CN106525007B - Distribution interactive surveys and draws all-purpose robot - Google Patents

Distribution interactive surveys and draws all-purpose robot Download PDF

Info

Publication number
CN106525007B
CN106525007B CN201610936069.4A CN201610936069A CN106525007B CN 106525007 B CN106525007 B CN 106525007B CN 201610936069 A CN201610936069 A CN 201610936069A CN 106525007 B CN106525007 B CN 106525007B
Authority
CN
China
Prior art keywords
unit
distributed interactive
machine
data
interactive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610936069.4A
Other languages
Chinese (zh)
Other versions
CN106525007A (en
Inventor
许凯华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu is a Mathematical Research Institute Limited
Original Assignee
许凯华
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 许凯华 filed Critical 许凯华
Priority to CN201610936069.4A priority Critical patent/CN106525007B/en
Publication of CN106525007A publication Critical patent/CN106525007A/en
Application granted granted Critical
Publication of CN106525007B publication Critical patent/CN106525007B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00

Abstract

The present invention provides a kind of distribution interactive mapping all-purpose robot, it is characterised in that：Including the general mapping machine of distributed interactive（1）With machine execution system（2）, the general mapping machine of distributed interactive includes the data collecting system（1.1）, distributed interactive communication system（1.2）, data handling system（1.3）With Morse's taper male end coaxial interface（1.4）；The machine execution system（2）Including coaxial interface unit, pitch posture unit, course posture unit, horizontal attitude unit, support（2.5）, set up formula bluetooth-communication unit（2.6）, microcomputer plate（2.7）And steering wheel.The present invention is low cost, the product of high performance-price ratio, has important market value.

