CN106525007A - Distributed interactive surveying and mapping universal robot - Google Patents

Abstract

The invention provides a distributed interactive surveying and mapping universal robot. The robot is characterized in that: it includes a distributed interactive universal surveying and mapping machine (1) and a machine execution system (2), the distributed interactive universal surveying and mapping machine comprises a data acquisition system (1.1), a distributed interactive communication system (1.2), a data processing system (1.3) and a Morse's taper male port end coaxial interface (1.4); and the machine execution system (2) includes a coaxial interface unit, a pitching attitude unit, a heading attitude unit, a horizontal attitude unit, a bracket (2.5), an erection type bluetooth communication unit (2.6), a microcomputer board (2.7) and a steering engine. The distributed interactive surveying and mapping universal robot provided by the invention is a low-cost and high cost performance product, and has important market value.

Description

Distribution interactive surveys and draws all-purpose robot

Technical field

The invention belongs to field of measuring technique, more particularly to a kind of distribution interactive mapping all-purpose robot.

Background technology

Geomatics industry has thousands of application, comes from 4 core demands：The three-dimensional the earth for obtaining object is sat Mark；Obtain the object space 3-dimensional image under three-dimensional geodetic coordinates；Obtain the topographic map and three-dimensional navigation figure under three-dimensional geodetic coordinates；Pin Tracking measurement to object change in time and space.

The instrument of surveying and mapping state of the art is：Around the various concrete applications of geomatics industry, miscellaneous survey is generated Paint instrument, corresponding one or more concrete applications of every kind of instrument.Or by the miscellaneous multigroup instrument and equipment of multigroup librarian use Segmentation by different way meets above-mentioned a certain core demand, and combination forms various multiplex applications.

First, the instrument of surveying and mapping state of the art

There are 7 classes to be used for the Related product of field mapping in the market：Conventional instrument of surveying and mapping, accurate measurement robot, photography type Automatic total instruments, for close shot road photogrammetric data collection device integration system, three-dimensional laser scanner, portable three Dimension imager, remote sensing remote measurement portable machine.

1st, conventional instrument of surveying and mapping：

Such as rangefinder, spirit level, plane table, dipmeter, sedimentometer, theodolite, total powerstation (rangefinder+theodolite), GPS location Instrument and matching used data radio station/GPRS/3G communication equipments, super-station instrument (total powerstation+GPS location instrument) etc..The whole world, China The production and sales of Jun Youduo companies.Conventional instrument of surveying and mapping is without photogrammetric function.The limitation that conventional instrument of surveying and mapping is present is：

1) legacy equipment：The legacy equipments such as rangefinder, spirit level, plane table, dipmeter, sedimentometer, theodolite, mark post, prism Belong to simple function instrument, by angle measurement, survey high, range finding, survey the synthesis of the means such as level using survey station being obtained with tested mesh Relative relation data between mark under self-defined coordinate.Legacy equipment is introduced by artificial operation, human error and segmentation The error of geodetic coordinates is greatly and without effective Correction of Errors method.Legacy equipment efficiency is very low, obtains the thing of a low precision Fang Sanwei geodetic coordinates usually needs one group of professional and technical personnel's work really long days.A large amount of labor intensives and time, actual work Make high cost.

2) GPS location instrument：Instrument must be erected on measured target and be observed, this has erection instrument firstly the need of measured target The condition of device, also needs to put into larger human and material resources and longer time under the premise of here, and usually needs the impact point of measurement The condition for setting up instrument is not had.

3) total powerstation：Can be in angle measurement and range finding in self-defined coordinate system；By artificial operation, human error is larger and nothing has The Correction of Errors method of effect；Need to be provided simultaneously with plural known control point during measurement object space three-dimensional coordinate；Determine positive north Direction must control net (if local have such net) data by GPS location instrument or purchase locality GPS, or by gyro Instrument；Introducing geodetic coordinates must be by GPS location instrument.

4) super-station instrument：Three-dimensional geodetic coordinates (the Japan's topology health super-station instrument of itself can also be determined in addition to angle measurement, range finding 600,000 yuans of unit price).Super-station instrument there is a problem of similar with total powerstation.

2nd, " accurate measurement robot " (total powerstation+servo-drive system) of Switzerland Lai Ka companies：

" accurate measurement robot " is novel total station, and the unique difference with conventional total stations is with " ATR functions (take aim at by prism Quasi- function) "：After artificial alignment prism target, these prisms are obtained and are stored according to conventional total stations method in self-defined coordinate Under three-dimensional coordinate data and the attitude data of itself.After starting servo-drive system, machine measured the number of coordinates for obtaining with reference to last time According to the three-dimensional coordinate data under self-defined coordinate is obtained with attitude data again automatic aiming prism and again, one is expanded accordingly The individual function of can be used for deformation monitoring with prism as observed object.Accurate measurement robot is the exclusive product of Lai Ka companies of Switzerland The certainty of measurement of product, its course angle and pitch angle reaches 0.5 rad, represents the current global highest level of total powerstation；Price It is moderate：When the prism number for needing scanning is less than 10,450,000 yuans of unit price；Prism number is separately made when being more than 10 System scheme, is raised the price in addition by system schema.There is the limitation similar with total powerstation in accurate measurement robot.

3rd, photography type automatic total instruments（Total powerstation+servo-drive system+CCD camera）

After the accurate measurement robot of Lai Ka companies of Switzerland, U.S. Tian Bao, Switzerland come card, Japan Suo Jia/open up Pu Kang and push away again Go out upgrade version product：The portable survey of the total powerstation of the automatic total instruments with camera function+servo-drive system+CCD camera Measuring appratus.Photography type automatic total instruments function phase is same, and the difference in technical indicator makes its market price have different：490000 yuan of people 620,000 yuans/platform of coin/platform.The function and limitation of photography type automatic total instruments is all in self-defined coordinate system Angle measurement and range finding.

4th, for the device integration system of road photogrammetric data collection：

Road photogrammetric data acquisition system in the market is device integration system.Google of the U.S., Japan's topology health Vehicle mounted road Digital Photogrammetric System be represent.Its hardware characteristics is by position measurement apparatus (GPS), attitude measurement equipment, determines Position compensation equipment (INS or dead reckoning system), video equipment (CCD systems), laser range scanners, carried-on-vehicle computer system Equipment links together, and the locus of road and road both sides atural object on automobile, is gathered among the traveling of vehicle Data and attribute data, such as：Road axis or edge positions coordinate, the position coordinates of Target scalar, road (track) width, bridge (tunnel) height, traffic sign, road equipment etc..Data sync storage is in carried-on-vehicle computer system；Software features are to be based on GPS, RS, GIS, data 3S it is integrated, the data that field data acquisition is returned carry out post editing process, form various useful special Topic outcome data, such as map of navigation electronic etc..Its distinguishing feature is：A. be directed to road and close on the independent survey of both sides into Drawing system.Without any base map, you can complete independently road network figure is measured.Photogrammetric closing is defined in work flow Ring is controlled, and spatial data is with the road comprising rich properties information and closes on the stereopsis of both sides while obtaining, field operation Closely it is connected with interior industry, it is to avoid the human error under manual type；B. for road outdoor scene three-dimensional visualization data into Really.The geographical spatial data of its Quick Acquisition road and road adjacent periphery in the way of planar, its outcome data are continuous bats The outdoor scene taken the photograph can measure image；C. road and road adjacent periphery information with defend piece/aerophotograph seamless link, formed for road and " Incorporate " new generation GIS of adjacent periphery atural object.

The limitation of presence is：

1) working range is limited to road, it is impossible to conduct a field operation：(road photogrammetric data is gathered mobile mapping system System) it is by GPS (global positioning system), attitude measurement system, CCD (video system), INS (inertial navigation system or boat position Estimation System), three-dimensional laser scanning system, the advanced sensor such as carried-on-vehicle computer system and equipment be assemblied on automobile, this Mean that it is only used for road and its closes on the photogrammetric of both sides, it is impossible to carry out the photogrammetric of wild environment.

2) close shot：Without telescope, wide-angle photography.Close-range photogrammetry can be carried out to the scenery in the 200m of both sides of the road Data acquisition.The calculation accuracy of object space three-dimensional geodetic coordinates is 1 meter or so.

3) mobile and operation：Each equipment volume of composition system is big, weight is big, and system architecture is loose, must be fixed on automobile Deng on Attitude, many people's operations.

4) working method that industry is processed afterwards in field data collection causes repeated field operation work inevitable.

5) road is needed to have the support of GPS control nets on the way.

6) it is expensive：The all components of mobile mapping system are outsourcing, the expensive price of these high-end devices So that the cost of " mobile mapping system " remains high, the mobile mapping system without laser range scanners is (without survey Away from the data collecting system of function) price of product is ten thousand yuans of 300-400/set；There is the state of laser scanning and ranging equipment 6,000,000 yuans of outer product price/14,000,000 yuans of set/set.

5th, three-dimensional laser scanner

Three-dimensional laser scanner can provide close shot 3-dimensional image under self-defined coordinate：Obtained with high-rate laser scanning distance measuring method Substantial amounts of impact point range data synchronous recording calculating range finding attitude data, are calculated impact point three-dimensional coordinate；With number Camera absorbs object scene image；Both are superimposed, 3-dimensional image is obtained.

Three-dimensional laser scanner can be widely applied near under the daytime environment of indoor light environment and outdoor fair weather Scape target.The U.S., Japan, the production and sales of Jun Youshuo companies of China.At the field three-dimensional laser scanner of Rigle companies of Sweden In first place in the world：Find range up to 2 kilometers under the conditions of fair weather, fair visibility.

Three-dimensional laser scanner unit price is 600,000 yuans 6,000,000 yuans.

6th, Portable three-dimensional imager（Three-dimensional laser scanner+servo-drive system+CCD camera）

Google of the U.S., U.S. Tian Bao, Switzerland came card and released one after another Portable three-dimensional imager in recent years, for closely（100 Rice or so）White light three-dimensional imaging.May be installed, to overcome vehicle-mounted system The limitation that system can only be used on road.Its unit price is 1,000,000 yuans or so.The class of follow-up is imitated in the country Like product（The core components such as buying three-dimensional laser scanner, voluntarily produce accessory, the voluntarily assembled formations such as handcart）.

7th, positioning/remote sensing/remote measurement portable machine（GPS location+short distance laser ranging+low precision 3 d pose+camera）

The Trimbie Geo 7x equipment that U.S. Tian Bao company was released in 2014, is that global first item can synchronization gain target three The portable machine of dimension geodetic coordinates and live-action image, 70,000 yuan/platform of price or so：The distance of measured target then remote measurement mesh more than 40 meters The error of three-dimensional geodetic coordinates is marked more than 1 meter, without optics enlarging function and shooting resolution ratio and display resolution are low. Trimbie Geo 7x equipment is still with traditional " RTK+ handbooks " as major function.

Switzerland comes card and subsequently releases similar products, 150,000 yuan/platform of price or so：With U.S. Tian Bao company's T rimbie Geo 7x equipment is compared, and 3D drawing functions, allomeric function, technical indicator and hardware and Trimbie Geo 7x equipment are increased on software It is identical.Switzerland comes card and subsequently releases similar products still with traditional " RTK+ handbooks " as major function.

Therefore, all there is single function, poor universality, operation inconvenience, problem with high costs in currently existing product.

The content of the invention

The present invention provides a kind of based on emerging in large numbers property of complication system and the completely new product of Self-Organization Principle（At distributed interactive system Reason device）Single-person portable distributed interactive surveys and draws all-purpose robot, can be widely applied to engineering survey, geodesic survey, long-range It is all with short range three-dimensional imaging, the airborne kinetic measurement of vehicle-mounted boat-carrying, intelligent very-long-range drone version BFR information system etc. It is multi-field.

