position, the 5th worm screw 31 drives the 5th worm gear 23 to make varifocal mirror group 22 that the visual field of many photoimagings unit 9 is adjusted to and carried out the required size of i generic task, and the actual in-position of the 5th worm screw 31 is uploaded to central processing unit 28 by the 4th scrambler 34; The 2nd, visual field overlaps with range of exposures, comprises that sending instruction to the 3rd driving circuit 8 makes the 3rd motor 7 drive infrared laser focusing lens 3 to move to Qi position, makes the range of exposures of infrared laser light source 1 just in time cover the visual field of search many photoimagings unit 9;
Wherein, visual field when i generic task is carried out in the visual field of demarcating constant P i and be many photoimagings unit 9, is called Pi imaging viewing field, i=1,2,3 ... ..J, J is total class number, demarcating constant Qi is and Pi infrared laser focus value one to one, infrared laser focusing lens 3 infrared laser range of exposures in the time of Qi position overlaps with Pi imaging viewing field, and after Pi is demarcated, Qi demarcates according to Pi;
Then carry out automated imaging, the infrared laser signal returning from object scene arrives two filter sheet structure CCD modules 18 by object lens 15, focusing lens 16, imaging lens group 17, two filter sheet structure CCD modules 18 reach graphics processing unit 20 after converting infrared laser signal to digital signal, graphics processing unit 20 obtains clear scene image and is uploaded to central processing unit 28, completes the automated imaging task based on infrared laser light source.
Two, automatic range and the synchronous automatic appearance of determining
While using high frequency range cells 26 to carry out scan-type range finding to three-dimensional area target, can pass through attitude unit, course 59, eccentric wheel unit 27, high frequency range cells 26 synchronous workings, complete the scan-type automatic range of high frequency range cells 26 in 9 visual fields, many photoimagings unit, obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data, generating three-dimensional field live-action image; By setting attitude motion terminal position, be supported in and define arbitrarily working range or the panorama working range generating three-dimensional field live-action image around 360 ° of survey stations.
Can be by central processing unit 28, eccentric wheel unit 27, the first worm and gear group 77, the first motor and driving circuit 79, the 6th scrambler 78, the second transverse axis 76, high frequency range cells 26, attitude observing and controlling processor 40, attitude unit, course 59, face upward the attitude unit 41 of bowing, attitude observing and controlling electromechanical source unit 74, graphics processing unit 20, photoresistance 75, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, global location unit 36, communication unit 37 forms scan-type automatic range and synchronous attitude determination system automatically, carry out and automatically generate arbitrary shape, the three-dimensional field live-action image of Arbitrary width size, the on-the-spot three-dimensional live-action image of panorama that automatically generates in real time.
Automatically the job step of the three-dimensional field live-action image of generation arbitrary shape, Arbitrary width size is as follows:
1) define arbitrarily working range
Use and touch setting-out (or clicking screen) method, sketch the contours closed curve (or closure fold line) C of arbitrary shape at touch-screen on the two-dimentional field live-action image showing, the region M that central processing unit 28 surrounds C is defined as working range.Eccentric wheel unit 27 defines high frequency range cells 26 along facing upward the reciprocating terminal of the direction of bowing position by the instruction of central processing unit 28: in the plane that the optical axis of its axis at vertical pivot 60 and high frequency range cells 26 is formed, all drop on closed curve (or closure fold line) C around reciprocating terminal position, the axis of the second transverse axis 76; The instruction that central processing unit 28 is pressed in attitude unit, course 59, turns over the course heading as terminal take the border of region M continuously; The synchronous interaction of eccentric wheel unit 27 and attitude unit, course 59 makes working range just in time cover region M.
2) course motion: central processing unit 28 instruction attitude observing and controlling processors 40 are adjusted to course angle reference position and continuously moved to stop position.Instruction is carried out and completed to attitude observing and controlling processor 40 by attitude unit, course 59.
3) face upward the motion of bowing: the amplitude of fluctuation of pitch angle is adjusted to the scope defining from reference position to stop position in central processing unit 28 instruction eccentric wheel unit 27, and drive high frequency range cells 26 axis direction reciprocally swinging along vertical pivot 60 in defined scope.Instruction is carried out and completed in eccentric wheel unit 27: the amplitude of fluctuation of pitch angle is locked in to the scope defining from reference position to stop position, and the unidirectional continuous rotation of motor is converted to level and smooth continuous to-and-fro movement, drive the LASER Discharge Tube of high frequency range cells 26 and laser pick-off pipe take the mass centre of high frequency range cells 26 as the center of circle, take described amplitude of fluctuation as range of movement, in the plane of the axis of vertical pivot 60 and the optical axis of high frequency range cells 26 formation around the axis to-and-fro movement of the second transverse axis 76.High frequency range cells 26 synchronous workings, obtain range data continuously.
4) time synchronized: take GPS time as benchmark, attitude unit, course 59, eccentric wheel unit 27, synchronously startup of high frequency range cells 26, synchronous working, synchronously stop, complete the traversal formula automatic range of high frequency range cells 26 in 9 visual fields, many photoimagings unit, and only in officely mean to obtain in fixed scope range data dot matrix cloud and the 3 d pose data corresponding with each range data.
5) space coupling: complete the space coupling of 3 d pose data and range data by the relation between electromechanical work principle, drop point site, 3 d pose data and the time synchronized three of range data of laser beam on projecting plane of eccentric wheel unit 27, generating three-dimensional terrestrial coordinate dot matrix cloud on object scene image.
6) automatically generate the three-dimensional field live-action image of arbitrary shape, Arbitrary width size
The data mining program of central processing unit 28 operations including non-linear K nearest neighbor point algorithm, in the live-action image of described two-dimentional field, utilize known three-dimensional terrestrial coordinate dot matrix cloud to calculate three-dimensional terrestrial coordinate to the point without three-dimensional terrestrial coordinate, on the M of region, obtain three-dimensional field live-action image.