Description

Distribution interactive surveys and draws all-purpose robot
Technical field
The invention belongs to field of measuring technique, and all-purpose robot is surveyed and drawn more particularly to a kind of distribution interactive.
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 To the tracking measurement of 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 Instrument is painted, every kind of instrument corresponds to one or more of concrete applications.Or by the miscellaneous multigroup instrument and equipment of multigroup librarian use Segmentation meets above-mentioned a certain core demand by different way, and combination forms various multiplex applications.
First, the instrument of surveying and mapping state of the art
There is the Related product that 7 classes are used for field mapping in the market：Conventional instrument of surveying and mapping, accurate measurement robot, take the photograph It is shadow formula automatic total instruments, the device integration system for the collection of close shot road photogrammetric data, three-dimensional laser scanner, portable Formula three-dimensional imaging instrument, 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 Position indicator and matching used data radio station/GPRS/3G communication equipments, super-station instrument (total powerstation+GPS location instrument) etc..The whole world, The production and sales of Jun Youduo companies of China.Conventional instrument of surveying and mapping is without photogrammetric function.Conventional instrument of surveying and mapping is existing to be limited to It is：
1) legacy equipment：The tradition such as rangefinder, spirit level, plane table, dipmeter, sedimentometer, theodolite, mark post, prism Equipment belongs to simple function instrument, by angle measurement, surveys height, ranging, surveys the integrating using obtaining survey station and quilt of the means such as level Survey the relative relation data under self-defined coordinate between target.Legacy equipment relies on manual operation, human error and segmentation The error of geodetic coordinates is introduced greatly and without effective Correction of Errors method.Legacy equipment efficiency is very low, obtains a low precision Object space three-dimensional geodetic coordinates usually need one group of professional and technical personnel's work really long days.It is a large amount of labor intensives and time, real Border job costs are high.
2) GPS location instrument：Instrument must be erected on measured target and observed, this has firstly the need of measured target sets up instrument The condition of device, herein under the premise of also need to put into larger human and material resources and longer time, and need the target point measured usually The condition for setting up instrument is not had.
3) total powerstation：Can angle measurement and ranging in self-defined coordinate system；By manual operation, human error is larger and nothing has The Correction of Errors method of effect；Need to be provided simultaneously with more than two known control points when measuring object space three-dimensional coordinate；Determine due north Direction must control net (if net as local presence) data by GPS location instrument or the local GPS of purchase, or by gyro Instrument；Introducing geodetic coordinates must be by GPS location instrument.
4) super-station instrument：Three-dimensional geodetic coordinates (the topological health super-station instrument of Japan of itself can also be determined in addition to angle measurement, ranging 600,000 yuans of unit price).The problem of similar with total powerstation be present in super-station instrument.
2nd, " accurate measurement robot " (total powerstation+servo-drive system) of Switzerland Lai Ka companies：
" accurate measurement robot " is novel total station, and unique difference with conventional total stations is that have " ATR function (ribs Mirror aiming function) "：After artificial alignment prism target, obtained according to conventional total stations method and store these prisms self-defined Three-dimensional coordinate data and the attitude data of itself under coordinate.After starting servo-drive system, seat of the machine with reference to last time measurement acquisition Mark data and attitude data automatic aiming prism and obtain the three-dimensional coordinate data under self-defined coordinate again again, extend accordingly Go out a function available for deformation monitoring using prism as observed object.Accurate measurement robot is the only of Lai Ka companies of Switzerland The measurement accuracy of family's product, its course angle and pitch angle reaches 0.5 rad, represents the current global highest level of total powerstation； It is moderate：When the prism number for needing to scan is less than 10,450,000 yuans of unit price；Prism number is more than another when 10 Make system schema, raised the price in addition by system schema.The limitation similar with total powerstation be present 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, Japanese Suo Jia/open up Pu Kang Upgrade version product is released again：Automatic total instruments with camera function --- total powerstation+servo-drive system+CCD camera it is portable Formula measuring instrument.Photography type automatic total instruments function phase is same, and it is different that the difference in technical indicator has its market price：490000 yuan of people People's coin/platform -620,000 yuan/platform.The function and limitation of photography type automatic total instruments are all in self-defined coordinate system Interior angle measurement and ranging.
4th, the device integration system for the collection of road photogrammetric data：
Road photogrammetric data acquisition system in the market is device integration system.Google of the U.S., Japan open up The vehicle mounted road Digital Photogrammetric System for flutterring health is to represent.Its hardware characteristics is to set position measurement apparatus (GPS), attitude measurement Standby, positioning compensation equipment (INS or dead reckoning system), video equipment (CCD systems), laser range scanners, vehicle computing Machine system equipment is linked together, and on automobile, the sky of road and road both sides atural object is gathered among the traveling of vehicle Between position 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 bases Integrated in the 3S of GPS, RS, GIS, data, the data that field data acquisition is returned carry out post editing processing, are formed various useful Thematic data achievement, such as map of navigation electronic.Its distinguishing feature is：A. it is directed to road and closes on the independent survey of both sides Drawing formation system.Without any base map, you can complete independently road network figure measures.Formd in work flow photogrammetric Closed-loop control, spatial data is with the road comprising rich properties information and closes on the stereopsis of both sides while obtains, outside Industry is closely connected with interior industry, avoids the human error under manual type；B. the data of the outdoor scene three-dimensional visualization of road are directed to Achievement.Its Quick Acquisition road and the geographical spatial data of road adjacent periphery, its outcome data in a manner of planar are continuous The outdoor scene of shooting can measure image；C. road and road adjacent periphery information are directed to road with defending piece/aerophotograph seamless link, formation And " Incorporate " new generation GIS of adjacent periphery atural object.
Existing limitation is：
1) working range is limited to road, can not conduct a field operation：Mobile mapping system (road photogrammetric data Acquisition system) be by GPS (global positioning system), attitude measurement system, CCD (video system), INS (inertial navigation system or Dead reckoning system), three-dimensional laser scanning system, the advanced sensor such as carried-on-vehicle computer system and equipment be assemblied in automobile On, this means that it is only used for road and its closes on the photogrammetric of both sides, can not 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, more people's operations.
4) working method of industry post-processing causes repeated field operation work inevitable in field data collection.
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, mobile mapping system (no survey of no laser range scanners Data collecting system away from function) price of product is ten thousand yuans of 300-400/set；There is the state of laser scanning and ranging equipment Outer 6,000,000 yuans of product price/- 1,400 ten thousand yuans of set/set.
5th, three-dimensional laser scanner
Three-dimensional laser scanner can provide close shot 3-dimensional image under self-defined coordinate：Distance measuring method is scanned with high-rate laser Obtain substantial amounts of target point range data and synchronous recording calculates ranging attitude data, target point three-dimensional coordinate is calculated；With Digital camera absorbs object scene image；Both are superimposed, obtains 3-dimensional image.
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 Chinese Jun Youshuo companies.At the field three-dimensional laser scanner of Rigle companies of Sweden In first place in the world：Ranging is 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 meters or so）Inner white light three-dimensional imaging.It can be arranged on the trolley for carrying similar total powerstation support and use, to overcome car The limitation that loading system can only use on road.Its unit price is 1,000,000 yuans or so.Follow-up is imitated in the country Similar products（The core components such as three-dimensional laser scanner are purchased, voluntarily produce accessory, the voluntarily assembled formations such as trolley）.
7th, positioning/remote sensing/remote measurement portable machine（GPS location+short distance laser ranging+low precision 3 d pose+camera）
U.S. Tian Bao company is that global first item can synchronization gain mesh in the Trimbie Geo 7x equipment released in 2014 Mark the portable machine of three-dimensional geodetic coordinates and live-action image, 70,000 yuan/platform of price or so：The distance of measured target is then distant more than 40 meters Survey target three-dimensional geodetic coordinates error more than 1 meter, without optics enlarging function and shooting resolution ratio and display resolution it is low. Trimbie Geo 7x equipment is still with traditional " RTK+ handbooks " for major function.
Switzerland comes card and then 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 added on software It is identical.Switzerland comes card and then releases similar products still with traditional " RTK+ handbooks " as major function.
Therefore, all there is the problem of function is single, and poor universality, operation is inconvenient, with high costs in currently existing product.
The content of the invention
The present invention provides a kind of completely new product based on emerging in large numbers property of complication system and Self-Organization Principle（At distributed interactive system Manage 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 dynamic 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 mapping all-purpose robot, including the general mapping machine 1 of distributed interactive and machine Execution system 2,
The general mapping machine 1 of distributed interactive includes the data collecting system 1.1, distributed interactive communication system 1.2, number According to processing system 1.3 and Morse's taper male end coaxial interface 1.4；
The data collecting system 1.1 include global positioning unit, built-in 3 d pose unit, automated imaging unit, Range cells；
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 module 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；
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 are regarded Fiducial axis, 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 automated imaging unit Collimation axis；
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 are vertically intersected on O ' ' points, and the straight line L is following 2 structures Into 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 includes coaxial interface unit, pitches posture unit, course posture unit, horizontal attitude Unit, support 2.5, set up formula bluetooth-communication unit 2.6, microcomputer plate 2.7 and steering wheel.
Moreover, 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.
Moreover, distributed interactive communication system 1.2 is at the general surveying instrument main frame of distributed interactive and other distributed interactive systems The communication station between device is managed, the distributed interactive system processor is the processor for forming distributed interactive system, including but unlimited In the general surveying instrument main frame of computer, mobile phone, sensor, other distributed interactives, the 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.
Moreover, the automated imaging unit includes zoom system, pancreatic system and focusing system,
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 injects zoom microscope group 1.1.3.1.2 through object lens 1.1.3.1.1, 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,
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.
Moreover, in the machine execution system 2,
The coaxial interface unit with one heart includes lateral flexure axle 2.1.1, Morse's taper mother's mouth end 2.1.2, exits screw rod 2.1.3 With lock nut 2.1.4, the Morse's taper mother mouth end 2.1.2, exit screw rod 2.1.3, lock nut 2.1.4 and be arranged on lateral flexure On axle 2.1.1；
The support 2.5 includes tuning fork 2.5.1, vertical pivot 2.5.2, the lateral flexure axle 2.1.1 on tuning fork 2.5.1, Lateral flexure axle 2.1.1 axis H and vertical pivot 2.5.2 axis S are vertically intersected on O points, vertical pivot 2.5.2 axis S and L weight Close, wherein L is global location antenna 1.1.1.1 phase center point O1And O2The straight line that point is formed, O1Point, O points, O2Point with On straight line L, O2Point is Morse's taper male end coaxial interface 1.4 and Morse's taper mother's mouth end 2.1.2 is combined to site；
The flexion-extension posture 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 are arranged on lateral flexure axle 2.1.1, connected with computer plate 2.7, microcomputer Plate 2.7 is through pitching motion servo mechanism 2.2.2, pitching motion work 2.2.3 connections driving lateral flexure axle 2.1.1；
The course posture 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 arranged on vertical pivot 2.5.2, is connected on microcomputer plate 2.7, micro- Machine plate 2.7 drives vertical pivot 2.5.2 through course motion servo mechanism 2.3.2, course motion work 2.3.3 connections；
