CN103868504B - Autonomous surveying and mapping machine - Google Patents

Autonomous surveying and mapping machine Download PDF

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CN103868504B
CN103868504B CN201410113373.XA CN201410113373A CN103868504B CN 103868504 B CN103868504 B CN 103868504B CN 201410113373 A CN201410113373 A CN 201410113373A CN 103868504 B CN103868504 B CN 103868504B
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attitude
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central processing
image
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CN103868504A (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 technical field of geographic information, 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) the three-dimensional terrestrial coordinate of object is obtained;
2) the terrain and its features figure under three-dimensional terrestrial coordinate is obtained;
3) the object space 3-dimensional image under three-dimensional terrestrial coordinate is obtained;
4) the three-dimensional navigation figure based on 3-dimensional image under earth coordinates is obtained.
The state of the art: the miscellaneous many group instrument and equipments of many group librarian uses by different way segmentation obtain above-mentioned a certain core demand, form various application.The limitation existed 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, 600-800 ten thousand yuan/cover) etc.
Have the Related product that 4 classes are surveyed and drawn for field in the market: conventional instrument of surveying and mapping, " precision measurement robot ", for close shot road photogrammetric data gather device integration system, three-dimensional laser scanner.
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, survey the means such as level comprehensively make for obtain between survey station and measured target under self-defined coordinate relative relation data.Legacy equipment relies on manual operation, and it is all large and without effective Correction of Errors method that the error of terrestrial coordinate is introduced in personal error and segmentation.Legacy equipment efficiency is very low, and the three-dimensional terrestrial coordinate of object space obtaining 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 erection instrument, put before this and also need to drop into larger human and material resources and longer time, and need the impact point measured usually not have the condition of erection instrument.
3) total powerstation: can only angle measurement and range finding in self-defined coordinate system; Rely on manual operation completely, personal error is comparatively large and without effective Correction of Errors method; Need to possess plural known control point when measuring object space three-dimensional coordinate simultaneously; Determine that direct north must buy local GPS Controling network (if locality exists such net) data, or by gyroscope; Introducing terrestrial coordinate must by GPS orientator.
4) super-station instrument: the three-dimensional terrestrial coordinate (Japanese topological health super-station instrument unit price 600,000 yuans) that can also measure self except angle measurement, range finding.There is the problem similar with total powerstation in super-station instrument.
2, " precision measurement robot " (total powerstation+servo-drive system, without camera function):
" precision measurement robot " is Novel total station, be have " ATR function (prism aiming function) " with unique difference of conventional total stations: after artificial alignment prism target, conveniently total powerstation method obtains and stores the three-dimensional coordinate data of these prisms under self-defined coordinate and the attitude data of self.After manually starting servo-drive system, machine, with reference to measuring the coordinate data that obtains and attitude data automatic aiming prism the three-dimensional coordinate data be again obtained under definition coordinate again last time, expands the function that can be used for deformation monitoring that take prism as observed object accordingly.
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, represents the current global highest level of total powerstation; Moderate: when needing the prism number of scanning to be less than 10, unit price 450,000 yuans; Separately make system schema when prism number is greater than 10, raise the price in addition by system schema.
Precision measurement robot is without camera function and exist and the similar limitation of total powerstation.
3, for the device integration system of road photogrammetric data collection:
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 range scanners, carried-on-vehicle computer system equipment connection together, be arranged on automobile, spatial position data and the attribute data of road and road both sides atural object is gathered, as wide in: road axis or edge positions coordinate, the position coordinates of Target scalar, road (track), bridge (tunnel) height, traffic sign, road equipment etc. among the advancing of vehicle.Data sync storage is in carried-on-vehicle computer system; Software features is integrated based on the 3S of GPS, RS, GIS, data, and the data of being returned by field data acquisition carry out post editing process, forms various useful thematic data achievement, as map of navigation electronic etc.Its distinguishing feature is: a. is for road and the independently survey drawing formation system closing on both sides.Without the need to by any base map, can measure by complete independently road network figure.Work flow defines photogrammetric closed-loop control, and spatial data and the road comprising rich properties information and the stereopsis closing on both sides obtain simultaneously, and field operation is closely connected with interior industry, avoids the personal error under manual type; B. for the outcome data of the outdoor scene three-dimensional visualization of road.It is with the geographical spatial data of the mode Quick Acquisition road of planar and road adjacent periphery, and its outcome data is that the outdoor scene of shooting continuously can measure image; C. road and road adjacent periphery information with defend sheet/boat sheet seamless link, form " Incorporate " new generation GIS for road and adjacent periphery atural object.
The limitation existed is:
1) working range is limited to road, cannot conduct a field operation: mobile mapping system (road photogrammetric data acquisition system) is assemblied on automobile by the advanced sensor 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 and equipment, 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.Close-range photogrammetry data acquisition can be carried out to the scenery in the 200m of road both sides.The calculation accuracy of the three-dimensional terrestrial coordinate of object space is about 1 meter.
3) mobile with operation: each equipment volume form system is large, weight large, and system architecture is loose, must be fixed on the Attitudes such as automobile, and many people operate.
4) it is inevitable that the working method that in field data collection, industry processes afterwards causes repeated field operation to be worked.
5) road is needed to have the support of GPS Controling network 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 " remain high, and the price without mobile mapping system (data acquisition system (DAS) without the distance measurement function) product of laser range scanners is 4,000,000 yuans/cover; 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: obtain a large amount of aim in short distance point range data and synchronous recording range finding attitude data with high-rate laser scanning distance measuring method, thus obtain impact point three-dimensional coordinate; With digital camera picked-up object scene image; Both are superposed, obtains close shot 3-dimensional image.
Three-dimensional laser scanner can be widely used in the close-range target of daytime under environment of indoor light environment and outdoor fair weather.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:
One is with based on the multi-systems integration method of fabric and the autonomous measuring method of machine, by the core demand of geomatics industry and all application combine together, synchronously solve: obtain based on live-action image the three-dimensional terrestrial coordinate of impact point, obtain based on the topomap under the three-dimensional terrestrial coordinate of live-action image, the object space 3-dimensional image obtained under earth coordinates, obtain the three-dimensional navigation figure based on 3-dimensional image under earth coordinates;
Two is obtain superhigh precision with based on the multi-systems integration of fabric and the autonomous measuring method of machine;
Three is that the emerging in large numbers property 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;
Four is the products obtaining low cost, high performance-price ratio by the multi-systems integration method based on fabric;
Five is change conventional operation mode by the new method that machine is independently measured, and reduces manpower intervention very significantly, simplifies workflow, reduces labour intensity and operation easier, reduction job costs, increases work efficiency.
One provided by the invention independently surveys and draws machine, comprises measuring machine and attitude observing and controlling machine,
Measuring machine comprises central processing unit 28 and the infrared laser light source 1 be 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 positioning 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 attitude unit 41 of bowing, horizontal attitude unit 56, course attitude unit 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, first transverse axis 42, 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 optical axis, 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 of infrared laser light source 1, and five demarcate on the same axis; Described multiaxis refers to 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, global positioning unit 36 antenna phase center point and the orientation axis of vertical pivot 60 perpendicular to the crossing formation of extended line of axis during geoid surface with one heart, six demarcate after intersect at same spatial point.
And, in described 3 d pose system,
Described attitude unit 41 of bowing of facing upward comprises first clutch 43, first unit 44, first scrambler 53, first motor 54 and the first driving circuit 55, described first unit 44 comprises the first Timing Belt amplifier 45, second worm gear 46, first synchronous pulley 47, second worm screw 48, second elastic mechanism 49, first worm gear 50, first elastic mechanism 51, first worm screw 52, first driving circuit 55, first motor 54, first worm screw 52 connects successively, first worm gear 50 and the first worm screw 52 engage through the first elastic mechanism 51, first worm gear 50 and the second worm screw 48 engage through the second elastic mechanism 49, through the first synchronous pulley 47 transmission between second worm gear 46 and the second worm screw 48, through the first Timing Belt amplifier 45 transmission between second worm gear 46 and the first scrambler 53, second worm gear 46 connects first clutch 43, first clutch 43 connects the first transverse axis 42 when closing, attitude observing and controlling processor 40 and first clutch 43, first scrambler 53, first driving circuit 55 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, first driving circuit 55 output order to the first motor 54, first motor 54 exports the motion result produced after the first unit 44 carries out facing upward motion transmission of bowing and uploads to central processing unit 28 through the second worm gear 46, first Timing Belt amplifier 45, 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, first unit 44 is passed to the first scrambler 53 by the second worm gear 46 by the first Timing Belt amplifier 45 after performing motion result amplification H times produced in the process of attitude observing and controlling processor 40 instruction, 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 by gained motion result divided by H doubly after obtain the real position of the first transverse axis 42 and arrive data and be uploaded to central processing unit 28;
Described course attitude unit 59 comprises second clutch 61, second unit 62, second scrambler 73, second motor 71 and the second driving circuit 72, described second unit 62 comprises the second Timing Belt amplifier 64, 4th worm gear 63, second synchronous pulley 65, 4th worm screw 66, 4th elastic mechanism 67, 3rd worm gear 68, 3rd elastic mechanism 69, 3rd worm screw 70, second driving circuit 72, second motor 71, 3rd worm screw 70 connects successively, 3rd worm gear 68 and the 3rd worm screw 70 engage through the 3rd elastic mechanism 69, 3rd worm gear 68 and the 4th worm screw 66 engage through the 4th elastic mechanism 67, through the second synchronous pulley 65 transmission between 4th worm gear 63 and the 4th worm screw 66, through the second Timing Belt amplifier 64 transmission between 4th worm gear 63 and the second scrambler 73, 4th worm gear 63 connects second clutch 61, vertical pivot 60 is connected when second clutch 61 closes, attitude observing and controlling processor 40 and second clutch 61, second scrambler 73, second driving circuit 72 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, second driving circuit 72 output order to the second motor 71, second motor 71 exports the motion result produced after the second unit 62 carries out course motion transmission and uploads to central processing unit 28 through the 4th worm gear 63, second Timing Belt amplifier 64, 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, second unit 62 is passed to the second scrambler 73 by the 4th worm gear 63 by the second Timing Belt amplifier 64 after performing motion result amplification I times produced in the process of attitude observing and controlling processor 40 instruction, 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 by gained motion result divided by I doubly after obtain the real position of vertical pivot 60 and arrive data and be uploaded to central processing unit 28.
And, the central axis l of described vertical pivot 60 1with the central axis l of benchmark 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 formed, 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 be 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 mass centre of precise distance measurement unit 24 and the central axis of the first transverse axis 42 is the centers independently surveying and drawing arbor system, is the concentric reference-calibrating point of multiaxis;
Attitude observing and controlling machine is provided with tuning fork,
The assembly be made up of with many photoimagings unit 9 infrared laser light source 1 is connected by the tuning fork of the 3rd transverse axis 80 with attitude observing and controlling machine, 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,
When using high frequency range cells 26 pairs of point target measuring distances, between 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, arrange in attitude observing and controlling machine and face upward motion control unit of bowing accordingly, comprise the 7th scrambler 81, 3rd clutch coupling 82, second worm and gear group 83, second motor and driving circuit 21, central processing unit 28, second motor and driving circuit 21, second worm and gear group 83 is connected successively with the 3rd clutch coupling 82, the 3rd transverse axis 80 is connected when 3rd clutch coupling 82 closes, 3rd transverse axis 80, 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,
When 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, 3rd transverse axis 80 and high frequency range cells 26 depart from and link, 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, arrange in attitude observing and controlling machine and face upward motion control unit of bowing accordingly, comprise the 6th scrambler 78, first worm and gear group 77, first motor and driving circuit 79, central processing unit 28, first motor and driving circuit 79, first worm and gear group 77 connects successively, second transverse axis 76, 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, 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, 5th driving circuit 11, 6th worm gear 12, 6th worm screw 13, 4th motor 14, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD module 18, 5th worm gear 23, 5th worm screw 31, 4th scrambler 34, 5th motor 32 and four-wheel drive circuit 33, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD module 18 connects successively, the 5th driving circuit 11, 4th motor 14, 6th worm screw 13, 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, four-wheel drive circuit 33, 5th motor 32, 5th worm screw 31, 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, 5th scrambler 10, 4th scrambler 34, four-wheel drive circuit 33, two filter sheet structure CCD module 18 connects respectively.
