CN104931025A - Drawing coordinate positioning system for civil construction process - Google Patents
Drawing coordinate positioning system for civil construction process Download PDFInfo
- Publication number
- CN104931025A CN104931025A CN201510260384.5A CN201510260384A CN104931025A CN 104931025 A CN104931025 A CN 104931025A CN 201510260384 A CN201510260384 A CN 201510260384A CN 104931025 A CN104931025 A CN 104931025A
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- base station
- module
- chip
- positioning
- hander
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Classifications
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- 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
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
-
- 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
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a drawing coordinate positioning system for a civil construction process. The drawing coordinate positioning system is characterized by comprising a calibrating base station, a handheld operation device and a positioning aircraft, wherein the calibrating base station and the handheld operation device are matched through a matching module to acquire communication information capable of communicating with the base station, so that the positioning coordinate information of a construction positioning map is transferred into the handheld operation device through USB (Universal Serial Bus) external equipment; true earth coordinates of all points to be positioned are stored in the handheld operation device; the calibrating base station is placed on unknown coordinate point close to a positioning point; a base station coordinate point is input into the handheld operation device, the calibrating base station acquires an actual measurement position coordinate through a GPS (Global Positioning System) module, and the handheld operation device communicates with the calibrating base station to obtain local GPS signal error information, clicks positioning point information, converts the positioning point information into actual measurement positioning point GPS information through the error information, and sends the actual measurement positioning point GPS information to the positioning aircraft; the aircraft flies to a target point by adjusting a flight attitude to achieve accurate positioning.
Description
Technical field
The present invention relates to civil engineering work survey field, be a kind of Intelligent flight orientator, be applied to highway, railway, bridge, drawing coordinate positioning system in the field civil construction processes such as power transmission engineering.
Background technology
Determine that construction point is the preliminary work of Construction of Civil Engineering preliminary stage, this just requires to locate accurately construction point, the method of the location of usual employing uses total powerstation manually to locate, first with a point for website O, erection total powerstation, another point is backsight point A erection prism, image data, the coordinate of input O point, input the coordinate of the point that will locate again, use instrument sight prism, observe the coordinate of display and want the coordinate of anchor point to differ, if had big difference, with regard to mobile prism, again use instrument sight prism, observe the coordinate of display and want the coordinate of anchor point to differ, until find anchor point to complete location.
The method of this artificial searching anchor point, although have the advantage that structure is simple, cheap, but process short time consumption is long, and the mapping worker of specialty must be had on the scene, but also with more personal error, so can more time and manpower be consumed in the work progress of the heavy construction of many anchor points.In order to solve the problem, the present invention devises a set of intelligent positioning system, when this system can not have professional surveying and mapping personnel at the scene, automatically completes positioning work.
Summary of the invention
The invention provides a kind of for drawing coordinate positioning system in civil construction process, this system can complete multiple spot at short notice and locate simultaneously, and whole position fixing process robotization and intellectuality, save manpower and time; Under condition of construction more dangerous in the wild, arrive actual location point without the need to mapping worker, thus ensure that the personal safety of personnel; The calibration function of this system can reduce artificial error, and uses touch display screen, simple to operate, is convenient to understand.
The object of the invention is that following technical scheme realizes: a kind of be used for drawing coordinate positioning system in civil construction process, it is characterized in that, it comprises calibration base station, handle hander and positioning aircraft, described calibration base station and handle hander and obtain can carry out the communication information of communication with base station by matching module pairing, communicated by GPRS module with manipulation hander to make calibration base station, positioning aircraft and handle hander and obtain can carry out the communication information of communication with base station by matching module pairing, communicated by GPRS module with manipulation hander to make positioning aircraft, the location map elements of a fix information of construction is imported into by USB external equipment and is handled in hander, handle in hander and store the spherical coordinates truly wanting locating points, calibration base station is placed on the known coordinate point near anchor point, base station coordinates point is inputted in manipulation hander, calibration base station obtains position Measured Coordinates by GPS module, handle hander to pass through and GPRS communication acquisition calibration position, base station, calibration base station Measured Coordinates, handle hander and Measured Coordinates and true coordinate are done difference, obtain local gps signal control information, the anchor point wanting to locate is clicked at manipulation hander, anchor point information changes into actual measurement anchor point GPS information by control information, pass through GPRS module, send to positioning aircraft, aircraft is flown to impact point by the adjustment of flight attitude, period is constantly by the coordinate information of aircraft GPS acquisition current flight device, and do poor comparison with coordinate of ground point information, if be less than permissible error value, hover, if be greater than permissible error value, fly to impact point at continuation adjustment flight attitude.