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 for The relative position between geoid and support 2.5 is adjusted, 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, microcomputer plate 2.7 drive through the flexion-extension telecontrol equipment 2.8.1, flexion-extension motion amplitude control device 2.8.2 connections Move and control lateral flexure axle 2.1.1 reciprocating along direction is pitched by the speed of setting in the angular range of setting；Pitch fortune Dynamic sequential coding device 2.8.3 connected with computer plate 2.7, direction reciprocating motion reduction will be pitched by pitching motion sequential coding device 2.8.3 For corresponding elevation-depression angle.
Moreover, the general mapping machine 1 of distributed interactive is used singly or in combination, it is described to be applied in combination including being performed with machine System 2 or the complete full landform real time dynamic measurement bar 3 of posture or tripod are applied in combination.
Moreover, the complete full landform real time dynamic measurement bar 3 of posture 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 bar and connected Fitting 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 spiral shell supporting with bulb punctuate joint element for bar 3.1.4 at the top of shaft Public affairs,
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, bulb groove is connected on quarter butt 3.1.1 by connection screw socket；
The coaxial interface unit 3.1.5 includes Morse's taper mother's mouth end 3.1.5.1.
Moreover, coaxial interface unit 3.1.5 is fixed on bulb 3.1.2, 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.
Moreover, the complete full landform real time dynamic measurement bar 3 of posture 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 connection Part include screw rod 3.2.3.1, fixture 3.2.3.2, Morse's taper mother's mouth end transverse axis 3.2.3.3, interface locks screw rod 3.2.3.4 and Morse's taper mother's mouth end transverse axis lock nut 3.2.3.5；
The external global location antenna 3.2.2 is arranged on stock 3.2.1 top by screw socket；Fixture 3.2.3.2 Stock 3.2.1 shaft is placed in, connector is fastened on stock 3.2.1 shaft by screw rod 3.2.3.1；Morse's taper is public Morse's taper mother's mouth end that mouth end coaxial interface 1.4 is inserted on Morse's taper mother's mouth end transverse axis 3.2.3.3, screws interface locks spiral shell Bar 3.2.3.4, the general mapping machine 1 of distributed interactive is fixed on Morse's taper mother's mouth end transverse axis 3.2.3.3, completes distributed interactive The connection of general mapping machine 1 and long punctuate bar 3.2；Point that be on the contrary then realizing the general mapping machine 1 of distributed interactive and long punctuate bar 3.2 From.
Moreover, when the general mapping machine 1 of distributed interactive and machine execution system 2 are applied in combination, vehicle-mounted or ship is fastened on 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, open system structure is initiated：Product is set to possess the resource that unprecedented vast, continuous expansion is constantly updated
The available resources of distributed interactive mapping all-purpose robot are referred to as " organization object "：Then distributed interactive mapping universal machine The organization object of device people=" autologous tissue's object " is gathered and " network organization object " union of sets collection.
Autologous tissue's object mean distributed interactive mapping all-purpose robot in itself institute organic interior element set, wrap Include：Data processing chip, component, 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 posture 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 spies in lower network Determine resource：Internet（The communication of data containing 4G/3G/2.5G, Wifi, wechat, short message, various data, services, map, satellite image, The service of the various information such as traffic, the disparate networks resource being carried on internet）, cors differential services net, global location day net （The Big Dipper, GPS, Glonass, Galileo, SBAS）, remote sensing information net, MANET etc..Network organization object is with association area Technological progress and constantly expand continuous renewal.
2nd, the organization regulation to match with system architecture is initiated：Function is applicable using organization object generation flood tide
Generating function type mathematic system：Can be autonomously generated according to the particular demands of people various " work systems " mathematical modeling, The set of algorithm, source code and configuration processor.In other words, generating function type mathematic system is using organization object generation " work system " Organization regulation.
The work system is that have specific function by what the interaction between organization object was formed under organization regulation , execution system that can independently complete particular demands.Each work system is to have corresponded to a kind of geomatics industry demand Distributed interactive mapping all-purpose robot specific function realize system.
3rd, initiate and all-purpose robot system is surveyed and drawn based on the distributed interactive of emerging in large numbers property of complication system and Self-Organization Principle
" the emerging in large numbers property " of systemic-function.As connecting PC on the internet, its hardware finite but it is run on On amount of software and its function it is virtually limitless like that, the quantity and its function of the work system are also almost unlimited： These functions be not material in itself or part intrinsic property in itself, but the result of the interphase interaction of organization object.Pass through Interaction between organization object produces the New function of flood tide, and here it is the emerging in large numbers property of systemic-function.
" self-organizing " of systemic-function：There is no the specific intervention of operating personnel, it is autonomous that distributed interactive surveys and draws all-purpose robot Work system is generated, independently completes specific task.
4th, the decentralization wide area mapping system integrated with data processing integrated with planarization/data acquisition is initiated
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 modal processor and the class of ordinary processor two.The modal processor is to use To complete the hinge type distributed interactive system processor of the data flow of particular task collection/forwarding/processing；The ordinary processor It is that can surround modal processor work, other distributed interactive systems processing of inter-related task type service can be provided for modal processor Device.
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 phase Task work relationship between mutually.
Decentralization makes there was only task nexus between the distributed interactive system processor, without layer upon layer of fixed mount Structure, without 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 all distributions and handed over The distribution work region of mutual system processor simultaneously；The data acquisition amount of each distributed interactive system processor and data acquisition Type 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 limitation, without distance limitation.This causes：Each distributed interactive system The synchrodata processing that the data processing of processor all can obtain one or more distributed interactive system processors is supported.
5th, initiate meet above-mentioned 1 simultaneously, 2,3, the general mapping machine of 4 distributed interactive
6th, the machine execution system being applied in combination with the general mapping machine of distributed interactive is initiated
7th, distributed interactive mapping all-purpose robot is initiated
Distributed interactive surveys and draws the general mapping machine+machine execution system of all-purpose robot=distributed interactive
8th, the universal field equipment of surveying and mapping activity is initiated：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 machine People, photography type automatic total instruments, three-dimensional laser scanner, Portable three-dimensional imager, the work(of positioning/remote sensing/remote measurement portable machine Can sum.
9th, the universal field equipment of mapping mode is initiated：Hand-held, quick short steps measurement, ground set up, are 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 make it that autologous tissue's object of distributed interactive mapping all-purpose robot is more To be widely used, having had quality assurance and cheap universal electronic component and optomechanical components, this makes score The low production cost of cloth interaction mapping all-purpose robot.
The new method that support is independently measured with machine changes conventional operation mode, very significantly reduces manpower intervention, letter Change workflow, reduction labor intensity and operation difficulty, reduce job costs, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the general mapping machine structure chart of distributed interactive that the embodiment of the present invention is provided.
Fig. 2 is the distributed interactive system Principle of Communication figure that the embodiment of the present invention is provided.
Fig. 3 is the machine execution system fundamental diagram that the embodiment of the present invention is provided.
Fig. 4 is after the general mapping machine of distributed interactive that the embodiment of the present invention is provided combines assembling with machine execution system Shafting figure.
Fig. 5 is that the general mapping machine of distributed interactive that the embodiment of the present invention is provided and the combination of machine execution system are assembled Figure.
Fig. 6 is the combination installation diagram of the general mapping machine of distributed interactive that the embodiment of the present invention is provided and quarter butt.
Fig. 7 is the combination installation diagram of the general mapping machine of distributed interactive that the embodiment of the present invention is provided and stock.
Fig. 8 is that the vehicle-mounted/boat-carrying for the distributed interactive mapping all-purpose robot that the embodiment of the present invention is provided uses figure.
Fig. 9 is the airborne using figure of the distributed interactive mapping all-purpose robot that the embodiment of the present invention is provided.
Embodiment
Below by embodiment, technical scheme is described in further detail.
The present invention proposes：Multi-systems integration is moved towards from mutli-system integration.Embodiment Specific implementation be described as follows：
1. distributed interactive surveys and draws the overall structure of all-purpose robot
Distributed interactive mapping all-purpose robot provided by the invention includes the general mapping machine 1 of distributed interactive and machine performs system 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 it is distributed The general mapping machine 1 of interaction can be used alone, and can also be applied in combination, described to be applied in combination including with machine execution system 2 or entirely The full landform real time dynamic measurement bar 3 of posture or tripod are applied in combination.
A. the general mapping machine of distributed interactive
The general mapping machine of distributed interactive includes the data collecting system 1.1, distributed interactive communication system 1.2, number According to processing 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 and led to Believe 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, also settable PMU 1.3.4, power subsystem 1.3.5 during specific implementation.The central processing unit includes interior Put computing unit 1.3.1.1., when it is implemented, public network connection can also be utilized to utilize long-range cloud computing unit 1.3.1.2 processor active task is shared, 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 includes coaxial interface unit, pitches posture unit, course posture unit, horizontal attitude Unit, support 2.5, set up formula bluetooth-communication unit 2.6, microcomputer plate 2.7 and steering wheel.
C. the full landform real time dynamic measurement bar of full posture
The complete full landform real time dynamic measurement bar of posture includes short punctuate bar 3.1 or long punctuate bar 3.2.
Therefore above distributed interactive mapping all-purpose robot（Or the general mapping machine of distributed interactive）, have and survey and draw general effect Fruit：
Survey and draw and general 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 mapping all-purpose robot one machine 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, ranging, 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, more 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, more Network Communications, location navigation, distribution interactive cooperative etc.；
Quick short steps measure）Full posture of the general mapping machine of distributed interactive on the full landform real time dynamic measurement bar of full posture is entirely The real-time dynamic global position measurement of shape, determine appearance, optical remote sensing imaging, telemeter distance, remote measurement object space three-dimensional geodetic coordinates, engineering are put Sample, the amount calculation of line face body, location navigation, more Network Communications, distribution interactive cooperative etc..
Ground is set up）It is remote measurement object space three-dimensional geodetic coordinates of the general mapping machine of distributed interactive in machine execution system, complete Automatic three-dimensional imaging, on live-action image automatic mapping contour line, real-time global location, determine appearance, optical remote sensing is 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, more Network Communications, location navigation, more Network Communication, distribution interactive cooperative etc.；
Vehicle-mounted/boat-carrying/airborne）The general mapping machine of distributed interactive is combined with machine execution system and forms distributed interactive mapping All-purpose robot, distributed interactive mapping all-purpose robot is fixedly connected on vehicle-mounted/boat-carrying/the airbone gyro using corresponding connector On instrument, the dynamic remote remote measurement application that is formed under the conditions of vehicle-mounted/boat-carrying/airborne, referring to accompanying drawing 8, accompanying drawing 9.