The present invention provides a kind of distribution interactive and surveys and draws all-purpose robot, including the general mapping machine 1 of distributed interactive and machine Execution system 2,

The general mapping machine of the distributed interactive 1 is included at the data collecting system 1.1, distributed interactive communication system 1.2, data Reason system 1.3 and Morse's taper male end coaxial interface 1.4；

The data collecting system 1.1 includes global positioning unit, built-in 3 d pose unit, automated imaging unit, range finding Unit；

The global positioning unit includes global location antenna 1.1.1.1, and the automated imaging unit includes object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, focusing microscope group 1.1.3.2.4 and CCD modules 1.1.3.2.5, photo resistance 1.1.3.3, the range cells include laser beam emitting device 1.1.4.1 and laser receiver 1.1.4.2；

The collimation axis of object lens 1.1.3.1.1, the collimation axis of zoom microscope group 1.1.3.1.2, the collimation of focusing microscope group 1.1.3.2.4 Axle, the collimation axis of CCD module 1.1.3.2.5 optical lens are on same straight line M, and straight line M is referred to as regarding for automated imaging unit Fiducial axis；

The collimation axis M of automated imaging unit, the optical axis N of laser beam emitting device 1.1.4.1, the light of laser receiver 1.1.4.2 Axle P three is parallel to each other or overlaps；

The collimation axis M and straight line L of the automated imaging unit is vertically intersected on O ' ' points, and the straight line L is following 2 points of compositions Straight line,

The phase center point O of global location antenna 1.1.1.1₁,

Morse's taper male end coaxial interface 1.4 is combined to site O₂；

The machine execution system 2 include coaxial interface unit, pitch attitude unit, course attitude unit, horizontal attitude unit, Support 2.5, erection formula bluetooth-communication unit 2.6, microcomputer plate 2.7 and steering wheel.

And, the distributed interactive communication system 1.2 include bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, Public network communication unit 1.2.3, cors Differencing communication unit 1.2.4, communications platform 1.2.5；The data handling system 1.3 includes Central processing unit, data interface unit 1.3.2, man-machine interaction unit 1.3.3, the central processing unit include built-in calculation unit 1.3.1.1 with long-range cloud computing unit 1.3.1.2.

And, distributed interactive communication system 1.2 is at the general surveying instrument main frame of distributed interactive and other distributed interactive systems Reason device between communication station, the distributed interactive system processor be constitute distributed interactive system processor, including but do not limit In the computer, mobile phone, sensor, the general surveying instrument main frame of other distributed interactives, machine that are connected on the various communication networks Device execution system, global positioning system base station, communications platform 1.2.5, cloud computing unit 1.3.1.2.

And, the automated imaging unit includes zoom system, pancreatic system and focusing system,

The zoom system, pancreatic system includes that object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, zoom motor 1.1.3.1.3, zoom are passed Dynamic group 1.1.3.1.4, zoom encoder 1.1.3.1.5, central processing unit, zoom motor 1.1.3.1.3, zoom transmission group 1.1.3.1.4, zoom microscope group 1.1.3.1.2 is sequentially connected, and light Jing object lens 1.1.3.1.1 inject zoom microscope group 1.1.3.1.2, Zoom transmission group 1.1.3.1.4, zoom encoder 1.1.3.1.5, central processing unit are sequentially connected；

The focusing system includes object lens 1.1.3.1.1, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2, focusing Encoder 1.1.3.2.3, focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5, graphics processing unit 1.1.3.2.6,

Zoom system, pancreatic system, focusing system share same object lens 1.1.3.1.1,

Central processing unit, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2, focusing microscope group 1.1.3.2.4 connect successively Connect, focusing transmission group 1.1.3.2.2, focusing encoder 1.1.3.2.3 and central processing unit are sequentially connected, focusing microscope group, CCD moulds Block 1.1.3.2.5, graphics processing unit 1.1.3.2.6 and central processing unit are sequentially connected.

And, in the machine execution system 2,

The coaxial interface unit with one heart includes lateral flexure axle 2.1.1, Morse's taper mother mouth end 2.1.2, exits screw rod 2.1.3 and lock Determine screw rod 2.1.4, the Morse's taper mother mouth end 2.1.2, screw rod 2.1.3, lock nut 2.1.4 are exited installed in lateral flexure axle 2.1.1 on；

The support 2.5 includes tuning fork 2.5.1, vertical pivot 2.5.2, and the lateral flexure axle 2.1.1 is arranged on tuning fork 2.5.1, lateral flexure The axis S of the axis H and vertical pivot 2.5.2 of axle 2.1.1 is vertically intersected on O points, and the axis S of vertical pivot 2.5.2 is overlapped with L, Wherein L is the phase center point O of global location antenna 1.1.1.1₁And O₂The straight line that point is constituted, O₁Point, O points, O₂Point is with straight line On L, O₂Point is Morse's taper male end coaxial interface 1.4 and Morse's taper mother mouth end 2.1.2 is combined to site；

The flexion-extension attitude unit includes elevation-depression angle encoder 2.2.1, pitches motion servo mechanism 2.2.2, pitches motion biography Motivation structure 2.2.3, the elevation-depression angle encoder 2.2.1 are arranged on lateral flexure axle 2.1.1, connected with computer plate 2.7, microcomputer plate 2.7 Jing pitch motion servo mechanism 2.2.2, pitch motion work 2.2.3 connection driving lateral flexure axle 2.1.1；

The course attitude unit includes that course heading encoder 2.3.1, course motion servo mechanism 2.3.2, course motion are passed Motivation structure 2.3.3, the course heading encoder 2.3.1 are connected on microcomputer plate 2.7, microcomputer plate on vertical pivot 2.5.2 2.7 Jing courses motion servo mechanism 2.3.2, course motion work 2.3.3 connections drive vertical pivot 2.5.2；

The horizontal attitude unit includes adjusting screw rod group 2.4.1, Electronic bubble 2.4.2, and adjusting screw rod group 2.4.1 is used to adjust Relative position between geoid and support 2.5, the Electronic bubble 2.4.2 are connected on microcomputer plate 2.7；

The steering wheel includes pitching telecontrol equipment 2.8.1, pitches motion amplitude control device 2.8.2, pitches motion sequential coding Telecontrol equipment 2.8.1 is pitched described in device 2.8.3,2.7 Jing of microcomputer plate, motion amplitude control device 2.8.2 connections driving is pitched simultaneously Control lateral flexure axle 2.1.1 is reciprocating along direction is pitched by the speed for arranging in the angular range of setting；When pitching motion Sequence encoder 2.8.3 connected with computer plate 2.7, pitches motion sequential coding device 2.8.3 and the reciprocating motion of flexion-extension direction is reduced to phase The elevation-depression angle answered.

And, the general mapping machine of distributed interactive 1 is used singly or in combination, described to be applied in combination including performing with machine System 2 or the complete full landform real time dynamic measurement bar 3 of attitude or tripod are applied in combination.

And, the full landform real time dynamic measurement bar 3 of the full attitude is short punctuate bar 3.1,

The short punctuate bar 3.1 includes quarter butt 3.1.1, bulb 3.1.2, ball head lock screw rod 3.1.3, bulb punctuate joint element for bar 3.1.4, coaxial interface unit 3.1.5 and center of gravity handle 3.1.6；

The quarter butt 3.1.1 includes shaft and bar point, has the bolt supporting with bulb punctuate joint element for bar 3.1.4 at the top of shaft,

The bulb punctuate joint element for bar 3.1.4 includes bulb groove and connection screw socket, and bulb 3.1.2 is arranged in bulb groove, even Connect screw socket bulb groove is connected on quarter butt 3.1.1；

The coaxial interface unit 3.1.5 includes Morse's taper mother mouth end 3.1.5.1.

And, coaxial interface unit 3.1.5 is fixed on bulb 3.1.2, and the center of gravity handle 3.1.6 is located at distributed interactive General mapping machine 1 and coaxial interface unit 3.1.5 sides.

And, the full landform real time dynamic measurement bar 3 of the full attitude is long punctuate bar 3.2,

The long punctuate bar 3.2 includes stock 3.2.1 and external global location antenna 3.2.2, connector；The connector bag Include screw rod 3.2.3.1, fixture 3.2.3.2, Morse's taper mother mouth end transverse axis 3.2.3.3, interface locks screw rod 3.2.3.4 and Mohs Taper mother's mouth end transverse axis lock nut 3.2.3.5；

The external global location antenna 3.2.2 is by screw socket installed in the top of stock 3.2.1；Fixture 3.2.3.2 is placed in The shaft of stock 3.2.1, makes connector be fastened on the shaft of stock 3.2.1 by screw rod 3.2.3.1；Morse's taper male end Morse's taper mother's mouth end on the insertion Morse's taper mother mouth end transverse axis 3.2.3.3 of coaxial interface 1.4, screws interface locks screw rod 3.2.3.4, distributed interactive general mapping machine 1 is fixed on Morse's taper mother mouth end transverse axis 3.2.3.3, completes distributed interactive and lead to With the connection for surveying and drawing machine 1 and long punctuate bar 3.2；Otherwise then realize the general mapping machine 1 of distributed interactive and long punctuate bar 3.2 point From.

And, when the general mapping machine 1 of distributed interactive and machine execution system 2 are applied in combination, it is fastened on vehicle-mounted or ship Carry or the airbone gyro instrument on, there is provided vehicle-mounted or boat-carrying or it is airborne under the conditions of dynamic remote remote measurement application.

The invention has the advantages that：

1st, initiate open system structure：Product is made to possess the resource that unprecedented vast, continuous expansion is constantly updated

The available resources that distributed interactive surveys and draws all-purpose robot are referred to as into " organization object "：Then distributed interactive surveys and draws all-purpose robot Organization object=" autologous tissue's object " set with " network organization object " union of sets collection.

Autologous tissue's object mean distributed interactive mapping all-purpose robot itself institute organic interior element set, wrap Include：Data processing chip, components and parts, module；Each component of optical unit；Each component of sensor unit；Mechanical part it is each Component；Each part of positioning unit；Each component of communication unit；Each component of attitude unit, related software module etc..From Body organization object constantly expands continuous renewal with the technological progress of association area；

The network organization object means the available resources from network：Including but not limited to the various specific money in lower network Source：Internet（Data communication containing 4G/3G/2.5G, Wifi, wechat, note, various data, services, map, satellite image, traffic Etc. various information service, the disparate networks resource being carried on internet）, cors differential service nets, global location day net（North Bucket, GPS, Glonass, Galileo, SBAS）, remote sensing information net, MANET etc..Network organization object is with the skill of association area Art progress and constantly expand continuous renewal.

2nd, initiate the organization regulation matched with system architecture：Flood tide is generated using organization object and is suitable for function

Generating function type mathematic system：Can according to the particular demands of people be autonomously generated the Mathematical Modeling of various " work systems ", algorithm, The set of source code and configuration processor.In other words, generating function type mathematic system is the group that " work system " is generated using organization object Knit rule.

The work system is made up of the interaction between organization object under organization regulation with specific function , execution system can independently completing particular demands.Each work system is to have corresponded to a class geomatics industry demand Distributed interactive survey and draw all-purpose robot specific functional realiey system.

3rd, initiate the distributed interactive mapping all-purpose robot system based on emerging in large numbers property of complication system and Self-Organization Principle

" the emerging in large numbers property " of systemic-function.As connection PC on the internet, its hardware finite but run thereon Amount of software and its function are virtually limitless, and the quantity and its function of the work system are also almost unlimited：These Function is not the intrinsic property of material itself or part itself, but the result of the interphase interaction of organization object.By tissue Interaction between object produces the New function of flood tide, here it is the emerging in large numbers property of systemic-function.

" self-organizing " of systemic-function：Specific intervention without operating personnel, distributed interactive mapping all-purpose robot are autonomous Work system is generated, specific task is independently completed.