It is on-the-spot that the job step of the three-dimensional live-action image of generation panorama is as follows automatically in real time:
1) the zero lap automatic Mosaic of panoramic picture
A. guarantee scenery zero lap and naturally continuous in two width adjacent images with high-precision attitude observing and controlling:
Complete around the first round two dimension field live-action image of 360 ° of survey stations and take by course angle: measuring machine obtains the first width two dimension field live-action image according to automatic imaging method; Central processing unit 28 calculates the course angle position of picked-up the second width image according to the attitude data of picked-up the first width image, and command heading attitude unit 59 moves and puts in place with the precision of 0.1 rad, acquisition the second width image; So circulation is until obtain last width image.In last width image of central processing unit 28 cuttings, exceed the part of 360 ° of course angles, obtain the two-dimentional field live-action image around 360 ° of survey stations.Stitching error between every two width images is 0.1 rad.
Conversion pitch angle completes panorama two dimension field live-action image and takes: if the pitch angle of first round image is less than the pitch angle working range of setting, central processing unit 28 instructions are faced upward the attitude unit 41 of bowing and pitch angle is adjusted to take turns the reference position of filming image and complete second with first round image joining second is taken turns shooting, and so circulation is until obtain the panorama two dimension field live-action image around 360 ° of survey stations.Stitching error between every two-wheeled image is 0.1 rad.
B. the marginal distortion of control chart picture: select the suitable two filter sheet structure CCD modules 18 of parameter, make the marginal distortion of the captured image of calibrated camera be less than 1%.
C. adjacent image is carried out to color balance processing.
D. arrange zoomed image data, obtain the panorama two dimension field live-action image around 360 ° of survey stations.
2) automatically generate the three-dimensional field of the panorama live-action image around 360 ° of survey stations
Central processing unit 28 synchronously completes quadrinomial job: the one, according to the pitch angle working range of setting, the motion start-stop position of eccentric wheel unit 27 in pitch angle direction is set, and start eccentric wheel unit 27 to-and-fro movement synchronously return to it to central processing unit 28 and face upward the attitude data of bowing in specified scope; The 2nd, open high frequency range cells 26 it is found range also continuously synchronously to central processing unit 28 layback data; The 3rd, unlatching attitude unit, course 59 makes it turn over continuously 360 ° and also synchronously returns to course data to central processing unit 28; The 4th, automatic generating three-dimensional image on the panorama two dimension field live-action image around 360 ° of survey stations, obtains the three-dimensional field of the panorama live-action image around 360 ° of survey stations.
Three, independently survey and draw the three-dimensional terrestrial coordinate automatic telemetering of machine
Three-dimensional terrestrial coordinate automatic telemetering system comprises central processing unit 28, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, attitude unit, course 59, faces upward the attitude unit 41 of bowing, long-distance ranging unit 25, precise distance measurement unit 24, the first transverse axis 42, vertical pivot 60, high frequency range cells 26, the second transverse axis 76, global location unit 36, communication unit 37.
Automatic telemetering, the job step of three-dimensional terrestrial coordinate of obtaining measured target is as follows:
1) automatically accurately aiming at based on image:
In the two-dimentional field live-action image that user can show at touch-screen, click impact point, central processing unit 28 is adjusted to minimum by the visual field of many photoimagings unit 9 automatically, it is maximum that enlargement factor reaches, and on impact point live-action image after the high power optical amplifier obtaining in many photoimagings unit 9 automatically Digital Zoom amplify (demarcating Digital Zoom enlargement factor according to the resolution of CCD and display screen), obtain the impact point sharp image after optics/digital two-stage amplification, user can select measured target therein.Click measured target, face upward the attitude unit 41 of bowing, attitude unit, course 59 and aim at measured target with the precision of 0.1 rad, and the attitude data being obtained is uploaded to central processing unit 28.
2) automatic range based on automatically accurately aiming at:
Central processing unit 28 starts long-distance ranging unit 25 measured target is carried out to range observation, obtains the range data d of decimeter grade precision, directly adopts d value when d is greater than 2 kilometers; D is less than 2 kilometers while being greater than 1 kilometer, and central processing unit 28 starts high frequency range cells 26 measured target is carried out to range observation, obtains the range data of centimetre-sized precision; When d is less than 1 kilometer, central processing unit 28 starts precise distance measurement unit 24 measured target is carried out to range observation, obtains the range data of mm class precision.When automatic range, the job order of long-distance ranging unit 25, high frequency range cells 26, precise distance measurement unit 24 can freely be adjusted.
3) the three-dimensional terrestrial coordinate of automatic acquisition measured target:
Central processing unit 28 according to survey station data [while setting up survey station by the three-dimensional terrestrial coordinate data of global location unit 36 survey station that location obtains automatically, by automatically accurately aiming at the survey station direct north data that known terrestrial coordinate point or another autonomous mapping machine obtain, the survey station horizontal attitude data that adjustment horizontal attitude unit 56 obtains.Lower same.] and target data [to different target (or same target not in the same time): the course obtaining by automatic aiming and face upward the attitude data of bowing, the survey station that obtains by automatic range is to the range data of target.Lower same.] automatically resolve the three-dimensional terrestrial coordinate that obtains measured target.
Four, the movable object tracking of independently surveying and drawing machine is measured
Obtain continuously field live-action image by automated imaging process in hunting zone, from the live-action image of field, identify specific objective by image identification unit 19, and follow the tracks of specific objective by facing upward bow attitude unit 41 and attitude unit, course 59.
Movable object tracking measuring system is by central processing unit 28, long-distance ranging unit 25, image identification unit 19, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, global location unit 36, communication unit 37, measuring machine power supply unit 29, attitude unit, course 59, face upward the attitude unit 41 of bowing, the first transverse axis 42, vertical pivot 60, the second worm and gear group 83, the second motor and driving circuit 21, the 7th scrambler 81, the 3rd clutch coupling 82, the 3rd transverse axis 80 forms.
The job step of autonomous tracking measurement moving target is as follows:
1) image processor target:
After inputted search scope, central processing unit 28 is coordinated related work unit synchronous working: closed first clutch 43, second clutch 61, the 3rd clutch coupling 82, the second motor and driving circuit 21, the second worm and gear group 83 and attitude unit, course 59 drive infrared laser light source 1, many photoimagings unit 9 to move continuously, and circulation covers hunting zone; Infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20 are pressed automatic imaging method, obtain continuously field live-action image with the frequency of 25-30 width per second in hunting zone.