2nd, the detailed design and specific implementation of the general mapping machine of distributed interactive
The general mapping machine 1 of distributed interactive includes data collecting system 1.1, distributed interactive communication system 1.2, data processing system System 1.3, Morse's taper male end coaxial interface 1.4.When it is implemented, can be by data collecting system 1.1, distributed interactive communication system System 1.2, data handling system 1.3 are arranged in the shell of the general mapping machine 1 of distributed interactive, Morse's taper male end coaxial interface The shell of the 1.4 connection general mapping machines 1 of distributed interactive, is generally disposed at below shell.Special, communications platform 1.2.5 and cloud Computing unit 1.3.1.2 is not provided in shell, but telecommunication connects.
Referring to accompanying drawing 1, the general mapping machine 1 of distributed interactive is implemented as follows in embodiment：
1）System composition, operation principle and the method for work of the data collecting system 1.1
The global positioning unit is by global location antenna 1.1.1.1 and GPS receiver board 1.1.1.2 Form.The global positioning unit is the working cell of multicore unification, including in GPS, the Big Dipper, Galileo, GLONASS, SBAS It is part or all of.Global location antenna 1.1.1.1 connecting global positioning system receiver board 1.1.1.2, global positioning system The receiver board 1.1.1.2 that unites accesses central processing unit through data interface unit 1.3.2, and the global positioning unit receives the whole world Position the signal of day net and the data after preliminary treatment are uploaded to built-in calculation unit 1.3.1.1.
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 access central processing unit through data interface unit 1.3.2 respectively, interior Placed type three-dimensional posture unit obtains the 3 d pose data of the general mapping machine 1 of distributed interactive and is uploaded to built-in calculation unit in real time 1.3.1.1。
Composition, operation principle and the function realizing method of the automated imaging unit：
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 injects zoom microscope group 1.1.3.1.2 through object lens 1.1.3.1.1, 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 focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5 optical lens on the same line, light path is realized Transmit.
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（It is not superfluous for example with the existing image processing software based on Wavelet Transformation Algorithm, the present invention 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 focus on whether accurate, whether imaging is 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 motions of focusing microscope group 1.1.3.2.4 to central processing unit Direction and motion amplitude data, focusing work closed loop starts new round working cycles, until image meets established standardses.
The photo resistance 1.1.3.3 accesses central processing unit, automatic sensing environment light source through data interface unit 1.3.2 Power 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 analyzes and processes to the environment light source image value that photo resistance 1.1.3.3 is uploaded, If the absolute value of the difference of the maxima and minima of image value is more than default arithmetic number Q, judge that survey station is in available and can seen Environment is spent, into automated imaging flow, sequentially realizes following steps.When it is implemented, those skilled in the art can voluntarily preset Q Value.
Built-in calculation unit 1.3.1.1 forms zoom work closed loop, focusing work closed loop with automated imaging unit, passes through this Two work closed loops complete automated imaging task.
Zoom work closed loop completes autozoom：
Built-in calculation unit 1.3.1.1 reads zoom microscope group 1.1.3.1.2 zoom calibration value driving zoom motor 1.1.3.1.3, zoom transmission group 1.1.3.1.4 makes zoom microscope group 1.1.3.1.2 be moved to corresponding calibration position, zoom encoder 1.1.3.1.5 record zoom transmission group 1.1.3.1.4 motion state synchronous feedback gives built-in calculation unit 1.3.1.1 in real time, 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.
Work closed loop of focusing completes automatic focusing：
The first step, light reach via object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, focusing microscope group 1.1.3.2.4 CCD modules 1.1.3.2.5.CCD modules 1.1.3.2.5 is 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 accurate, imaging it is whether clear and to Built-in calculation unit 1.3.1.1 uploads the focusing microscope group 1.1.3.2.4 direction of motion and motion amplitude data；
Second step, built-in calculation unit 1.3.1.1 send the direction of motion and motion width to focusing motor 1.1.3.2.1 accordingly Degree director data, focusing motor 1.1.3.2.1 and focusing transmission group 1.1.3.2.2 driving focusing microscope groups 1.1.3.2.4 are reached and referred to Position, focusing encoder 1.1.3.2.3 is made to record being actually reached data and being uploaded to built-in meter for focusing transmission group 1.1.3.2.2 Calculate unit 1.3.1.1.CCD modules 1.1.3.2.5 obtains the light transmitted in the new positions of focusing microscope group 1.1.3.2.4 after exercise Signal simultaneously converts thereof into electric signal transmission to graphics processing unit 1.1.3.2.6.Graphics processing unit 1.1.3.2.6 leads to again Over-focusing detection judges focus on whether accurate, whether imaging is clear：The automatic focusing task if image has met established standardses Complete；Graphics processing unit 1.1.3.2.6 is uploaded to built-in calculation unit 1.3.1.1 and focused if image does not meet established standardses The direction of motion and motion amplitude data new microscope group 1.1.3.2.4, focusing work closed loop starts new round working cycles, until figure As meeting 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 it is implemented, laser beam emitting device 1.1.4.1 should use remote high-frequency laser beam emitting device.Through data-interface 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 and access central processing unit through data interface unit 1.3.2, 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 filters to objective emission laser, laser receiver 1.1.4.2 Fall the laser only reflected after clutter received from target and be converted into electric signal, transmit to apart from resolver 1.1.4.3.Related data is obtained by laser phase difference apart from resolver 1.1.4.3, 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 It is transmitted to built-in calculation unit 1.3.1.1.
2）System composition, operation principle and the method for work of the distributed interactive communication system 1.2
Distributed interactive communication system 1.2 is between the general mapping machine of distributed interactive and other distributed interactive system processors Communication station.
The processor is the device for having 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 forming 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 communications The device with data communication/data processing or data acquisition ability on the various communication networks such as net, sensor Ad Hoc network.Example Such as, the computer that includes but is not limited to be connected on the various communication networks, mobile phone, sensor, the general mapping of distributed interactive Machine, machine execution system, global positioning system base station, communications platform 1.2.5, cloud computing unit 1.3.1.2 etc..Described point Cloth interactive system processor can be device in a communication network being connected in the communication network or connect simultaneously 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 accesses central processing unit through data interface unit 1.3.2 respectively, 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 Believe part or all of in platform 1.2.5, sensor Ad Hoc network.
According to built-in calculation unit 1.3.1.1 instruction, the bluetooth-communication unit 1.2.1 is in the general mapping of distributed interactive Bidirectional data communication is established between machine 1 and other distributed interactive system processors to link.Distance between the two is no more than 30 meters.
According to built-in calculation unit 1.3.1.1 instruction, the station telecommunication unit 1.2.2 is in the general mapping of distributed interactive Bidirectional data communication is established between machine 1 and other distributed interactive system processors to link.It is public that distance between the two is no more than 30 In.
According to built-in calculation unit 1.3.1.1 instruction, 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 1 of distributed interactive with distribution in the world be connected to public network On other distributed interactive system processors between establish 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 and the data broadcasting of point-to-multipoint.Public network coverage it It is interior, there is no locus limitation without distance limitation between communication link contact yet.
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 establishing the Data-Link of real-time intercommunication between distributed interactive system processor.
According to built-in calculation unit 1.3.1.1 instruction, the cors Differencing communications unit 1.2.4 is public logical by 2.5G The cors differential service platforms of special cors differential communication channels and locality in letter net are established bidirectional data communication and linked.Working as Within the coverage of ground cors Differencing communication nets, between the two without locus limitation also without distance limitation.
The general mapping machine of distributed interactive can simultaneously be connected by the distributed interactive communication system 1.2 and be carried on Bluetooth communication The various communication networks such as net, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing communication nets A number of other distributed interactive system processors on network, also once can only connect one be carried on one or more communication networks Individual or a number of other distributed interactive system processors.
3）System composition, operation principle and the working method of the data handling system 1.3
The data handling system 1.3 includes central processing unit, data interface unit 1.3.2, man-machine interaction unit 1.3.3, PMU 1.3.4, power subsystem 1.3.5 are also set up.
The PMU 1.3.4 provides electricity for all working unit within the general mapping machine casing of distributed interactive Source control service.
A. central processing unit
The central processing unit includes built-in calculation unit 1.3.1.1, when it is implemented, cloud computing unit can be called 1.3.1.2 calculating task is shared.
The built-in calculation unit 1.3.1.1 is the data including CPU, built-in storage, external memory
Processing unit, it 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 In 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 Manage the part of 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 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, independently can judgement complete independently data processing task for operand： If can, into data processing work flow；If can not, pass through public network communication unit 1.2.3 connection cloud computing units 1.3.1.2 or other distributed interactive system processors, to cloud computing unit 1.3.1.2 distributed interactives system processor transmit need The data of processing simultaneously obtain result from cloud computing unit 1.3.1.2 distributed interactives system processor.
B. data interface unit 1.3.2
The uplink port connection built-in calculation unit 1.3.1.1 of the data interface unit 1.3.2, downlink port connection are complete Ball positioning unit, built-in 3 d pose unit, automated imaging unit, range cells；Bluetooth-communication unit 1.2.1, radio station lead to Believe unit 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 supply pipe Manage unit 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 are 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 input manual command when Have and only the following two kinds situation.
First, when 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；
Second, when the manual command is related to each distributed interactive system processor outside the casing of the general mapping machine of distributed interactive： Built-in calculation unit 1.3.1.1 establishes Data-Link by distributed interactive communication system 1.2, connects at each distributed interactive system Device is managed, becomes the outer working cell of machine of the general mapping machine of distributed interactive system.Built-in calculation unit 1.3.1.1 instruction distributions The outer working cell of machine of the general mapping machine of interaction cooperates with working cell in machine, completes the manual command.
The method for building up of the Data-Link：Built-in calculation unit 1.3.1.1 is held by bluetooth-communication unit 1.2.1 with machine The other distributed interactive system processors for needing Bluetooth communication in 30 meters of the general mapping machine of row system, range distribution interactive system Establish 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, the other distributed interactive system processors interacted with range distribution in general 30 kilometers of 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 established 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 limitation, without locus limit.
4）It is coaxial concentric
Referring to Fig. 4, the collimation axis M of automated imaging unit：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 collimation axis, the collimation axis of CCD module 1.1.3.2.5 optical lens be in always When on line M, 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, laser beam emitting device 1.1.4.1 optical axis N, laser pick-off dress The optical axis P three for putting 1.1.4.2 is parallel to each other or overlapped, and referred to as three light are coaxial.
Multiaxis is concentric：The collimation axis M and straight line L of the automated imaging unit are vertically intersected on O ' ' points.Wherein L is the whole world Position antenna 1.1.1.1 phase center point O2With point O at Morse's taper male end coaxial interface 1.41The straight line of composition.O’’ Point, O1Point, O2Point is the same as on 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 Morse's taper male end coaxial interface 1.4 and Morse's taper mother's mouth end 2.1.2's is assembled to site.ONPoint is optical axis N with Axis H intersection point, OPPoint be optical axis P and axis H intersection point, ONPoint, OPPoint, O ' points are the same as on H；L, H is 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 bag Include：Decentralization and planarization, data acquisition are integrated integrated with data processing.