And according to white light luminous flux, photoresistance 75 sends signal control central processing unit 28 and closes 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 and provided infrared laser light source.
And 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 performing autonomous imaging process is as follows,
Step 1, carries out imaging source initial selected, realizes as follows,
When 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 pump supply source 5 opened by central processing unit 28, infrared laser light source 1 irradiates target, many photoimagings unit 9 accepts the infrared laser returned from target, enters step 4
Step 2, under white light source, to the self-adaptation of fair visibility and haze environment and imaging source from main separation, realize as follows,
The focusing calibration value that central processing unit 28 reads focusing lens 16 drives the 4th motor 14 to arrive each corresponding calibration position successively, 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 the 4th motor 14 calibration position that record makes image value maximum is for making the most clear place of image;
All image values of central processing unit 28 pairs of object scene carry out analyzing and processing,
If the absolute value of the difference of the maxima and minima of image value is greater than default arithmetic number Q1, then judge that survey station is in fair visibility environment, enters step 3;
If the absolute value of the difference of the maxima and minima of image value is less than default arithmetic number Q1 and is greater than default arithmetic number Q2, then judge that survey station is in moderate or slight haze environment, enter step 4;
If the absolute value of the difference of the maxima and minima of image value is less than default arithmetic number Q2, then judge that survey station is in severe haze environment, central processing unit 28 is reported to the police, and stops flow process;
Wherein, preset arithmetic number Q1 and be greater than default arithmetic number Q2;
Step 3, based on the automated imaging of white light source, realizes as follows,
First automatic focusing is carried out, central processing unit 28 sends instruction to the 5th driving circuit 11, make the 4th motor 14, the 6th worm screw 13 rotates, 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 shape modification value and sends next instruction accordingly, 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 automated imaging is carried out, white light signal arrives two filter sheet structure CCD module 18 through object lens 15, focusing lens 16 and imaging lens group 17, graphics processing unit 20 is reached after two filter sheet structure CCD module 18 converts white light signal to digital signal, graphics processing unit 20 obtains scene image be uploaded to central processing unit 28 clearly, complete the automated imaging task based on white light source, process ends;
Step 4, based on the automated imaging of infrared laser light source, realizes 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, one is automatic zoom, comprise unlatching four-wheel drive circuit 33, the 5th motor 32 is made to drive the 5th worm screw 31 to move to Pi position, 5th worm screw 31 drives the 5th worm gear 23 to make varifocal mirror group 22 visual field of many photoimagings unit 9 be adjusted to size needed for execution i-th 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; Two is that visual field overlaps with range of exposures, comprises sending instruction to the 3rd driving circuit 8 and making 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, demarcating constant Pi is visual field when performing the i-th generic task, the visual field of many photoimagings unit 9, is called Pi imaging viewing field, i=1,2,3 ... ..J, J are total class number, demarcating constant Qi is and Pi infrared laser focus value one to one, when infrared laser focusing lens 3 is in Qi position, infrared laser range of exposures overlaps with Pi imaging viewing field, and after Pi is demarcated, Qi demarcates according to Pi;
Then automated imaging is carried out, the infrared laser signal returned from object scene arrives two filter sheet structure CCD module 18 by object lens 15, focusing lens 16, imaging lens group 17, graphics processing unit 20 is reached after two filter sheet structure CCD module 18 converts 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 course attitude unit 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 many photoimagings telescope 9 visual field, obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data, generate three-dimensional field live-action image; By setting attitude motion terminal position, be supported in and define arbitrarily working range or generate three-dimensional field live-action image around the panorama working range of survey station 360 °.
And, central processing unit 28, eccentric wheel unit 27, first worm and gear group 77, first motor and driving circuit 79, 6th scrambler 78, second transverse axis 76, high frequency range cells 26, attitude observing and controlling processor 40, course attitude unit 59, face upward 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 positioning unit 36, communication unit 37 forms scan-type automatic range and synchronous attitude determination system automatically, perform and automatically generate arbitrary shape, the three-dimensional field live-action image of Arbitrary width size, automatically panorama three-dimensional live image is generated in real time by the zero lap splicing of panoramic picture is on-the-spot,
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 working range arbitrarily, realize as follows,
The two-dimentional field live-action image that the touch-screen of man-machine interaction unit 30 shows sketches the contours the closed curve C of arbitrary shape, and the region M that C surrounds by central processing unit 28 is defined as working range,
Eccentric wheel unit 27 along facing upward reciprocating terminal position, direction of bowing by the instructions defme high frequency range cells 26 of central processing unit 28, comprises and all drops on closed curve C around reciprocating terminal position, the axis of the second transverse axis 76 in the plane that formed by the optical axis of its axis at vertical pivot 60 and high frequency range cells 26;
Course attitude unit 59 presses the instruction of central processing unit 28, the course heading that to turn over the border of region M be continuously terminal; The synchronous interaction of eccentric wheel unit 27 and course attitude unit 59 makes working range just in time cover region M;
2) synchro measure, realizes as follows,
Take GPS time as benchmark, course attitude unit 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 many photoimagings unit 9 visual field, and only 1) define in working range and obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data;
Described course attitude unit 59 carries out course motion, and course angle is adjusted to reference position and continuously moved to stop position by central processing unit 28 instruction attitude observing and controlling processor 40, and attitude observing and controlling processor 40 is performed by course attitude unit 59 and completed instruction;
Described eccentric wheel unit 27 carries out facing upward motion of bowing, the amplitude of fluctuation of pitch angle is adjusted to the scope defined from reference position to stop position by central processing unit 28 instruction eccentric wheel unit 27, and drive high frequency range cells 26 direction, axis reciprocally swinging along vertical pivot 60 in defined scope, high frequency range cells 26 synchronous working, obtains range data continuously; Eccentric wheel unit 27 performs and the instruction completed comprises, the amplitude of fluctuation of pitch angle is locked in the scope defined 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 with the mass centre of high frequency range cells 26 be the center of circle, with described amplitude of fluctuation be range of movement, in the plane that the optical axis of the axis of vertical pivot 60 and high frequency range cells 26 is formed around the axis to-and-fro movement of the second transverse axis 76;
3) spatial match, object scene image generates three-dimensional terrestrial coordinate dot matrix cloud;
4) the three-dimensional field live-action image of arbitrary shape, Arbitrary width size is automatically generated, comprise and run by central processing unit 28 the data mining program comprising 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, region M obtains three-dimensional field live-action image;
The job step that described scene generates panorama three-dimensional live image in real time is automatically as follows,
Central processing unit 28 synchronously completes quadrinomial job, one is arrange the motion start-stop position of eccentric wheel unit 27 in pitch angle direction according to the pitch angle working range of setting, starts eccentric wheel unit 27 to-and-fro movement synchronously return it to central processing unit 28 and face upward attitude data of bowing in specified scope; Two is open high frequency range cells 26 to make its range finding synchronous to central processing unit 28 layback data continuously; Three is open course attitude unit 59 make it turn over 360 ° continuously and synchronously return course data to central processing unit 28; Four are, at different pitch angle, the two-dimentional field live-action image shooting around survey station 360 ° is completed by course angle, the panorama two dimension field live-action image around survey station 360 ° is generated by zero lap splicing, automatically generating 3-dimensional image around on the panorama two dimension field live-action image of survey station 360 °, obtain the panorama three-dimensional field live-action image around survey station 360 °.
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, course attitude unit 59, face upward attitude unit 41 of bowing, long-distance ranging unit 25, precise distance measurement unit 24, first transverse axis 42, vertical pivot 60, high frequency range cells 26, second transverse axis 76, global positioning unit 36, communication unit 37 form three-dimensional terrestrial coordinate automatic telemetering system, perform the three-dimensional terrestrial coordinate that automatic telemetering obtains measured target
The job step that described automatic telemetering obtains the three-dimensional terrestrial coordinate of measured target is as follows,
1) based on the automatic fine sight of image, realize as follows,
Impact point is clicked in the two-dimentional field live-action image that the touch-screen of man-machine interaction unit 30 shows, the visual field of many photoimagings unit 9 is adjusted to minimum by central processing unit 28 automatically, enlargement factor reaches maximum, and many photoimagings unit 9 obtain high power light amplify after impact point live-action image on carry out Digital Zoom amplification, obtain the impact point sharp image after optics and the amplification of digital two-stage, wherein selected measured target; Click measured target, face upward attitude unit 41 of bowing, course attitude unit 59 aims at measured target, and by obtained course attitude data with face upward attitude data of bowing and be uploaded to central processing unit 28;
2) based on the automatic range of automatic fine sight, realize as follows,
Central processing unit 28 adopts long-distance ranging unit 25, high frequency range cells 26 or precise distance measurement unit 24 pairs of measured targets to carry out range observation according to distance, obtains range data;
3) the three-dimensional terrestrial coordinate of automatic acquisition measured target, realizes as follows,
Central processing unit 28 resolves the three-dimensional terrestrial coordinate obtaining measured target according to survey station data and target data, described target data comprises 1) gained course attitude data and face upward attitude data of bowing, 2) gained range data.
And, obtain field live-action image by automated imaging process continuously 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 course attitude unit 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 positioning unit 36, communication unit 37, measuring machine power supply unit 29, course attitude unit 59, face upward attitude unit 41 of bowing, first transverse axis 42, vertical pivot 60, second worm and gear group 83, second motor and driving circuit 21, 7th scrambler 81, 3rd clutch coupling 82, 3rd transverse axis 80 forms movable object tracking measuring system, perform autonomous tracking measurement moving target,
The job step of described autonomous tracking measurement moving target is as follows,
1) image processor target, realizes as follows,
After inputted search scope, related work unit synchronous working coordinated by central processing unit 28, comprise closed first clutch 43, second clutch 61, the 3rd clutch coupling 82, second motor and driving circuit 21, second worm and gear group 83 and course attitude unit 59 drives infrared laser light source 1, many photoimagings unit 9 moves continuously, circulation covers hunting zone; Infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20 press automated imaging process, in hunting zone, obtain field live-action image continuously;
2) autonomous discovery, identification target, realize as follows,
Image identification unit 19 is found by comparison field live-action image data and specific objective data and identifies specific objective; When image identification unit 19 can not complete image recognition tasks at the appointed time, central processing unit 28 starts communication unit 37 voluntarily and links rear data center, completes image recognition tasks by cloud computing and storehouse, high in the clouds;
3) autonomous tracking aiming target, realizes as follows,
The recognition result that central processing unit 28 provides with image identification unit 19 is for tracing object, the attitude unit 41 and course attitude unit 59 drives infrared laser light source 1, many photoimagings unit 9 moves continuously of bowing is faced upward in instruction, the image of tracing object is made to remain 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 course attitude unit 59 synchronous to central processing unit 28 feedback attitude data;
4) based on the autonomous tracking range finding of tracking aiming, realize as follows,
Long-distance ranging unit 25 is found range continuously to the tracing object that many photoimagings unit 9 aims at and is synchronously fed back range data to central processing unit 28;
5) autonomous tracking measurement, realizes 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) relocking to target, realizes as follows,
If many photoimagings unit 9 is losing lock in the process of following the tracks of specific objective, then central processing unit 28 calculates according to the tracking measurement data of the three-dimensional terrestrial coordinate of specific objective the locus that its subsequent time may occur, by facing upward the attitude unit 41 and course attitude unit 59 makes infrared laser light source 1, many photoimagings unit 9 successively aims at these locus of bowing, wait for the appearance again of specific objective;
7) synchronous data transmission, realizes as follows,
Central processing unit 28 by communication unit 37 rearward data center or other need the device synchronization transmission real-time imaging of specific objective and the real-time three-dimensional terrestrial coordinate of awareness information.