Described calibration base station comprises data processing module, use chip STM32 model single-chip microcomputer, export transmission GPRS module, use the MC55 chip of Siemens, GPS module, use neo6m model chip, matching module, select PNC532 near-field communication module, battery electric quantity detection module, use BQ27000 chip.
Described manipulation hander comprises data processing module, use chip STM32 model single-chip microcomputer, export transmission GPRS module, use the MC55 chip of Siemens, GPS module, use neo6m model chip, matching module, select PNC532 near field to lead to and be designed with USB exogenous data switching equipment and display touch panel device.
Described positioning aircraft comprises data processing module, use chip STM32 model single-chip microcomputer, export transmission GPRS module, use the MC55 chip of Siemens, GPS module, use neo6m model chip, matching module, select PNC532 near-field communication module, battery electric quantity detection module, use BQ27000 chip, accelerometer and gyroscope use GY-85 integrated chip, ultrasonic distance measuring module uses XKC-007Y50H chip, range finding can reach 10m, satisfy the demand, laser instrument adopts infrared laser to get integrated chip ready, motor drive module selects BTN7971 big current motor drive ic, the motor model controlled is 17HS8401B.
Accompanying drawing explanation
Fig. 1 is positioning flow figure;
Fig. 2 is the circuit theory diagrams of calibration base station;
Fig. 3 is the circuit theory diagrams handling hander;
Fig. 4 is the circuit theory diagrams of positioning aircraft;
Fig. 5 is calibration base station, handles the GPS module circuit diagram of hander, positioning aircraft;
Fig. 6 is calibration base station, handles the GPRS module circuit diagram of hander, positioning aircraft;
Fig. 7 is calibration base station, handles the matching module circuit diagram of hander, positioning aircraft;
Fig. 8 is the basic circuit schematic diagram of data processing STM32 chip;
Fig. 9 is the display drive circuit schematic diagram handling hander;
Figure 10 is the usb circuit schematic diagram handling hander;
Figure 11 is that the motor of positioning aircraft drives interface circuit schematic diagram;
Figure 12 is velograph and the gyroscope interface circuit schematic diagram of positioning aircraft;
Figure 13 is the buzzer circuit schematic diagram of positioning aircraft;
Figure 14 is the laser emission probe circuit theory diagrams of positioning aircraft;
Figure 15 is Flight Vehicle Structure schematic diagram.
Embodiment
The invention will be further described to utilize drawings and Examples below.
With reference to figure 1, a kind of for drawing coordinate positioning system in civil construction process, comprise calibration base station, handle hander and positioning aircraft, described calibration base station and handle hander and obtain can carry out the communication information of communication with base station by matching module pairing, communicated by GPRS module with manipulation hander to make calibration base station, positioning aircraft and handle hander and obtained can be carried out the communication information of communication with base station by matching module pairing, is communicated by GPRS module to make positioning aircraft and to handle hander, the location map elements of a fix information of construction is imported into by USB external equipment and is handled in hander, handle in hander and store the spherical coordinates truly wanting locating points, calibration base station is placed on the known coordinate point near anchor point, base station coordinates point is inputted in manipulation hander, calibration base station obtains position Measured Coordinates by GPS module, handle hander to pass through and GPRS communication acquisition calibration position, base station, calibration base station Measured Coordinates, handle hander and Measured Coordinates and true coordinate are done difference, obtain local gps signal control information, the anchor point wanting to locate is clicked at manipulation hander, anchor point information changes into actual measurement anchor point GPS information by control information, pass through GPRS module, send to positioning aircraft, aircraft is flown to impact point by the adjustment of flight attitude, period is constantly by the coordinate information of aircraft GPS acquisition current flight device, and do poor comparison with coordinate of ground point information, if be less than permissible error value, hover, if be greater than permissible error value, fly to impact point at continuation adjustment flight attitude.