3rd, the detailed design and specific implementation of the full landform real time dynamic measurement bar of full posture
The full landform real time dynamic measurement bar of full posture includes short punctuate bar 3.1, long punctuate bar 3.2, for realizing full posture Full landform real-time dynamic positioning measurement, remote sensing remote measurement, location navigation.
1）The full landform real-time dynamic positioning measurement of full posture 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 freely be 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, bulb groove is connected on quarter butt 3.1.1 by connection screw socket, and an elastic centering steel ball is provided with bulb groove.
The coaxial interface unit 3.1.5 includes Morse's taper mother's 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.Coaxial interface unit 3.1.5 motion 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, and rotating must be through elastic centering steel ball 3.1.2.1 in way.Bulb 3.1.2 moves to the elastic centering steel ball 3.1.2.1 position, then elastic centering steel ball 3.1.2.1 upspring automatically, by coaxial interface unit 3.1.5 calibration elasticity it is right 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 bulb lock nut 3.1.3 On middle steel ball 3.1.2.1 positions.Conversely, unclamping ball head lock screw rod 3.1.3 coaxial interface unit 3.1.5 can be made freely to transport It is dynamic.
The general mapping machine 1 of distributed interactive is with the connection of short punctuate bar 3.1 with separating：By Morse's taper mother's mouth end 3.1.5.1 The i.e. completion connections of lock nut 3.1.5.3 are rotated after inserting Morse's taper male end coaxial interface 1.4.It is on the contrary then separate.
The general mapping machine 1 of distributed interactive be connected with short punctuate bar 3.1 after composition：The general mapping machine 1 of distributed interactive is connected It is connected on short punctuate bar 3.1, that is, forms a complete dynamic 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 dynamic measurement type distributed interactive system processor.Rotational distribution interaction is logical With mapping machine 1, make coaxial interface unit 3.1.5 automatically calibration in elasticity on middle steel ball 3.1.2.1 positions and rotating ball Head lock nut 3.1.3 is allowed to fasten, now global location antenna 1.1.1.1 phase center, elastic centering steel ball 3.1.2.1, at these three sharp geometric points of quarter butt 3.1.1 bars on the same line.
The general general mapping machine 1 of distributed interactive may be designed as single-hand held type or both hands are handheld, single-hand held type weight Relatively gently, can be operated on the other hand with a handheld machine during use；The handheld heavier-weight of both hands, it can be used with held by both hands machine during use Finger manipulation, but can use the more excellent part of performance, has a farther measurement distance, and bigger optical magnification is higher Precision.Therefore, because center of gravity situation is different, center of gravity handle 3.1.6 accordingly can specifically be set.Referring to Fig. 6, in embodiment, point Cloth interacts general mapping machine 1 and uses single-hand held type, and center of gravity handle 3.1.6 is located at the general mapping machine 1 of distributed interactive and coaxially connects Mouth unit 3.1.5 sides：
O2Point：Global location antenna 1.1.1.1 phase center
O'' points：The collimation axis M and L of automated imaging unit intersection point.
O1Point：Morse's taper mother's 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 bars 3.1 of the general surveying instrument 1+ of distributed interactive after assembling turn into 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、O1 、O2 、O3With on straight line L.
Both hands are handheld, can be arranged on center of gravity handle 3.1.6 position below coaxial interface unit 3.1.5, coaxially connect Mouth unit 3.1.5 is fixed on bulb 3.1.2 through center of gravity handle 3.1.6, 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 1 of distributed interactive on short punctuate bar 3.1
The general mapping machine 1 of distributed interactive freely revolving on short punctuate bar 3.1 can be made by unclamping ball head lock screw rod 3.1.3 Turn.The image data that automated imaging unit uploads is transferred to touch-screen and shown by central processing unit, and operating personnel are in image Selected target.The general automatic telemetering of mapping machine 1 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, ranging The range data real-time resolving that unit uploads goes out the three-dimensional geodetic coordinates of target.
3）The full landform real-time dynamic positioning measurement of full posture 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. The connector includes screw rod 3.2.3.1, fixture 3.2.3.2, Morse's taper mother's mouth end transverse axis 3.2.3.3, interface locks screw rod 3.2.3.4, Morse's taper mother mouth end transverse axis lock nut 3.2.3.5.
The general mapping machine 1 of distributed interactive is with the connection of long punctuate bar 3.2 with separating：The external global location antenna 3.2.2 stock 3.2.1 top is arranged on by screw socket.Fixture 3.2.3.2 is placed in stock 3.2.1 shaft, screws screw rod 3.2.3.1 connector is made to be fastened on stock 3.2.1 shaft.Morse's taper male end coaxial interface 1.4 is inserted into Mohs cone The Morse's taper mother's mouth end spent on female mouth end transverse axis 3.2.3.3, interface locks screw rod 3.2.3.4 is screwed, distributed interactive is general Mapping machine 1 is fixed on Morse's taper mother's mouth end transverse axis 3.2.3.3, completes the general mapping machine 1 of distributed interactive and long punctuate bar 3.2 Connection.Separation that is on the contrary then realizing the general mapping machine 1 of distributed interactive and long punctuate bar 3.2.
Due to the difference of center of gravity, when the general mapping machine 1 of distributed interactive uses both hands handheld, Morse's taper mother's mouth end transverse axis 3.2.3.3 bent axle can be used, to support rotation of the general mapping machine 1 of distributed interactive based on transverse direction.
Referring to Fig. 7, embodiment Morse's taper mother's mouth end transverse axis 3.2.3.3 uses bent axle.O points：The general mapping of distributed interactive Machine assembles with Morse's taper mother's mouth end transverse axis 3.2.3.3 and forms the dissection weight that complete physics entirety W, O a point is W afterwards in place The heart.O points are on H.
The full landform real-time dynamic positioning measurement of full posture of the general mapping machine 1 of distributed interactive on long punctuate bar 3.2：The whole world Antenna 1.1.1.1 and GPS receiver board 1.1.1.2 is positioned to receive the signal of global location day net and will handle 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 Ball positioning antenna 3.2.2 phase center is designated as Ox.Central processor comprehensive global location antenna 1.1.1.1 phase center arrives Range data, 3 d pose data, global positioning data, the GPS time real-time resolving of stock 3.2.1 bars point 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 1 of distributed interactive is in length When the real-time dynamic positioning measurement of Centimeter Level precision is carried out on punctuate bar 3.2, error analysis and measured result prove, built-in three The attitude measurement error of posture unit is tieed up 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 according to the described general mapping machine 1 of distributed interactive long Full posture real-time dynamic positioning measuring principle on point bar 3.2, its positioning measurement error and satellite-signal and ground magnetic dependence.Institute State the long bar of punctuate bar 3.2 point（Longitude, latitude, elevation, time）The space error of data is demarcated with the long bar of punctuate bar 3.2 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, makes Morse's taper male end transverse axis 3.2.3.3 free Rotate.The image data that automated imaging unit uploads is transferred to touch-screen and shown by central processing unit, and operating personnel are in image Middle selected target.The general automatic telemetering of mapping machine 1 of distributed interactive obtains the three-dimensional geodetic coordinates of target：Central processor comprehensive is complete The real-time spatial position data of ball positioning unit upload, the real-time three-dimensional attitude data of built-in 3 d pose unit upload, survey The range data real-time resolving uploaded away from unit goes out the three-dimensional geodetic coordinates of target.
5）Location navigation on the full landform real time dynamic measurement bar 3 of full posture
Engineering drawing is inputted to built-in calculation unit 1.3.1.1.Built-in calculation unit 1.3.1.1 indicates according to the engineering drawing Engineering point coordinates and the real-time three-dimensional Geodetic Coordinate Calculation of the general mapping machine 1 of distributed interactive go out the general mapping machine of distributed interactive and arrive The air line distance of ENGINEERING POINT and map distance, direction of advance and map path, the engineering of sign in the engineering drawing is found accordingly The field position of point.
6）Distributed interactive cooperative on the full landform real time dynamic measurement bar 3 of full posture
4th, the detailed design and specific implementation of machine execution system
Referring to Fig. 3 and Fig. 5, machine execution system includes coaxial interface unit with one heart, pitches posture unit, course posture list Member, 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's mouth end 2.1.2, exits screw rod 2.1.3, lock nut 2.1.4.The Morse's taper mother mouth end 2.1.2, exit screw rod 2.1.3, lock nut 2.1.4 is 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 arranged on tuning fork 2.5.1.Lateral flexure Axle 2.1.1 axis H and vertical pivot 2.5.2 axis S are vertically intersected on O points.Vertical pivot 2.5.2 axis S overlaps with L. Wherein L is global location antenna 1.1.1.1 phase center point O1And O2The straight line that point is formed.O1Point, O points, O2Point is the same as in straight line On L.O2Point is Morse's taper male end coaxial interface 1.4 and Morse's taper mother's mouth end 2.1.2 is combined to site.
The flexion-extension posture 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 Plate 2.7 is through pitching motion servo mechanism 2.2.2, pitching motion work 2.2.3 connections driving lateral flexure axle 2.1.1.
The course posture 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 arranged on vertical pivot 2.5.2, is connected on microcomputer plate 2.7.It is micro- Machine plate 2.7 drives vertical pivot 2.5.2 through course motion servo mechanism 2.3.2, course motion work 2.3.3 connections.
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.Microcomputer plate 2.7 drives through the flexion-extension telecontrol equipment 2.8.1, flexion-extension motion amplitude control device 2.8.2 connections Move and control lateral flexure axle 2.1.1 reciprocating along direction is pitched by the speed of setting in the angular range of setting.Pitch fortune Dynamic sequential coding device 2.8.3 connected with computer plate 2.7, direction reciprocating motion reduction will be pitched by pitching motion sequential coding device 2.8.3 For corresponding elevation-depression angle.
See accompanying drawing 5：
Vertical pivot 2.5.2 axis L, lateral flexure axle 2.1.1 axis H, the axles of collimation axis M tri- of automated imaging unit meets at O Point.Wherein, vertical pivot 2.5.2 axis L and lateral flexure axle 2.1.1 axis H intersect vertically；Lateral flexure axle 2.1.1 axis Line H, the collimation axis M of automated imaging unit intersect vertically.
Preferably, O points are barycenter：After assembling, 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, constitute the dissection center of gravity that physics entirety W, O a point is W.
O2Point：Global location antenna 1.1.1.1 phase center
O2Point：Morse's taper male end coaxial interface 1.4 and Morse's taper mother's mouth end 2.1.2's is assembled to site.
Tuning fork 2.5.1 is the U-shaped frame that two-wire part indicates in figure；2. O points, O1The straight line that point is formed overlaps with L；O points, O1 Point, O2Point is the same as on 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）The assembling of distributed interactive mapping all-purpose robot is with separating
Lock nut 2.1.4 is screwed after Morse's taper male end coaxial interface 1.4 is inserted into Morse's taper mother's mouth end 2.1.2 Complete the assembling of distributed interactive mapping all-purpose robot.It is on the contrary then separate.
2）The operation principle and working method of machine execution system
Horizontal attitude：Make the base plane of support 2.5 and the earth water using adjusting screw rod group 2.4.1 and Electronic bubble 2.4.2 Quasi- face is parallel.Electronic bubble 2.4.2 is connected on microcomputer plate 2.7.The bluetooth connection of microcomputer plate 2.7 is in built-in calculation unit On 1.3.1.1.
Pitch motion：Microcomputer plate 2.7 is connected on built-in calculation unit 1.3.1.1 by bluetooth approach.It is built-in to calculate list First 1.3.1.1 sends lateral flexure axle 2.1.1 to microcomputer plate 2.7 and reached via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6 The director data of position, microcomputer plate 2.7 is according to built-in calculation unit 1.3.1.1 instruction to pitching motion servo mechanism 2.2.2 Send exercise data instruction.Pitch motion servo mechanism 2.2.2 and move through flexion-extension motion biography 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 axles 2.1.1's Current location data is simultaneously uploaded to microcomputer plate 2.7.Microcomputer plate 2.7 compares lateral flexure axle 2.1.1 current location data and built-in meter Calculate the director data for the lateral flexure axle 2.1.1 in-positions that unit 1.3.1.1 is sent：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 exceeds 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 of plate 2.7 repeats the process, within the scope of error between the two reaches the calibrated error of machine execution system.