And, to selecting any number of Target scalar needing monitoring in distortion measurement object to be measured target, each measured target is continued to monitor, be included in attitude data, the range data of survey station to measured target, the three-dimensional coordinate of measured target when the image of multiple time point acquisition measured target, aiming measured target, obtain the thermomechanical processing 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, course attitude unit 59, face upward attitude unit 41, first transverse axis 42 of bowing, vertical pivot 60 forms deformation monitoring system, perform 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) learn distortion measurement object, realize as follows,
The touch-screen of man-machine interaction unit 30 is selected any number of Target scalar needing monitoring in distortion measurement object be measured target, central processing unit 28 is worked in coordination with each related work unit and is obtained and store the relevant information of each Target scalar, obtain learning outcome as follows
With the measured target image data of central point graduation, be called for short initial image;
Aim at attitude data during measured target, be called for short reference attitude;
Survey station 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, realizes as follows,
Central processing unit 28 is worked in coordination with each related work unit and is started working by the time interval of setting, completes 4 tasks as follows,
Pose adjustment will be aimed to reference attitude by facing upward bow attitude unit 41 and course attitude unit 59;
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 calculates the pose adjustment parameter of run-home atural object again by the alternate position spike of two central point graduation on initial image, face upward bow attitude unit 41 and course attitude unit 59 and will aim at pose adjustment on Target scalar according to pose adjustment parameter, obtain autonomous mapping machine again run-home atural object time attitude data, be called for short attitude again, complete the task of autonomous mapping machine run-home atural object again;
3) measurement target atural object again, realizes as follows,
Each related work unit measurement target atural object again worked in coordination with by central processing unit 28, again measured and again obtain the range data between survey station to Target scalar, be called for short distance again by precise distance measurement unit 24;
Central processing unit 28 according to again distance, again attitude and survey station three-dimensional coordinate data calculate the three-dimensional coordinate of Target scalar, be called for short coordinate again;
The time obtaining again coordinate is called for short the time again;
4) obtain the displacement vector data of Target scalar, realize as follows,
Origin coordinates and initial time, again coordinate and again time have delineated two 4 dimension events respectively, and the former is the Target scalar three-dimensional coordinate obtained in initial time, and the latter is the Target scalar three-dimensional coordinate obtained in time again; With the former for starting point, the latter is terminal, obtains the displacement vector of Target scalar in setting-up time section;
5) obtain the thermomechanical processing of distortion measurement object, realize 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 scalar in setting-up time section is formed.
Autonomous mapping machine provided by the invention is a kind of autonomous mapping type geography information robot, can in the daytime, night vision, independently gather under mild or moderate haze condition, process Dynamic and Multi dimensional geography information.Autonomous mapping type geography information robot disclosed by the invention has quadruple advantage: one is have emerging in large numbers property: the requirement item that robot chooses by operator, and in all resources, self-organization forms the system with corresponding function.These make the multiple application of a machine functional coverage geomatics industry around the systems that demand is formed, and 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 hazard of massif displacement; To the monitoring of all kinds of engineering project disaster such as deformation, crack of buildings/dam/gate/bridge/mine tailing; The various geomatics industry class application of quick surveying, fine sight location, remote object identification, long-range accurate tracking etc. on a large scale and extension application thereof; Two is low cost, high performance-price ratio; Three is change traditional working mode, obtains high measurement accuracy, significantly improves work efficiency, reduces labour intensity and cost; Four is can carry out personalized simplification, strengthening and extension for user's request, develops out brand-new product line.
Accompanying drawing explanation
Fig. 1 is the structural representation that the embodiment of the present invention independently surveys and draws machine;
Fig. 2 is the autonomous mapping arbor system schematic diagram of the embodiment of the present invention;
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 describing accurately, in the present invention " road " is defined as: the earth top being suitable for running car." field " is defined as: the earth top comprising road.
Technical solution of the present invention is described in detail below in conjunction with drawings and Examples.
See 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 be 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 positioning 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 attitude unit 41 of bowing, horizontal attitude unit 56, course attitude unit 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 with attitude observing and controlling machine by vertical pivot 60, first transverse axis 42, second transverse axis 76, the 3rd transverse axis 80, and is demarcated as the entirety that more than one, light is coaxial, multiaxis is concentric.
Described many light coaxially refers to optical axis, 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 of infrared laser light source 1, and five demarcate on the same axis.During concrete enforcement, five can the optical axis of precise distance measurement unit 24 be benchmark, is on same axis under meaning is demarcated by axle system.With the optical axis of astronomical telescope image-generating unit 5 for benchmark, the optical axis of other 4 working cells is all taken this as the standard and is carried out data scaling, and four light realized in overall measurement result are coaxial.
Described multiaxis refers to 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, global positioning unit 36 antenna phase center point and the orientation axis of vertical pivot 60 perpendicular to the crossing formation of extended line of axis during geoid surface with one heart, six demarcate after intersect at same spatial point.
See Fig. 2, the central axis l of described vertical pivot 60 1with the central axis l of benchmark 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 meet at spatial point O (0,0,0), long-distance ranging unit 25 with precise distance measurement unit 24 be benchmark calibration together time, the optical axis of precision/long-distance ranging unit and l 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 1coexist central axis l 3on, 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 with infrared laser light source 1 be benchmark calibration together time, the optical axis of infrared laser/many photoimagings unit and l 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 2zhang Cheng; Π 1plane and Π 2plane is orthogonal, Π 2plane independently surveys and draws 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 antenna phase center of global positioning unit 36 and the orientation axis of 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 mass centre of precise distance measurement unit 24 and the central axis of the first transverse axis 42, 0, 0) be the center independently surveying and drawing arbor system, the central axis of all related work unit and intersection point O1, O2, O3 all takes this as the standard and carries out data scaling, the multiaxis realized in overall measurement result is concentric.
Autonomous mapping machine achieves the system hardware integration based on close physical structure, when specifically implementing, can form corresponding system satisfy the demands according to self-organization in all resources being applied in autonomous mapping machine.Can pre-set program, after operator chooses requirement item on the menu of man-machine interaction unit 30, central processing unit 28 is according to the routine call correlation unit of setting.
Therefore, autonomous mapping machine provided by the invention is the complication system (having the system of emerging in large numbers property) of optical, mechanical and electronic integration, is made up of the multi-systems integration based on fabric.
Multisystem means following 15 systems:
1) encoder system had higher than 0.1 rad of resolution of optical, mechanical and electronic integration;
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) the multinuclear multiplex roles high speed embedded system of multiple DSP is comprised;
9) GPS of the Big Dipper, GPS, GLONASS, Galileo integration;
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 of steering gear system is comprised;
14) many nets converged communication system of various public network communication, self-organized network communication is comprised;
15) the rear data center of cloud computing, storehouse, high in the clouds, scheduling, commander, the item task such as collaborative is born.
Multi-systems integration based on fabric means:
1) based on the multisystem function integration of the polynary computer hardware close physical structure of chip, DSP, module;
2) based on the multisystem function integration of the computer software of multisource data fusion;
3) based on the multisystem function integration of the close physical structure of optical, mechanical and electronic integration;
4) based on above-mentioned three integrated optical, mechanical and electronic integration;
5) based on the integration of industry field process in many nets converged communication.
1. measuring machine
Precise distance measurement unit 24 means that distance accuracy is the portable miniature laser distance measuring equipment of mm level, adopts phase shift rangefinder method.At present the highest level of this series products is: be 1000 meters without the maximum ranging distance under cooperative target condition, and the maximum ranging distance under use reflecting prism cooperative target condition is 3000 meters-4000 meters; Distance accuracy 2-3mm+2ppm;
Long-distance ranging unit 25 means the portable miniature laser distance measuring equipment of ranging more than 10 kilometers.General pulse laser range finder can measure tens of even distance of tens thousand of kilometers, and precision is generally 0.5m-5m.Use lithium battery power supply and this series products meeting field portable condition adopts solid type and semiconductor-type two kinds of distance-finding methods, known current highest level is: ranging 40,000 meter, distance accuracy 5 decimeters, range frequency 15Hz;
High frequency range cells 26 means the portable miniature laser distance measuring equipment of range frequency more than 1000Hz, adopts phase shift rangefinder.Common high frequency ranging laser is used for 3 D laser scanning, is used for the close shot laser scanning in tens meters of-200 meters of distances.Be under the prerequisite of the first index with ranging, known current highest level is: maximum ranging distance 2000 meters, 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, 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, 5th driving circuit 11, 6th worm gear 12, 6th worm screw 13, 4th motor 14, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD module 18, 5th worm gear 23, 5th worm screw 31, 4th scrambler 34, 5th motor 32 and four-wheel drive circuit 33, object lens 15, varifocal mirror group 22, focusing lens 16, imaging lens group 17, two filter sheet structure CCD module 18 connects successively, the 5th driving circuit 11, 4th motor 14, 6th worm screw 13, 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, four-wheel drive circuit 33, 5th motor 32, 5th worm screw 31, 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, 5th scrambler 10, 4th scrambler 34, four-wheel drive circuit 33, two filter sheet structure CCD module 18 connects 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, during concrete enforcement, three parts can be divided into: scene image Extraction parts carries out the extraction of RGB tri-color bitmap data, gradation of image process, filtering to scene image, search calculating section completes operator calculating, rim detection, acquisition image value, and image definition judging section obtains the maximum motor position of image value for comparing.
The module of global positioning unit 36 and antenna are the locating devices of the Big Dipper, GPS, GLONASS, Galileo 4 system integration, can utilize net location, 4 skies simultaneously; Communication unit 37 supports 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 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 further expands by Peripheral Interface and connects other unit.
2. attitude observing and controlling machine
Attitude observing and controlling machine is formed by facing upward attitude unit 41 of bowing, course attitude unit 59, horizontal attitude unit 56 and attitude observing and controlling processor 40.Horizontal attitude unit 56, course attitude unit 59, attitude observing and controlling electromechanical source unit 74 are connected with attitude observing and controlling processor 40 respectively with attitude observing and controlling processor 40, 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) work system of facing upward attitude unit 41 of bowing is formed and precision controlling:
Face upward attitude unit 41 of bowing to be made up of first clutch 43, first unit 44, first scrambler 53, first motor 54, first driving circuit 55.
Precision controlling: the first unit 44 is made up of the first Timing Belt amplifier 45, second worm gear 46, first synchronous pulley 47, second worm screw 48, second elastic mechanism 49, first worm gear 50, first elastic mechanism 51, first worm screw 52.
First driving circuit 55, first motor 54, first worm screw 52 connects successively, first worm gear 50 and the first worm screw 52 engage through the first elastic mechanism 51, first worm gear 50 and the second worm screw 48 engage through the second elastic mechanism 49, through the first synchronous pulley 47 transmission between second worm gear 46 and the second worm screw 48, through the first Timing Belt amplifier 45 transmission between second worm gear 46 and the first scrambler 53, second worm gear 46 connects first clutch 43, first clutch 43 connects the first transverse axis 42 when closing, attitude observing and controlling processor 40 and first clutch 43, first scrambler 53, first driving circuit 55 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, first driving circuit 55 output order to the first motor 54, first motor 54 exports the motion result produced after the first unit 44 carries out facing upward motion transmission of bowing and uploads to central processing unit 28 through the second worm gear 46, first Timing Belt amplifier 45, 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 that first worm gear 50 and the second worm screw 48 are in operation to engage all the time, forward and reverse rotary gap of the worm-and-wheel gear making the first worm gear 50 and the second worm screw 48 form reaches minimum comprehensively.
Use the first fine-tuning elastic mechanism 51 that first worm gear 50 and the first worm screw 52 are in operation to engage all the time, forward and reverse rotary gap of the worm-and-wheel gear making the first worm gear 50 and the first worm screw 52 form reaches minimum comprehensively.
