CN111929644B - Measuring point positioning method based on laser scanning - Google Patents
Measuring point positioning method based on laser scanning Download PDFInfo
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- CN111929644B CN111929644B CN202010836027.XA CN202010836027A CN111929644B CN 111929644 B CN111929644 B CN 111929644B CN 202010836027 A CN202010836027 A CN 202010836027A CN 111929644 B CN111929644 B CN 111929644B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention discloses a measuring point positioning method based on laser scanning, which comprises the following steps: 1. setting at least two measuring stations, and arranging measuring points in a common vision area of the at least two measuring stations; 2. controlling the measuring station to rotate at a constant speed and emit laser signals for scanning, and collecting the rotation angle and the reflected laser signals; 3. processing the rotation angle and the reflected laser signals, identifying the identities of the measuring point and the measuring station, extracting the central angle value of the measuring point relative to the rotating platform of the measuring station scanned to the measuring point, and obtaining the relative position of the measuring point and the measuring station scanned to the measuring point; 4. according to the result of the step 3, calculating the internal angle value of the triangle formed between the measuring point and the measuring station scanning the measuring point; 5. and (3) according to the result of the step (4), combining the known coordinates of the measuring station, and solving the coordinate values of the measuring point by an angle intersection method. The invention realizes the high-precision positioning of the measuring point by means of the technical treatments of unique coding, integrated receiving and transmitting, same-direction rotation, no positioning, high-frequency acquisition, multiple superposition and the like.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a measuring point positioning method based on laser scanning, which is mainly used in industries needing to position targets.
Background
Positioning technology is a support technology for applications such as location based services, virtual reality, etc. In order to improve user experience, requirements on positioning accuracy and instantaneity are higher and higher. The laser has good monochromaticity and directivity, and is one of the main technical means for realizing the accurate positioning of the target. The method is based on the method for measuring the arrival angle (AoA, angleofArrival) of the laser, and utilizes the characteristic of good laser directivity to measure the arrival angle of the laser, and then uses an AoA method to perform target positioning. According to the method, a plurality of laser sensitive components are arranged on a target, so that the time for laser to reach a sensor is measured respectively. And calculating the position and the motion trail of the target through the position difference of each sensor. Because of process limitation, the rotation speed period of a rotating motor of a laser emission base station is often unstable, so that the time for laser to reach a sensor fluctuates, and therefore, certain errors exist in the calculation of the laser arrival angle by using a constant motor rotation angle speed in the prior art, and the accuracy of a positioning result is further influenced.
Patent document No. 201611200841.2 discloses a target positioning method using laser scanning in 2018, 6, 29, comprising: determining a first reference time and a second reference time in each scanning period of the laser rotary scanning device aiming at any one of N laser rotary scanning devices of the laser emission device; the laser receiving device determines a first motor rotation angular velocity of the laser rotation scanning device corresponding to the first time according to the first reference time and the second reference time, and a first angle of a preset angle synchronization signal corresponding to the first reference time and a second angle of a preset angle synchronization signal corresponding to the second reference time; calculating to obtain the rotation angle of the laser rotation scanning device; the laser receiving device determines the position of the laser receiving device according to the rotation angles of the N laser rotary scanning devices and the coordinates of the N laser rotary scanning devices. However, the following defects still exist in the practical application of the technology:
1. the laser emission device is arranged in the scanning device, the laser receiving device is arranged at the position of the target object, and each device needs to be powered, so that the whole structure of the device is too complex.
2. When scanning and positioning are carried out, only one laser rotary scanning device is supported at the same time to carry out laser scanning on the monitoring area, and the operation efficiency is low.
3. The linear laser module, the photoelectric switch and the rotation angle adopted by the whole set of equipment are all based on the assumption that the two rotation angular velocities are unchanged, which shows that the measurement precision of the whole set of equipment is low, and the actual measurement precision of the whole set of equipment basically does not exceed 1', so that the whole set of equipment cannot be qualified for high-precision positioning service with the precision not lower than 1'.