2) autonomous discovery, identification target:
In storage unit 35, preserve in advance the specific objective database including many facades image and various recognition feature.Operation image recognizer in image identification unit 19, excavates specific objective data in live-action image data in the wild by the method for comparison field live-action image data and specific objective data, finds and identification specific objective.When image identification unit 19 can not complete image recognition task at the appointed time, central processing unit 28 starts voluntarily communication unit 37 and links rear data center, completes image recognition task by cloud computing and storehouse, high in the clouds.
3) autonomous tracking aiming target:
The recognition result that central processing unit 28 provides take image identification unit 19 is tracing object, instruction is faced upward bow attitude unit 41 and attitude unit, course 59 and is driven infrared laser light source 1, many photoimagings unit 9 to move continuously, make the image of tracing object remain the graduation center in live-action image in the wild, this just makes the optical axis of many photoimagings unit 9 remain aiming tracing object.Face upward bow attitude unit 41 and attitude unit, course 59 and synchronously feed back attitude data to central processing unit 28.
4) the autonomous tracking range finding based on tracking aiming:
The tracing object that long-distance ranging unit 25 aims at many photoimagings unit 9 continuously range finding also synchronously feeds back range data to central processing unit 28.
5) autonomous tracking measurement:
Central processing unit 28 calculates the real-time three-dimensional terrestrial coordinate of specific objective (tracing object) according to survey station data and target data continuous solution.
6) relocking target:
If many photoimagings unit 9 is losing lock in the process of following the tracks of specific objective, central processing unit 28 is according to the tracking measurement data of the three-dimensional terrestrial coordinate of specific objective are calculated to the locus that its next moment may occur, make infrared laser light source 1, many photoimagings unit 9 successively aim at these locus by facing upward bow attitude unit 41 and attitude unit, course 59, wait for the appearance again of specific objective.
7) synchronous data transmission:
By communication unit 37, rearward data center or other need real-time imaging and the real-time three-dimensional terrestrial coordinate of the device synchronization transmission specific objective of awareness information to central processing unit 28.
Five, independently survey and draw the deformation monitoring of machine based on field ground feature image, image recognition and three-dimensional coordinate measurement
Autonomous mapping machine is measured target to selecting any number of Target scalars that need monitoring in distortion measurement object, each measured target is continued to monitor, be included in image that multiple time points obtain measured target, attitude data while aiming at measured target, survey station be to the range data of measured target, the three-dimensional coordinate of measured target, obtains the deformation data of distortion measurement object.
Deformation monitoring system by central processing unit 28, precise distance measurement unit 24, image identification unit 19, graphics processing unit 20, many photoimagings unit 9, infrared laser light source 1, photoresistance 75, man-machine interaction unit 30, measuring machine power supply unit 29, attitude unit, course 59, face upward the attitude unit 41 of bowing, the first transverse axis 42, vertical pivot 60 and form.
The job step of the deformation monitoring based on field ground feature image, image recognition and three-dimensional coordinate measurement:
1) independently mapping machine is learnt distortion measurement object
It is measured target that operating personnel select any number of Target scalars that need monitoring in distortion measurement object on touch-screen.The relevant information that central processing unit 28 collaborative each related work unit obtained and stored each impact point, obtains learning outcome: the measured target image data with central point graduation (is called for short " initial image ".), the attitude data that aims at when measured target (is called for short " reference attitude ".), survey station to the range data of measured target (is called for short " initial distance ".), the three-dimensional coordinate of measured target (is called for short " origin coordinates ".), time of measuring measured target three-dimensional coordinate (is called for short " initial time ".)。
2) independently survey and draw machine run-home atural object again
Starting working by the time interval of setting in the collaborative each related work of central processing unit 28 unit, completes 4 tasks: by facing upward bow attitude unit 41 and attitude unit, course 59, aiming attitude is adjusted to reference attitude; The Target scalar image data again obtaining with central point graduation by infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20 (is called for short " image again ".); In initial image, excavate image data again by image identification unit 19, the central point graduation position of two images is all occurred on initial image; Central processing unit 28 by two central point graduation the alternate position spike on initial image calculate again run-home atural object attitude adjust parameter, face upward bow attitude unit 41 and attitude unit 59, course and adjust parameter according to attitude aimings attitude is adjusted on Target scalar, obtain the autonomous mapping machine attitude data (abbreviation " attitude again " when run-home atural object again.), complete the autonomous mapping machine task of run-home atural object again.
3) independently survey and draw machine measurement target atural object again
Central processing unit 28 collaborative each related work unit measurement target atural objects again: again measure and again obtain survey station to the range data between Target scalar by precise distance measurement unit 24 and (be called for short " distance again ".); The three-dimensional coordinate that central processing unit 28 calculates Target scalar according to distance, again attitude and survey station three-dimensional coordinate data again (is called for short " coordinate again ".), obtain again the time of coordinate and (be called for short " time again ".)。
4) independently mapping machine obtains the displacement vector data of Target scalar
Origin coordinates and initial time, coordinate and the time has been delineated respectively two 4 dimension events again again: the former is the Target scalar three-dimensional coordinate obtaining in initial time, the latter is the Target scalar three-dimensional coordinate obtaining in time again; Take the former as starting point, the latter is terminal, obtains the displacement vector of Target scalar in setting-up time section.
5) independently mapping machine obtains the deformation data of distortion measurement object
The deformation of measuring object in setting-up time section has been delineated in the set that the displacement vector of multiple Target scalars in setting-up time section forms.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.

