CN205879187U - With interactive automatic anchor point sign dolly of total powerstation - Google Patents
With interactive automatic anchor point sign dolly of total powerstation Download PDFInfo
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- CN205879187U CN205879187U CN201620889812.0U CN201620889812U CN205879187U CN 205879187 U CN205879187 U CN 205879187U CN 201620889812 U CN201620889812 U CN 201620889812U CN 205879187 U CN205879187 U CN 205879187U
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- dolly
- anchor point
- total powerstation
- automatic anchor
- chip microcomputer
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Abstract
The utility model provides a with interactive automatic anchor point sign dolly of total powerstation, including automatic anchor point sign dolly and total powerstation, wherein, automatic anchor point sign dolly includes the automobile body, set up in the on -vehicle come card prism at automobile body top, set up in bottom of the car body's wheel body with set up in sign ejection system on the automobile body, set up in singlechip in the automobile body with the signal receiver that the singlechip is connected, the singlechip is connected with on -vehicle come card prism, wheel body and sign ejection system respectively, the singlechip passes through signal receiver with the total powerstation is mutual. The utility model discloses a method of total powerstation cooperation prism is confirmed to combine actual conditions by the coordinate, can reduce artifical design and calculation's error, and the concurrent operation degree of difficulty is little, has avoided numerous and diverse calculation.
Description
Technical field
This utility model relates to a kind of automatic anchor point mark dolly mutual with total powerstation.
Background technology
Total powerstation, full name full standing posture electronics speed distance meter, is a kind of collection theodolite, electronic distance meter (EDM, Electronic
Distance Measuring Device) the contemporary optics electronic measuring instrument that is integrated of outer computer software system.Due to
It can complete horizontal angle at an erect-position, vertical angle, distance, the whole of vertical survey measure work, thus its name.
Some modern total powerstations have reached remote controlled automaticity, and this eliminates the need for as device operator
It is equipped with necessity of an assistant helping reflecting prism.While operator oneself can help reverberation measuring point, remotely
Operating instrument.Observation station can be directly recorded to angle difference and distance between observed object, accordingly by three by total powerstation
The conversion relation that angle is learned can calculate the coordinate of observed object or the observation station position relative to known point.These theodolite portions
After the observation data divided are downloaded to computer software programs, objective area schema mapping can be automatically generated.Some total powerstations leave
The interface of GPS system system is available for expanding, can (GPS system need not observation station and sight with the intercommunication chief after combining both this
Survey that the sight line between object is unobstructed and plural known point is as reference, and total powerstation can provide level measurement
Precision).At present in the research of oceanics, R&D institution carries out studying with current generation system to be needed often on the false end
Carry out the labelling of point at preset coordinates, existing labelling coordinate at the bottom of current generation system vacation frequently with one for utilizing in vacation
The coordinate system that the end is centrally disposed, determines the position of impact point by the method for tape measuring and is marked at pen at false the end.So
The shortcoming of way mainly have three: first, due to experiment condition, not fully-flattened, the false end, so having in some position
A certain amount of hydrops, this makes marking pen labelling effect of getting up bad, even occurs that coordinate is fuzzy, skew；Second, determine a little
Position needs a large amount of manpowers, loses time and inefficiency；3rd, due to life-time service, tape measure can be elongated, and causes measuring very
Inaccuracy.
Utility model content
The purpose of this utility model is to provide a kind of automatic anchor point mark dolly mutual with total powerstation, it is possible to solve people
The problem that work staking-out work amount is big.
For solving the problems referred to above, this utility model provides a kind of automatic anchor point mark dolly mutual with total powerstation, including:
Described automatic anchor point mark dolly include car body, be arranged at described car body top vehicle-mounted come card prism, be arranged at
The wheel body of described vehicle bottom and be arranged on described car body mark ejection system, the single-chip microcomputer being arranged in described car body and
The signal receiving device that described single-chip microcomputer connects,
Described single-chip microcomputer is connected with vehicle-mounted card prism, wheel body and the mark ejection system of coming respectively, and described single-chip microcomputer passes through institute
State signal receiving device mutual with described total powerstation, receive the coordinate information of total powerstation, control according to described coordinate information described
Wheel body is automatically moved to arrive at coordinate points accordingly, and the described mark ejection system of control is the most accurately cast at described coordinate points
Mark.
Further, in above-mentioned automatic anchor point mark dolly, described wheel body includes:
Four wheels, the steering wheel group being connected with described four wheels respectively, described steering wheel group is also connected with described single-chip microcomputer.