4th, initiate the decentralization wide area mapping system integrated with data processing integrated with planarization/data acquisition

The distributed interactive surveys and draws all-purpose robot（Or the general mapping machine of distributed interactive）In being distributed interactive system processor It is a kind of.Distributed interactive system processor is divided into two class of modal processor and ordinary processor.The modal processor is to complete Into the hinge type distributed interactive system processor of the data flow collection/forwarding/process of particular task；The ordinary processor is can Around modal processor work, other distributed interactive system processors that inter-related task type is serviced can be provided for modal processor.

1）Decentralization and planarization

Each processor mutual equality on work status in distributed interactive system, and according to task it needs to be determined that each other Task work relationship.

Decentralization makes there was only task nexus between the distributed interactive system processor, does not have layer upon layer of fixed mount Structure, it is no it is traditional " " center " and " terminal ", the distributed interactive system processor all at grade.

2）Data acquisition integration is integrated with data processing

Data acquisition integration：The data acquisition range of each distributed interactive system processor is equal to whole distributed interactive systems System processor distribution work region simultaneously；The data acquisition amount of each distributed interactive system processor and data collection type It is equal to the data acquisition amount and data collection type sum of whole distributed interactive system processors.

Data processing integration：There is space-time position to limit, limit without distance.This causes：Each distributed interactive system The data processing of processor is all obtained the synchrodata of one or more distributed interactive system processors and processes support.

5th, initiate the general mapping machine of distributed interactive for meeting above-mentioned 1,2,3,4 simultaneously

6th, initiate the machine execution system being applied in combination with the general mapping machine of distributed interactive

7th, initiate distributed interactive mapping all-purpose robot

The general mapping machine+machine execution system of distributed interactive mapping all-purpose robot=distributed interactive

8th, initiate the universal field equipment of surveying and mapping activity：One machine function exceedes the function sum of multiclass instrument and equipment

One machine functional coverage simultaneously exceedes traditional instrument of surveying and mapping, GPS location instrument, total powerstation, super-station instrument, accurate measurement robot, takes the photograph Shadow formula automatic total instruments, three-dimensional laser scanner, Portable three-dimensional imager, positioning/remote sensing/remote measurement portable machine function it With.

9th, initiate the universal field equipment of mapping mode：Hand-held, quick short steps are measured, ground sets up, vehicle-mounted/airborne

10th, the product of low cost, high performance-price ratio is obtained with the multi-systems integration method of fabric

The multi-systems integration method of fabric causes autologous tissue's object of distributed interactive mapping all-purpose robot mostly to be It is widely used, has quality assurance and cheap universal electronic components and parts and optomechanical components, this causes distribution to hand over The low production cost of all-purpose robot is surveyed and drawn mutually.

The new method that support machine is independently measured changes conventional operation mode, very significantly reduces manpower intervention, letter Change workflow, reduce labour intensity and operation difficulty, reduction job costs, raising operating efficiency.

Description of the drawings

Fig. 1 is the general mapping machine structure chart of distributed interactive provided by the embodiment of the present invention.

Fig. 2 is the distributed interactive system Principle of Communication figure provided by the embodiment of the present invention.

Fig. 3 is the machine execution system fundamental diagram provided by the embodiment of the present invention.

Fig. 4 is after the general mapping machine of distributed interactive provided by the embodiment of the present invention combines assembling with machine execution system Shafting figure.

Fig. 5 is that the general mapping machine of distributed interactive provided by the embodiment of the present invention is assembled with the combination of machine execution system Figure.

Fig. 6 is the combination installation diagram of the general mapping machine of distributed interactive provided by the embodiment of the present invention and quarter butt.

Fig. 7 is the combination installation diagram of the general mapping machine of distributed interactive provided by the embodiment of the present invention and stock.

Fig. 8 is the vehicle-mounted/boat-carrying of the distributed interactive mapping all-purpose robot provided by the embodiment of the present invention using figure.

Fig. 9 is the airborne using figure of the distributed interactive mapping all-purpose robot provided by the embodiment of the present invention.

Specific embodiment

Below by embodiment, technical scheme is described in further detail.

The present invention is proposed：Multi-systems integration is moved towards from mutli-system integration.Embodiment Implement and be described as follows：

1. distributed interactive surveys and draws the overall structure of all-purpose robot

The distributed interactive mapping all-purpose robot that the present invention is provided includes the general mapping machine 1 of distributed interactive and machine execution system 2. The general mapping machine 1 of distributed interactive and with machine execution system 2 collectively constitute distributed interactive mapping all-purpose robot.But distributed interactive General mapping machine 1 can be used alone, and can also be applied in combination, it is described be applied in combination including with machine execution system 2 or full attitude Full landform real time dynamic measurement bar 3 or tripod are applied in combination.

A. the general mapping machine of distributed interactive

The general mapping machine of the distributed interactive is included at the data collecting system 1.1, distributed interactive communication system 1.2, data Reason system 1.3.

The data collecting system 1.1 include global positioning unit, built-in 3 d pose unit, automated imaging unit, Range cells；

The distributed interactive communication system 1.2 includes bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network communication unit First 1.2.3, cors Differencing communication unit 1.2.4, communications platform 1.2.5；

The data handling system 1.3 includes central processing unit, data interface unit 1.3.2, man-machine interaction unit 1.3.3, tool Body can also arrange PMU 1.3.4, power subsystem 1.3.5 when implementing.The central processing unit includes that built-in calculating is single First 1.3.1.1., when being embodied as, can also be shared using long-range cloud computing unit 1.3.1.2 using public network connection Processor active task, therefore can be considered that data handling system 1.3 also includes cloud computing unit 1.3.1.2.

B. machine execution system

The machine execution system 2 include coaxial interface unit, pitch attitude unit, course attitude unit, horizontal attitude unit, Support 2.5, erection formula bluetooth-communication unit 2.6, microcomputer plate 2.7 and steering wheel.

C. the complete full landform real time dynamic measurement bar of attitude

The full landform real time dynamic measurement bar of the full attitude includes short punctuate bar 3.1 or long punctuate bar 3.2.

Therefore above distributed interactive surveys and draws all-purpose robot（Or the general mapping machine of distributed interactive）, with the effect that mapping is general Really：

Mapping is general to mean that surveying and mapping activity is general and mapping mode is general.

The surveying and mapping activity is general to be referred to, distributed interactive one machine of mapping all-purpose robot covers various surveying and mapping activities：Automatically Optical remote sensing, automatic telemetering object space three-dimensional geodetic coordinates, automatic three-dimensional imaging, on live-action image automatic mapping contour line, look for North, angle measurement, range finding, the global location real time dynamic measurement of cm class precisions, location navigation, engineering setting out, quantities calculation, engineering are surveyed Amount, the global location static measurement of mm class precisions, many Network Communications etc..

The mapping mode is general to be referred to, distributed interactive mapping all-purpose robot is applied to various mapping modes：

It is hand-held）The real-time global location of the general mapping machine of distributed interactive, determine appearance, remote sensing, remote measurement object space three-dimensional geodetic coordinates, engineering Setting-out, the amount calculation of line face body, many Network Communications, location navigation, distribution interactive cooperative etc.；

Quick short steps are measured）Full attitude full landform reality of the general mapping machine of distributed interactive on the full landform real time dynamic measurement bar of full attitude When dynamic global position measurement, determine appearance, optical remote sensing imaging, telemeter distance, the three-dimensional geodetic coordinates of remote measurement object space, engineering setting out, The amount calculation of line face body, location navigation, many Network Communications, distribution interactive cooperative etc..

Ground sets up）It is remote measurement object space three-dimensional geodetic coordinates of the general mapping machine of distributed interactive in machine execution system, complete Automatically three-dimensional imaging, on live-action image automatic mapping contour line, real-time global location, determine appearance, optical remote sensing be imaged, remote measurement away from From, angle measurement, the global location static measurement of mm class precisions, engineering setting out, the amount calculation of line face body, many Network Communications, location navigation, many Network Communication, distribution interactive cooperative etc.；

Vehicle-mounted/boat-carrying/airborne）Distributed interactive general mapping machine is combined into composition distributed interactive mapping with machine execution system general Distributed interactive mapping all-purpose robot is fixedly connected on vehicle-mounted/boat-carrying/the airbone gyro instrument using corresponding connector by robot On, the dynamic remote remote measurement application under the conditions of vehicle-mounted/boat-carrying/airborne is formed, referring to accompanying drawing 8, accompanying drawing 9.

2nd, the detailed design of the general mapping machine of distributed interactive be embodied as

The general mapping machine of distributed interactive 1 includes data collecting system 1.1, distributed interactive communication system 1.2, data handling system 1.3rd, Morse's taper male end coaxial interface 1.4.When being embodied as, can be by data collecting system 1.1, distributed interactive communication system 1.2nd, data handling system 1.3 is arranged on the inside the shell of the general mapping machine of distributed interactive 1, Morse's taper male end coaxial interface The shell of the 1.4 general mapping machines of connection distributed interactives 1, is generally disposed at below shell.It is special, communications platform 1.2.5 and cloud Computing unit 1.3.1.2 is not provided inside the shell, but telecommunication connects.

Referring to accompanying drawing 1, in embodiment, the general mapping machine of distributed interactive 1 is implemented as follows：

1）The system of the data collecting system 1.1 is constituted, operation principle and method of work

The global positioning unit is made up of global location antenna 1.1.1.1 and GPS receiver board 1.1.1.2. The global positioning unit is the working cell of multicore unification, including GPS, the Big Dipper, Galileo, the part in GLONASS, SBAS Or all.Global location antenna 1.1.1.1 connecting global positioning system receiver board 1.1.1.2, global positioning system are received Machine board 1.1.1.2 Jing data interface units 1.3.2 access central processing unit, and the global positioning unit receives global location day Data after preliminary treatment are simultaneously uploaded to built-in calculation unit 1.3.1.1 by the signal of net.

The built-in 3 d pose unit includes electronics 3 d pose instrument 1.1.2.1, micromechanical gyro 1.1.2.2.Electricity Sub- 3 d pose instrument 1.1.2.1, micromechanical gyro 1.1.2.2 difference Jing data interface units 1.3.2 access central processing unit, interior Placed type three-dimensional attitude unit obtains the 3 d pose data of the general mapping machine of distributed interactive 1 in real time and is uploaded to built-in calculation unit 1.3.1.1。

The composition of the automated imaging unit, operation principle and function realizing method：

A. the composition of automated imaging unit

Automated imaging unit：Including zoom system, pancreatic system, focusing system, photo resistance 1.1.3.3.

The zoom system, pancreatic system includes object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, zoom motor 1.1.3.1.3, change Burnt transmission group 1.1.3.1.4, zoom encoder 1.1.3.1.5.Central processing unit, zoom motor 1.1.3.1.3, zoom transmission group 1.1.3.1.4, zoom microscope group 1.1.3.1.2 is sequentially connected, and light Jing object lens 1.1.3.1.1 inject zoom microscope group 1.1.3.1.2, Zoom transmission group 1.1.3.1.4, zoom encoder 1.1.3.1.5, central processing unit are sequentially connected.

The focusing system include object lens 1.1.3.1.1, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2, Focusing encoder 1.1.3.2.3, focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5, graphics processing unit 1.1.3.2.6.

Zoom system, pancreatic system, focusing system share same object lens 1.1.3.1.1.Object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, at the optical lens of focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5 on the same line, realize light path Transmission.

Described image processing unit 1.1.3.2.6 is the special DSP of image procossing, including based on image definition evaluation letter Several image processing softwares（For example with the existing image processing software based on Wavelet Transformation Algorithm, the present invention is not superfluous State）.