With reference to figure 2, Fig. 5-8, Fig. 2 is the electronic schematic of calibration base station, its data processing module uses STM32 single-chip microcomputer, Fig. 5-7 is peripheral circuits of this data processing module, with reference to the basic circuit that figure 8 is STM32 single-chip microcomputers, 8 of STM32 single-chip microcomputer, No. 9 two pins are the input pin of two crystal oscillators, 12, No. 13 pins are the output pin of two crystal oscillators, the effect of crystal oscillator is the setting clock period, No. 8, No. 9 pins meet electric capacity C1 respectively, one end of C2, the other end all ground connection of electric capacity, No. 8 centres with No. 9, crystal oscillator Y1 in parallel, size is 32.768KHz, as external low frequency crystal oscillator, No. 12, No. 13 pins meet electric capacity C3 respectively, one end of C4, the other end all ground connection of electric capacity, No. 12 centres with No. 13, crystal oscillator Y2 in parallel, size is 8MHz, as high-frequency crystal oscillator, protection electric capacity C1, C2, C3, the size of C4 is 22pF, 50 of chip, 75, 100, 28, 11, No. 22 six pins are power pins, all access 3.3V voltage, and 49, 74, 99, 27, 10, No. 21 pins are power cathode, whole ground connection, in addition, No. 14 pins are reset pin NRST, design reset button, the protection electric capacity C5 of button S1 and 0.1uF is in parallel, No. 14 pins are accessed in one end, and the other end, by the pull-up resistor R1 of 10K, receives 3.3V voltage, the effect of reset button resets to single-chip microcomputer, design a switch, 3.3V voltage, by after 10K pull-up resistor R2, draws two signal wires, one connects the PE15 pin of No. 46, another is followed by button S2 ground connection, changes basic circuit, can be general in three of design, only according to different needs, other module need be added on each.
With reference to figure 5, GPS locating module, select neo6m model chip, totally 24 pins, wherein No. 23 pin VCC are power pins, meet 3.3V, No. 7, No. 10, No. 12, No. 13, No. 14, No. 24 whole ground connection of pin, No. 8 and No. 9 pins are antenna incoming end, connects, access antenna after both are in parallel with 22 Ω resistance, 22nH inductance, the RXD1 pin of No. 20 and No. 21 pin TXD1 transmit as data, be connected with any two signal ends of STM32 respectively, select PA6 and PA7 herein, other pin is all vacant.
With reference to figure 6, GPRS module, use the MC55 chip of Siemens, totally 16 pins, No. 1-No. 5 pins are all BATT+, whole access 3.3V voltage, write No. 85 pin PD4 that pin TXD0 accesses STM32 for No. 6, read No. 86 pin PD5 that pin RXD0 accesses STM32 for No. 7, both read-writes, No. 16 pin IGT are signal Enable Pins, the collector terminal of access triode Q1, No. 87 pin PD6 that base terminal accesses STM32 by 47K resistance R3 hold, transmitter ground connection, No. 9 pins of MC55 chip are that data export to No. 14 pins, be designed to SIM card output interface, output terminal will by protection capacity earth, the size of protection electric capacity C6-C10 is 27pF, No. 15 pin ground connection of MC55 chip, No. 8 pins are vacant.
With reference to figure 7, matching module, adopt PNC532 near-field communication module, No. 1 pin Vcc accesses 3.3V voltage, No. 4 pin ground connection, No. 2 are read data pin RX and No. 3 and write two signal pins that data pin TX accesses STM data processing chip, be respectively the PE9 of PE8 and No. 40 pin of No. 39 pins, electric power detection module selects BQ27000 chip, and positive pole connects the positive pole of STM chip, minus earth, the effect of matching module makes each mutually identify.