The transmission of the first synchronous pulley 47 is that synchronizing wheel (can adopt metal, the macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) being 1:1 by ratio of gear is formed.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 makes the second worm gear 46 and the second worm screw 48 the form tight engagement that is in operation does not produce gap.
The transmission of the first Timing Belt amplifier 45 is that synchronizing wheel (can adopt metal, the macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) being 1:H by ratio of gear is formed.Sometimes because the difference of erection sequence must install strainer additional.The mechanism that the transmission of the first Timing Belt amplifier 45 makes the second worm gear 46 and the first scrambler 53 the form tight engagement that is in operation does not produce gap.
When the ratio of gear of the first worm screw 52 first worm gear 50 transmission group is N and the ratio of gear of the second worm screw 48 second worm gear 46 transmission group is M, the ratio of gear of the first unit 44 is N × M.If now the maximum error of the corresponding pulse signal of the first motor 54 is h rad, then 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.After selected first motor 54 also sets and segments number, h becomes known constant, therefore enough large N and M just makes the absolute value of (a) formula fully little.Measured data proves, after the transmission of the first unit 44, the kinematic error that the first motor 54 produces in the process of execution attitude observing and controlling processor 40 instruction is reduced about N × M times.This makes to face upward the bow Measure Precision of attitude and can reach 0.1 rad or higher (the global full accuracy facing upward attitude observing and controlling of bowing at present is 0.5 rad, is created by the precision measurement robot of Lai Ka company of Switzerland and is kept).
2) reading of attitude data of bowing is faced upward:
First motor 54 perform the reduced about N × M of the kinematic error produced in the process of attitude observing and controlling processor 40 instruction doubly after can reach the precision that error is less than 0.1 rad, this precision is far beyond the resolution of most angular encoder.
Assist the first scrambler 53 to complete digital independent with the first Timing Belt amplifier 45, effectively can reduce angular encoder to the reading difficulty of superhigh precision data and completely avoid the series of problems developed ultrahigh resolution angular encoder for this reason and specially and bring: the motion result of the first unit 44 expressed by the second worm gear 46.First Timing Belt amplifier 45 passes to the first scrambler 53 and is converted to digital signal via the first scrambler 53 after amplifying H times by the motion result that the first unit 44 produces by the second worm gear 46 in the process of execution attitude observing and controlling processor 40 instruction and is uploaded to attitude observing and controlling processor 40.Attitude observing and controlling processor 40 by gained motion result data divided by H doubly after obtain the real position of the first transverse axis 42 and arrive data and be uploaded to central processing unit 28.
3) work system of course attitude unit 59 is formed and precision controlling:
Course attitude unit 59 is made up of second clutch 61, second unit 62, second scrambler 73, second motor 71, second driving circuit 72.
Precision controlling: the second unit 62 is made up of the second Timing Belt amplifier 64, the 4th worm gear 63, 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.
Second driving circuit 72, second motor 71, 3rd worm screw 70 connects successively, 3rd worm gear 68 and the 3rd worm screw 70 engage through the 3rd elastic mechanism 69, 3rd worm gear 68 and the 4th worm screw 66 engage through the 4th elastic mechanism 67, through the second synchronous pulley 65 transmission between 4th worm gear 63 and the 4th worm screw 66, through the second Timing Belt amplifier 64 transmission between 4th worm gear 63 and the second scrambler 73, 4th worm gear 63 connects second clutch 61, vertical pivot 60 is connected when second clutch 61 closes, attitude observing and controlling processor 40 and second clutch 61, second scrambler 73, second driving circuit 72 connects respectively, central processing unit 28 through attitude observing and controlling processor 40, second driving circuit 72 output order to the second motor 71, second motor 71 exports the motion result produced after the second unit 62 carries out course motion transmission and uploads to central processing unit 28 through the 4th worm gear 63, second Timing Belt amplifier 64, 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 that the 3rd worm gear 68 and the 4th worm screw 66 are in operation to engage all the time, forward and reverse rotary gap of the worm-and-wheel gear making the 3rd worm gear 68 and the 4th worm screw 66 form reaches minimum comprehensively.
Use the 3rd fine-tuning elastic mechanism 69 that the 3rd worm gear 68 and the 3rd worm screw 70 are in operation to engage all the time, forward and reverse rotary gap of the worm-and-wheel gear making the 3rd worm gear 68 and the 3rd worm screw 70 form reaches minimum comprehensively.
The transmission of the second synchronous pulley 65 is that synchronizing wheel (can adopt metal, the macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) being 1:1 by ratio of gear is formed.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 makes the 4th worm gear 63 and the 4th worm screw 66 the form tight engagement that is in operation does not produce gap.
The transmission of the second Timing Belt amplifier 64 is that synchronizing wheel (can adopt metal, the macromolecular material)+synchronizing wheel driving-belt (can adopt rubber, polyurethane) being 1:I by ratio of gear is formed.Sometimes because the difference of erection sequence must install strainer additional.The mechanism that the transmission of the second Timing Belt amplifier 64 makes the 4th worm gear 63 and the second scrambler 73 the form tight engagement that is in operation does not produce gap.
When the ratio of gear of the 3rd worm screw 70 the 3rd worm gear 68 transmission group is R and the ratio of gear of the 4th worm screw 66 the 4th worm gear 63 transmission group is S, the ratio of gear of the second unit 62 is R × S.If now the maximum error of the corresponding pulse signal of the second motor 71 is f rad, then 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 makes the absolute value of g go to zero.After selected second motor 71 also sets and segments number, f becomes known constant, therefore enough large R and S just makes the absolute value of (b) formula fully little.Measured data proves, after the transmission of the second unit 62, the kinematic error that the second motor 71 produces in the process of execution attitude observing and controlling processor 40 instruction is reduced about R × S times.This makes to face upward the bow Measure Precision of attitude and can reach 0.1 rad or higher (the global full accuracy of current course attitude observing and controlling is 0.5 rad, is created by the precision measurement robot of Lai Ka company of Switzerland and is kept).
4) reading of course attitude data:
Second motor 71 perform the reduced about R × S of the kinematic error produced in the process of attitude observing and controlling processor 40 instruction doubly after can reach the precision that error is less than 0.1 rad, this precision is far beyond the resolution of most angular encoder.
Assist the second scrambler 73 to complete digital independent with the second Timing Belt amplifier 64, effectively can reduce angular encoder to the reading difficulty of superhigh precision data and completely avoid the series of problems developed ultrahigh resolution angular encoder for this reason and specially and bring: the motion result of the second unit 62 expressed by the 4th worm gear 63.Second Timing Belt amplifier 64 passes to the second scrambler 73 and is converted to digital signal via the second scrambler 73 after amplifying I times by the motion result that the second unit 62 produces by the 4th worm gear 63 in the process of execution attitude observing and controlling processor 40 instruction and is uploaded to attitude observing and controlling processor 40.Attitude observing and controlling processor 40 by the data obtained divided by I doubly after obtain the real position of vertical pivot 60 and arrive data and be uploaded to central processing unit 28.
5) horizontal attitude unit:
Horizontal attitude unit 56 is made up of Mechanical Planarization module 57 and electronic compensation module 58, and attitude observing and controlling processor 40 is connected with electronic compensation module 58.After adjusting Mechanical Planarization module 57, horizontal attitude is compensated to the precision of 1 rad and uploads the horizontal attitude data after compensation to attitude observing and controlling processor 40 by electronic compensation module 58 automatically.
6) the basic 3 d pose observing and controlling of autonomous mapping machine:
Set up autonomous mapping machine and adjust the pitch angle of attitude observing and controlling machine after horizontal attitude unit 56 and course angle auto zero puts in place, autonomous mapping machine enters duty.What the setting program on attitude observing and controlling processor 40 made independently to survey and draw machine faces upward bow attitude observing and controlling and course attitude observing and controlling synchronous operation.
Autonomous mapping machine face upward attitude observing and controlling of bowing: central processing unit 28 sends to attitude observing and controlling processor 40 instruction pitch angle being turned to assigned address, the first driving circuit 55 opened by attitude observing and controlling processor 40 makes the first motor 54 rotate, and by the transmission of the first unit 44, 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.First scrambler 53 is measured in real time the motion in-position of the second worm gear 46 and synchronously to be uploaded to attitude observing and controlling processor 40: the position that the second worm gear 46 measured by the first scrambler 53 arrives data and is uploaded to attitude observing and controlling processor 40, attitude observing and controlling processor 40 position that Accurate Estimation goes out the first transverse axis 42 accordingly arrive data and synchronized upload 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 course angle being turned to assigned address, the second driving circuit 72 opened by attitude observing and controlling processor 40 makes the second motor 71 rotate, and 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.Second scrambler 73 is measured in real time the motion in-position of the 4th worm gear 63 and synchronously to be uploaded to attitude observing and controlling processor 40.Attitude observing and controlling processor 40 position that Accurate Estimation goes out vertical pivot 60 accordingly arrives data synchronized upload to central processing unit 28.
Real-time data communication between central processing unit 28 with attitude observing and controlling processor 40 ensure that the integrated of measuring machine and attitude observing and controlling machine.
7) motion of integral shaft system and assembling
3rd transverse axis 80 is set in attitude observing and controlling machine and faces upward motion control unit of bowing accordingly, comprise the 7th scrambler 81, the 3rd clutch coupling 82, second worm and gear group 83, second motor and driving circuit 21, central processing unit 28, second motor is connected successively with driving circuit 21, second worm and gear group 83 and the 3rd clutch coupling 82, when 3rd clutch coupling 82 closes, connection the 3rd transverse axis the 80, three transverse axis 80, the 7th scrambler 81, central processing unit 28 connect successively;
Second transverse axis 76 is set in attitude observing and controlling machine and faces upward motion control unit of bowing accordingly, comprise the 6th scrambler 78, first worm and gear group 77, first motor and driving circuit 79, central processing unit 28, first motor is connected successively with driving circuit 79, 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, see Fig. 5 tuning fork rotating part.Central processing unit and peripheral circuit thereof can other integrated settings, and the assembling of mechanical part each axle is as follows:
1) vertical pivot 60 base course motion
Attitude observing and controlling machine is connected with measuring machine by vertical pivot 60, and the rotation moved by vertical pivot 60 in the course of measuring machine and said units thereof produces, and course kinematic accuracy is via course attitude unit 59 observing and controlling.
2) the first transverse axis 42 and the intersection point of the mass centre of precise distance measurement unit 24 are centers of axle system
The intersection point of the mass centre of precise distance measurement unit 24 and the central axis of the first transverse axis 42 is the centers independently surveying and drawing arbor system: the central axis of all related work unit and the intersection point of axis and axis are all taken this as the standard and demarcated, and realize multiaxis concentric.
The assembly be 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 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 course attitude unit 59 observing and controlling.
3) the second transverse axis 76 and swing in high frequency
The swing in high frequency of the second transverse axis 76 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:
When using high frequency range cells 26 pairs of point target measuring distances (obtaining the range data of centimetre-sized precision), the facing upward of high frequency range cells 26 motion of bowing is produced [the 3rd transverse axis 80 is moved by synchronising (connecting) rod drive high frequency range cells 26] by the rotation of the 3rd transverse axis 80, faces upward kinematic accuracy of bowing via the second worm and gear group 83, second motor and driving circuit 21, the 7th scrambler 81 observing and controlling.The motion of its course is produced by the rotation of vertical pivot 60, and course kinematic accuracy is via course attitude unit 59 observing and controlling;
When using high frequency range cells 26 to carry out scan-type range finding to three-dimensional area target, the second transverse axis 76 supports that eccentric wheel unit 27 is along the swing in high frequency of facing upward direction of bowing.Bowing motion of the facing upward of high frequency range cells 26 is controlled by eccentric wheel unit 27, faces upward kinematic accuracy of bowing by the first worm and gear group 77, 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 course attitude unit 59 observing and controlling.