Central processing unit, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2, focusing microscope group 1.1.3.2.4 according to Secondary connection, focusing transmission group 1.1.3.2.2, focusing encoder 1.1.3.2.3 and central processing unit are sequentially connected, focusing microscope group, CCD modules 1.1.3.2.5, graphics processing unit 1.1.3.2.6 and central processing unit are sequentially connected.Graphics processing unit 1.1.3.2.6 judge whether focusing is accurate, whether be imaged clear by focus detection：If image has met established standardses certainly Dynamic focusing task is completed；If image does not meet established standardses and uploads the new motion of focusing microscope group 1.1.3.2.4 to central processing unit Direction and motion amplitude data, focusing work closed loop start new round working cycles, until image meets established standardses.

Photo resistance 1.1.3.3 Jing data interface units 1.3.2 access central processing unit, automatic sensing environment light source It is strong and weak and convert optical signals to electric signal and be uploaded to built-in calculation unit 1.3.1.1.

B. the operation principle and implementation method of automated imaging unit：

Built-in calculation unit 1.3.1.1 is analyzed process to the environment light source image value that photo resistance 1.1.3.3 is uploaded, if figure More than default arithmetic number Q, the absolute value of the difference of the maxima and minima of picture value then judges that survey station is in available visibility ring Border, into automated imaging flow process, sequentially realizes following steps.When being embodied as, those skilled in the art can voluntarily preset taking for Q Value.

Built-in calculation unit 1.3.1.1 constitutes zoom work closed loop, focusing work closed loop with automated imaging unit, by this Two work closed loops complete automated imaging task.

Zoom work closed loop completes autozoom：

Built-in calculation unit 1.3.1.1 reads the zoom calibration value of zoom microscope group 1.1.3.1.2 and drives zoom motor 1.1.3.1.3, zoom transmission group 1.1.3.1.4 makes zoom microscope group 1.1.3.1.2 move to corresponding calibration position, zoom encoder 1.1.3.1.5 the motion state synchronous feedback of real time record zoom transmission group 1.1.3.1.4 is to built-in calculation unit 1.3.1.1, Built-in calculation unit 1.3.1.1 calculates pulse shape modification value and sends next instruction accordingly, until zoom transmission group 1.1.3.1.4 is arrived The Focussing to zoom microscope group 1.1.3.1.2 is completed up to setting position.

Focusing work closed loop completes automatic focusing：

The first step, light reach CCD moulds via object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, focusing microscope group 1.1.3.2.4 Block 1.1.3.2.5.CCD modules 1.1.3.2.5 are transferred to graphics processing unit after converting optical signals to electric signal 1.1.3.2.6.Graphics processing unit 1.1.3.2.6 by focus detection judge to focus on whether accurately, imaging it is whether clear and to Built-in calculation unit 1.3.1.1 uploads the direction of motion and motion amplitude data of focusing microscope group 1.1.3.2.4；

Second step, built-in calculation unit 1.3.1.1 sends the direction of motion to focusing motor 1.1.3.2.1 accordingly and motion amplitude refers to Data, focusing motor 1.1.3.2.1 and focusing transmission group 1.1.3.2.2 is made to drive focusing microscope group 1.1.3.2.4 to reach command bits Put, focusing encoder 1.1.3.2.3 records being actually reached data and being uploaded to built-in calculating list for focusing transmission group 1.1.3.2.2 First 1.3.1.1.CCD modules 1.1.3.2.5 obtain the optical signal transmitted in focusing microscope group 1.1.3.2.4 new position after exercise And electric signal transmission is converted thereof into graphics processing unit 1.1.3.2.6.Graphics processing unit 1.1.3.2.6 is again by poly- Burnt detection judges whether focusing is accurate, whether be imaged clear：If image has met established standardses, automatic focusing task is completed； If image does not meet established standardses, graphics processing unit 1.1.3.2.6 uploads focusing microscope group to built-in calculation unit 1.3.1.1 1.1.3.2.4 the new direction of motion and motion amplitude data, focusing work closed loop start new round working cycles, until image is accorded with Close established standardses.

Built-in calculation unit 1.3.1.1 so far obtains the clear object space live-action image for meeting established standardses.

The range cells include laser beam emitting device 1.1.4.1, laser receiver 1.1.4.2, apart from resolver 1.1.4.3.When being embodied as, laser beam emitting device 1.1.4.1 should adopt remote high-frequency laser beam emitting device.Jing data-interfaces Unit 1.3.2 accesses central processing unit, and laser receiver 1.1.4.2 connections resolve dress apart from resolver 1.1.4.3, distance Put 1.1.4.3 Jing data interface units 1.3.2 and access central processing unit, built-in calculation unit 1.3.1.1 is to laser beam emitting device 1.1.4.1 distance measuring instruction is sent, laser beam emitting device 1.1.4.1 is filtered to objective emission laser, laser receiver 1.1.4.2 Laser that target reflects only is received from after falling clutter and electric signal is converted into, is transmitted to apart from resolver 1.1.4.3.Related data is obtained by laser phase difference apart from resolver 1.1.4.3, is obtained by its time synchronous circuit Time difference data, calculate accordingly the general mapping machine of distributed interactive calibration coordinate origin O range-to-gos data and on Pass to built-in calculation unit 1.3.1.1.

2）The system of the distributed interactive communication system 1.2 is constituted, operation principle and method of work

Distributed interactive communication system 1.2 is the communication between the general mapping machine of distributed interactive and other distributed interactive system processors Stand.

The processor is the device with data communication, data acquisition or data-handling capacity.

The distributed interactive system is the work system being made up of the interaction of one group of processor.

The distributed interactive system processor is the processor for constituting distributed interactive system, is meant：It is connected to indigo plant

Tooth communication network, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing communication nets, The device with data communication/data processing or data acquisition ability on the various communication networks such as sensor Ad Hoc network.For example, Including but not limited to be connected to computer on the various communication networks, mobile phone, sensor, the general mapping machine of distributed interactive, Machine execution system, global positioning system base station, communications platform 1.2.5, cloud computing unit 1.3.1.2 etc..The distribution Interactive system processor can be the device in a communication network being connected in the communication network, or while be connected to The device in multiple communication networks or whole communication networks in the communication network.

Bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network communication unit 1.2.3, cors Differencing communication list First 1.2.4 difference Jing data interface units 1.3.2 access central processing unit, and built-in calculation unit 1.3.1.1 can enable indigo plant simultaneously It is tooth communication unit 1.2.1, station telecommunication unit 1.2.2, public network communication unit 1.2.3, cors Differencing communication unit 1.2.4, logical It is part or all of in letter platform 1.2.5, sensor Ad Hoc network.

According to the instruction of built-in calculation unit 1.3.1.1, bluetooth-communication unit 1.2.1 is in the general mapping of distributed interactive Bidirectional data communication is set up between machine 1 and other distributed interactive system processors to link.Distance between the two is less than 30 meters.

According to the instruction of built-in calculation unit 1.3.1.1, the station telecommunication unit 1.2.2 is in the general mapping of distributed interactive Bidirectional data communication is set up between machine 1 and other distributed interactive system processors to link.Distance between the two is public less than 30 In.

According to the instruction of built-in calculation unit 1.3.1.1, the public network communication unit 1.2.3 is via being connected to public correspondence Online communications platform 1.2.5, the general mapping machine of distributed interactive 1 and distribution in the world be connected to public network On other distributed interactive system processors between set up bidirectional data communication link.The communications platform 1.2.5 is used to be distributed Point-to-Point Data between interactive system processor mutually passes the data broadcasting with point-to-multipoint.Public network coverage it Interior, between communication link contact, no locus limits and also limits without distance.

The communications platform 1.2.5 is to be connected to the online brand computer communication services device of public correspondence, is communicated by public network Unit 1.2.3 is connected with central processing unit, for the Data-Link of real-time intercommunication is set up between distributed interactive system processor.

According to the instruction of built-in calculation unit 1.3.1.1, the cors Differencing communications unit 1.2.4 is public logical by 2.5G Special cors differential communication channels in letter net are set up bidirectional data communication with local cors differential service platforms and are linked.Working as Within the coverage of ground cors Differencing communication nets, no locus limits and also limits without distance between the two.

The general mapping machine of distributed interactive can connection be carried on Bluetooth communication simultaneously by the distributed interactive communication system 1.2 The various communication networks such as net, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing communication nets Multiple other distributed interactive system processors on network, also once can only connect be carried on one or more communication networks Individual or multiple other distributed interactive system processors.

3）The system of the data handling system 1.3 is constituted, operation principle and working method

The data handling system 1.3 includes central processing unit, data interface unit 1.3.2, man-machine interaction unit 1.3.3, also PMU 1.3.4, power subsystem 1.3.5 are set.

The PMU 1.3.4 provides electricity for all working unit within the general mapping machine casing of distributed interactive Source control is serviced.

A. central processing unit

The central processing unit includes built-in calculation unit 1.3.1.1, when being embodied as, can call cloud computing unit 1.3.1.2 share calculating task.

Built-in calculation unit 1.3.1.1 is including the data including CPU, built-in storage, external memory

Processing unit, is physically within the casing of the general mapping machine of distributed interactive.

The cloud computing unit 1.3.1.2 is to be connected to the online Computing server of public correspondence, is physically present Any place for being suitable to be seamlessly connected public network in global range.On the one hand, cloud computing unit 1.3.1.2 is centre The part of reason device；On the other hand, cloud computing unit 1.3.1.2 is both one of distributed interactive system processor, and all The public calculation server of distributed interactive system processor, for providing big data quantity for all distributed interactive system processors High speed cloud computing service.

The data processing work flow process of central processing unit：Built-in calculation unit 1.3.1.1 receives man-machine interaction unit 1.3.3 After the assignment instructions sent, according to deadline of task and in the time limit, can operand autonomous judgement complete independently data processing task： If can, into data processing work flow process；If can not, cloud computing unit is connected by public network communication unit 1.2.3 1.3.1.2 or other distributed interactive system processors, to cloud computing unit 1.3.1.2 distributed interactives system processor transmission need The data of process simultaneously obtain result from cloud computing unit 1.3.1.2 distributed interactives system processor.

B. data interface unit 1.3.2

Uplink port connection built-in calculation unit 1.3.1.1 of data interface unit 1.3.2, the downlink port connection whole world are fixed Bit location, built-in 3 d pose unit, automated imaging unit, range cells；Bluetooth-communication unit 1.2.1, station telecommunication list First 1.2.2, public network communication unit 1.2.3, cors Differencing communication unit 1.2.4, man-machine interaction unit 1.3.3, power management list First 1.3.4, power subsystem 1.3.5.

C. man-machine interaction unit 1.3.3

The man-machine interaction unit 1.3.3 includes touch-screen and button.Touch-screen and button connect via data interface unit 1.3.2 Connect built-in calculation unit 1.3.1.1.

D. the operation principle and working method of data handling system 1.3

Operating personnel by the man-machine interaction unit 1.3.3 to built-in calculation unit 1.3.1.1 be input into manual command when have and Only the following two kinds situation.

One when being that the manual command pertains only to each working cell in the casing of the general mapping machine of distributed interactive：Built-in calculating Unit 1.3.1.1 is according to the manual command by data interface unit 1.3.2 to global positioning unit, built-in 3 d pose Unit, automated imaging unit, range cells, bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network communication unit 1.2.3, cors Differencing communications unit 1.2.4, PMU 1.3.4 and other works related to the manual command Machine instruction is sent as unit.The working cell related to the machine instruction receive, completes the machine instruction and to built-in Computing unit 1.3.1.1 execution result back data.Built-in calculation unit 1.3.1.1 is according to implementing result data automatically under Single stepping, until completing the manual command and showing result data on the touchscreen；

Two when being that the manual command is related to the outer each distributed interactive system processor of casing of the general mapping machine of distributed interactive：It is built-in Computing unit 1.3.1.1 sets up Data-Link by distributed interactive communication system 1.2, connects each distributed interactive system and processes Device so as to become the outer working cell of machine of the general mapping machine of distributed interactive system.The instruction distribution of built-in calculation unit 1.3.1.1 is handed over Mutually the outer working cell of the machine of general mapping machine and working cell collaborative work in machine, complete the manual command.