With reference to figure 8, handle the electronic schematic of hander, its data processing module also uses STM32 single-chip microcomputer, the basic circuit of STM32 single-chip microcomputer is the same with the STM32 chip basic circuit of calibration base station portion, wherein GPS locating module, GPRS module, matching module, electric power detection module and calibration base station portion are too, because hand-held manipulation part will carry out exchanges data with outside, so a design usb data interface, with reference to Figure 10, No. 1 pin Vcc directly accesses 3.3V voltage, No. 4 pin ground connection, No. 2 are read data pin RX and No. 3 and write two signal pins that data pin TX accesses STM data processing chip, be respectively the PC3 of PC2 and No. 18 pin of No. 17 pins.
With reference to figure 9, hand-held part will have capacitance plate to show touch-screen to operate, therefore chip drives capacitance plate to be used, select ADS7843 chip, totally 16 pins, No. 1 and No. 10 pins are power supply VCC, access 3.3V voltage, No. 6 pin ground connection, No. 9 reset pins pass through the protection electric capacity C21 ground connection of 0.1uF, No. 2 pins-No. 5 pins are the X+ of four lead capacitance screens, Y+, X-, Y-, receive capacitance plate, No. 11 pins are for interrupting, the PB5 of STM32 chip is accessed by the R11 of pull-up resistor 10K Ω, 12, 14, No. 16 is serial line interface pin, No. 13 pins are busy display, No. 15 pins are sheet choosing, these five pins access the signal pins PB4-PB0 of STM32 chip successively.
With reference to figure 4, the data processing module of positioning aircraft also uses STM32 single-chip microcomputer, its peripheral circuit is the same with the STM32 chip periphery circuit of calibration base station portion, on this basis, add with lower module: ultrasonic distance measuring module, two motor drivings, accelerometer and gyroscope, hummer, laser positioning probes.
With reference to figure 4, ultrasonic distance measuring module selects XKC-007Y50H integrated chip, totally four pins, No. 1 pin Vcc directly accesses 3.3V voltage, No. 4 pin ground connection, No. 2 are read data pin RX and No. 3 and write two signal pins that data pin TX accesses STM data processing chip, are respectively the PC2 of P1 and No. 17 pin of No. 16 pins.
With reference to Figure 11, design two stepper motors, need to drive, driving chip choosing all uses BTN7971 integrated chip, totally six pins, and No. 1 pin is that 3.3V powers, No. 6 pin ground connection, 4 signal ends of No. 2-No. 5 pins access STM32 chips.This place is designed to No. 2-No. 5 pins access PA10 to PA13 of No. 2 accesses of-No. 5 pins PC8 to PC11, No. 2 BTN7971 of No. 1 chip.
With reference to Figure 12, GY-85 integrated chip selected by accelerometer and gyroscope, totally 8 pins, and No. 2 pins connect 3.3V voltage, No. 3 pin ground connection, and No. 4-No. 8 pins are that data export, and receive 5 signal end PE3 of STM32 chip respectively, PE4, PE5, PE6, PE7.
With reference to Figure 13, it is similar that hummer connection and laser visit connection, and PB14 signal end exports, and received the base stage of triode by the pull-up resistor R20 of 1K Ω, collector receives the negative pole of laser probe by 10 Ω resistance, and the negative pole of office's probe connects 3.3V voltage.Transistor emitter is by 10K Ω resistance eutral grounding.
With reference to Figure 14, laser positioning probe will access STM32 chip to obtain signal by triode, and PB13 signal end exports, and is received the base stage of triode by the pull-up resistor R17 of 1K Ω, collector receives the negative pole of laser probe by 10 Ω resistance, and the negative pole of office's probe connects 3.3V voltage.Transistor emitter is by 10K Ω resistance eutral grounding.
With reference to Figure 15, Flight Vehicle Structure figure, comprise ultrasonic range finder sensor, screw propeller, motor, integral control circuit plate, ultrasonic range finder sensor, laser module 6 parts.