Move in course：The bluetooth connection of microcomputer plate 2.7 is on 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 according to built-in calculation unit 1.3.1.1 instruction to course motion servo mechanism 2.3.2 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, course heading encoder 2.3.1 record vertical pivots 2.5.2 current location data is simultaneously It is uploaded to microcomputer plate 2.7.Microcomputer plate 2.7 compares vertical pivot 2.5.2 current location data and built-in calculation unit 1.3.1.1 is sent Vertical pivot 2.5.2 in-positions director data：If error between the two in the range of the calibrated error of machine execution system, Then task terminates；If error between the two exceeds the calibrated error scope of machine execution system, microcomputer plate 2.7 calculates mistake Poor correction value and the direction of motion are simultaneously sent out to course motion servo mechanism 2.3.2 again according to the error correction values and the direction of motion Go out director data, course motion servo mechanism 2.3.2, course heading encoder 2.3.1, microcomputer plate 2.7, which cooperate, repeats institute Process is stated, within the scope of error between the two reaches the calibrated error of machine execution system.
Steering wheel moves：Steering wheel is set by man-machine interaction unit 1.3.3 and pitches the speed and amplitude moved.Microcomputer plate 2.7 Bluetooth connection forms data closed loop on 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 Motion amplitude control device 2.8.2, the flexion-extension of bowing move sequential coding device 2.8.3 synchronous workings：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）Distributed interactive surveys and draws the operation principle and working method of all-purpose robot
A. basic data is obtained automatically
After energization, positioning accuracy request is inputted to built-in calculation unit 1.3.1.1 by man-machine interaction unit 1.3.3, incited somebody to action Object lens 1.1.3.1.1 is towards target area：Built-in calculation unit 1.3.1.1, global positioning unit 1.1.1.1, distributed interactive lead to Letter system 1.2 cooperates, and obtains the survey station three-dimensional geodetic coordinates data of distributed interactive mapping all-purpose robot site；From Dynamic imaging 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 target is sighted：In the outdoor scene shadow by optical amplifier that man-machine interaction unit 1.3.3 is shown
Choose target（Can autoelectrinic amplification target image make target selection more accurate）And target image is clicked on, built-in meter Unit 1.3.1.1 is calculated to send target accordingly and sight director data, via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6, Microcomputer plate 2.7, flexion-extension posture unit, course posture unit realize that target is sighted automatically.The multiple target images of adopting consecutive click chemical reaction are then suitable Sequence continuously sights multiple targets automatically.Microcomputer plate 2.7 is via bluetooth-communication unit 2.6, bluetooth-communication unit 1.2.1 to centre Reason device automatic feedback target sights data.
Automatically obtain object space three-dimensional geodetic coordinates：Built-in calculation unit 1.3.1.1, which is obtained after target sights data, starts survey The range measurement to target is completed away from unit and obtains O points to the range data of target.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 upload 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. automatic three-dimensional imaging
The three-dimensional imaging of single width two dimension live-action image：Pitch angle motion amplitude, boat are set by man-machine interaction unit 1.3.3 To motion amplitude and movement velocity.Built-in calculation unit 1.3.1.1 is via bluetooth-communication unit 1.2.1, bluetooth-communication unit 2.6th, microcomputer plate 2.7 sends director data：Steering wheel is set to drive lateral flexure axle 2.1.1 to make in the pitch angle motion amplitude of setting back and forth Motion；Move the synchronous speed by setting of course posture unit；Make range cells synchronization high frequency ranging.Built-in calculation unit 1.3.1.1 carried out according to data such as the coordinate data of O points, course attitude data, flexion-extension attitude data, range data dot matrix clouds comprehensive Close and resolve, obtain three-dimensional coordinate dot matrix cloud on the two-dimentional live-action image that automated imaging unit provides, central processing unit is given birth to accordingly Into a width three-dimensional live image.
360 ° of panorama three-dimensional imagings：Central processing unit course posture unit by setting speed move 360 ° during, Several two-dimentional live-action images are continuously generated according to the angle of visual field control automated imaging unit of setting, and in every width two dimension live-action image The upper repetition three-dimensional imaging process, is allowed to generate three-dimensional live image, obtains several three-dimensional live images accordingly.Central processing The automatic seamless that device completes several three-dimensional live images according to the angle of visual field of setting splices, and 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 ° The three-dimensional imaging process is repeated on panorama bidimensional image, is allowed to generate 360 ° of panorama three-dimensional live images.
To any local three-dimensional imaging：Pitch angle motion amplitude is set by man-machine interaction unit 1.3.3 and course is transported Dynamic scope, performs the three-dimensional imaging workflow and produces any local three-dimensional live image.
D. automatic mapping contour line
Set elevation.Central processing unit screens altitude data identical three according to the elevation of setting in three-dimensional live image Geodetic coordinates point is tieed up, elevation identical point is connected in live-action image and generates a contour.
Any setting depth displacement.Central processing unit generates any a plurality of contour by the depth displacement of setting.
E. the engineering survey based on live-action image
Look for north：Automatic sighted using 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 cooperate, and obtain survey station real north Data.
Angle and distance measuring：Automatic sight mesh calibration method using described in B. and sight target, built-in calculation unit 1.3.1.1, machine execution system cooperates, and independently obtains angle-data；Built-in calculation unit 1.3.1.1, range cells association With work, 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 input quantities and calculate task, by the multiple target 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 target points.Built-in calculation unit 1.3.1.1 calculates mission requirements according to quantities With the three-dimensional coordinate of multiple target points, polyhedral correlation length, area, volume calculating task are independently completed.
Engineering setting out：Handed over according to the multiple target point object space three-dimensional geodetic coordinates methods of automatic telemetering described in B., distribution Positioning navigation method of the mutual general mapping machine on the full landform real time dynamic measurement bar 3 of full posture obtains each ENGINEERING POINT in engineering drawing Field position.Method, which is calculated, according to described quantities completes engineering setting out.
F control point surveies
Control point survey task is inputted to 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, distributed interactive communication system 1.2 cooperate, 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
Distribution interactive cooperative without space-time position limitation.
6th, distributed interactive mapping all-purpose robot（Or the general mapping machine of distributed interactive）Distribution interactive mode of operation Detailed design and specific implementation
The achievable decentralization of the present invention and planarization, data acquisition are integrated integrated with data processing.
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 modal processor and the class of ordinary processor two.
The modal processor is that the hinge type distribution for the data flow collection/forwarding/processing for completing particular task is handed over Mutual system processor；The ordinary processor is can to surround modal processor work, can provide inter-related task for modal processor Other distributed interactive system processors of type service.
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 phase Task work relationship between mutually.
The particular job task assigned according to the manual command, built-in calculation unit 1.3.1.1 is according to distributed interactive system The unified authorization scope of system provides the work relationship in the distributed interactive system between each processor and to distributed interactive automatically 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 Device is managed, vice versa.
After any distributed interactive system processor receives the work order from built-in calculation unit 1.3.1.1, comment automatically Estimate the real time resources situation of itself and fed back to built-in calculation unit 1.3.1.1：The redundancy of effort ability of itself is enough to complete institute When stating work order, receive and perform the work order；The redundancy of effort scarce capacity of itself is to complete the work order When, to built-in calculation unit 1.3.1.1 feedback resources deficiency information.Otherwise allocated performs 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 roots According to the work order received the real time resources situation of itself is assessed automatically and to the distributed interactive system for issuing the work order Processor feedback information.
Decentralization makes there was only task nexus between the distributed interactive system processor, without layer upon layer of fixed mount Structure, without 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 according to the manual command and appointed automatically It is engaged in and number is issued to the distributed interactive system processor of correlation by data interface unit 1.3.2, distributed interactive communication system 1.2 According to acquisition and data transfer instruction, synchronously mutual biography and Real-Time Sharing are multiple under conditions of communication bandwidth permission or are all distributed friendship The data of mutual system processor collection, without space-time position limitation, without distance limitation.This causes：Each distributed interactive system System processor data acquisition range be equal to whole distributed interactive system processors distribution work region simultaneously；Each point The data acquisition amount and data collection type of cloth interactive system processor are equal to the data of whole distributed interactive system processors Collection capacity 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 exceed 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 interactives system processor；Similarly, cloud computing unit 1.3.1.2 can also be incited somebody to action Related computing tasks distribute to it is other be connected to the online computer server of public correspondence or other distributed interactive systems processing Device is completed.During the data processing integration, without space-time position limitation, without distance limitation.This causes：It is each The data processing of individual distributed interactive system processor all can obtain the synchrodata of one or more distributed interactive system processors Processing is supported.
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 no space-time position limitation, limited without distance Distribution interactive is remotely controlled 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.First layer：The cloud of 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, the GLONASS of Russia, the SBAS of Japan are poor The available resources such as subnetting.For example, the satellite group that GPS is used for global location contains 26 satellites (2 backups, 24 operations), divide 6 Bar track etc..This 26 satellites just constitute GPS days nets.Similarly state Big Dipper day net, Galileo day net and GLONASS days nets. The cloud of 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 the network representation distributed interactive system processor of " radio station net ", " 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 of the cloud expression remote sensing satellite of " earth station " printed words 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 RFDCs platform, 3G RFDCs platform, 4G RFDCs platform and and various regions respectively The remotely-sensed data platform of face station connection；Layer 5：Indicate that " clouds of wired Internet " printed words represents general wired because of spy Net, the left side indicates the distributed interactive system communication station of the icon representation connection of communications platform printed words on the internet, for realizing The data broadcasting of point-to-point interconnection and point-to-multipoint in distributed interactive system between each processor.Mark cloud computing server in the right The server that computational service is provided for all distributed interactive system inner treaters of the icon representation connection of printed words on the internet. Traffic symbols between each layer：Flash symbols represent the data link of communication, and straight line, which is connected, 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 authorizes is remotely controlled operation to distributed interactive mapping all-purpose robot：
1）Public network Data-Link between distributed interactive system processor and distributed interactive the mapping all-purpose robot
The distributed interactive system processor by public Wireless/wired Internet connection communications platform 1.2.5, via Communications platform 1.2.5 connection public network communication unit 1.2.3, pass through public network communication unit 1.2.3 connection built-in calculation units 1.3.1.1, bi-directional data exchange and straighforward operation are realized.
2）Radio station Data-Link between distributed interactive system processor and distributed interactive the mapping all-purpose robot
The distributed interactive system processor connects station telecommunication unit 1.2.2 by radio station, passes through station telecommunication unit 1.2.2 built-in calculation unit 1.3.1.1 is connected, realizes bi-directional data exchange and straighforward operation.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.