4) attitude motion of the 3rd transverse axis 80 and large quality component
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 that in measuring machine, quality is maximum when measuring distance is more than 25 kilometers), and the assembly that both are formed is connected with attitude observing and controlling machine tuning fork by the 3rd transverse axis 80.Bowing motion of the facing upward of this assembly is produced by the rotation of the 3rd transverse axis 80, faces upward kinematic accuracy of bowing via the second worm and gear group 83, second motor and driving circuit 21, the 7th scrambler 81 observing and controlling.The motion of its course is produced by the rotation of vertical pivot 60, and course kinematic accuracy is via course attitude unit 59 observing and controlling.
5) synchronising (connecting) rod
Have a synchronising (connecting) rod between 3rd transverse axis 80 and high frequency range cells 26: when using high frequency range cells 26 pairs of point targets to find range, 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; When 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, 3rd transverse axis 80 and high frequency range cells 26 depart from and link, 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 independently surveying and drawing machine, below annotates by the mode of layering from top to bottom.Ground floor: the left side indicates the cloud of " HA Global Positioning Satellite " and represents and comprise the Chinese Big Dipper, the available resources such as GPS, the Galileo of European Union, Muscovite GLONASS of the U.S. by the sky net that the satellite group for global location is formed.Such as, GPS is used for the satellite group of global location and contains 26-30 satellite (24 operations, other backup), divides 6 tracks etc.These 24 operational satellites just constitute GPS days nets.In like manner state 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 the RS satellite of earth resources; The second layer: the left side is the autonomous mapping machine of the art of this patent, and the right is base station.What indicate " MANET " printed words represents the radio communication of being undertaken by MANET between autonomous mapping machine at the flash symbols of centre, and the flash symbols being positioned at both sides indicating " ground RS data " printed words represents the ground remote sensing function of autonomous mapping machine; Third layer: terrestrial communication networks.The cloud of the left side indicates " cable/radio telephone set net " printed words represents the telephone network for ground call, and its terminal comprises mobile phone and base.The cloud of 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; 4th layer: the data platform of terrestrial communication networks.Indicate the square frame remotely-sensed data platform that represents 2.5G wireless data communications platform, 3G wireless data communications platform, 4G wireless data communications platform respectively and be connected with each land station of " 2.5G platform ", " 3G platform ", " 4G platform ", " RS data platform "; Layer 5: the cloud indicating " wired Internet " printed words represents general the Internet, the left side indicates the icon representation connection computer server of receiving and sending messages in B/S mode on the internet of B/S rear data center printed words, and the right indicates the icon representation connection computer server of receiving and sending messages in C/S mode on the internet of C/S rear data center printed words; Traffic symbols between each layer: flash symbols 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 that is made up of whole chip, circuit, module, working cell around central processing unit 28 practical function.The function of autonomous mapping machine is not the inherent function of certain working cell or the superposition of some working cell function, but the result of tissue: the function of autonomous mapping machine be its all chip, circuit, module, working cell, system software according to Principles of Computer Composition and the generation of multisource data fusion principle tissue, be the result of the emerging in large numbers property of system of independently surveying and drawing machine.Cannot be exhaustive as computer application program and function thereof, the function of autonomous mapping machine also cannot be exhaustive one by one.
Autonomous mapping machine function realizing method: autonomous mapping machine is the polynary computer system of optical, mechanical and electronic integration physically.Its function realizing method can be summarized as and run various computer applied algorithm in the polynary computer system of such optical, mechanical and electronic integration.Such as: 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 "; Run various application program with temporal and spatial correlations, that write according to real needs in the field such as engineering design, engineering setting out, project supervision, engineering operation, geodetic surveying, engineering survey, disaster monitoring, emergency processing, corresponding function can be obtained.
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 is applied with whole unified solution of combining together:
The three-dimensional terrestrial coordinate of automatic synchronization acquisition target and target image, automatic acquisition have the three-dimensional navigation figure under 3-dimensional image, automatically the acquisition earth coordinates under topomap, automatically the acquisition earth coordinates of image on the spot; Produce by multi-systems integration and data fusion emerging in large numbers property, derive a large number of users function by 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 working environment is adapted to, all weather operations:
Independently realize all weather operations, automatic acquisition object scene image under the various conditions of completely unglazed night, daytime, slight and moderate haze blur-free imaging on its screen.Fast, accurately, not manpower intervention is needed.
3, independently adapt to target, independently determine working method:
Judge target range voluntarily, 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 realized for specific works target on the basis of self ability to work.Efficiently, accurately, not manpower intervention is needed.
4, automatic fine sight, changes existing artificial aiming working method, greatly improves pointing accuracy and efficiency:
Abandon based on telescopical artificial aiming working method.The display screen of autonomous mapping machine clicks impact point, and autonomous mapping machine realizes optics to the thin portion of impact point automatically, electronics two-stage is amplified.Again click the thin portion of impact point after two-stage amplification, autonomous mapping machine 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, autonomous mapping machine automatic aiming, automatically obtain/store within 1-5 second/show the three-dimensional coordinate of this impact point under earth coordinates.Do not need cooperative target, do not need artificial aiming, the impact point that do not need manually to trek goes to set up instrument, direct remote measurement obtains the three-dimensional terrestrial coordinate of arbitrary target points in its visual field and finding range.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, round-the-clockly automatically complete high density deformation monitoring, improve monitoring effect, raise 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 observation stake and measures: (stake less cannot the deformation situation of reflection object body for a point of a stake monitoring target body, stake high cost at most), the place that cannot arrange observation stake can not be monitored.
Autonomous mapping machine is used for feature during deformation monitoring:
1) conventional deformation monitoring mode is changed:
An autonomous mapping machine can measure multiple target and long-term repetition continuously by full-automatic tracking in very 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 etc. between precision, two secondary data), can to make up the number ten (fast deformation, real-time resolving), the effect that simultaneously works of hundreds of GPS orientator to thousands of (slow deformation, resolves) mm class precisions afterwards.Greatly improving monitoring point density thus essence is greatly raised the efficiency while improving monitoring effect, reduced costs;
3) be not limited to observation stake and prism, the deformation monitoring of mm class precision can be carried out the atural object in its range finding;
4) image scene that synchronous acquisition is real-time;
5) difference of autonomous mapping machine deformation monitoring system and existing precision measurement Robotics: the former can work under mild or moderate haze, daytime, night condition, with natural feature on a map, Human Architecture for measured target; The latter need daytime fair weather and fair visibility, with manual site arrange prism for cooperative target.
7, three-dimensional for object space terrestrial coordinate and object space image are combined together, synchronously obtain:
Fully 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, the three-dimensional object space image under autonomous generation earth coordinates:
Automatically generate the three-dimensional coordinate dot matrix cloud under earth coordinates in any object space image that can obtain at it, density is adjustable.Realize the space measurement field work of portable unit.
9, the full-view image under autonomous generation earth coordinates:
Automatic generation is with 360 ° of panorama object space images of 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:
Airborne and spaceborne RS image or topomap show, plans and survey/do not survey region, carry out field station location layout.
11, automatic mapping contour line, automatically generates the topomap with image on the spot:
Complete the surveying work on each location in field according to location layout, automatic Mosaic, become figure in real time.
12, survey district three-dimensional navigation figure is automatically generated:
Complete the photogrammetric work in field on each location according to location layout, automatic Mosaic, become figure in real time.
13, many nets converged communication, the integration of interior industry, field operation.
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:
Without under cooperative target condition, measuring accuracy when being less than or equal to 1,000m of finding range can reach mm level; Under having prism conditions, measuring accuracy when being less than or equal to 3,000m of finding range can reach mm level;
Without under cooperative target condition, when range finding is less than or equal to 25,000m, measuring error is decimeter grade; Range finding is greater than 25,000m when being less than 40,000m, measuring error sub-meter grade.
16, drawing formation system is independently surveyed in field:
Without the need to by any base map, complete independently field topomap and field three-dimensional navigation figure measure.Work flow defines photogrammetric closed-loop control, and the spatial data under earth coordinates and the stereopsis comprising rich properties information obtain simultaneously, and field operation is integrated with interior industry, 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 the mode of planar, its outcome data is that the outdoor scene of shooting 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 defending sheet/boat sheet seamless link.
19, the three-dimensional terrestrial coordinate of high-precision object space:
By affect the three-dimensional terrestrial coordinate measuring accuracy of object space main error source is thought of as survey station positioning error, survey station looks for northern error, attitude measurement error, image error, pointing error, under the prerequisite of range observation error, autonomous mapping facility have very high measuring accuracy.
Survey station positioning error: existing differential position can reach centimetre-sized positioning precision in 1 minute, reached 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 amplification target method, impact point particulars image clearly can be obtained;
The pointing error of autonomous mapping machine: according to automatic imaging method and automatic accurately method of sight, 0.1 can the be obtained " pointing accuracy of level;
Northern error looked for by survey station: tracking measurement robot, when global positioning unit 36 and known terrestrial coordinate spot placement accuracy reach mm level and distance is greater than 500 meters between the two, the attitude measurement accuracy of 3 d pose system, remotely sensed image sharpness and automatic aiming accuracy guarantee 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: without under cooperative target condition, when range finding is less than or equal to 40,000m, long-distance ranging unit 25 measuring error decimeter grade, 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, autonomous mapping machine is when distance objective 40 kilometers, and the precision of the three-dimensional terrestrial coordinate of remote measurement measuring target point can reach sub-meter grade; Time in distance objective 2 kilometers, the precision of the three-dimensional terrestrial coordinate of remote measurement measuring target point can reach centimetre-sized; Time in distance objective 1 kilometer, 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 apply as follows:
One, autonomous imaging
The present invention can realize autonomous imaging, comprises according to white light luminous flux, and photoresistance 75 sends signal control central processing unit 28 and closes 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 and provided infrared laser light source.Autonomous imaging system can be formed 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, perform autonomous imaging process as follows,
Step 1, carries out imaging source initial selected, realizes as follows,
Be included in white light luminous flux when 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 pump supply source 5 opened by central processing unit 28, infrared laser light source 1 irradiates target, many photoimagings unit 9 accepts the infrared laser returned from target, enters step 4
Step 2, under white light source, to the self-adaptation of fair visibility and haze environment and imaging source from main separation, realize as follows,
The focusing calibration value that central processing unit 28 reads focusing lens 16 drives the 4th motor 14 to arrive each corresponding calibration position successively, 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 the 4th motor 14 calibration position that record makes image value maximum is for making the most clear place of image;
All image values of central processing unit 28 pairs of object scene carry out analyzing and processing,
If the absolute value of the difference of the maxima and minima of image value is greater than default arithmetic number Q1, then judge that survey station is in fair visibility environment, enters step 3;
If the absolute value of the difference of the maxima and minima of image value is less than default arithmetic number Q1 and is greater than default arithmetic number Q2, then judge that survey station is in moderate or slight haze environment, enter step 4;
If the absolute value of the difference of the maxima and minima of image value is less than default arithmetic number Q2, then judge that survey station is in severe haze environment, central processing unit 28 is reported to the police, and stops flow process;
Wherein, preset arithmetic number Q1 and be greater than default arithmetic number Q2;
Step 3, based on the automated imaging of white light source, realizes as follows,
First automatic focusing is carried out, central processing unit 28 sends instruction to the 5th driving circuit 11, make the 4th motor 14, the 6th worm screw 13 rotates, 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 shape modification value and sends next instruction accordingly, 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 automated imaging is carried out, white light signal arrives two filter sheet structure CCD module 18 through object lens 15, focusing lens 16 and imaging lens group 17, graphics processing unit 20 is uploaded to after two filter sheet structure CCD module 18 converts white light signal to digital signal, graphics processing unit 20 obtains scene image be uploaded to central processing unit 28 clearly, complete the automated imaging task based on white light source, process ends;
Step 4, based on the automated imaging of infrared laser light source, realizes 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, one is automatic zoom, comprise unlatching four-wheel drive circuit 33, the 5th motor 32 is made to drive the 5th worm screw 31 to move to Pi position, 5th worm screw 31 drives the 5th worm gear 23 to make varifocal mirror group 22 visual field of many photoimagings unit 9 be adjusted to size needed for execution i-th 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; Two is that visual field overlaps with range of exposures, comprises sending instruction to the 3rd driving circuit 8 and making 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, demarcating constant Pi is visual field when performing the i-th generic task, the visual field of many photoimagings unit 9, is called Pi imaging viewing field, i=1,2,3 ... ..J, J are total class number, demarcating constant Qi is and Pi infrared laser focus value one to one, when infrared laser focusing lens 3 is in Qi position, infrared laser range of exposures overlaps with Pi imaging viewing field, and after Pi is demarcated, Qi demarcates according to Pi;
Then automated imaging is carried out, the infrared laser signal returned from object scene arrives two filter sheet structure CCD module 18 by object lens 15, focusing lens 16, imaging lens group 17, graphics processing unit 20 is reached after two filter sheet structure CCD module 18 converts 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 synchronously automatically determine appearance
When using high frequency range cells 26 to carry out scan-type range finding to three-dimensional area target, by course attitude unit 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 many photoimagings unit 9 visual field, obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data, generate three-dimensional field live-action image; By setting attitude motion terminal position, be supported in and define arbitrarily working range or generate three-dimensional field live-action image around the panorama working range of survey station 360 °.