The method for building up of the Data-Link：Built-in calculation unit 1.3.1.1 is held with machine by bluetooth-communication unit 1.2.1 Other distributed interactive system processors for needing Bluetooth communication in 30 meters of the general mapping machine of row system, range distribution interactive system Set up Data-Link；Built-in calculation unit 1.3.1.1 passes through station telecommunication unit 1.2.2 or public network communication unit 1.2.3 or cors Differencing communication unit 1.2.4, other the distributed interactive system processors interacted with range distribution in 30 kilometers of general mapping machine are built Vertical Data-Link；Built-in calculation unit 1.3.1.1 is being divided by public network communication unit 1.2.3 or cors Differencing communication unit 1.2.4 Data-Link is set up between the general mapping machine of cloth interactive system and other distributed interactive system processors.In the public network or In the communication coverage of cors Differencing communication nets, between the general mapping machine of distributed interactive and other distributed interactive system processors Data interconnection without distance limit, without locus limit.

4）It is coaxial concentric

Referring to Fig. 4, the collimation axis M of automated imaging unit：The collimation axis of object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2 are regarded Fiducial axis, the collimation axis of focusing microscope group 1.1.3.2.4, the collimation axis of CCD module 1.1.3.2.5 optical lens are in same straight line M When upper, straight line M is referred to as the collimation axis of automated imaging unit.

Three light are coaxial：The collimation axis M of automated imaging unit, the optical axis N of laser beam emitting device 1.1.4.1, laser pick-off dress The optical axis P three for putting 1.1.4.2 is parallel to each other or overlaps, and referred to as three light are coaxial.

Multiaxis is concentric：The collimation axis M and straight line L of the automated imaging unit is vertically intersected on O ' ' points.Wherein L is the whole world The phase center point O of positioning antenna 1.1.1.1₂With point O at Morse's taper male end coaxial interface 1.4₁The straight line of composition.O’’ Point, O₁Point, O₂Point is with L.It is referred to as the calibration coordinate origin of the general mapping machine of distributed interactive referring to accompanying drawing 4, O ' ' point.O₁Point That is the mouth end 2.1.2's female with Morse's taper of Morse's taper male end coaxial interface 1.4 is assembled to site.O_NPoint is optical axis N with The intersection point of axis H, O_PPoint be optical axis P and axis H intersection point, O_NPoint, O_PPoint, O ' are put with H；L, H are vertically intersected on O ' ' points.

5）Distributed interactive cooperative

Above distributed interactive surveys and draws all-purpose robot（Or the general mapping machine of distributed interactive）, its distribution interactive application includes：Go Centralization is integrated integrated with data processing with planarization, data acquisition.

3rd, the detailed design of the full landform real time dynamic measurement bar of full attitude be embodied as

The complete full landform real time dynamic measurement bar of attitude includes short punctuate bar 3.1, long punctuate bar 3.2, for realizing full attitude entirely The measurement of shape real-time dynamic positioning, remote sensing remote measurement, location navigation.

1）The full landform real-time dynamic positioning measurement of full attitude on short punctuate bar 3.1

Referring to Fig. 6, the short punctuate bar 3.1 includes quarter butt 3.1.1, bulb 3.1.2, ball head lock screw rod 3.1.3, bulb punctuate Joint element for bar 3.1.4, coaxial interface unit 3.1.5, center of gravity handle 3.1.6.

The quarter butt 3.1.1 includes shaft and bar point.There is the spiral shell supporting with bulb punctuate joint element for bar 3.1.4 at the top of shaft Public affairs, shaft length can be freely adjusted according to user's height.Bar point is arranged on shaft bottom, for demarcating point position.

The bulb punctuate joint element for bar 3.1.4 includes bulb groove and connection screw socket, and bulb 3.1.2 is arranged on bulb groove Interior, connection screw socket is connected to bulb groove on quarter butt 3.1.1, and an elastic centering steel ball is provided with bulb groove.

The coaxial interface unit 3.1.5 includes Morse's taper mother mouth end 3.1.5.1, exits screw rod 3.1.5.2, locking spiral shell Bar 3.1.5.3.

Coaxial interface unit 3.1.5 is fixed on bulb 3.1.2.The motion of coaxial interface unit 3.1.5 drives bulb 3.1.2 motion.Bulb groove in bulb punctuate joint element for bar 3.1.4 is slotted only along a direction, therefore bulb can only be along one Individual direction rotates, must Jing elasticity centering steel ball 3.1.2.1 in rotating way.Bulb 3.1.2 moves to the elastic centering steel ball 3.1.2.1 position, then elasticity centering steel ball 3.1.2.1 upspring automatically, will be coaxial interface unit 3.1.5 calibrations right in elasticity Middle steel ball 3.1.2.1 positions, it is right that coaxial interface unit 3.1.5 can be fixed on elasticity by rotation ball head lock screw rod 3.1.3 On middle steel ball 3.1.2.1 positions.Coaxial interface unit 3.1.5 can be made freely to transport conversely, unclamping ball head lock screw rod 3.1.3 It is dynamic.

The connection of the general mapping machine 1 of distributed interactive and short punctuate bar 3.1 with separate：By Morse's taper mother mouth end 3.1.5.1 Lock nut 3.1.5.3 is rotated after insertion Morse's taper male end coaxial interface 1.4 and completes connection.Otherwise then separate.

The general mapping machine of distributed interactive 1 be connected with short punctuate bar 3.1 after composition：Distributed interactive general mapping machine 1 is connected It is connected on short punctuate bar 3.1, that is, constitutes a complete kinetic measurement type distributed interactive system processor.The center of gravity handle 3.1.6 it is in the dissection center of gravity of this complete kinetic measurement type distributed interactive system processor.Rotational distribution interaction is logical With mapping machine 1, coaxial interface unit 3.1.5 is made to calibrate on elasticity is to middle steel ball 3.1.2.1 positions automatically and rotate ball Head lock nut 3.1.3 is allowed to fasten, now the phase center of global location antenna 1.1.1.1, elastic centering steel ball 3.1.2.1, at these three geometric points of quarter butt 3.1.1 bars point on the same line.

The general mapping machine of general distributed interactive 1 may be designed as single-hand held type or both hands are handheld, single-hand held type weight It is relatively light, can be operated with a handheld machine on the other hand during use；The handheld heavier-weight of both hands, can be used with held by both hands machine during use Finger manipulation, but the part that performance can be adopted more excellent, with farther measurement distance, bigger optical magnification is higher Precision.Therefore, because center of gravity situation is different, center of gravity handle 3.1.6 accordingly specifically can be arranged.Referring to Fig. 6, in embodiment, point Cloth interacts general mapping machine 1 and adopts single-hand held type, center of gravity handle 3.1.6 to be located at the general mapping machine 1 of distributed interactive and coaxially connect Mouth unit 3.1.5 sides：

O₂Point：The phase center of global location antenna 1.1.1.1

O'' points：The intersection point of the collimation axis M and L of automated imaging unit.

O₁Point：Morse's taper mother mouth end 3.1.5.1 is combined to site with Morse's taper male end coaxial interface 1.4.

O points：The short punctuate bar of the general surveying instrument 1+ of distributed interactive after assembling 3.1 becomes an entirety physically.O points It is this overall barycenter.

O₃Point：The bar point of short punctuate bar 3.1

Elastic centering steel ball 3.1.2.1, O'' in figure_、O_{1 、}O_{2 、}O₃With on straight line L.

Both hands are handheld, the position of center of gravity handle 3.1.6 can be arranged on below coaxial interface unit 3.1.5, coaxially be connect Mouth unit 3.1.5 Jing center of gravity handle 3.1.6 are fixed on bulb 3.1.2, therefore corresponding connected mode is coaxial interface unit 3.1.5 motion drives center of gravity handle 3.1.6, bulb 3.1.2 motion.

2）Remote sensing remote measurement of the general mapping machine of distributed interactive 1 on short punctuate bar 3.1

Unclamping ball head lock screw rod 3.1.3 can make general 1 the rotating freely on short punctuate bar 3.1 of mapping machine of distributed interactive.In The image data that automated imaging unit is uploaded is transferred to touch-screen and is shown by central processor, and operating personnel select mesh in image Mark.General 1 automatic telemetering of mapping machine of distributed interactive obtains the three-dimensional geodetic coordinates of target：Central processor comprehensive global location list In first real-time spatial position data for uploading, the real-time three-dimensional attitude data of built-in 3 d pose unit upload, range cells The range data real-time resolving of biography goes out the three-dimensional geodetic coordinates of target.

3）The full landform real-time dynamic positioning measurement of full attitude on long punctuate bar 3.2

Referring to Fig. 7, the long punctuate bar 3.2 includes stock 3.2.1, external global location antenna 3.2.2, connector.It is described Connector includes screw rod 3.2.3.1, fixture 3.2.3.2, Morse's taper mother mouth end transverse axis 3.2.3.3, interface locks screw rod 3.2.3.4, Morse's taper mother's mouth end transverse axis lock nut 3.2.3.5.

The connection of the general mapping machine 1 of distributed interactive and long punctuate bar 3.2 with separate：The external global location antenna 3.2.2 by screw socket installed in the top of stock 3.2.1.Fixture 3.2.3.2 is placed in into the shaft of stock 3.2.1, screw rod is screwed 3.2.3.1 connector is made to be fastened on the shaft of stock 3.2.1.Morse's taper male end coaxial interface 1.4 is inserted into Mohs cone Morse's taper mother's mouth end on the female mouth end transverse axis 3.2.3.3 of degree, screws interface locks screw rod 3.2.3.4, and distributed interactive is general Mapping machine 1 is fixed on Morse's taper mother mouth end transverse axis 3.2.3.3, completes the general mapping machine 1 of distributed interactive and long punctuate bar 3.2 Connection.Otherwise then realize that the general mapping machine of distributed interactive 1 is separated with long punctuate bar 3.2.

Due to the difference of center of gravity, when the general mapping machine 1 of distributed interactive adopts both hands handheld, Morse's taper mother's mouth end transverse axis 3.2.3.3 bent axle can be adopted, to support the general mapping machine 1 of distributed interactive based on horizontal rotation.

Referring to Fig. 7, embodiment Morse's taper mother mouth end transverse axis 3.2.3.3 adopts bent axle.O points：The general mapping of distributed interactive Machine constitutes a complete physics entirety W in place afterwards with the transverse axis 3.2.3.3 assemblings of Morse's taper mother's mouth end, and O points are the dissection weights of W The heart.O points are on H.

The full landform real-time dynamic positioning measurement of full attitude of the general mapping machine of distributed interactive 1 on long punctuate bar 3.2：The whole world Positioning antenna 1.1.1.1 and GPS receiver board 1.1.1.2 receives the signal of global location day net and will process Data afterwards are uploaded to central processing unit.Or, global location antenna is replaced using external global location antenna 3.2.2 1.1.1.1 it is operated, 3 d pose data are uploaded to central processing unit by the built-in 3 d pose unit, and external is complete The phase center of ball positioning antenna 3.2.2 is designated as O_x.The phase center of central processor comprehensive global location antenna 1.1.1.1 is arrived The range data of stock 3.2.1 bars point, 3 d pose data, global positioning data, GPS time real-time resolving go out Stock 3.2.1 bars point（Longitude, latitude, elevation, time）Data.

Contribution of the attitude measurement error to dynamic positioning measurement error is grade：The general mapping machine of distributed interactive 1 is being grown When the real-time dynamic positioning measurement of Centimeter Level precision is carried out on punctuate bar 3.2, error analysis and measured result are proved, built-in three The attitude measurement error of dimension attitude unit is to quarter butt 3.1.1 bars point（Longitude, latitude, elevation, time）The space of data Error contribution is grade.