Claims (13)

1. an autonomous mapping machine, is characterized in that: comprise measuring machine and attitude observing and controlling machine,
Measuring machine comprises central processing unit (28) and the infrared laser light source (1) being connected with central processing unit (28) respectively, many photoimagings unit (9), precise distance measurement unit (24), long-distance ranging unit (25), high frequency range cells (26), eccentric wheel unit (27), image identification unit (19), graphics processing unit (20), measuring machine power supply unit (29), man-machine interaction unit (30), storage unit (35), global location unit (36), communication unit (37), photoresistance (75),
Attitude observing and controlling machine comprises attitude observing and controlling processor (40), and be connected with attitude observing and controlling processor (40) respectively face upward the attitude unit (41) of bowing, horizontal attitude unit (56), attitude unit, course (59) and attitude observing and controlling electromechanical source unit (74), central processing unit (28) is connected with attitude observing and controlling processor (40);
Measuring machine is connected by vertical pivot (60), the first transverse axis (42), the second transverse axis (76), the 3rd transverse axis (80) with attitude observing and controlling machine, and be demarcated as the entirety that more than one, light is coaxial, multiaxis is concentric, described many light coaxially refers to the optical axis of infrared laser light source (1), the optical axis of many photoimagings unit (9), the optical axis of precise distance measurement unit (24), the optical axis of long-distance ranging unit (25), the optical axis of high frequency range cells (26), and five demarcate on same axis; The orientation axis of the optical axis, global location unit (36) antenna phase center point that described multiaxis refers to axis, precise distance measurement unit (24) of axis, the 3rd transverse axis (80) of axis, second transverse axis (76) of axis, first transverse axis (42) of vertical pivot (60) with one heart crossing formation of extended line of the axis during perpendicular to geoid surface with vertical pivot (60), six intersect at same spatial point after demarcating.
2. autonomous mapping machine according to claim 1, is characterized in that: in described 3 d pose system,
The described attitude unit (41) of bowing of facing upward comprises first clutch (43), the first unit (44), the first scrambler (53), the first motor (54) and the first driving circuit (55), described the first unit (44) comprises the first Timing Belt amplifier (45), the second worm gear (46), the first synchronous pulley (47), the second worm screw (48), the second elastic mechanism (49), the first worm gear (50), the first elastic mechanism (51), the first worm screw (52), the first driving circuit (55), the first motor (54), the first worm screw (52) connects successively, the first worm gear (50) and the first worm screw (52) engage through the first elastic mechanism (51), the first worm gear (50) and the second worm screw (48) engage through the second elastic mechanism (49), between the second worm gear (46) and the second worm screw (48) through the first synchronous pulley (47) transmission, between the second worm gear (46) and the first scrambler (53) through the first Timing Belt amplifier (45) transmission, the second worm gear (46) connects first clutch (43), first clutch (43) connects the first transverse axis (42) when closed, attitude observing and controlling processor (40) and first clutch (43), the first scrambler (53), the first driving circuit (55) connects respectively, central processing unit (28) through attitude observing and controlling processor (40), the first driving circuit (55) output order to the first motor (54), the first motor (54) output is faced upward through the first unit (44) motion result producing after the motion transmission of bowing and is uploaded to central processing unit (28) through the second worm gear (46), the first Timing Belt amplifier (45), the first scrambler (53), attitude observing and controlling processor (40) successively, and central processing unit (28) obtains the actual position of the first transverse axis (42) and arrives data,
If the ratio of gear of the first Timing Belt amplifier (45) is 1:H, after amplifying H times, the motion result that the first Timing Belt amplifier (45) produces the first unit (44) by the second worm gear (46) in the process of execution attitude observing and controlling processor (40) instruction passes to the first scrambler (53), and be converted to digital signal via the first scrambler (53) and be uploaded to attitude observing and controlling processor (40), attitude observing and controlling processor (40) obtains gained motion result the first transverse axis (42) real position arrival data and is uploaded to central processing unit (28) after H times,
Attitude unit, described course (59) comprises second clutch (61), the second unit (62), the second scrambler (73), the second motor (71) and the second driving circuit (72), described the second unit (62) comprises the second Timing Belt amplifier (64), the 4th worm gear (63), the second synchronous pulley (65), the 4th worm screw (66), the 4th elastic mechanism (67), the 3rd worm gear (68), the 3rd elastic mechanism (69), the 3rd worm screw (70), the second driving circuit (72), the second motor (71), the 3rd worm screw (70) connects successively, the 3rd worm gear (68) and the 3rd worm screw (70) engage through the 3rd elastic mechanism (69), the 3rd worm gear (68) and the 4th worm screw (66) engage through the 4th elastic mechanism (67), between the 4th worm gear (63) and the 4th worm screw (66) through the second synchronous pulley (65) transmission, between the 4th worm gear (63) and the second scrambler (73) through the second Timing Belt amplifier (64) transmission, the 4th worm gear (63) connects second clutch (61), second clutch (61) connects vertical pivot (60) when closed, attitude observing and controlling processor (40) and second clutch (61), the second scrambler (73), the second driving circuit (72) connects respectively, central processing unit (28) through attitude observing and controlling processor (40), the second driving circuit (72) output order to the second motor (71), the second motor (71) is exported the motion result that carries out producing after the motion transmission of course through the second unit (62) and is uploaded to central processing unit (28) through the 4th worm gear (63), the second Timing Belt amplifier (64), the second scrambler (73), attitude observing and controlling processor (40) successively, and central processing unit (28) obtains the actual position of vertical pivot (60) and arrives data,
If the ratio of gear of the second Timing Belt amplifier (64) is 1:I, after amplifying I times, the motion result that the second Timing Belt amplifier (64) produces the second unit (62) by the 4th worm gear (63) in the process of execution attitude observing and controlling processor (40) instruction passes to the second scrambler (73), and be converted to digital signal via the second scrambler (73) and be uploaded to attitude observing and controlling processor (40), attitude observing and controlling processor (40) obtains gained motion result vertical pivot (60) real position arrival data and is uploaded to central processing unit (28) after I times.