4. When there are a plurality of measurement targets, there is a difficulty in that the measurement targets cannot be accurately identified.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a measuring point positioning method based on laser scanning, which can partially eliminate the influence caused by machining errors and the like, so that the measuring point can be automatically and accurately positioned with high precision.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the measuring point positioning method based on laser scanning is characterized by comprising the following steps of:
step 1: setting at least two measuring stations with known coordinates, arranging measuring points in a common vision area of the at least two measuring stations, wherein both the measuring stations and the measuring points have a light reflection function and unique codes;
step 2: controlling the measuring stations to continuously rotate at a constant speed and continuously emit laser signals to scan, wherein each measuring station simultaneously scans measuring points and other measuring stations, and continuously collecting the rotation angle, the laser signals reflected by the measuring stations and the laser signals reflected by the measuring points at high frequency;
step 3: analyzing and processing the rotation angle and the reflected laser signals, identifying the identities of the measuring point and the measuring station according to the unique code, extracting the central angle value of the measuring point relative to the rotating platform of the measuring station scanning the measuring point, and then obtaining the relative positions of the measuring point and the measuring station scanning the measuring point according to the central angle value;
step 4: according to the result of the step 3, carrying out data matching on the measuring station and the measuring point by means of the unique code, and calculating the internal angle value of the triangle formed between the measuring point and the measuring station which scans the measuring point together;
step 5: and (3) according to the result of the step (4), combining the known coordinates of the measuring station, and solving the coordinate values of the measuring point by an angle intersection method.
In the step 1, the light reflecting function of the measuring station and the light reflecting function of the measuring point are realized through a light reflecting sheet, and the unique code of the measuring station and the unique code of the measuring point are bar codes or electronic labels arranged on the light reflecting sheet.
In the step 1, the number of the measuring points is at least one.
In the step 2, the acquisition frequency of the high-frequency acquisition is 0.1-10MHz.
In the step 3, the angle measurement precision of the measuring point relative to the central angle of the rotary platform is not less than 1'.
In the step 3, the calculation method of the central angle value of the measuring point relative to the rotary platform is as follows:
wherein,the central angle value of the measuring point relative to the rotary platform is; alpha and beta are rotation angle values when the measuring points have laser reflection signals respectively; k is the number of sampling points under the minimum scale of the accumulated encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
In the step 3, when the measuring station rotates for a plurality of circles, each measuring point extracts a plurality of central angle values, adjustment processing is performed on the plurality of central angle values, and then the relative positions of the measuring point and the measuring station scanned to the measuring point are obtained according to the central angle values after adjustment processing.
In the step 5, when the number of stations for scanning the measuring points together exceeds three, adjustment can be performed to obtain the final coordinate value of the measuring points.
The measuring station comprises a rotating mechanism and a target identification positioning mechanism, wherein the rotating mechanism comprises a driver, a rotating platform driven by the driver and an encoder for calculating the rotating angle of the rotating platform; the reflecting sheet is fixed on the rotary platform; the target identification positioning mechanism comprises a main controller, a laser transmitter and a laser receiver which are all fixed on the rotary platform, wherein the laser transmitter, the laser receiver, the driver and the encoder are all connected with the main controller, and the main controller is used for driving the laser transmitter to transmit laser signals, recording reflected laser signals received by the laser receiver and controlling the rotary platform to rotate through the driver and recording the rotation angle value of the encoder.
The reflector is fixed on the rotary platform through the column body.
The laser transmitter and the laser receiver are both transversely fixed above the rotary platform.
The main controller is also connected with a power supply voltage stabilizing module and a wireless communication module.
The rotating mechanism further comprises a support, a limiting column is arranged on the upper portion of the support, and the rotating platform is installed on the support through the limiting column.