Contribution of the topography variation to positioning measurement error is zero：Marked long according to the described general mapping machine 1 of distributed interactive Full attitude real-time dynamic positioning measuring principle on point bar 3.2, its positioning measurement error and satellite-signal and ground magnetic dependence.Institute State long 3.2 bar of punctuate bar point（Longitude, latitude, elevation, time）The space error of data is demarcated with long 3.2 bar of punctuate bar point Measuring point it is unrelated, unrelated with the landform of measuring point site.

4）Remote sensing remote measurement on long punctuate bar 3.2

Morse's taper mother's mouth end transverse axis lock nut 3.2.3.5 is unclamped, Morse's taper male end transverse axis 3.2.3.3 is freely turned It is dynamic.The image data that automated imaging unit is uploaded is transferred to touch-screen and is shown by central processing unit, and operating personnel are in image Selected target.General 1 automatic telemetering of mapping machine of distributed interactive obtains the three-dimensional geodetic coordinates of target：The central processor comprehensive whole world The real-time spatial position data of positioning unit upload, the real-time three-dimensional attitude data of built-in 3 d pose unit upload, range finding The range data real-time resolving that unit is uploaded goes out the three-dimensional geodetic coordinates of target.

5）Location navigation on the full landform real time dynamic measurement bar of full attitude 3

Engineering drawing is input into built-in calculation unit 1.3.1.1.The work that built-in calculation unit 1.3.1.1 is indicated according to the engineering drawing The real-time three-dimensional Geodetic Coordinate Calculation of journey point coordinates and the general mapping machine of distributed interactive 1 goes out the general mapping machine of distributed interactive to engineering The air line distance of point and map distance, direction of advance and map path, find the ENGINEERING POINT of sign in the engineering drawing accordingly Field position.

6）Distributed interactive cooperative on the full landform real time dynamic measurement bar of full attitude 3

4th, the detailed design of machine execution system be embodied as

Referring to Fig. 3 and Fig. 5, machine execution system include coaxial interface unit with one heart, pitch attitude unit, course attitude unit, Horizontal attitude unit, support 2.5, bluetooth-communication unit 2.6, microcomputer plate 2.7, steering wheel.

The coaxial interface unit with one heart includes lateral flexure axle 2.1.1, Morse's taper mother mouth end 2.1.2, exits screw rod 2.1.3, lock nut 2.1.4.Morse's taper mother mouth end 2.1.2, exit screw rod 2.1.3, lock nut 2.1.4 and be arranged on On lateral flexure axle 2.1.1.

The support includes tuning fork 2.5.1, vertical pivot 2.5.2.The lateral flexure axle 2.1.1 is on tuning fork 2.5.1.Lateral flexure The axis S of the axis H and vertical pivot 2.5.2 of axle 2.1.1 is vertically intersected on O points.The axis S of vertical pivot 2.5.2 is overlapped with L. Wherein L is the phase center point O of global location antenna 1.1.1.1₁And O₂The straight line that point is constituted.O₁Point, O points, O₂Point is with straight line On L.O₂Point is Morse's taper male end coaxial interface 1.4 and Morse's taper mother mouth end 2.1.2 is combined to site.

The flexion-extension attitude unit includes elevation-depression angle encoder 2.2.1, pitches motion servo mechanism 2.2.2, pitches fortune Dynamic transmission mechanism 2.2.3.The elevation-depression angle encoder 2.2.1 is arranged on lateral flexure axle 2.1.1, connected with computer plate 2.7.Microcomputer 2.7 Jing of plate pitches motion servo mechanism 2.2.2, pitches motion work 2.2.3 connection driving lateral flexure axle 2.1.1.

The course attitude unit includes course heading encoder 2.3.1, course motion servo mechanism 2.3.2, course fortune Dynamic transmission mechanism 2.3.3.The course heading encoder 2.3.1 is connected on microcomputer plate 2.7 on vertical pivot 2.5.2.It is micro- 2.7 Jing courses motion servo mechanism 2.3.2 of machine plate, course motion work 2.3.3 connections drive vertical pivot 2.5.2.

The horizontal attitude unit includes adjusting screw rod group 2.4.1, Electronic bubble 2.4.2.Adjusting screw rod group 2.4.1 is used for Adjust the relative position between geoid and support 2.5.The Electronic bubble 2.4.2 is connected on microcomputer plate 2.7.

The steering wheel includes pitching telecontrol equipment 2.8.1, pitches motion amplitude control device 2.8.2, pitches motion sequential Encoder 2.8.3.Telecontrol equipment 2.8.1 is pitched described in 2.7 Jing of microcomputer plate, motion amplitude control device 2.8.2 connection drives are pitched Move and control lateral flexure axle 2.1.1 reciprocating along direction is pitched by the speed for arranging in the angular range of setting.Pitch fortune Dynamic sequential coding device 2.8.3 connected with computer plate 2.7, pitches motion sequential coding device 2.8.3 and will pitch direction reciprocating motion reduction For corresponding elevation-depression angle.

See accompanying drawing 5：

The axis L of vertical pivot 2.5.2, lateral flexure axle 2.1.1 axis H, tri- axles of collimation axis M of automated imaging unit meet at O points.Its In, the axis L and lateral flexure axle 2.1.1 axis H of vertical pivot 2.5.2 intersect vertically；Lateral flexure axle 2.1.1 axis H, from The collimation axis M of dynamic image-generating unit intersects vertically.

Preferably, O points are barycenter：After assembling is finished, the general mapping machine of distributed interactive, lateral flexure axle 2.1.1, spiral shell is exited Bar 2.1.3, coaxial interface unit, steering wheel, lock nut 2.1.4, a physics entirety W is constituted, O points are the dissection centers of gravity of W.

O₂Point：The phase center of global location antenna 1.1.1.1

O₂Point：Morse's taper male end coaxial interface 1.4 is assembled to site with Morse's taper mother mouth end 2.1.2's.

Tuning fork 2.5.1 is the U-shaped frame of two-wire part sign in figure；2. O points, O₁The straight line that point is constituted is overlapped with L；O points, O₁ Point, O₂Point is with the linel.5th, the distributed interactive mapping all-purpose robot system architecture operation principle and method of work.

Distributed interactive mapping all-purpose robot=distributed interactive mapping universal machine+machine execution system

1）Distributed interactive is surveyed and drawn the assembling of all-purpose robot and is separated

Lock nut 2.1.4 is screwed after Morse's taper male end coaxial interface 1.4 is inserted Morse's taper mother mouth end 2.1.2 i.e. complete The assembling of all-purpose robot is surveyed and drawn into distributed interactive.Otherwise then separate.

2）The operation principle and working method of machine execution system

Horizontal attitude：2.5 base plane of support and geoid are made using adjusting screw rod group 2.4.1 and Electronic bubble 2.4.2 It is parallel.Electronic bubble 2.4.2 is connected on microcomputer plate 2.7.2.7 bluetooth connection of microcomputer plate is in built-in calculation unit 1.3.1.1.

Pitch motion：Microcomputer plate 2.7 is connected in built-in calculation unit 1.3.1.1 by bluetooth approach.It is built-in to calculate single First 1.3.1.1 sends lateral flexure axle 2.1.1 arrival to microcomputer plate 2.7 via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6 The director data of position, microcomputer plate 2.7 is according to the instruction of built-in calculation unit 1.3.1.1 to pitching motion servo mechanism 2.2.2 Send exercise data instruction.Pitch motion servo mechanism 2.2.2 flexion-extension motion biography is moved through according to the instruction of microcomputer plate 2.7 Motivation structure 2.2.3 drives lateral flexure axle 2.1.1 to move to specified location, elevation-depression angle encoder 2.2.1 record lateral flexure axle 2.1.1's Current location data is simultaneously uploaded to microcomputer plate 2.7.Microcomputer plate 2.7 compares the current location data and built-in meter of lateral flexure axle 2.1.1 Calculate the director data of the lateral flexure axle 2.1.1 in-positions that unit 1.3.1.1 sends：If error between the two performs system in machine In the range of the calibrated error of system, then task terminates；If error between the two is beyond the calibrated error scope of machine execution system, Then microcomputer plate 2.7 calculates error correction values and the direction of motion and according to the error correction values and the direction of motion again to flexion-extension Motion servo mechanism 2.2.2 sends director data, pitches motion servo mechanism 2.2.2, elevation-depression angle encoder 2.2.1, microcomputer The collaboration repetition of plate 2.7 process, until within the scope of error between the two reaches the calibrated error of machine execution system.

Move in course：2.7 bluetooth connection of microcomputer plate is in built-in calculation unit 1.3.1.1.Built-in calculation unit 1.3.1.1 The instruction number of vertical pivot 2.5.2 in-positions is sent to microcomputer plate 2.7 via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6 According to microcomputer plate 2.7 sends exercise data to course motion servo mechanism 2.3.2 according to the instruction of built-in calculation unit 1.3.1.1 Instruction.Course motion servo mechanism 2.3.2 moves through course motion work 2.3.3 according to the instruction of microcomputer plate 2.7 Vertical pivot 2.5.2 is driven to move to specified location, the current location data of course heading encoder 2.3.1 record vertical pivot 2.5.2 is simultaneously It is uploaded to microcomputer plate 2.7.Microcomputer plate 2.7 compares the current location data and built-in calculation unit 1.3.1.1 of vertical pivot 2.5.2 and sends Vertical pivot 2.5.2 in-positions director data：If error between the two is in the range of the calibrated error of machine execution system, Then task terminates；If error between the two calculates mistake beyond the calibrated error scope of machine execution system, microcomputer plate 2.7 Differ from correction value and the direction of motion and sent out to course motion servo mechanism 2.3.2 according to the error correction values and the direction of motion again Go out director data, course motion servo mechanism 2.3.2, course heading encoder 2.3.1,2.7 collaborative work of microcomputer plate repeat institute Process is stated, until within the scope of error between the two reaches the calibrated error of machine execution system.

Steering wheel is moved：The speed and amplitude that steering wheel pitches motion is set by man-machine interaction unit 1.3.3.Microcomputer plate 2.7 Bluetooth connection forms data closed loop in built-in calculation unit 1.3.1.1.Built-in calculation unit 1.3.1.1 is via Bluetooth communication Unit 1.2.1, bluetooth-communication unit 2.6 send steering wheel movement instruction data to microcomputer plate 2.7.Pitch telecontrol equipment 2.8.1, face upward Bow motion amplitude control device 2.8.2, pitch motion sequential coding device 2.8.3 synchronous working：Pitch telecontrol equipment 2.8.1, face upward The motion amplitude control device 2.8.2 that bows drives lateral flexure axle 2.1.1 to do flexion-extension motion according to the speed and amplitude of setting, pitches motion Sequential coding device 2.8.3 is by the pitch angle data transfer at each moment to microcomputer plate 2.7.

3）The operation principle and working method of distributed interactive mapping all-purpose robot

A. obtain automatically basic data

After energization, positioning accuracy request is input into built-in calculation unit 1.3.1.1 by man-machine interaction unit 1.3.3, by object lens 1.1.3.1.1 towards target area：Built-in calculation unit 1.3.1.1, global positioning unit 1.1.1.1, distributed interactive communication system Unite 1.2 collaborative works, obtain the survey station three-dimensional geodetic coordinates data of distributed interactive mapping all-purpose robot site；Automatically into As unit provides live-action image data to built-in calculation unit 1.3.1.1.

B. remote measurement object space three-dimensional geodetic coordinates

Automatically sight target：Man-machine interaction unit 1.3.3 show in the outdoor scene shadow of optical amplifier

Choose target（Can autoelectrinic amplification target image make target selection more accurate）And click on target image, built-in calculating list First 1.3.1.1 sends target accordingly and sights director data, via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6, microcomputer Plate 2.7, flexion-extension attitude unit, course attitude unit are automatically obtained target and sight.The multiple target images of adopting consecutive click chemical reaction then sequentially connect It is continuous to sight automatically multiple targets.Microcomputer plate 2.7 is via bluetooth-communication unit 2.6, bluetooth-communication unit 1.2.1 to central processing unit Automatic feedback target sights data.