3. autonomous mapping machine according to claim 2, is characterized in that: the central axis l of described vertical pivot (60) 1central axis l with benchmark the first transverse axis (42) 2, the second transverse axis (76) central axis l 3, the 3rd transverse axis (80) central axis l 4geometric relationship be, central axis l 2, central axis l 3with central axis l 4parallel, central axis l 1with central axis l 2in the plane forming, central axis l 1perpendicular to central axis l 2, central axis l 3with central axis l 4;
Attitude observing and controlling machine is connected with measuring machine by vertical pivot (60), and the rotation of vertical pivot (60) produces the course motion of measuring machine;
Be connected with attitude observing and controlling machine by the first transverse axis (42) with the assembly that long-distance ranging unit (25) form by precise distance measurement unit (24), the motion of bowing of facing upward of this assembly is produced by the rotation of the first transverse axis (42), and the course motion of this assembly is produced by the rotation of vertical pivot (60); The intersection point of the central axis of the mass centre of precise distance measurement unit (24) and the first transverse axis (42) is independently to survey and draw arbor Xi center, is the concentric reference-calibrating point of multiaxis;
Attitude observing and controlling machine is provided with tuning fork,
Be connected with the tuning fork of attitude observing and controlling machine by the 3rd transverse axis (80) with the assembly that many photoimagings unit (9) form by infrared laser light source (1), the motion of bowing of facing upward of this assembly is produced by the rotation of the 3rd transverse axis (80), and course motion is produced by the rotation of vertical pivot (60);
High frequency range cells (26) is connected with the tuning fork of attitude observing and controlling machine by the second transverse axis (76),
While using high frequency range cells (26) to point target measuring distance, between the 3rd transverse axis (80) and high frequency range cells (26), a synchronising (connecting) rod is set, the motion of bowing of facing upward of high frequency range cells (26) is produced by the rotation of the 3rd transverse axis (80), in attitude observing and controlling machine, arrange and face upward accordingly the motion control unit of bowing, comprise the 7th scrambler (81), the 3rd clutch coupling (82), the second worm and gear group (83), the second motor and driving circuit (21), central processing unit (28), the second motor and driving circuit (21), the second worm and gear group (83) is connected successively with the 3rd clutch coupling (82), the 3rd clutch coupling (82) connects the 3rd transverse axis (80) when closed, the 3rd transverse axis (80), the 7th scrambler (81), central processing unit (28) connects successively, the course motion of high frequency range cells (26) is produced by the rotation of vertical pivot (60), and now eccentric wheel unit (27) are in the state of quitting work,
While using high frequency range cells (26) to carry out scan-type range finding to three-dimensional area target, eccentric wheel unit (27) is in running order, now synchronising (connecting) rod brake, the 3rd transverse axis (80) departs from interlock with high frequency range cells (26), high frequency range cells (26) is independent of the upper swing in high frequency of the second transverse axis (76) under the drive of eccentric wheel unit (27), the motion of bowing of facing upward of high frequency range cells (26) is controlled by eccentric wheel unit (27), in attitude observing and controlling machine, arrange and face upward accordingly the motion control unit of bowing, comprise the 6th scrambler (78), the first worm and gear group (77), the first motor and driving circuit (79), central processing unit (28), the first motor and driving circuit (79), the first worm and gear group (77) connects successively, the second transverse axis (76), the 6th scrambler (78), central processing unit (28) connects successively, the course motion of high frequency range cells (26) is produced by the rotation of vertical pivot (60).
4. autonomous mapping machine according to claim 3, is characterized in that: in described measuring machine,
Infrared laser light source (1) comprises infrared laser camera lens (2), infrared laser focusing lens (3), infrared laser generator (4), pump supply source (5), the 3rd motor (7), the 3rd driving circuit (8) and the 3rd scrambler (6), infrared laser camera lens (2), infrared laser focusing lens (3), infrared laser generator (4), pump supply source (5) connects successively, the 3rd motor (7) and infrared laser focusing lens (3), the 3rd driving circuit (8), the 3rd scrambler (6) connects respectively, central processing unit (28) and pump supply source (5), the 5th driving circuit (11), the 3rd scrambler (6) connects respectively,
Many photoimagings unit (9) comprises the 5th scrambler (10), the 5th driving circuit (11), the 6th worm gear (12), the 6th worm screw (13), the 4th motor (14), object lens (15), varifocal mirror group (22), focusing lens (16), imaging lens group (17), two filter sheet structure CCD modules (18), the 5th worm gear (23), the 5th worm screw (31), the 4th scrambler (34), the 5th motor (32) and the 4th driving circuit (33), object lens (15), varifocal mirror group (22), focusing lens (16), imaging lens group (17), two filter sheet structure CCD modules (18) connect successively, the 5th driving circuit (11), the 4th motor (14), the 6th worm screw (13), the 5th scrambler (10) connects successively, and the 6th worm screw (13) engages with the 6th worm gear (12), and the 6th worm gear (12) connects focusing lens (16), the 4th driving circuit (33), the 5th motor (32), the 5th worm screw (31), the 4th scrambler (34) connects successively, the 5th worm screw (31) engages with the 5th worm gear (23), the 5th worm gear (23) connects varifocal mirror group (22), central processing unit (28) and the 5th driving circuit (11), the 5th scrambler (10), the 4th scrambler (34), the 4th driving circuit (33), two filter sheet structure CCD modules (18) connect respectively.
5. autonomous mapping machine according to claim 4, it is characterized in that: according to white light luminous flux, photoresistance (75) is sent signal controlling central processing unit (28) and is closed or open pump supply source (5), corresponding white light source or infrared laser light source; Many photoimagings unit (9) is connected with graphics processing unit (20), imaging results judges image definition by graphics processing unit (20), when imaging results under white light source does not reach sharpness requirement, central processing unit (28) is opened pump supply source (5) infrared laser light source is provided.