In actual use, construction drawing is left in handheld manipulator, handheld manipulator can generate the spherical coordinates truly of each point that will locate, the coordinate that the spherical coordinates truly of self and GPS are measured compares by calibration base station, an error can be obtained, base station sends this error to hand-held manipulation device, spherical coordinates and the error truly of each point that hand-held manipulation device will be located are synthesized, synthesis result is exactly the actual coordinate of each point that need locate, hand-held manipulation device sends this actual coordinate to positioning aircraft, after positioning aircraft receives actual coordinate, utilize the GPS module of self to self poisoning, positioning result contrasts with the true coordinate of the point that need locate, flight parameter is obtained by accelerometer and gyroscope, position is changed with motor carrying screws, until self coordinate is identical with the true coordinate of the point that need locate, positioning aircraft hovers, projecting laser, determine anchor point.
Above content further illustrates in conjunction with concrete embodiment is made for the present invention; can not assert that specific embodiment of the invention is confined to these explanations; for general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (4)
1. one kind for drawing coordinate positioning system in civil construction process, it is characterized in that, it comprises calibration base station, handles hander and positioning aircraft, described calibration base station and handle hander and obtain can carry out the communication information of communication with base station by matching module pairing, communicated by GPRS module with manipulation hander to make calibration base station, positioning aircraft and handle hander and obtained can be carried out the communication information of communication with base station by matching module pairing, is communicated by GPRS module to make positioning aircraft and to handle hander, the location map elements of a fix information of construction is imported into by USB external equipment and is handled in hander, handle in hander and store the spherical coordinates truly wanting locating points, calibration base station is placed on the known coordinate point near anchor point, base station coordinates point is inputted in manipulation hander, calibration base station obtains position Measured Coordinates by GPS module, handle hander to pass through and GPRS communication acquisition calibration position, base station, calibration base station Measured Coordinates, handle hander and Measured Coordinates and true coordinate are done difference, obtain local gps signal control information, the anchor point wanting to locate is clicked at manipulation hander, anchor point information changes into actual measurement anchor point GPS information by control information, pass through GPRS module, send to positioning aircraft, aircraft is flown to impact point by the adjustment of flight attitude, period is constantly by the coordinate information of aircraft GPS acquisition current flight device, and do poor comparison with coordinate of ground point information, if be less than permissible error value, hover, if be greater than permissible error value, fly to impact point at continuation adjustment flight attitude.
2. one according to claim 1 is used for drawing coordinate positioning system in civil construction process, it is characterized in that, described calibration base station comprises data processing module, uses chip STM32 model single-chip microcomputer, export transmission GPRS module, use the MC55 chip of Siemens, GPS module, use neo6m model chip, matching module, select PNC532 near-field communication module, battery electric quantity detection module, use BQ27000 chip.
3. one according to claim 1 is used for drawing coordinate positioning system in civil construction process, it is characterized in that, described manipulation hander comprises data processing module, use chip STM32 model single-chip microcomputer, export transmission GPRS module, use the MC55 chip of Siemens, GPS module, use neo6m model chip, matching module, select PNC532 near field to lead to and be designed with USB exogenous data switching equipment and display touch panel device.
4. one according to claim 1 is used for drawing coordinate positioning system in civil construction process, it is characterized in that, described positioning aircraft comprises data processing module, use chip STM32 model single-chip microcomputer, export transmission GPRS module, use the MC55 chip of Siemens, GPS module, use neo6m model chip, matching module, select PNC532 near-field communication module, battery electric quantity detection module, use BQ27000 chip, accelerometer and gyroscope use GY-85 integrated chip, ultrasonic distance measuring module uses XKC-007Y50H chip, range finding can reach 10m, satisfy the demand, laser instrument adopts infrared laser to get integrated chip ready, motor drive module selects BTN7971 big current motor drive ic, the motor model controlled is 17HS8401B.
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| CN201510260384.5A CN104931025A (en) | 2015-05-20 | 2015-05-20 | Drawing coordinate positioning system for civil construction process |
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| CN112085791A (en) * | 2020-08-26 | 2020-12-15 | 广州市纬纶国际建筑设计有限公司 | Automatic positioning method, device and equipment for construction design drawing and storage medium |
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Application publication date: 20150923 |
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