Automatically obtain object space three-dimensional geodetic coordinates：Built-in calculation unit 1.3.1.1 is obtained to start after target sights data and is surveyed The range measurement to target is completed away from unit and the range data of O points to target is obtained.Built-in calculation unit 1.3.1.1 utilizes O The 3 d pose on the basis of O points that the three-dimensional geodetic coordinates data of point, the range data of O points to target, microcomputer plate 2.7 are uploaded The angle aggregation of data of data, target and direct north calculates the three-dimensional geodetic coordinates of target.The multiple target shadows of adopting consecutive click chemical reaction As then order continuously automatically obtains the three-dimensional geodetic coordinates of multiple targets.

C. three-dimensional imaging automatically

The three-dimensional imaging of single width two dimension live-action image：Pitch angle motion amplitude, course fortune are set by man-machine interaction unit 1.3.3 Dynamic amplitude and movement velocity.Built-in calculation unit 1.3.1.1 is via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6, micro- Machine plate 2.7 sends director data：Steering wheel is made to drive lateral flexure axle 2.1.1 reciprocating in the pitch angle motion amplitude of setting； Make the synchronous speed motion by setting of course attitude unit；Make range cells synchronization high frequency range finding.Built-in calculation unit 1.3.1.1 The data such as coordinate data, course attitude data, flexion-extension attitude data, range data dot matrix cloud according to O points carry out data combination, Three-dimensional coordinate dot matrix cloud is obtained on the two-dimentional live-action image that automated imaging unit is provided, central processing unit accordingly generates one three Dimension live-action image.

360 ° of panorama three-dimensional imagings：Central processing unit course attitude unit press setting speed move 360 ° during, Angle of visual field control automated imaging unit according to setting continuously generates several two-dimentional live-action images, and in the two-dimentional live-action image per width The upper repetition three-dimensional imaging process, is allowed to generate three-dimensional live image, obtains several three-dimensional live images accordingly.Central authorities are processed Device completes the automatic seamless splicing of several three-dimensional live images according to the angle of visual field of setting, generates 360 ° of panorama three-dimensional lives Image.Or 360 ° of panorama bidimensional images of seamless spliced composition of several two-dimentional live-action images are automatically performed first, then at 360 ° Repeat the three-dimensional imaging process on panorama bidimensional image, be allowed to generate 360 ° of panorama three-dimensional live images.

Three-dimensional imaging to any local：Pitch angle motion amplitude and course fortune are set by man-machine interaction unit 1.3.3 Dynamic scope, performs the three-dimensional live image that the three-dimensional imaging workflow obtains final product any local.

D. automatic mapping contour line

Setting elevation.It is three-dimensional big that central processing unit screens altitude data identical in three-dimensional live image according to the elevation of setting Ground coordinate points, in live-action image connect elevation identical point and generate a contour.

Depth displacement is set arbitrarily.Central processing unit generates arbitrarily a plurality of contour by the depth displacement of setting.

E. the engineering survey based on live-action image

Look for north：Using sighting automatically described in B. known to mesh calibration method sighted in live field range

Geodetic coordinates point, built-in calculation unit 1.3.1.1, machine execution system collaborative work obtain survey station real north data.

Angle and distance measuring：Target, built-in calculation unit are sighted using the mesh calibration method of sighting automatically described in B. 1.3.1.1, machine execution system collaborative work, independently obtains angle-data；Built-in calculation unit 1.3.1.1, range cells association With working, range data is independently obtained.

Quantities is calculated（Self-defined coordinate system can be used）：By man-machine interaction unit 1.3.3 to built-in calculation unit 1.3.1.1 it is input into quantities and calculates task, by the multiple impact point object space three-dimensional geodetic coordinates of automatic telemetering described in B.（Or object space Three-dimensional coordinate）Method obtains the three-dimensional coordinate of multiple impact points.Built-in calculation unit 1.3.1.1 calculates mission requirements according to quantities With the three-dimensional coordinate of multiple impact points, polyhedral correlation length, area, volume calculating task are independently completed.

Engineering setting out：Hand over according to the multiple impact point object space three-dimensional geodetic coordinates methods of automatic telemetering described in B., distribution Mutually positioning navigation method of the general mapping machine on the full landform real time dynamic measurement bar of full attitude 3 obtains each ENGINEERING POINT in engineering drawing Field position.Method is calculated according to described quantities and completes engineering setting out.

F. control point survey

Control point survey task is input into built-in calculation unit 1.3.1.1 by man-machine interaction unit 1.3.3.

Built-in calculation unit 1.3.1.1, global positioning unit, 1.2 collaborative work of distributed interactive communication system, in difference and The geodesic survey control point data of mm class precisions is obtained under the conditions of global location static measurement.

G. cooperative

Without the distribution interactive cooperative that space-time position is limited.

6th, distributed interactive mapping all-purpose robot（Or the general mapping machine of distributed interactive）Distribution interactive mode of operation Detailed design be embodied as

The achievable decentralization of the present invention is integrated integrated with data processing with planarization, data acquisition.

The distributed interactive surveys and draws all-purpose robot（Or the general mapping machine of distributed interactive）It is distributed interactive system processor In one kind.Distributed interactive system processor is divided into two class of modal processor and ordinary processor.

The modal processor is the hinge type distributed interactive system of the data flow collection/forwarding/process for completing particular task System processor；The ordinary processor is can to work around modal processor, can provide inter-related task type clothes for modal processor Other distributed interactive system processors of business.

1）Decentralization and planarization

Each processor mutual equality on work status in distributed interactive system, and according to task it needs to be determined that each other Task work relationship.

According to the particular job task that the manual command assigns, built-in calculation unit 1.3.1.1 is according to distributed interactive system The unified authorization scope of system specifies the work relationship in the distributed interactive system between each processor automatically and to distributed interactive Communication system 1.2 issues the machine instruction, is held by distributed interactive communication system 1.2, related distributed interactive system processor The row machine instruction：It is unrelated with space-time position, any applicable ordinary processor can Transient transformation be Task node at Reason device, vice versa.

Any distributed interactive system processor is received after the work order of built-in calculation unit 1.3.1.1, is commented automatically Estimate the real time resources situation of itself and feed back to built-in calculation unit 1.3.1.1：The redundancy of effort ability of itself be enough to complete institute When stating work order, receive and perform the work order；The redundancy of effort scarce capacity of itself is completing the work order When, to built-in calculation unit 1.3.1.1 feedback resources deficiency information.Otherwise allocated is performed built-in calculation unit 1.3.1.1 accordingly The object of task（Other distributed interactive system processors）.One built-in calculation unit 1.3.1.1 can pass through communications platform 1.2.5 It is synchronous to distribute task to multiple distributed interactive system processors.Conversely, any distributed interactive system processor also can be according to distribution The unified authorization scope of interactive system issues work order to built-in calculation unit 1.3.1.1.Built-in calculation unit 1.3.1.1 root Automatically the real time resources situation of itself is assessed and to the distributed interactive system for issuing the work order according to the work order for receiving Processor feedback information.

Decentralization makes there was only task nexus between the distributed interactive system processor, does not have layer upon layer of fixed mount Structure, it is no it is traditional " " center " and " terminal ", the distributed interactive system processor all at grade.

2）Data acquisition integration is integrated with data processing

Data acquisition integration：Built-in calculation unit 1.3.1.1 distributes data acquisition task simultaneously automatically according to the manual command Data are issued to related distributed interactive system processor and is obtained by data interface unit 1.3.2, distributed interactive communication system 1.2 Take and data transfer instruction, it is synchronous under conditions of communication bandwidth is allowed mutually to pass multiple with Real-Time Sharing or whole distributed interactive systems The data of system processor collection, no space-time position are limited, are limited without distance.This causes：At each distributed interactive system Reason device data acquisition range be equal to whole distributed interactive system processors distribution work region simultaneously；Each distribution is handed over Mutually the data acquisition amount and data collection type of system processor is equal to the data acquisition of whole distributed interactive system processors Amount and data collection type sum.

Data processing integration：Built-in calculation unit 1.3.1.1 independently assesses the amount of calculation in deadline of task, will be beyond certainly The big data quantity supercomputing task of body operational capability is distributed by data interface unit 1.3.2, distributed interactive communication system 1.2 Completed by cloud computing unit 1.3.1.2 or other distributed interactive system processors；In the same manner, cloud computing unit 1.3.1.2 also can be by Related computing tasks are distributed to other and are connected to the online computer server of public correspondence or other distributed interactive systems process Device is completed.During data processing integration, no space-time position is limited, is limited without distance.This causes：It is each The data processing of individual distributed interactive system processor is all obtained the synchrodata of one or more distributed interactive system processors Process and support.

7th, the remote control work implementation of distributed interactive mapping all-purpose robot

The remote control method of work of distributed interactive mapping all-purpose robot is a kind of distribution for limiting without space-time position, limiting without distance Interactive remote control mode of operation.

The Principle of Communication of the distributed interactive mapping all-purpose robot of the embodiment of the present invention is as shown in Fig. 2 following with from upper past The mode of lower leaf is annotated.Ground floor：The cloud on left side sign " HA Global Positioning Satellite " represents the satellite group for global location The day net of composition, the GPS comprising the U.S., the Big Dipper of China, the Galileo of European Union, Muscovite GLONASS, Japanese SBAS are poor The available resources such as subnetting.For example, GPS contains 26 satellites (2 backups, 24 operations) for the satellite group of global location, divides 6 Bar track etc..This 26 satellites just constitute GPS days nets.Big Dipper day net, Galileo day net and GLONASS days nets are stated in the same manner. The cloud on the right sign " remote sensing satellite " is represented by various countries, the various available resources for observing the RS satellites of earth resource (such as Space remote sensing image etc.)；The second layer：Including distributed interactive provided by the present invention survey and draw all-purpose robot, indicate " bluetooth ", Pass through MANET or public cors between " radio station net ", the network representation distributed interactive system processor of " cors communication networks " printed words The radio communication that difference net is carried out, the flash symbols positioned at both sides for indicating " ground RS data " printed words represent distributed interactive system The ground remote sensing function of system processor；Third layer：Terrestrial communication networks.The left side indicates the cloud of " cable/radio telephone set net " printed words The telephone network for ground call piece is represented, its terminal includes mobile phone and base.Centre indicates " wireless Internet (2.5G/ 3G/4G) " cloud of printed words represents wireless data network.The right indicates the ground that the cloud of " earth station " printed words represents remote sensing satellite Stand network；4th layer：Terrestrial communication networks.Indicate " 2.5G platforms ", " 3G platforms ", " 4G platforms ", the side of " RS data platforms " Frame represents 2.5G RFDC platforms, 3G RFDC platforms, 4G RFDCs platform and and various places respectively The remotely-sensed data platform of face station connection；Layer 5：The cloud for indicating " wired Internet " printed words represents general wired because of spy Net, the left side indicate the icon representation connection distributed interactive system communication station on the internet of communications platform printed words, for realizing The data broadcasting of point-to-point interconnection and point-to-multipoint in distributed interactive system between each processor.The right mark cloud computing server The icon representation connection of the printed words server that computational service is provided for all distributed interactive system inner treaters on the internet. Traffic symbols between each layer：Flash symbols represent the data link of communication, and straight line is connected and represents wire communication The data link of mode.

Distributed interactive mapping all-purpose robot is in public network（Or station telecommunication net）Signal cover in when, Any distributed interactive system processor in the residing distributed interactive system of distributed interactive mapping all-purpose robot can be according to being System is authorized and is remotely controlled operation to distributed interactive mapping all-purpose robot：

1）Public network Data-Link between the distributed interactive system processor and distributed interactive mapping all-purpose robot

The distributed interactive system processor by public Wireless/wired Internet connection communications platform 1.2.5, via communication Platform 1.2.5 connects public network communication unit 1.2.3, connects built-in calculation unit 1.3.1.1 by public network communication unit 1.2.3, Realize bi-directional data exchange and straighforward operation.