The invention has the advantages that:
1. the invention has the advantage of partially eliminating the influence caused by machining errors and the like. Specifically, the invention relies on the technical treatments of transmitting and receiving integration, same-direction rotation, no need of positioning, high-frequency acquisition, repeated superposition and the like, can eliminate the influence of machining errors and the like, and improves the positioning precision of the measuring point.
2. The invention has the advantages that the unique codes are arranged on the measuring station and the measuring point, the identities of the measuring station and the measuring point can be rapidly confirmed, the data matching between the measuring point and the corresponding measuring station is facilitated, and the positioning accuracy is ensured.
3. The invention supports the simultaneous position identification of a plurality of measuring points, does not interfere with each other in operation, and has high operation efficiency and wide application range.
4. According to the invention, the angle measurement precision of the measuring point relative to the center angle of the rotary platform is set to be not less than 1', so that the measurement precision of the invention can reach or exceed the positioning precision of the high-precision total station.
5. The invention limits the frequency of high-frequency acquisition to 0.1-10MHz, can effectively record the rotation angle and the laser signal, and achieves the aim of subdividing the angle, thereby improving the angle identification precision.
6. The measuring station mainly comprises the rotating mechanism and the target identification positioning mechanism, and the structure has the advantages of simple structure and convenience in moving and installation. The measuring station has the advantages of small overall size, low cost, high efficiency, stability, reliability and wide application scene, and can be used for long-term displacement measurement requirements and short-term displacement measurement requirements. In addition, the laser receiving and transmitting integrated design in the measuring station solves the problem of synchronism of laser emission and laser receiving signals; the target has a certain width, and the data precision is improved through high-frequency acquisition; the rotating mechanism is not intermittent and is used for collecting for many times, so that the data precision is improved; and a plurality of measuring stations are supported to work simultaneously, so that the working efficiency is improved.
7. According to the invention, the reflecting sheet is fixed on the rotary platform through the column body, so that the measuring station can be used as a laser emitting end and also can be used as a laser reflecting end, namely, the laser measuring device becomes a device integrating measuring points of the measuring station, and can be used as the measuring station and also can be used as the measuring points, the application range of the device is greatly improved, and the device is particularly suitable for quickly and automatically constructing a precise wire network.
8. The invention is also connected with the power supply voltage stabilizing module and the wireless communication module through the main controller, wherein the power supply voltage stabilizing module has stable high-precision voltage output and enough load capacity, is favorable for providing a stable power supply for the measuring station, and can realize remote communication and uploading of measurement data through the wireless communication module so as to be convenient for terminal display and big data analysis.
9. According to the invention, the rotary platform is supported by the bracket, so that the stability of the station measuring device is ensured.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the identification and positioning of a measuring station in the present invention;
FIG. 3 is a schematic view of a station according to the present invention;
FIG. 4 is a schematic diagram of a station with light reflection function according to the present invention;
FIG. 5 is a schematic view of a reflective sheet according to the present invention;
FIG. 6 is a schematic view of the structure of the measuring station of the present invention when scanning the measuring points;
FIG. 7 is a schematic view of a structure of a measuring station with a reflection function for scanning a measuring point;
FIG. 8 is a schematic diagram of a station with light reflection function according to the present invention;
FIG. 9 is a schematic diagram of the operation of the station of the present invention;
marked in the figure as: 1. station, 2, station, 3, rotary platform, 4, main control unit, 5, laser emitter, 6, laser receiver, 7, power supply steady voltage module, 8, wireless communication module, 9, spacing post, 10, reflection of light piece, 11, support.
Detailed Description
The invention discloses a measuring point positioning method based on laser scanning, which is shown in fig. 1 and comprises the following steps:
step 1: at least two measuring stations 1 with known coordinates are provided, and the measuring points 2 are arranged in a common vision area of the at least two measuring stations 1.