6. autonomous mapping machine according to claim 5, it is characterized in that: form autonomous imaging system by central processing unit (28), graphics processing unit (20), many photoimagings unit (9), infrared laser light source (1), photoresistance (75), man-machine interaction unit (30), measuring machine power supply unit (29), the job step of carrying out autonomous imaging process is as follows
Step 1, carries out imaging source initial selected, is achieved as follows,
In the time that white light luminous flux is enough to make two filter sheet structure CCD module (18) white light imaging, the signal port of photoresistance (75) is in closure state, central processing unit (28) cuts out pump supply source (5), enters step 2; When white light luminous flux is not enough to two filter sheet structure CCD module (18) white light imaging, the signal port of photoresistance (75) is in normally open, central processing unit (28) is opened pump supply source (5), infrared laser light source (1) irradiates target, the infrared laser returning from target is accepted in many photoimagings unit (9), enter step 4
Step 2, under white light source, the self-adaptation to fair visibility and haze environment and the autonomous selection of imaging source, be achieved as follows,
The focusing calibration value that central processing unit (28) reads focusing lens (16) drives the 4th motor (14) to arrive successively each corresponding calibration position, in each corresponding calibration position, white light signal arrives graphics processing unit (20) after being converted to digital signal via many photoimagings unit (9), graphics processing unit (20) obtains image value and compares, and record makes the 4th motor (14) calibration position of image value maximum for making the most clear place of image;
Central processing unit (28) carries out analyzing and processing to all image values of object scene, if the absolute value of the difference of the maximal value of image value and minimum value is greater than default arithmetic number Q1, judges that survey station, in fair visibility environment, enters step 3;
If the absolute value of the difference of the maximal value of image value and minimum value is less than default arithmetic number Q1 and is greater than default arithmetic number Q2, judge that survey station, in moderate or slight haze environment, enters step 4;
If the absolute value of the difference of the maximal value of image value and minimum value is less than default arithmetic number Q2, judge that survey station is in severe haze environment, central processing unit (28) is reported to the police, and stops flow process;
Wherein, default arithmetic number Q1 is greater than default arithmetic number Q2;
Step 3, based on the automated imaging of white light source, is achieved as follows,
First carry out automatic focusing, central processing unit (28) sends instruction to the 5th driving circuit (11), the 4th motor (14), the 6th worm screw (13) are rotated, the motion state synchronous feedback of the 5th scrambler (10) real time record the 6th worm screw (13) is to central processing unit (28), central processing unit (28) calculates pulse modified value and sends accordingly next instruction, until the 6th worm screw (13) turns to the position of setting and completes the Focussing to focusing lens (16) by the 6th worm gear (12);
Then carry out automated imaging, white light signal arrives two filter sheet structure CCD modules (18) through object lens (15), focusing lens (16) and imaging lens group (17), two filter sheet structure CCD modules (18) reach graphics processing unit (20) after converting white light signal to digital signal, graphics processing unit (20) obtains clearly scene image and is uploaded to central processing unit (28), complete the automated imaging task based on white light source, process ends;
Step 4, based on the automated imaging of infrared laser light source, is achieved as follows,
First infrared laser range of exposures accurately covers the visual field of many photoimagings unit (9), complete two work by central processing unit (28) simultaneously, the one, automatic zoom, comprise and open the 4th driving circuit (33), make the 5th motor (32) drive the 5th worm screw (31) to move to Pi position, the 5th worm screw (31) drives the 5th worm gear (23) to make varifocal mirror group (22) that the visual field of many photoimagings unit (9) is adjusted to and carried out the required size of i generic task, the actual in-position of the 5th worm screw (31) is uploaded to central processing unit (28) by the 4th scrambler (34), the 2nd, visual field overlaps with range of exposures, comprise that sending instruction to the 3rd driving circuit (8) makes the 3rd motor (7) drive infrared laser focusing lens (3) to move to Qi position, makes the range of exposures of infrared laser light source (1) just in time cover the visual field of many photoimagings unit (9),
Wherein, visual field when i generic task is carried out in the visual field of demarcating constant P i and be many photoimagings unit (9), is called Pi imaging viewing field, i=1,2,3 ... ..J, J is total class number, demarcating constant Qi is and Pi infrared laser focus value one to one, infrared laser focusing lens (3) infrared laser range of exposures in the time of Qi position overlaps with Pi imaging viewing field, and after Pi is demarcated, Qi demarcates according to Pi;
Then carry out automated imaging, the infrared laser signal returning from object scene arrives two filter sheet structure CCD modules (18) by object lens (15), focusing lens (16), imaging lens group (17), two filter sheet structure CCD modules (18) reach graphics processing unit (20) after converting infrared laser signal to digital signal, graphics processing unit (20) obtains clear scene image and is uploaded to central processing unit (28), completes the automated imaging task based on infrared laser light source.
7. autonomous mapping machine according to claim 5, it is characterized in that: by attitude unit, course (59), eccentric wheel unit (27), high frequency range cells (26) synchronous working, complete the scan-type automatic range of high frequency range cells (26) in visual field, many photoimagings unit (9), obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data, generating three-dimensional field live-action image; By setting attitude motion terminal position, be supported in and define arbitrarily working range or the panorama working range generating three-dimensional field live-action image around 360 ° of survey stations.