2）Radio station Data-Link between the distributed interactive system processor and distributed interactive mapping all-purpose robot

The distributed interactive system processor connects station telecommunication unit 1.2.2 by radio station, by station telecommunication unit 1.2.2 Connection built-in calculation unit 1.3.1.1, realizes bi-directional data exchange and straighforward operation.

Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention The technical staff in domain can be made various modifications or supplement or replaced using similar mode to described specific embodiment Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.

Claims (10)

1. a kind of distribution interactive surveys and draws all-purpose robot, it is characterised in that：Including the general mapping machine of distributed interactive（1）And machine Execution system（2）,

The general mapping machine of the distributed interactive includes the data collecting system（1.1）, distributed interactive communication system（1.2）, number According to processing system（1.3）With Morse's taper male end coaxial interface（1.4）；

The data collecting system（1.1）Including global positioning unit, built-in 3 d pose unit, automated imaging unit, survey Away from unit；

The global positioning unit includes global location antenna（1.1.1.1）, the automated imaging unit includes object lens （1.1.3.1.1）, zoom microscope group（1.1.3.1.2）, focusing microscope group（1.1.3.2.4）With CCD modules（1.1.3.2.5）, it is photosensitive Resistance（1.1.3.3）, the range cells include laser beam emitting device（1.1.4.1）And laser receiver（1.1.4.2）；

Object lens（1.1.3.1.1）Collimation axis, zoom microscope group（1.1.3.1.2）Collimation axis, focusing microscope group（1.1.3.2.4）'s Collimation axis, CCD modules（1.1.3.2.5）The collimation axis of optical lens is on same straight line M, and straight line M is referred to as automated imaging list The collimation axis of unit；

The collimation axis M of automated imaging unit, laser beam emitting device（1.1.4.1）Optical axis N, laser receiver（1.1.4.2） Optical axis P three be parallel to each other or overlap；

The collimation axis M and straight line L of the automated imaging unit is vertically intersected on O ' ' points, and the straight line L is following 2 points of compositions Straight line,

Global location antenna（1.1.1.1）Phase center point O₁,

Morse's taper male end coaxial interface (1.4) is combined to site O₂；

The machine execution system（2）Including coaxial interface unit, pitch attitude unit, course attitude unit, horizontal attitude list Unit, support（2.5）, set up formula bluetooth-communication unit（2.6）, microcomputer plate（2.7）And steering wheel.

2. distribution interactive surveys and draws all-purpose robot according to claim 1, it is characterised in that：The distributed interactive communication system System（1.2）Including bluetooth-communication unit（1.2.1）, station telecommunication unit（1.2.2）, public network communication unit（1.2.3）, cors it is poor Divide communication unit（1.2.4）, communications platform（1.2.5）；The data handling system（1.3）Connect including central processing unit, data Mouth unit（1.3.2）, man-machine interaction unit（1.3.3）, the central processing unit includes built-in calculation unit（1.3.1.1）With it is remote The cloud computing unit of journey（1.3.1.2）.

3. distribution interactive surveys and draws all-purpose robot according to claim 2, it is characterised in that：Distributed interactive communication system （1.2）It is the communication station between the general surveying instrument of distributed interactive and other distributed interactive system processors, the distributed interactive system System processor be constitute distributed interactive system processor, the calculating being including but not limited to connected on the various communication networks It is the general surveying instrument main frame of machine, mobile phone, sensor, other distributed interactives, machine execution system, global positioning system base station, logical Letter platform（1.2.5）, cloud computing unit（1.3.1.2）.

4. distribution interactive surveys and draws all-purpose robot according to claim 2, it is characterised in that：The automated imaging unit bag Zoom system, pancreatic system and focusing system are included,

The zoom system, pancreatic system includes object lens（1.1.3.1.1）, zoom microscope group（1.1.3.1.2）, zoom motor（1.1.3.1.3）、 Zoom transmission group（1.1.3.1.4）, zoom encoder（1.1.3.1.5）, central processing unit（1.3.1）, zoom motor （1.1.3.1.3）, zoom transmission group（1.1.3.1.4）, zoom microscope group（1.1.3.1.2）It is sequentially connected, light Jing object lens （1.1.3.1.1）Inject zoom microscope group（1.1.3.1.2）, zoom transmission group（1.1.3.1.4）, zoom encoder （1.1.3.1.5）, central processing unit（1.3.1）It is sequentially connected；

The focusing system includes object lens（1.1.3.1.1）, focusing motor（1.1.3.2.1）, focusing transmission group （1.1.3.2.2）, focusing encoder（1.1.3.2.3）, focusing microscope group（1.1.3.2.4）, CCD modules（1.1.3.2.5）, image Processing unit（1.1.3.2.6）,

Zoom system, pancreatic system, focusing system share same object lens（1.1.3.1.1）,

Central processing unit（1.3.1）, focusing motor（1.1.3.2.1）, focusing transmission group（1.1.3.2.2）, focusing microscope group （1.1.3.2.4）It is sequentially connected, transmission group of focusing（1.1.3.2.2）, focusing encoder（1.1.3.2.3）And central processing unit （1.3.1）It is sequentially connected, focusing microscope group, CCD modules（1.1.3.2.5）, graphics processing unit（1.1.3.2.6）With central authorities' process Device（1.3.1）It is sequentially connected.

5. distribution interactive surveys and draws all-purpose robot according to claim 1, it is characterised in that：The machine execution system （2）In,

The coaxial interface unit with one heart includes lateral flexure axle（2.1.1）, Morse's taper mother mouth end（2.1.2）, exit screw rod （2.1.3）And lock nut（2.1.4）, Morse's taper mother's mouth end（2.1.2）, exit screw rod（2.1.3）, lock nut （2.1.4）Installed in lateral flexure axle（2.1.1）On；

The support includes tuning fork（2.5.1）, vertical pivot（2.5.2）, the lateral flexure axle（2.1.1）Installed in tuning fork（2.5.1）On, Lateral flexure axle（2.1.1）Axis H and vertical pivot（2.5.2）Axis S be vertically intersected on O points, vertical pivot（2.5.2）Axis S is overlapped with L, and wherein L is global location antenna（1.1.1.1）Phase center point O₁And O₂The straight line that point is constituted, O₁Point, O points, O₂Point is same on the linel, O₂Point is Morse's taper male end coaxial interface（1.4）With Morse's taper mother's mouth end（2.1.2）Combination To site；

The flexion-extension attitude unit includes elevation-depression angle encoder（2.2.1）, pitch motion servo mechanism（2.2.2）, pitch fortune Dynamic transmission mechanism（2.2.3）, the elevation-depression angle encoder（2.2.1）Installed in lateral flexure axle（2.1.1）On, connected with computer plate （2.7）, microcomputer plate（2.7）Jing pitches motion servo mechanism（2.2.2）, pitch motion work（2.2.3）Connection drives horizontal Bent axle（2.1.1）；

The course attitude unit includes course heading encoder（2.3.1）, course motion servo mechanism（2.3.2）, course fortune Dynamic transmission mechanism（2.3.3）, the course heading encoder（2.3.1）Installed in vertical pivot（2.5.2）On, it is connected to microcomputer plate （2.7）On, microcomputer plate（2.7）Jing courses motion servo mechanism（2.3.2）, course motion work（2.3.3）Connection drives Vertical pivot（2.5.2）；

The horizontal attitude unit includes adjusting screw rod group（2.4.1）, Electronic bubble（2.4.2）, adjusting screw rod group（2.4.1）With In regulation geoid and support（2.5）Between relative position, the Electronic bubble（2.4.2）It is connected to microcomputer plate （2.7）On；

The steering wheel includes pitching telecontrol equipment（2.8.1）, pitch motion amplitude control device（2.8.2）, pitch motion sequential Encoder（2.8.3）, microcomputer plate（2.7）Telecontrol equipment is pitched described in Jing（2.8.1）, pitch motion amplitude control device （2.8.2）Connection drives and controls lateral flexure axle（2.1.1）Make along direction is pitched by the speed for arranging in the angular range of setting Move back and forth；Pitch motion sequential coding device（2.8.3）Connected with computer plate（2.7）, pitch motion sequential coding device（2.8.3）Will Pitch direction reciprocating motion and be reduced to corresponding elevation-depression angle.

6. according to claim 1 or 2 or 3 or 4 or 5, distribution interactive surveys and draws all-purpose robot, it is characterised in that：Distribution is handed over Mutual general mapping machine（1）Be used singly or in combination, it is described be applied in combination including with machine execution system（2）Or attitude is complete entirely Landform real time dynamic measurement bar（3）Or tripod is applied in combination.

7. distribution interactive surveys and draws all-purpose robot according to claim 6, it is characterised in that：The full landform reality of the full attitude When kinetic measurement bar（3）For short punctuate bar (3.1),

The short punctuate bar（3.1）Including quarter butt（3.1.1）, bulb（3.1.2）, ball head lock screw rod（3.1.3）, bulb punctuate Joint element for bar（3.1.4）, coaxial interface unit（3.1.5）With center of gravity handle（3.1.6）；

The quarter butt（3.1.1）Including shaft and bar point, have at the top of shaft and bulb punctuate joint element for bar（3.1.4）Supporting spiral shell Public affairs,

The bulb punctuate joint element for bar（3.1.4）Including bulb groove and connection screw socket, bulb（3.1.2）Installed in bulb groove Interior, bulb groove is connected to quarter butt by connection screw socket（3.1.1）On；

The coaxial interface unit（3.1.5）Including Morse's taper mother's mouth end（3.1.5.1）.

8. distribution interactive surveys and draws all-purpose robot according to claim 7, it is characterised in that：Coaxial interface unit （3.1.5）It is fixed on bulb（3.1.2）On, the center of gravity handle（3.1.6）Located at the general mapping machine of distributed interactive（1）With it is coaxial Interface unit（3.1.5）Side.

9. distribution interactive surveys and draws all-purpose robot according to claim 7, it is characterised in that：The full landform reality of the full attitude When kinetic measurement bar（3）For long punctuate bar (3.2),

The long punctuate bar（3.2）Including stock（3.2.1）With external global location antenna（3.2.2）, connector；The company Fitting includes screw rod（3.2.3.1）, fixture（3.2.3.2）, Morse's taper mother mouth end transverse axis（3.2.3.3）, interface locks screw rod （3.2.3.4）With Morse's taper mother's mouth end transverse axis lock nut（3.2.3.5）；

The external global location antenna（3.2.2）Stock is arranged on by screw socket（3.2.1）Top；Fixture （3.2.3.2）It is placed in stock（3.2.1）Shaft, by screw rod（3.2.3.1）Connector is made to be fastened on stock（3.2.1）Bar With；Morse's taper male end coaxial interface（1.4）Insertion Morse's taper mother's mouth end transverse axis（3.2.3.3）On Morse's taper it is female Mouth end, screws interface locks screw rod（3.2.3.4）, by distributed interactive general mapping machine（1）It is fixed on Morse's taper mother's mouth end horizontal Axle（3.2.3.3）On, complete the general mapping machine of distributed interactive（1）With long punctuate bar（3.2）Connection；Otherwise then realize that distribution is handed over Mutual general mapping machine（1）With long punctuate bar（3.2）Separation.

10. distribution interactive surveys and draws all-purpose robot according to claim 6, it is characterised in that：The general mapping of distributed interactive Machine（1）With machine execution system（2）When being applied in combination, it is fastened on vehicle-mounted or boat-carrying or the airbone gyro instrument, there is provided vehicle-mounted Boat-carrying or it is airborne under the conditions of dynamic remote remote measurement application.