Can by central processing unit 28, eccentric wheel unit 27, first worm and gear group 77, first motor and driving circuit 79, 6th scrambler 78, second transverse axis 76, high frequency range cells 26, attitude observing and controlling processor 40, course attitude unit 59, face upward 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 positioning unit 36, communication unit 37 forms scan-type automatic range and synchronous attitude determination system automatically, perform and automatically generate arbitrary shape, the three-dimensional field live-action image of Arbitrary width size, on-the-spot automatic generation panorama three-dimensional live image in real time.
The job step of the three-dimensional field live-action image of automatic generation arbitrary shape, Arbitrary width size is as follows:
1) working range is defined arbitrarily
Use and touch setting-out (or clicking screen) method, the two-dimentional field live-action image of touch-screen display sketches the contours closed curve (or closure fold line) C of arbitrary shape, and the region M that C surrounds by central processing unit 28 is defined as working range.Eccentric wheel unit 27 by the instructions defme high frequency range cells 26 of central processing unit 28 along facing upward reciprocating terminal position, direction of bowing: is all dropped on closed curve (or closure fold line) C around reciprocating terminal position, the axis of the second transverse axis 76 in the plane that the optical axis of its axis at vertical pivot 60 and high frequency range cells 26 is formed; Course attitude unit 59 presses the instruction of central processing unit 28, the course heading that to turn over the border of region M be continuously terminal; The synchronous interaction of eccentric wheel unit 27 and course attitude unit 59 makes working range just in time cover region M.
2) course motion: course angle is adjusted to reference position and continuously moved to stop position by central processing unit 28 instruction attitude observing and controlling processor 40.Attitude observing and controlling processor 40 is performed by course attitude unit 59 and is completed instruction.
3) face upward motion of bowing: the amplitude of fluctuation of pitch angle is adjusted to the scope defined from reference position to stop position by central processing unit 28 instruction eccentric wheel unit 27, and drive high frequency range cells 26 direction, axis reciprocally swinging along vertical pivot 60 in defined scope.Eccentric wheel unit 27 performs and completes instruction: the amplitude of fluctuation of pitch angle is locked in the scope defined 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 with the mass centre of high frequency range cells 26 be the center of circle, with described amplitude of fluctuation be range of movement, in the plane that the optical axis of the axis of vertical pivot 60 and high frequency range cells 26 is formed around the axis to-and-fro movement of the second transverse axis 76.High frequency range cells 26 synchronous working, obtains range data continuously.
4) time synchronized: take GPS time as benchmark, course attitude unit 59, eccentric wheel unit 27, high frequency range cells 26 synchronous averaging, synchronous working, synchronously to stop, complete the traversal formula automatic range of high frequency range cells 26 in many photoimagings unit 9 visual field, and only in office meaning obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data in fixed scope.
5) spatial match: the spatial match being completed 3 d pose data and range data by the electromechanical work principle of eccentric wheel unit 27, laser beam drop point site on the projection surface, relation between 3 d pose data and the time synchronized three of range data, object scene image generates three-dimensional terrestrial coordinate dot matrix cloud.
6) the three-dimensional field live-action image of arbitrary shape, Arbitrary width size is automatically generated
Central processing unit 28 runs the data mining program comprising 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, region M obtains three-dimensional field live-action image.
It is on-the-spot that the job step of generation panorama three-dimensional live image is as follows automatically in real time:
1) the zero lap automatic Mosaic of panoramic picture
A. scenery zero lap in two width adjacent images is ensured with high-precision attitude observing and controlling and naturally continuous:
The first round two dimension field live-action image shooting around survey station 360 ° is completed: measuring machine obtains the first width two dimension field live-action image according to automatic imaging method by course angle; Central processing unit 28 calculates the course angle position of picked-up second width image according to the attitude data of picked-up first width image, and command heading attitude unit 59 puts in place with the precise movements of 0.1 rad, obtains the second width image; Circulation like this is until obtain last width image.Exceed the part of 360 ° of course angles in last width image of central processing unit 28 cutting, obtain the two-dimentional field live-action image around survey station 360 °.Stitching error between every two width images is 0.1 rad.
Conversion pitch angle completes the live-action image shooting of panorama two dimension field: if the pitch angle of first round image is less than the pitch angle working range of setting, central processing unit 28 instruction is faced upward attitude unit 41 of bowing and pitch angle to be adjusted to first round image joining second and to take turns the reference position of filming image and complete second and take turns shooting, and so circulation is until obtain the panorama two dimension field live-action image around survey station 360 °.Stitching error between every two-wheeled image is 0.1 rad.
B. control the marginal distortion of image: two filter sheet structure CCD modules 18 that Selection parameter is suitable, make the marginal distortion of image captured by calibrated camera be less than 1%.
C. color balance process is carried out to adjacent image.
D. arrange zoomed image data, obtain the panorama two dimension field live-action image around survey station 360 °.
2) the panorama three-dimensional field live-action image around survey station 360 ° is automatically generated
Central processing unit 28 synchronously completes quadrinomial job: one is arrange the motion start-stop position of eccentric wheel unit 27 in pitch angle direction according to the pitch angle working range of setting, starts eccentric wheel unit 27 to-and-fro movement synchronously return it to central processing unit 28 and face upward attitude data of bowing in specified scope; Two is open high frequency range cells 26 to make its range finding synchronous to central processing unit 28 layback data continuously; Three is open course attitude unit 59 make it turn over 360 ° continuously and synchronously return course data to central processing unit 28; Four is automatically generating 3-dimensional image around on the panorama two dimension field live-action image of survey station 360 °, obtaining the panorama three-dimensional field live-action image around survey station 360 °.
Three, the three-dimensional terrestrial coordinate automatic telemetering of autonomous mapping 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, course attitude unit 59, faces upward attitude unit 41 of bowing, long-distance ranging unit 25, precise distance measurement unit 24, first transverse axis 42, vertical pivot 60, high frequency range cells 26, second transverse axis 76, global positioning unit 36, communication unit 37.
Automatic telemetering, the job step obtaining the three-dimensional terrestrial coordinate of measured target is as follows:
1) based on the automatic fine sight of image:
User can click impact point in the two-dimentional field live-action image of touch-screen display, the visual field of many photoimagings unit 9 is adjusted to minimum by central processing unit 28 automatically, enlargement factor reaches maximum, and on impact point live-action image after the high power light that many photoimagings unit 9 obtains amplifies automatically Digital Zoom amplify (resolution according to CCD and display screen demarcates Digital Zoom enlargement factor), obtain the impact point sharp image after optics/digital two-stage amplification, user can select measured target wherein.Click measured target, face upward attitude unit 41 of bowing, course attitude unit 59 aims at measured target with the precision of 0.1 rad, and by the attitude data that obtains be uploaded to central processing unit 28.
2) based on the automatic range of automatic fine sight:
Central processing unit 28 starts long-distance ranging unit 25 pairs of measured targets and carries out 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 when being greater than 1 kilometer, and central processing unit 28 starts high frequency range cells 26 pairs of measured targets and carries out 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 pairs of measured targets and carries out range observation, obtains the range data of mm class precision.During automatic range, the job order of long-distance ranging unit 25, high frequency range cells 26, precise distance measurement unit 24 can freely adjust.
3) the three-dimensional terrestrial coordinate of automatic acquisition measured target:
Central processing unit 28 [is set up during survey station according to survey station data and is automatically located the three-dimensional terrestrial coordinate data of the survey station obtained, by the survey station direct north data of automatic fine sight known terrestrial coordinate point or another autonomous mapping machine acquisition, the survey station horizontal attitude data of adjustment horizontal attitude unit 56 acquisition by global positioning unit 36.Lower same.] and target data [to different target (or same target not in the same time): the course obtained by automatic aiming and face upward attitude data of bowing, the survey station that obtained by automatic range is to the range data of target.Lower same.] Automatic solution obtains the three-dimensional terrestrial coordinate of measured target.
Four, the movable object tracking of autonomous mapping machine is measured
Obtain field live-action image by automated imaging process continuously 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 course attitude unit 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 positioning unit 36, communication unit 37, measuring machine power supply unit 29, course attitude unit 59, face upward attitude unit 41 of bowing, first transverse axis 42, vertical pivot 60, second worm and gear group 83, second motor and driving circuit 21, 7th scrambler 81, 3rd clutch coupling 82, 3rd transverse axis 80 is formed.
The job step of autonomous tracking measurement moving target is as follows:
1) image processor target:
After inputted search scope, related work unit synchronous working coordinated by central processing unit 28: closed first clutch 43, second clutch 61, the 3rd clutch coupling 82, second motor and driving circuit 21, second worm and gear group 83 and course attitude unit 59 drives infrared laser light source 1, many photoimagings unit 9 moves continuously, circulation covers hunting zone; Infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20 press automatic imaging method, obtain field live-action image with the frequency of 25-30 width per second continuously in hunting zone.
2) autonomous discovery, identification target:
The specific objective database comprising many facades image and various recognition feature is saved in advance in storage unit 35.Operation image recognizer in image identification unit 19, by excavating specific objective data in the method for comparison field live-action image data and specific objective data in the wild live-action image data, finding and identifying specific objective.When image identification unit 19 can not complete image recognition tasks at the appointed time, central processing unit 28 starts communication unit 37 voluntarily and links rear data center, completes image recognition tasks by cloud computing and storehouse, high in the clouds.
3) autonomous tracking aiming target:
The recognition result that central processing unit 28 provides with image identification unit 19 is for tracing object, the attitude unit 41 and course attitude unit 59 drives infrared laser light source 1, many photoimagings unit 9 moves continuously of bowing is faced upward in instruction, make the image of tracing object remain graduation center in live-action image in the wild, this remains aiming tracing object with regard to making the optical axis of many photoimagings unit 9.Face upward bow attitude unit 41 and course attitude unit 59 synchronous to central processing unit 28 feedback attitude data.
4) based on the autonomous tracking range finding of tracking aiming:
Long-distance ranging unit 25 is found range continuously to the tracing object that many photoimagings unit 9 aims at and is synchronously fed 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 to target:
If many photoimagings unit 9 is losing lock in the process of following the tracks of specific objective, then central processing unit 28 calculates according to the tracking measurement data of the three-dimensional terrestrial coordinate of specific objective the locus that its subsequent time may occur, by facing upward the attitude unit 41 and course attitude unit 59 makes infrared laser light source 1, many photoimagings unit 9 successively aims at these locus of bowing, wait for the appearance again of specific objective.
7) synchronous data transmission:
Central processing unit 28 by communication unit 37 rearward data center or other need the device synchronization transmission real-time imaging of specific objective and the real-time three-dimensional terrestrial coordinate of awareness information.