8. autonomous mapping machine according to claim 7, is characterized in that: central processing unit (28), eccentric wheel unit (27), the first worm and gear group (77), the first motor and driving circuit (79), the 6th scrambler (78), the second transverse axis (76), high frequency range cells (26), attitude observing and controlling processor (40), attitude unit, course (59), face upward the attitude unit (41) of bowing, attitude observing and controlling electromechanical source unit (74), graphics processing unit (20), photoresistance (75), many photoimagings unit (9), infrared laser light source (1), photoresistance (75), man-machine interaction unit (30), measuring machine power supply unit (29), global location unit (36), communication unit (37) forms scan-type automatic range and synchronous attitude determination system automatically, carries out and automatically generates arbitrary shape, the three-dimensional field live-action image of Arbitrary width size, by the on-the-spot three-dimensional live-action image of panorama that automatically generates in real time of zero lap splicing of panoramic picture,
The job step of the three-dimensional field live-action image of described automatic generation arbitrary shape, Arbitrary width size is as follows,
1) define arbitrarily working range, be achieved as follows,
The closed curve C that sketches the contours arbitrary shape on the two-dimentional field live-action image showing at the touch-screen of man-machine interaction unit (30), the region M that central processing unit (28) surrounds C is defined as working range,
Eccentric wheel unit (27) defines high frequency range cells (26) along facing upward the reciprocating terminal of the direction of bowing position by the instruction of central processing unit (28), comprises in the plane that the optical axis of its axis at vertical pivot (60) and high frequency range cells (26) is formed and all dropping on closed curve C around reciprocating terminal position, the axis of the second transverse axis (76);
The instruction of central processing unit (28) is pressed in attitude unit, course (59), turns over continuously the course heading as terminal take the border of region M; The synchronous interaction of eccentric wheel unit (27) and attitude unit, course (59) makes working range just in time cover region M;
2) synchro measure, is achieved as follows,
Take GPS time as benchmark, attitude unit, course (59), eccentric wheel unit (27), high frequency range cells (26) synchronous working, complete the scan-type automatic range of high frequency range cells (26) in visual field, many photoimagings unit (9), and only 1) define in working range and to obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data;
Attitude unit, described course (59) carries out course motion, central processing unit (28) instruction attitude observing and controlling processor (40) is adjusted to course angle reference position and is continuously moved to stop position, and instruction is carried out and completed to attitude observing and controlling processor (40) by attitude unit, course (59);
The motion of bowing is faced upward in described eccentric wheel unit (27), the amplitude of fluctuation of pitch angle is adjusted to the scope defining from reference position to stop position in central processing unit (28) instruction eccentric wheel unit (27), and drive high frequency range cells (26) axis direction reciprocally swinging along vertical pivot (60) in defined scope, high frequency range cells (26) synchronous working, obtains range data continuously, the instruction that eccentric wheel unit (27) is carried out and completed comprises, the amplitude of fluctuation of pitch angle is locked in to the scope defining from reference position to stop position, and the unidirectional continuous rotation of motor is converted to level and smooth continuous to-and-fro movement, drive the LASER Discharge Tube of high frequency range cells (26) and laser pick-off pipe take the mass centre of high frequency range cells (26) as the center of circle, take described amplitude of fluctuation as range of movement, in the plane forming at the axis of vertical pivot (60) and the optical axis of high frequency range cells (26) around the axis to-and-fro movement of the second transverse axis (76),
3) space coupling, generating three-dimensional terrestrial coordinate dot matrix cloud on object scene image;
4) automatically generate the three-dimensional field live-action image of arbitrary shape, Arbitrary width size, including comprising the data mining program non-linear K nearest neighbor point algorithm by central processing unit (28) operation, in the live-action image of described two-dimentional field, utilize known three-dimensional terrestrial coordinate dot matrix cloud to calculate three-dimensional terrestrial coordinate to the point without three-dimensional terrestrial coordinate, on the M of region, obtain three-dimensional field live-action image;
The job step that described scene generates the three-dimensional live-action image of panorama in real time is automatically as follows,
Central processing unit (28) synchronously completes quadrinomial job, the one, according to the pitch angle working range of setting, the motion start-stop position of eccentric wheel unit (27) in pitch angle direction is set, start eccentric wheel unit (27) to-and-fro movement synchronously return to it to central processing unit (28) and face upward the attitude data of bowing in specified scope; The 2nd, open high frequency range cells (26) it is found range also continuously synchronously to central processing unit (28) layback data; The 3rd, unlatching attitude unit, course (59) makes it turn over continuously 360 ° and also synchronously returns to course data to central processing unit (28); The 4th,, at different pitch angles, complete around the two-dimentional field live-action image of 360 ° of survey stations and take by course angle, splice the panorama two dimension field live-action image generating around 360 ° of survey stations by zero lap, automatic generating three-dimensional image on the panorama two dimension field live-action image around 360 ° of survey stations, obtains the three-dimensional field of the panorama live-action image around 360 ° of survey stations.
9. autonomous mapping machine according to claim 5, it is characterized in that: by central processing unit (28), graphics processing unit (20), many photoimagings unit (9), infrared laser light source (1), photoresistance (75), man-machine interaction unit (30), measuring machine power supply unit (29), attitude unit, course (59), face upward the attitude unit (41) of bowing, long-distance ranging unit (25), precise distance measurement unit (24), the first transverse axis (42), vertical pivot (60), high frequency range cells (26), the second transverse axis (76), global location unit (36), communication unit (37) forms three-dimensional terrestrial coordinate automatic telemetering system, carry out the three-dimensional terrestrial coordinate that automatic telemetering obtains measured target,
The job step of three-dimensional terrestrial coordinate that described automatic telemetering obtains measured target is as follows,
1) the accurately aiming automatically based on image, is achieved as follows,
In the two-dimentional field live-action image showing at the touch-screen of man-machine interaction unit (30), click impact point, central processing unit (28) is adjusted to minimum by the visual field of many photoimagings unit (9) automatically, it is maximum that enlargement factor reaches, and carry out Digital Zoom amplification on impact point live-action image after the high power optical amplifier obtaining in many photoimagings unit (9), obtain the impact point sharp image after optics and digital two-stage are amplified, therein selected measured target; Click measured target, face upward the attitude unit (41) of bowing, attitude unit, course (59) and aim at measured target, and by obtained course attitude data with face upward the attitude data of bowing and be uploaded to central processing unit (28);
2) automatic range based on automatically accurately aiming at, is achieved as follows,
Central processing unit (28) adopts long-distance ranging unit (25), high frequency range cells (26) or precise distance measurement unit (24) to carry out range observation to measured target according to distance, obtains range data;
3) the three-dimensional terrestrial coordinate of automatic acquisition measured target, is achieved as follows,
Central processing unit (28) resolves according to survey station data and target data the three-dimensional terrestrial coordinate that obtains measured target, and described target data comprises 1) gained course attitude data and face upward the attitude data of bowing, 2) gained range data.
10. autonomous mapping machine according to claim 5, it is characterized in that: obtain continuously field live-action image in hunting zone by automated imaging process, from the live-action image of field, identify specific objective by image identification unit (19), and by facing upward bow attitude unit (41) and attitude unit, course (59) tracking specific objective.