In this step, the measuring station 1 and the measuring point 2 have a light reflecting function and a unique code, wherein the light reflecting function of the measuring station 1 and the light reflecting function of the measuring point 2 are realized by the light reflecting sheet 10, and the light reflecting material can reflect laser signals in an original way. The unique code of the measuring station 1 and the unique code of the measuring point 2 are bar codes or electronic labels arranged on the reflecting sheet 10, and when the reflecting sheet 10 is scanned, the identity of the measuring station 1 or the measuring point 2 can be identified by analyzing the unique codes. The unique code is equivalent to that of arranging identity cards for the measuring station 1 and the measuring point 2, so that the identity of the measuring point 2 and the identity of the measuring station 1 which scans the measuring point 2 together can be obtained clearly, and the data matching of the measuring station 1 and the measuring point 2 is realized, so that the positioning accuracy is ensured.
In this step, the number of the measuring points 2 is at least one, that is, the number of the measuring points 2 may be plural, but each measuring point 2 is located in a common vision area of at least two measuring stations 1, so as to position the measuring points 2.
Step 2: the measuring stations 1 are controlled to continuously rotate at a constant speed and continuously emit laser signals for scanning, a plurality of measuring stations 1 can scan simultaneously or sequentially, each measuring station 1 can scan to a measuring point 2 and other measuring stations 1 positioned in the scanning area, and the rotation angle, the laser signals reflected by the measuring stations 1 and the laser signals reflected by the measuring point 2 are continuously collected at high frequency.
In the step, the measuring station 1 is controlled to rotate at a low speed, and the acquisition frequency of high-frequency acquisition is 0.1-10MHz, so that the sampling frequency is improved and the identification precision of the measuring point 2 is improved on the premise of not affecting the processing speed.
Step 3: the rotation angle and the reflected laser signals are analyzed and processed, the identities of the measuring point 2 and the measuring station 1 are identified according to the unique codes, the central angle value of the measuring point 2 relative to the rotation platform 3 of the measuring station 1 scanned to the measuring point 2 is extracted, and then the relative positions of the measuring point 2 and the measuring station 1 scanned to the measuring point 2 are obtained according to the central angle value.
In this step, the measurement accuracy of the central angle of the measurement point 2 relative to the rotary platform 3 is not less than 1 ", when the measurement point 2 is scanned, the reflected laser signal collected at high frequency presents a regular variation characteristic, so that the reflection center of the measurement point 2 can be analyzed, and as shown in fig. 2, the calculation method of the central angle value of the measurement point 2 relative to the rotary platform 3 is as follows:
wherein,the central angle value of the measuring point 2 relative to the rotary platform 3; alpha and beta are rotation angle values when the measuring point 2 has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the accumulated encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
Further, since each measuring point 2 is at least located in the common vision area of two measuring stations 1, when the measuring stations 1 rotate for multiple circles, each measuring point 2 will extract multiple central angle values, firstly performing adjustment processing on the multiple central angle values, and then obtaining the relative positions of the measuring point 2 and the measuring station 1 scanned to the measuring point 2 according to the central angle values after adjustment processing. The principle of adjustment treatment is that when the same measuring point 2 is scanned twice adjacently, the central angle value should be a constant 360 degrees. The measurement accuracy of the center angle can be improved through adjustment processing, and the positioning accuracy is further improved.
Step 4: and (3) according to the result of the step (3), carrying out data matching on the measuring station (1) and the measuring point (2) by means of the unique code, and calculating the internal angle value of the triangle formed between the measuring point (2) and the measuring station (1) which scans the measuring point (2) together. Specifically, according to the result of step 3, it is confirmed that the measuring station 1 and the measuring stations 1 and 2 scanned by the measuring station 1 form a data packet, the internal angle value of each measuring station 2 relative to the measuring station 1 is calculated, the data matching is performed through the plurality of measuring stations 1 and 2, and the relevant data of the triangle including the two measuring stations 1 and one measuring station 2 is arranged.
Step 5: and (3) according to the result of the step (4), combining the known coordinates of the measuring station (1), and obtaining the coordinate value of the measuring station (2) by an angle intersection method.