Five, autonomous mapping machine is based on the deformation monitoring of field ground feature image, image recognition and three-dimensional coordinate measurement
Autonomous mapping machine is to selecting any number of Target scalar needing monitoring in distortion measurement object to be measured target, each measured target is continued to monitor, be included in attitude data, the range data of survey station to measured target, the three-dimensional coordinate of measured target when the image of multiple time point acquisition measured target, aiming measured target, obtain the thermomechanical processing 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, course attitude unit 59, face upward attitude unit 41, first transverse axis 42 of bowing, vertical pivot 60 forms.
Job step based on the deformation monitoring of field ground feature image, image recognition and three-dimensional coordinate measurement:
1) autonomous mapping machine study distortion measurement object
Operating personnel select any number of Target scalar needing monitoring in distortion measurement object to be measured target on the touchscreen.Central processing unit 28 is worked in coordination with each related work unit and is obtained and store the relevant information of each impact point, obtains learning outcome: the measured target image data with central point graduation (is called for short " initial image ".), aim at measured target time attitude data (be called for short " reference attitude ".), survey station to measured target range data (be 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) autonomous mapping machine run-home atural object again
Central processing unit 28 is worked in coordination with each related work unit and is started working by the time interval of setting, completes 4 tasks: will aim at pose adjustment to reference attitude by facing upward bow attitude unit 41 and course attitude unit 59; The Target scalar image data again obtained with central point graduation by infrared laser light source 1, many photoimagings unit 9, graphics processing unit 20 (is called for short " again image ".); 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 calculates the pose adjustment parameter of run-home atural object again by the alternate position spike of two central point graduation on initial image, face upward bow attitude unit 41 and course attitude unit 59 and will aim at pose adjustment on Target scalar according to pose adjustment parameter, obtain autonomous mapping machine again run-home atural object time attitude data (be called for short " again attitude ".), complete the task of autonomous mapping machine run-home atural object again.
3) autonomous mapping machine measurement target atural object again
Each related work unit measurement target atural object again worked in coordination with by central processing unit 28: again measured by precise distance measurement unit 24 and again obtain the range data (abbreviation " again distance " between survey station to Target scalar.); Central processing unit 28 is according to distance, again attitude and survey station three-dimensional coordinate data calculate the three-dimensional coordinate (abbreviation " again coordinate " of Target scalar again.), the time obtaining again coordinate (is called for short " again time ".)。
4) autonomous mapping machine obtains the displacement vector data of Target scalar
Origin coordinates and initial time, again coordinate and again time have delineated two 4 dimension events respectively: the former is the Target scalar three-dimensional coordinate obtained in initial time, and the latter is the Target scalar three-dimensional coordinate obtained in time again; With the former for starting point, the latter is terminal, obtains the displacement vector of Target scalar in setting-up time section.
5) autonomous mapping machine obtains the thermomechanical processing 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 scalar in setting-up time section is formed.
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 amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.

Claims (13)

1. independently survey and draw a machine, it 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) be 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 positioning 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 attitude unit (41) of bowing, horizontal attitude unit (56), course attitude unit (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 optical axis, 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) of infrared laser light source (1), and five demarcate on the same axis; Described multiaxis refers to 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), global positioning unit (36) antenna phase center point and the orientation axis of vertical pivot (60) perpendicular to the crossing formation of extended line of axis during geoid surface with one heart, six demarcate after intersect at same spatial point;
The central axis l of described vertical pivot (60) 1with the central axis l of benchmark 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 formed, 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 be 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), and the course motion of this assembly is produced by the rotation of vertical pivot (60); The intersection point of the mass centre of precise distance measurement unit (24) and the central axis of the first transverse axis (42) is the center independently surveying and drawing arbor system, is the concentric reference-calibrating point of multiaxis;
Attitude observing and controlling machine is provided with tuning fork, the assembly be 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), 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 by the tuning fork of the second transverse axis (76) with attitude observing and controlling machine.
2. autonomous mapping machine according to claim 1, is characterized in that: in described attitude observing and controlling machine,
Described attitude unit (41) of bowing of facing upward comprises first clutch (43), first unit (44), first scrambler (53), first motor (54) and the first driving circuit (55), described first unit (44) comprises the first Timing Belt amplifier (45), second worm gear (46), first synchronous pulley (47), second worm screw (48), second elastic mechanism (49), first worm gear (50), first elastic mechanism (51), first worm screw (52), the first driving circuit (55), first motor (54), first worm screw (52) connects successively, first worm gear (50) and the first worm screw (52) engage through the first elastic mechanism (51), first worm gear (50) and the second worm screw (48) engage through the second elastic mechanism (49), through the first synchronous pulley (47) transmission between second worm gear (46) and the second worm screw (48), through the first Timing Belt amplifier (45) transmission between second worm gear (46) and the first scrambler (53), second worm gear (46) connects first clutch (43), first clutch (43) connects the first transverse axis (42) time closed, attitude observing and controlling processor (40) and first clutch (43), first scrambler (53), 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), first motor (54) exports the motion result produced after the first unit (44) carries out facing upward motion transmission of bowing and uploads 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, first unit (44) is passed to the first scrambler (53) by the second worm gear (46) by the first Timing Belt amplifier (45) after performing motion result amplification H times produced in the process of attitude observing and controlling processor (40) instruction, 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) by gained motion result divided by H doubly after obtain the real position of the first transverse axis (42) and arrive data and be uploaded to central processing unit (28),
Described course attitude unit (59) comprises second clutch (61), second unit (62), second scrambler (73), second motor (71) and the second driving circuit (72), described second unit (62) comprises the second Timing Belt amplifier (64), 4th worm gear (63), second synchronous pulley (65), 4th worm screw (66), 4th elastic mechanism (67), 3rd worm gear (68), 3rd elastic mechanism (69), 3rd worm screw (70), the second driving circuit (72), second motor (71), 3rd worm screw (70) connects successively, 3rd worm gear (68) and the 3rd worm screw (70) engage through the 3rd elastic mechanism (69), 3rd worm gear (68) and the 4th worm screw (66) engage through the 4th elastic mechanism (67), through the second synchronous pulley (65) transmission between 4th worm gear (63) and the 4th worm screw (66), through the second Timing Belt amplifier (64) transmission between 4th worm gear (63) and the second scrambler (73), 4th worm gear (63) connects second clutch (61), vertical pivot (60) is connected when second clutch (61) is closed, attitude observing and controlling processor (40) and second clutch (61), second scrambler (73), 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), second motor (71) exports the motion result produced after the second unit (62) carries out course motion transmission and uploads 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, second unit (62) is passed to the second scrambler (73) by the 4th worm gear (63) by the second Timing Belt amplifier (64) after performing motion result amplification I times produced in the process of attitude observing and controlling processor (40) instruction, 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) by gained motion result divided by I doubly after obtain the real position of vertical pivot (60) and arrive data and be uploaded to central processing unit (28).
3. autonomous mapping machine according to claim 2, is characterized in that:
When using high frequency range cells (26) to point target measuring distance, between 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), arrange in attitude observing and controlling machine and face upward motion control unit of bowing accordingly, comprise the 7th scrambler (81), 3rd clutch coupling (82), second worm and gear group (83), second motor and driving circuit (21), central processing unit (28), second motor and driving circuit (21), second worm and gear group (83) is connected successively with the 3rd clutch coupling (82), the 3rd transverse axis (80) is connected when 3rd clutch coupling (82) is closed, 3rd transverse axis (80), 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,
When 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, 3rd transverse axis (80) and high frequency range cells (26) depart from and link, 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), arrange in attitude observing and controlling machine and face upward motion control unit of bowing accordingly, comprise the 6th scrambler (78), first worm and gear group (77), first motor and driving circuit (79), central processing unit (28), first motor and driving circuit (79), first worm and gear group (77) connects successively, second transverse axis (76), 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), 3rd motor (7), 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, 3rd motor (7) and infrared laser focusing lens (3), 3rd driving circuit (8), 3rd scrambler (6) connects respectively, central processing unit (28) and pump supply source (5), 5th driving circuit (11), 3rd scrambler (6) connects respectively,
Many photoimagings unit (9) comprises the 5th scrambler (10), 5th driving circuit (11), 6th worm gear (12), 6th worm screw (13), 4th motor (14), object lens (15), varifocal mirror group (22), focusing lens (16), imaging lens group (17), two filter sheet structure CCD module (18), 5th worm gear (23), 5th worm screw (31), 4th scrambler (34), 5th motor (32) and four-wheel drive circuit (33), object lens (15), varifocal mirror group (22), focusing lens (16), imaging lens group (17), two filter sheet structure CCD module (18) connects successively, the 5th driving circuit (11), 4th motor (14), 6th worm screw (13), 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), four-wheel drive circuit (33), 5th motor (32), 5th worm screw (31), 4th scrambler (34) connects successively, 5th worm screw (31) engages with the 5th worm gear (23), 5th worm gear (23) connects varifocal mirror group (22), central processing unit (28) and the 5th driving circuit (11), 5th scrambler (10), 4th scrambler (34), four-wheel drive circuit (33), two filter sheet structure CCD module (18) connects respectively.
5. autonomous mapping machine according to claim 4, it is characterized in that: according to white light luminous flux, photoresistance (75) sends signal control central processing unit (28) and closes 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) and is provided infrared laser light source.
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 performing autonomous imaging process is as follows
Step 1, carries out imaging source initial selected, realizes as follows,
When 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, pump supply source (5) opened by central processing unit (28), infrared laser light source (1) irradiates target, many photoimagings unit (9) accepts the infrared laser returned from target, enter step 4
Step 2, under white light source, to the self-adaptation of fair visibility and haze environment and imaging source from main separation, realize as follows,
The focusing calibration value that central processing unit (28) reads focusing lens (16) drives the 4th motor (14) to arrive each corresponding calibration position successively, 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 the 4th motor (14) calibration position that record makes image value maximum is for making the most clear place of image;
The all image values of central processing unit (28) to object scene carry out analyzing and processing, if the absolute value of the difference of the maxima and minima of image value is greater than default arithmetic number Q1, then judge that survey station is in fair visibility environment, enters step 3;
If the absolute value of the difference of the maxima and minima of image value is less than default arithmetic number Q1 and is greater than default arithmetic number Q2, then judge that survey station is in moderate or slight haze environment, enter step 4;
If the absolute value of the difference of the maxima and minima of image value is less than default arithmetic number Q2, then judge that survey station is in severe haze environment, central processing unit (28) is reported to the police, and stops flow process;
Wherein, preset arithmetic number Q1 and be greater than default arithmetic number Q2;
Step 3, based on the automated imaging of white light source, realizes as follows,
First automatic focusing is carried out, central processing unit (28) sends instruction to the 5th driving circuit (11), make the 4th motor (14), the 6th worm screw (13) rotation, 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 shape modification value and sends next instruction accordingly, 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 automated imaging is carried out, white light signal arrives two filter sheet structure CCD module (18) through object lens (15), focusing lens (16) and imaging lens group (17), graphics processing unit (20) is reached after two filter sheet structure CCD module (18) converts white light signal to digital signal, graphics processing unit (20) obtains scene image be uploaded to central processing unit (28) clearly, complete the automated imaging task based on white light source, process ends;
Step 4, based on the automated imaging of infrared laser light source, realizes 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, one is automatic zoom, comprise unlatching four-wheel drive circuit (33), the 5th motor (32) is made to drive the 5th worm screw (31) to move to Pi position, 5th worm screw (31) drives the 5th worm gear (23) to make varifocal mirror group (22) that the size needed for execution i-th generic task is adjusted in the visual field of many photoimagings unit (9), the actual in-position of the 5th worm screw (31) is uploaded to central processing unit (28) by the 4th scrambler (34), two is that visual field overlaps with range of exposures, comprise to the 3rd driving circuit (8) send instruction make the 3rd motor (7) drive infrared laser focusing lens (3) move to Qi position, make the range of exposures of infrared laser light source (1) just in time cover the visual field of many photoimagings unit (9),
Wherein, demarcating constant Pi is visual field when performing the i-th generic task, the visual field of many photoimagings unit (9), is called Pi imaging viewing field, i=1,2,3 ... ..J, J are total class number, demarcating constant Qi is and Pi infrared laser focus value one to one, when infrared laser focusing lens (3) is in Qi position, infrared laser range of exposures overlaps with Pi imaging viewing field, and after Pi is demarcated, Qi demarcates according to Pi;
Then automated imaging is carried out, the infrared laser signal returned from object scene arrives two filter sheet structure CCD module (18) by object lens (15), focusing lens (16), imaging lens group (17), graphics processing unit (20) is reached after two filter sheet structure CCD module (18) converts 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 course attitude unit (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 many photoimagings unit (9) visual field, obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data, generate three-dimensional field live-action image; By setting attitude motion terminal position, be supported in and define arbitrarily working range or generate three-dimensional field live-action image around the panorama working range of survey station 360 °.