11. autonomous mapping machines according to claim 10, it is characterized in that: by central processing unit (28), long-distance ranging unit (25), image identification unit (19), graphics processing unit (20), many photoimagings unit (9), infrared laser light source (1), photoresistance (75), man-machine interaction unit (30), global location unit (36), communication unit (37), measuring machine power supply unit (29), attitude unit, course (59), face upward the attitude unit (41) of bowing, the first transverse axis (42), vertical pivot (60), the second worm and gear group (83), the second motor and driving circuit (21), the 7th scrambler (81), the 3rd clutch coupling (82), the 3rd transverse axis (80) forms movable object tracking measuring system, carry out autonomous tracking measurement moving target,
The job step of described autonomous tracking measurement moving target is as follows,
1) image processor target, is achieved as follows,
After inputted search scope, central processing unit (28) is coordinated related work unit synchronous working, comprise closed first clutch (43), second clutch (61), the 3rd clutch coupling (82), the second motor and driving circuit (21), the second worm and gear group (83) and attitude unit, course (59) drive infrared laser light source (1), many photoimagings unit (9) to move continuously, and circulation covers hunting zone; Infrared laser light source (1), many photoimagings unit (9), graphics processing unit (20) are pressed automated imaging process, obtain continuously field live-action image in hunting zone;
2) autonomous discovery, identification target, be achieved as follows,
Image identification unit (19) is found and identification specific objective by comparison field live-action image data and specific objective data; In the time that image identification unit (19) can not complete image recognition task at the appointed time, central processing unit (28) starts communication unit (37) link rear data center voluntarily, completes image recognition task by cloud computing and storehouse, high in the clouds;
3) autonomous tracking aiming target, is achieved as follows,
The recognition result that central processing unit (28) provides take image identification unit (19) is as tracing object, bow attitude unit (41) and attitude unit, course (59) drive infrared laser light source (1) are faced upward in instruction, many photoimagings unit (9) moves continuously, make the image of tracing object remain the graduation center in live-action image in the wild, make the optical axis of many photoimagings unit (9) remain aiming tracing object, face upward bow attitude unit (41) and attitude unit, course (59) synchronously to central processing unit (28) feedback attitude data,
4) the autonomous tracking range finding based on tracking aiming, is achieved as follows,
The tracing object that long-distance ranging unit (25) aims at many photoimagings unit (9) continuously range finding also synchronously feeds back range data to central processing unit (28);
5) autonomous tracking measurement, is achieved as follows,
Central processing unit (28) calculates the real-time three-dimensional terrestrial coordinate of tracing object according to survey station data and target data continuous solution;
6) to the relocking of target, be achieved as follows,
If many photoimagings unit (9) are losing lock in the process of following the tracks of specific objective, central processing unit (28) is according to the tracking measurement data of the three-dimensional terrestrial coordinate of specific objective are calculated to the locus that its next moment may occur, make infrared laser light source (1), many photoimagings unit (9) successively aim at these locus by facing upward bow attitude unit (41) and attitude unit, course (59), wait for the appearance again of specific objective;
7) synchronous data transmission, is achieved as follows,
By communication unit (37), rearward data center or other need real-time imaging and the real-time three-dimensional terrestrial coordinate of the device synchronization transmission specific objective of awareness information to central processing unit (28).
12. autonomous mapping machines according to claim 9, it is characterized in that: be measured target to the Target scalar of selecting any number of needs monitorings in distortion measurement object, each measured target is continued to monitor, be included in image that multiple time points obtain measured target, attitude data while aiming at measured target, survey station be to the range data of measured target, the three-dimensional coordinate of measured target, obtains the deformation data of distortion measurement object.
13. autonomous mapping machines according to claim 12, it is characterized in that: by central processing unit (28), precise distance measurement unit (24), image identification unit (19), graphics processing unit (20), many photoimagings unit (9), infrared laser light source (1), photoresistance (75), man-machine interaction unit (30), measuring machine power supply unit (29), attitude unit, course (59), face upward the attitude unit (41) of bowing, the first transverse axis (42), vertical pivot (60) forms deformation monitoring system, carry out based on field ground feature image, the deformation monitoring of image recognition and three-dimensional coordinate measurement,
The job step of the described deformation monitoring based on field ground feature image, image recognition and three-dimensional coordinate measurement is as follows,
1) study distortion measurement object, is achieved as follows,
On the touch-screen of man-machine interaction unit (30), selecting any number of Target scalars that need monitoring in distortion measurement object is measured target, the relevant information that the collaborative each related work of central processing unit (28) unit obtained and stored each Target scalar, obtain learning outcome as follows
With the measured target image data of central point graduation, be called for short initial image;
Attitude data while aiming at measured target, is called for short reference attitude;
Survey station is to the range data of measured target, initial distance;
The three-dimensional coordinate of measured target, is called for short origin coordinates;
Measure the time of measured target three-dimensional coordinate, be called for short initial time;
2) run-home atural object again, is achieved as follows,
Starting working by the time interval of setting in the collaborative each related work of central processing unit (28) unit, completes 4 tasks as follows,
By facing upward bow attitude unit (41) and attitude unit, course (59), aiming attitude is adjusted to reference attitude;
Again obtain the Target scalar image data with central point graduation by infrared laser light source (1), many photoimagings unit (9), graphics processing unit (20), be called for short image again;
In initial image, excavate image data again by image identification unit (19), the central point graduation position of two images is all occurred on initial image;
Central processing unit (28) by two central point graduation the alternate position spike on initial image calculate again run-home atural object attitude adjust parameter, facing upward bow attitude unit (41) and attitude unit, course (59) adjusts parameter according to attitude aiming attitude is adjusted on Target scalar, obtain autonomous mapping machine attitude data when run-home atural object again, be called for short attitude again;
3) measurement target atural object again, is achieved as follows,
The collaborative each related work unit of central processing unit (28) measurement target atural object again, is again measured and is again obtained survey station to the range data between Target scalar by precise distance measurement unit (24), is called for short distance again;
Central processing unit (28) is according to distance again, attitude and survey station three-dimensional coordinate data calculate the three-dimensional coordinate of Target scalar again,
Be called for short coordinate again;
Obtain again the time of coordinate and be called for short the time again;
4) the displacement vector data of acquisition Target scalar, are achieved as follows,
Origin coordinates and initial time, again coordinate and again the time delineated respectively two 4 dimension events, the former is the Target scalar three-dimensional coordinate obtaining in initial time, the latter is the Target scalar three-dimensional coordinate obtaining in time again; Take the former as starting point, the latter is terminal, obtains the displacement vector of Target scalar in setting-up time section;
5) the deformation data of acquisition distortion measurement object, the deformation of measuring object in setting-up time section has been delineated in the set that the displacement vector of multiple Target scalars in setting-up time section forms.
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