In this step, when the number of stations 1 for scanning the measurement point 2 together exceeds three, a final coordinate value of the measurement point 2 can be obtained by performing adjustment. Specifically, when the measuring point 2 is located in the common vision area of three, four or even more measuring stations 1, the final coordinate value of the measuring point 2 should be obtained through adjustment. The adjustment method is not limited to the following adjustment method: for example, when the number of stations 1 is 3, there are three kinds of combinations of 12, 13 and 23. At this time, coordinate values of three measuring points 2 are obtained, and adjustment is performed on the three coordinate values, so that a final coordinate value of the measuring station 1 is obtained. The coordinate values are adjusted, and the final coordinate values are obtained comprehensively according to the data of the three measuring stations 1, so that the coordinate value of the measuring point 2 obtained finally has high precision.
In the invention, as shown in fig. 3-8, the measuring station 1 comprises a rotating mechanism, a target recognition positioning mechanism, a power supply voltage stabilizing module 7 and a wireless communication module 8, wherein the rotating mechanism comprises a driver, a rotating platform 3 driven by the driver and an encoder for calculating the rotating angle of the rotating platform 3; the reflecting sheet 10 is fixed on the rotary platform 3, specifically, the reflecting sheet 10 is fixed on a column body in a surrounding manner, and is fixed on the rotary platform 3 through the column body; and the reflective sheet 10 is preferably vertically fixed above and below the platform body, respectively, so as to facilitate effective reflection of the laser signal; the target recognition positioning mechanism comprises a main controller 4, a laser transmitter 5 and a laser receiver 6 which are all fixed on the rotary platform 3, wherein the laser transmitter 5 and the laser receiver 6 are all transversely fixed above the rotary platform 3, the laser transmitter 5, the laser receiver 6, a driver, an encoder, a power supply voltage stabilizing module 7 and a wireless communication module 8 are all connected with the main controller 4, and the main controller 4 is used for driving the laser transmitter 5 to transmit laser signals, recording reflected laser signals received by the laser receiver 6, controlling the rotary platform 3 to rotate through the driver and recording rotation angle values of the encoder. The main controller 4 locates the position of the measuring point 2 according to the received reflected laser signals and the related known data such as the rotation angle value of the encoder. As shown in fig. 9, the functions of the respective components are as follows:
a rotating mechanism: the subdivided angle marks can be fed back to the main controller 4 in response to an instruction from the main controller 4 quickly. When the main controller 4 collects the high-frequency signal fed back by the laser receiver 6 at high frequency, the encoder can accurately feed back the currently subdivided scale value to the main controller 4 after the main controller 4 sends an instruction.
The main controller 4: is the core component of the whole measuring device, mainly used for driving the laser transmitter 5 to transmit laser signals, used for receiving reflected laser signals from the laser receiver 6, used for controlling the platform body to rotate through a driver and used for reading data of an encoder, and used for identifying targets according to the received reflected laser signals and the data of the encoder. At the same time, it can also communicate with the wireless communication module 8 to upload the test data wirelessly to the remote end.
Laser emitter 5: the main controller 4 drives and controls the laser to be point or linear laser, and has the characteristics of high precision, small diffusion, long irradiation distance, collimation and the like.
Laser receiver 6: for receiving the reflected laser light signal projected by the laser transmitter 5, the receiving circuit thereof is capable of converting the receiving tube light signal into a corresponding voltage signal to be provided to the main controller 4.
The power supply voltage stabilizing module 7: the stable voltage output is mainly provided for the main controller 4, the laser transmitter 5 and the wireless communication module 8, the power supply voltage stabilizing module 7 can convert voltage through external direct current transformation, and the power supply voltage can be converted into VCC power supply voltage required by the main controller 4, the laser transmitter 5 and the wireless communication module 8 through lithium battery energy storage, and the power supply voltage stabilizing module 7 has stable high-precision voltage output and enough load capacity.
Wireless communication module 8: the method is used for realizing remote communication, measurement data uploading and wireless networking so as to facilitate display of the terminal and big data analysis.