8. autonomous mapping machine according to claim 7, is characterized in that: central processing unit (28), eccentric wheel unit (27), first worm and gear group (77), first motor and driving circuit (79), 6th scrambler (78), second transverse axis (76), high frequency range cells (26), attitude observing and controlling processor (40), course attitude unit (59), face upward 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 positioning unit (36), communication unit (37) forms scan-type automatic range and synchronous attitude determination system automatically, performs and automatically generates arbitrary shape, the three-dimensional field live-action image of Arbitrary width size, generates panorama three-dimensional live image in real time automatically by the zero lap splicing of panoramic picture is on-the-spot,
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 working range arbitrarily, realize as follows,
The two-dimentional field live-action image that the touch-screen of man-machine interaction unit (30) shows sketches the contours the closed curve C of arbitrary shape, the region M that C surrounds by central processing unit (28) is defined as working range, eccentric wheel unit (27) faces upward reciprocating terminal position, direction of bowing by instructions defme high frequency range cells (26) edge of central processing unit (28), comprise and all drop on closed curve C around reciprocating terminal position, the axis of the second transverse axis (76) in plane that the optical axis of its axis at vertical pivot (60) and high frequency range cells (26) is formed,
Course attitude unit (59) by the instruction of central processing unit (28), the course heading that to turn over the border of region M be continuously terminal; The synchronous interaction in eccentric wheel unit (27) and course attitude unit (59) makes working range just in time cover region M;
2) synchro measure, realizes as follows,
Take GPS time as benchmark, course attitude unit (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 many photoimagings unit (9) visual field, and only 1) define in working range and obtain range data dot matrix cloud and the 3 d pose data corresponding with each range data;
Described course attitude unit (59) carries out course motion, course angle is adjusted to reference position and is continuously moved to stop position by central processing unit (28) instruction attitude observing and controlling processor (40), and attitude observing and controlling processor (40) is performed by course attitude unit (59) and completed instruction;
Described eccentric wheel unit (27) carries out facing upward motion of bowing, the amplitude of fluctuation of pitch angle is adjusted to the scope defined from reference position to stop position by central processing unit (28) instruction eccentric wheel unit (27), and drive high frequency range cells (26) direction, axis reciprocally swinging along vertical pivot (60) in defined scope, high frequency range cells (26) synchronous working, obtains range data continuously, eccentric wheel unit (27) performs and the instruction completed comprises, the amplitude of fluctuation of pitch angle is locked in the scope defined 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 high frequency range cells (26) LASER Discharge Tube and laser pick-off pipe with the mass centre of high frequency range cells (26) for the center of circle, with described amplitude of fluctuation for range of movement, around the axis to-and-fro movement of the second transverse axis (76) in the plane that the optical axis of the axis of vertical pivot (60) and high frequency range cells (26) is formed,
3) spatial match, object scene image generates three-dimensional terrestrial coordinate dot matrix cloud;
4) the three-dimensional field live-action image of arbitrary shape, Arbitrary width size is automatically generated, comprise and run by central processing unit (28) the data mining program comprising 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, region M obtains three-dimensional field live-action image;
The job step that described scene generates panorama three-dimensional live image in real time is automatically as follows,
Central processing unit (28) synchronously completes quadrinomial job, one is arrange the motion start-stop position of eccentric wheel unit (27) in pitch angle direction according to the pitch angle working range of setting, starts eccentric wheel unit (27) to-and-fro movement synchronously return it to central processing unit (28) and face upward attitude data of bowing in specified scope; Two is open high frequency range cells (26) to make its continuously range finding synchronous to central processing unit (28) layback data; Three is open course attitude unit (59) make it turn over 360 ° continuously and synchronously return course data to central processing unit (28); Four are, at different pitch angle, the two-dimentional field live-action image shooting around survey station 360 ° is completed by course angle, the panorama two dimension field live-action image around survey station 360 ° is generated by zero lap splicing, automatically generating 3-dimensional image around on the panorama two dimension field live-action image of survey station 360 °, obtain the panorama three-dimensional field live-action image around survey station 360 °.
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), course attitude unit (59), face upward attitude unit (41) of bowing, long-distance ranging unit (25), precise distance measurement unit (24), first transverse axis (42), vertical pivot (60), high frequency range cells (26), second transverse axis (76), global positioning unit (36), communication unit (37) forms three-dimensional terrestrial coordinate automatic telemetering system, perform the three-dimensional terrestrial coordinate that automatic telemetering obtains measured target,
The job step that described automatic telemetering obtains the three-dimensional terrestrial coordinate of measured target is as follows,
1) based on the automatic fine sight of image, realize as follows,
Impact point is clicked in the two-dimentional field live-action image that the touch-screen of man-machine interaction unit (30) shows, the visual field of many photoimagings unit (9) is adjusted to minimum by central processing unit (28) automatically, enlargement factor reaches maximum, and the high power light obtained at many photoimagings unit (9) amplify after impact point live-action image on carry out Digital Zoom amplification, obtain the impact point sharp image after optics and the amplification of digital two-stage, wherein selected measured target; Click measured target, face upward attitude unit (41) of bowing, measured target is aimed in course attitude unit (59), and by obtained course attitude data with face upward attitude data of bowing and be uploaded to central processing unit (28);
2) based on the automatic range of automatic fine sight, realize 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, realizes as follows,
Central processing unit (28) resolves the three-dimensional terrestrial coordinate obtaining measured target according to survey station data and target data, described target data comprises 1) gained course attitude data and face upward attitude data of bowing, 2) gained range data.
10. autonomous mapping machine according to claim 5, it is characterized in that: obtain field live-action image by automated imaging process continuously in hunting zone, from the live-action image of field, specific objective is identified by image identification unit (19), and by facing upward bow attitude unit (41) and course attitude unit (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 positioning unit (36), communication unit (37), measuring machine power supply unit (29), course attitude unit (59), face upward attitude unit (41) of bowing, first transverse axis (42), vertical pivot (60), second worm and gear group (83), second motor and driving circuit (21), 7th scrambler (81), 3rd clutch coupling (82), 3rd transverse axis (80) forms movable object tracking measuring system, perform autonomous tracking measurement moving target,
The job step of described autonomous tracking measurement moving target is as follows,
1) image processor target, realizes as follows,
After inputted search scope, related work unit synchronous working coordinated by central processing unit (28), comprise closed first clutch (43), second clutch (61), the 3rd clutch coupling (82), second motor and driving circuit (21), the second worm and gear group (83) and course attitude unit (59) drive infrared laser light source (1), many photoimagings unit (9) moves continuously, and circulation covers hunting zone; Infrared laser light source (1), many photoimagings unit (9), graphics processing unit (20), by automated imaging process, obtain field live-action image continuously in hunting zone;
2) autonomous discovery, identification target, realize as follows,
Image identification unit (19) is found by comparison field live-action image data and specific objective data and identifies specific objective; When image identification unit (19) can not complete image recognition tasks at the appointed time, central processing unit (28) starts communication unit (37) link rear data center voluntarily, completes image recognition tasks by cloud computing and storehouse, high in the clouds;
3) autonomous tracking aiming target, realizes as follows,
The recognition result that central processing unit (28) provides with image identification unit (19) is for tracing object, bow attitude unit (41) and course attitude unit (59) drive infrared laser light source (1) are faced upward in instruction, many photoimagings unit (9) moves continuously, the image of tracing object is made to remain graduation center in live-action image in the wild, the optical axis of many photoimagings unit (9) is made to remain aiming tracing object, face upward bow attitude unit (41) and course attitude unit (59) synchronous to central processing unit (28) feedback attitude data,
4) based on the autonomous tracking range finding of tracking aiming, realize as follows,
Long-distance ranging unit (25) is found range continuously to the tracing object that many photoimagings unit (9) aims at and is synchronously fed back range data to central processing unit (28);
5) autonomous tracking measurement, realizes 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) relocking to target, realizes as follows,
If many photoimagings unit (9) is losing lock in the process of following the tracks of specific objective, then central processing unit (28) calculates according to the tracking measurement data of the three-dimensional terrestrial coordinate of specific objective the locus that its subsequent time may occur, by facing upward the attitude unit (41) and course attitude unit (59) makes infrared laser light source (1), many photoimagings unit (9) successively aims at these locus of bowing, wait for the appearance again of specific objective;
7) synchronous data transmission, realizes as follows,
Central processing unit (28) by communication unit (37) rearward data center or other need the device synchronization transmission real-time imaging of specific objective and the real-time three-dimensional terrestrial coordinate of awareness information.
12. autonomous mapping machines according to claim 9, it is characterized in that: to selecting the Target scalar that in distortion measurement object, any number of needs are monitored to be measured target, each measured target is continued to monitor, be included in attitude data, the range data of survey station to measured target, the three-dimensional coordinate of measured target when the image of multiple time point acquisition measured target, aiming measured target, obtain the thermomechanical processing 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), course attitude unit (59), face upward attitude unit (41) of bowing, first transverse axis (42), vertical pivot (60) forms deformation monitoring system, perform 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) learn distortion measurement object, realize as follows,
The touch-screen of man-machine interaction unit (30) is selected any number of Target scalar needing monitoring in distortion measurement object be measured target, the collaborative each related work unit of central processing unit (28) obtains and stores the relevant information of each Target scalar, obtain learning outcome as follows
With the measured target image data of central point graduation, be called for short initial image;
Aim at attitude data during measured target, be called for short reference attitude;
Survey station 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, realizes as follows,
The collaborative each related work unit of central processing unit (28) was started working by the time interval of setting, completed 4 tasks as follows,
Pose adjustment will be aimed to reference attitude by facing upward bow attitude unit (41) and course attitude unit (59);
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) calculates the pose adjustment parameter of run-home atural object again by the alternate position spike of two central point graduation on initial image, face upward bow attitude unit (41) and course attitude unit (59) and pose adjustment will be aimed on Target scalar according to pose adjustment parameter, obtain autonomous mapping machine again run-home atural object time attitude data, be called for short attitude again;
3) measurement target atural object again, realizes as follows,
Each related work unit measurement target atural object again worked in coordination with by central processing unit (28), again measured and again obtain the range data between survey station to Target scalar, be called for short distance again by precise distance measurement unit (24);
Central processing unit (28) basis again distance, again attitude and survey station three-dimensional coordinate data calculates the three-dimensional coordinate of Target scalar, is called for short coordinate again;
The time obtaining again coordinate is called for short the time again;
4) obtain the displacement vector data of Target scalar, realize as follows,
Origin coordinates and initial time, again coordinate and again time have delineated two 4 dimension events respectively, and the former is the Target scalar three-dimensional coordinate obtained in initial time, and the latter is the Target scalar three-dimensional coordinate obtained in time again; With the former for starting point, the latter is terminal, obtains the displacement vector of Target scalar in setting-up time section;
5) obtain the thermomechanical processing 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 scalar in setting-up time section is formed.
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