Claims (6)

1. a kind of distribution interactive surveys and draws all-purpose robot, it is characterised in that：Including the general mapping machine (1) of distributed interactive and machine Execution system (2), the general mapping machine (1) of distributed interactive is used singly or in combination, described to be applied in combination including being held with machine Row system (2) or the complete full landform real time dynamic measurement bar (3) of posture or tripod are applied in combination；
The general mapping machine of distributed interactive includes data collecting system (1.1), distributed interactive communication system (1.2), at data Reason system (1.3) and Morse's taper male end coaxial interface (1.4)；
Distributed interactive communication system (1.2) is logical between the general surveying instrument of distributed interactive and other distributed interactive system processors Letter station, the distributed interactive system processor are the processors for forming distributed interactive system, include but is not limited to be connected to various The general surveying instrument main frame of computer, mobile phone, sensor, other distributed interactives, machine execution system, the whole world on communication network is fixed Position system base station, communications platform (1.2.5), cloud computing unit (1.3.1.2)；
The data collecting system (1.1) includes 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), and the automated imaging unit includes object lens It is (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), 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)；
The collimation axis of object lens (1.1.3.1.1), the collimation axis of zoom microscope group (1.1.3.1.2), focusing microscope group (1.1.3.2.4) Collimation axis, the collimation axis of CCD modules (1.1.3.2.5) optical lens are on same straight line M, and straight line M is referred to as automated imaging list The collimation axis of member；
The collimation axis M of automated imaging unit, the optical axis N of laser beam emitting device (1.1.4.1), 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 are 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 (1.1.1.1)1,
Morse's taper male end coaxial interface (1.4) is combined to site O2；
The machine execution system (2) includes coaxial interface unit, pitches posture unit, course posture unit, horizontal attitude list Member, support (2.5), set up formula bluetooth-communication unit (2.6), microcomputer plate (2.7) and steering wheel；
The complete full landform real time dynamic measurement bar (3) of posture 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 spiral shell supporting with bulb punctuate joint element for bar (3.1.4) at the top of shaft Public affairs,
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, bulb groove is connected on quarter butt (3.1.1) by connection screw socket；
The coaxial interface unit (3.1.5) includes Morse's taper mother's mouth end (3.1.5.1)；
The complete full landform real time dynamic measurement bar (3) of posture 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 includes screw rod (3.2.3.1), fixture (3.2.3.2), Morse's taper mother's mouth end transverse axis (3.2.3.3), connect Mouth lock nut (3.2.3.4) and Morse's taper mother's mouth end transverse axis lock nut (3.2.3.5)；
The external global location antenna (3.2.2) is arranged on the top of stock (3.2.1) by screw socket；Fixture (3.2.3.2) is placed in stock (3.2.1) shaft, connector is fastened on stock (3.2.1) bar by screw rod (3.2.3.1) With；Morse's taper on Morse's taper male end coaxial interface (1.4) insertion Morse's taper mother's mouth end transverse axis (3.2.3.3) is female Mouth end, screws interface locks screw rod (3.2.3.4), and the general mapping machine (1) of distributed interactive is fixed on into Morse's taper mother's mouth end horizontal stroke On axle (3.2.3.3), the connection of the general mapping machine (1) of distributed interactive and long punctuate bar (3.2) is completed；On the contrary then realization distribution is handed over The separation of mutual general mapping machine (1) and long punctuate bar (3.2).
2. distribution interactive mapping all-purpose robot according to claim 1, it is characterised in that：The distributed interactive communication system It is poor that system (1.2) includes bluetooth-communication unit (1.2.1), station telecommunication unit (1.2.2), public network communication unit (1.2.3), cors Divide communication unit (1.2.4), communications platform (1.2.5)；The data handling system (1.3) includes central processing unit, data connect Mouth unit (1.3.2), man-machine interaction unit (1.3.3), the central processing unit is including built-in calculation unit (1.3.1.1) and far The cloud computing unit (1.3.1.2) of journey.
3. distribution interactive mapping 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 include 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) are sequentially connected, and light is through object lens (1.1.3.1.1) injects 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) 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 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) is sequentially connected, focusing transmission group (1.1.3.2.2), focusing encoder (1.1.3.2.3) and central processing unit (1.3.1) is sequentially connected, focusing microscope group, CCD modules (1.1.3.2.5), graphics processing unit (1.1.3.2.6) and central processing Device (1.3.1) is sequentially connected.
4. distribution interactive mapping 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's mouth end (2.1.2), exits screw rod (2.1.3) and lock nut (2.1.4), the Morse's taper mother mouth end (2.1.2), exit screw rod (2.1.3), lock nut (2.1.4) is arranged on lateral flexure axle (2.1.1)；
The support 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), The axis H of lateral flexure axle (2.1.1) and the axis S of vertical pivot (2.5.2) is vertically intersected on O points, the axis of vertical pivot (2.5.2) S overlaps with L, and wherein L is the phase center point O of global location antenna (1.1.1.1)1And O2The straight line that point is formed, O1Point, O points, O2Point is same on the linel, O2Point is Morse's taper male end coaxial interface (1.4) and the combination at Morse's taper mother's mouth end (2.1.2) To site；
The flexion-extension posture 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) are arranged on lateral flexure axle (2.1.1), connected with computer plate (2.7), microcomputer plate (2.7) is through pitching motion servo mechanism (2.2.2), pitching motion work (2.2.3) connection driving horizontal stroke Bent axle (2.1.1)；
The course posture 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) are arranged on vertical pivot (2.5.2), are connected to microcomputer plate (2.7) on, microcomputer plate (2.7) is through course motion servo mechanism (2.3.2), course motion work (2.3.3) connection driving 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 Relative position between regulation geoid and support (2.5), the Electronic bubble (2.4.2) are connected to microcomputer plate (2.7) on；
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), microcomputer plate (2.7) is through the flexion-extension telecontrol equipment (2.8.1), flexion-extension motion amplitude control device (2.8.2) connection drives and controls lateral flexure axle (2.1.1) to make in the angular range of setting by the speed set along direction is pitched Move back and forth；Motion sequential coding device (2.8.3) connected with computer plate (2.7) is pitched, pitches motion sequential coding device (2.8.3) Direction reciprocating motion will be pitched and be reduced to corresponding elevation-depression angle.
5. distribution interactive mapping all-purpose robot according to claim 1, it is characterised in that：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 the general mapping machine (1) of distributed interactive and coaxially Interface unit (3.1.5) side.
6. distribution interactive mapping all-purpose robot according to claim 1, it is characterised in that：The general mapping machine of distributed interactive (1) when and machine execution system (2) is applied in combination, be fastened on vehicle-mounted or boat-carrying or the airbone gyro instrument, there is provided it is vehicle-mounted or Boat-carrying or it is airborne under the conditions of dynamic remote remote measurement application.
CN201610936069.4A 2016-11-01 2016-11-01 Distribution interactive surveys and draws all-purpose robot Active CN106525007B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610936069.4A CN106525007B (en) 2016-11-01 2016-11-01 Distribution interactive surveys and draws all-purpose robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610936069.4A CN106525007B (en) 2016-11-01 2016-11-01 Distribution interactive surveys and draws all-purpose robot