In the invention, the rotating mechanism further comprises a bracket 11, the bracket 11 is preferably a triangular bracket, a limit post 9 is arranged at the upper part of the bracket 11, and the rotating platform 3 is arranged on the bracket 11 through the limit post 9. When in use, the rotary platform 3 is driven by the driver to rotate on the bracket 11, so as to drive the laser transmitter 5 and the laser receiver 6 on the rotary platform 3 to transmit laser signals and receive reflected laser signals.
The invention is mainly applied to industries needing accurate positioning, for example, the invention can be applied to an automatic warehouse, when the invention is applied to the warehouse, measuring stations 1 can be arranged on the peripheral walls of the warehouse, and measuring points 2 can be arranged on equipment needing positioning or moving in the warehouse, so that the accurate positions of the equipment in the warehouse and the like can be obtained at any time.
In the invention, the position of the measuring point 2 can be accurately positioned as long as the relative position between the measuring point 2 and the measuring station 1 scanning the measuring point 2 can be accurately obtained. Based on this, the applicant has verified the scheme of the present invention as follows:
1. device selection
2. Test content
A fixed point is selected on the site for setting the measuring station 1, two measuring points 2 are respectively arranged in the visible range of the measuring station 1, and the horizontal distance between the fixed point and the two measuring points 2 is 38 meters and 70 meters respectively.
3. Test procedure
(1) The rotary platform 3 is mounted on a fixed point by measuring the tripod centering, and then the device is started to rotate for 10 circles continuously at a low speed.
(2) The measuring station 1 is controlled to continuously rotate and continuously emit laser signals, and simultaneously, the rotation angle and the laser signals reflected by the two measuring points 2 are continuously collected at the sampling frequency of 1MHz, so that alpha, beta, X and Y of each measuring point 2 of each circle are obtained.
(3) Substituting the data into the following formula to calculate the central angle value of the measuring point 2 relative to the rotary platform 3:
wherein,is the central angle of the measuring point 2 relative to the rotary platform 3; alpha and beta are rotation angle values when the measuring point 2 has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the accumulated encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y is the number of readings at the alpha and beta angle values, respectively; n is a turntableThe number of turns of rotation;
the center angle of the 1 st measuring point 2 relative to the rotary platform 3;
the center angle of the 2 nd measuring point 2 relative to the rotary platform 3;
psi is the angular difference between the 1 st measurement point 2 and the 2 nd measurement point 2 in the plane of rotation.
4. Test comparison
The total station is erected at the position of the rotary platform 3, the model is lycra TCA2003, and two measuring points 2 and 1 psi under the measurement are respectively irradiated.
5. Verification result
| The invention obtains the result | The total station obtains the result | |
| ψ | 36°48′36.43″ | 36°48′36.2″ |
Experimental data shows that the invention can accurately measure the angle and the precision can reach 1″ relative to the total station. Based on the above, the invention can accurately position the measuring point 2.
While the invention has been described with reference to certain embodiments, it is understood that any feature disclosed in this specification may be replaced by alternative features serving the equivalent or similar purpose, unless expressly stated otherwise; all of the features disclosed, or all of the steps in a method or process, except for mutually exclusive features and/or steps, may be combined in any manner.
Claims (9)
1. The measuring point positioning method based on laser scanning is characterized by comprising the following steps of:
step 1: setting at least two measuring stations (1) with known coordinates, arranging measuring points (2) in a common vision area of the at least two measuring stations (1), wherein both the measuring stations (1) and the measuring points (2) have a light reflection function and unique codes;
step 2: controlling the measuring stations (1) to continuously rotate at a constant speed and continuously emit laser signals to scan, wherein each measuring station (1) simultaneously scans the measuring point (2) and other measuring stations (1), and continuously collects the rotation angle, the laser signals reflected by the measuring stations (1) and the laser signals reflected by the measuring points (2) at high frequency;
step 3: analyzing and processing the rotation angle and the reflected laser signals, identifying the identities of the measuring point (2) and the measuring station (1) according to the unique codes, extracting the central angle value of the measuring point (2) relative to the rotating platform (3) of the measuring station (1) scanned to the measuring point (2), and then obtaining the relative positions of the measuring point (2) and the measuring station (1) scanned to the measuring point (2) according to the central angle value;
step 4: according to the result of the step 3, carrying out data matching on the measuring station (1) and the measuring point (2) by means of the unique code, and calculating the internal angle value of a triangle formed between the measuring point (2) and the measuring station (1) which scans the measuring point (2) together;
step 5: according to the result of the step 4, combining the known coordinates of the measuring station (1), and solving the coordinate value of the measuring point (2) by an angle intersection method;
in the step 3, the calculation method of the center angle value of the measuring point (2) relative to the rotary platform (3) comprises the following steps:
wherein phi is the central angle value of the measuring point (2) relative to the rotary platform (3); alpha and beta are rotation angle values when the measuring point (2) has laser reflection signals respectively; k is the number of sampling points under the minimum scale of the accumulated encoder when the encoder rotates for one circle, and the encoder is used for measuring the rotation angle; x, Y are the number of readings at the alpha and beta angle values, respectively.
2. The laser scanning-based measuring point positioning method as set forth in claim 1, wherein: in the step 1, the light reflecting function of the measuring station (1) and the light reflecting function of the measuring point (2) are realized through the light reflecting sheet (10), and the unique code of the measuring station (1) and the unique code of the measuring point (2) are bar codes or electronic labels arranged on the light reflecting sheet (10).
3. A method for locating a measuring point based on laser scanning according to claim 1 or 2, characterized in that: in the step 1, the number of the measuring points (2) is at least one.
4. A method for locating a measuring point based on laser scanning according to claim 1 or 2, characterized in that: in the step 2, the acquisition frequency of the high-frequency acquisition is 0.1-10MHz.
5. A method for locating a measuring point based on laser scanning according to claim 1 or 2, characterized in that: in the step 3, the angular precision of the measuring point (2) relative to the central angle of the rotary platform (3) is not less than 1'.
6. A method for locating a measuring point based on laser scanning according to claim 1 or 2, characterized in that: in the step 3, when the measuring station (1) rotates for a plurality of circles, each measuring point (2) extracts a plurality of central angle values, adjustment processing is performed on the plurality of central angle values, and then the relative positions of the measuring point (2) and the measuring station (1) scanned to the measuring point (2) are obtained according to the central angle values after adjustment processing.
7. A method for locating a measuring point based on laser scanning according to claim 1 or 2, characterized in that: in the step 5, when the number of the measuring stations (1) for scanning the measuring point (2) together exceeds three, adjustment can be performed to obtain the final coordinate value of the measuring point (2).
8. The laser scanning-based measuring point positioning method as set forth in claim 2, wherein: the measuring station (1) comprises a rotating mechanism and a target recognition positioning mechanism, wherein the rotating mechanism comprises a driver, a rotating platform (3) driven by the driver and an encoder for calculating the rotating angle of the rotating platform (3); the reflecting sheet (10) is fixed on the rotary platform (3); the target identification positioning mechanism comprises a main controller (4), a laser transmitter (5) and a laser receiver (6), wherein the main controller (4), the laser transmitter (5), the laser receiver (6), a driver and an encoder are all fixed on a rotary platform (3), the main controller (4) is used for driving the laser transmitter (5) to transmit laser signals, recording reflected laser signals received by the laser receiver (6) and controlling the rotary platform (3) to rotate through the driver and recording the rotation angle value of the encoder.
9. The laser scanning-based measuring point positioning method as set forth in claim 8, wherein: the reflecting sheet (10) is fixedly adhered to the column body in a surrounding mode, and the reflecting sheet (10) is fixed on the rotary platform (3) through the column body.
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