Publications (2)

Publication Number Publication Date
CN106525007A CN106525007A (en) 2017-03-22
CN106525007B true CN106525007B (en) 2018-03-27

Family

ID=58291954

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610936069.4A Active CN106525007B (en) 2016-11-01 2016-11-01 Distribution interactive surveys and draws all-purpose robot

Country Status (1)

Country Link
CN (1) CN106525007B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107589434A (en) * 2017-08-23 2018-01-16 西安中阔卫星技术应用有限责任公司 A kind of automatic apparatus and method for obtaining and recording real road graticule gps coordinate
CN108626537A (en) * 2018-04-24 2018-10-09 南京淳泰控制设备有限公司 A kind of u-bracket engaging member
CN108953921B (en) * 2018-07-09 2020-06-02 重庆电子工程职业学院 Image acquisition device for geological survey
CN109826108B (en) * 2019-01-15 2020-08-11 东南大学 Automatic bridge incremental launching monitoring method based on lofting robot
CN110243369A (en) * 2019-04-30 2019-09-17 北京云迹科技有限公司 Drawing method and device are remotely built suitable for robot localization

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103837143B (en) * 2014-03-25 2015-01-14 许凯华 Super-mapping machine
CN103885455B (en) * 2014-03-25 2015-03-25 许凯华 Tracking measurement robot
CN103837138B (en) * 2014-03-25 2014-12-17 许凯华 Precise photogrammetry robot
CN103868504B (en) * 2014-03-25 2015-01-14 许凯华 Autonomous surveying and mapping machine
CN105430767B (en) * 2016-01-17 2019-04-16 罗轶 Intelligence row packet

Also Published As

Publication number Publication date
CN106525007A (en) 2017-03-22

Similar Documents

Publication Publication Date Title
CN106525007B (en) Distribution interactive surveys and draws all-purpose robot
Petrie et al. Terrestrial laser scanners
CN106802658B (en) Method for rapidly positioning in a kind of full-automatic high precision room
CN104964673B (en) It is a kind of can positioning and orientation close range photogrammetric system and measuring method
CN106595608B (en) The general surveying instrument of distributed interactive
CN101241011B (en) High precision positioning and posture-fixing device on laser radar platform and method
US20110043515A1 (en) System and method capable of navigating and/or mapping any multi-dimensional space
CN107179086A (en) A kind of drafting method based on laser radar, apparatus and system
Yang et al. A novel approach of efficient 3D reconstruction for real scene using unmanned aerial vehicle oblique photogrammetry with five cameras
CN103837143B (en) Super-mapping machine
CN106705962B (en) A kind of method and system obtaining navigation data
CN1755326A (en) Navigation apparatus
CN110095659B (en) Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device
CN103868504B (en) Autonomous surveying and mapping machine
CN103885455B (en) Tracking measurement robot
Honkamaa et al. Interactive outdoor mobile augmentation using markerless tracking and GPS
CN111947625A (en) Measurable BIM (building information modeling) method for measuring rural homestead based on CORS (continuous operational reference system) and integrating unmanned aerial vehicle laser scanning and oblique photography
CN116883604A (en) Three-dimensional modeling technical method based on space, air and ground images
CN103837138A (en) Precise photogrammetry robot
CN103217188A (en) Remote sensing and remote metering hand-held machine
CN208689169U (en) A kind of indoor three-dimensional mapping device based on single line laser radar and target
CN203772276U (en) Independent mapping equipment
CN206321246U (en) The general surveying instrument of distributed interactive
KR20150020421A (en) A measurement system based on augmented reality approach using portable servey terminal
CN111031259B (en) Inward type three-dimensional scene acquisition virtual compound eye camera

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20180713

Address after: 223800 4 building, A2 building, laser Industrial Park, Sucheng Economic Development Zone, Suqian, Jiangsu.

Patentee after: Jiangsu is a Mathematical Research Institute Limited

Address before: 430200 Hubei province Wuhan East Lake Development Zone Wuhan University Science Park B3-7028

Patentee before: Xu Kaihua