Further, in above-mentioned automatic anchor point mark dolly, the described vehicle-mounted card prism that comes keeps vertical with dolly.
Further, above-mentioned automatic anchor point mark dolly in, described in be designated Magnet.
Further, above-mentioned automatic anchor point mark dolly in, have inside described mark ejection system ejection structure and with
The magnet piece that described ejection structure connects.
Further, in above-mentioned automatic anchor point mark dolly, it is additionally provided with in described car body and is connected with described single-chip microcomputer
Direction sensor.
Further, in above-mentioned automatic anchor point mark dolly, it is additionally provided with in described car body and is connected with described single-chip microcomputer
Infrared sensor.
Further, in above-mentioned automatic anchor point mark dolly, it is additionally provided with in described car body and is connected with described single-chip microcomputer
Battery.
Further, in above-mentioned automatic anchor point mark dolly, described single-chip microcomputer includes PID controller.
Compared with prior art, this utility model includes automatic anchor point mark dolly and total powerstation, wherein, described automatic anchor
Point identification dolly includes car body, is arranged at described car body top vehicle-mounted and comes card prism, be arranged at the wheel body of described vehicle bottom
The letter connected with the mark ejection system being arranged on described car body, the single-chip microcomputer being arranged in described car body and described single-chip microcomputer
Number receive device, described single-chip microcomputer is connected with vehicle-mounted card prism, wheel body and the mark ejection system of coming respectively, and described single-chip microcomputer passes through
Described signal receiving device is mutual with described total powerstation.This utility model uses total powerstation to coordinate the method for prism to determine coordinate,
In conjunction with practical situation, can reduce the error that engineer calculates, operation easier is little simultaneously, it is to avoid numerous and diverse calculating.
Accompanying drawing explanation
Fig. 1 is the fundamental diagram of the automatic anchor point mark dolly mutual with total powerstation of this utility model one embodiment.
Detailed description of the invention
Understandable for enabling above-mentioned purpose of the present utility model, feature and advantage to become apparent from, below in conjunction with the accompanying drawings and tool
This utility model is described in further detail by body embodiment.
As it is shown in figure 1, this utility model provides a kind of automatic anchor point mark dolly mutual with total powerstation, including automatic anchor
Point identification dolly and total powerstation 4, wherein,
Described automatic anchor point mark dolly includes car body 1, is arranged at described car body top vehicle-mounted and comes card prism 2, arrange
Wheel body and the mark ejection system 3 being arranged on described car body, the monolithic being arranged in described car body in described vehicle bottom
The signal receiving device that machine and described single-chip microcomputer connect,
Described single-chip microcomputer is connected with vehicle-mounted card prism, wheel body and the mark ejection system of coming respectively, and described single-chip microcomputer passes through institute
State signal receiving device mutual with described total powerstation, receive the coordinate information of total powerstation, control according to described coordinate information described
Wheel body is automatically moved to arrive at coordinate points accordingly, and the described mark ejection system of control is the most accurately cast at described coordinate points
Mark.Here, mark ejection system can realize accurate release position target function after dolly arrives impact point.Total powerstation has
There is the function forming coordinate, in the plane at anchor point place, form direction and coordinate.The vehicle-mounted card prism collocation total powerstation that comes makes
With, the laser of total powerstation injection can be reflected, thus demarcate initial coordinate, the vehicle-mounted card prism that comes has 360 deg reception laser
Ability, dolly can receive the laser of total powerstation easily, facilitate dolly calculate voluntarily and revise feasible path.
Use afterwards intelligent carriage automatic running at anchor point, release position mark.Signal receiving device is for receiving the seat that total powerstation sends
Mark signal, the Single Chip Microcomputer (SCM) program on dolly automatically analyzes, and sends instruction and make dolly move.Four-wheel full circle swinging dolly can connect
Original place adjustment direction immediately after collecting mail number.
Preferably, described wheel body includes: four wheels, the steering wheel group being connected with described four wheels respectively, described steering wheel
Group is also connected with described single-chip microcomputer.The four wheels of described automatic anchor point mark dolly, can be turned to respectively by rudder unit allocation, real
Existing full circle swinging function, can accurately point out aiming spot and relative direction.
Preferably, the described vehicle-mounted card prism that comes keeps vertical with dolly, and the error caused at inclination angle is down to minimum.
Preferably, Magnet it is designated described in.
Preferably, there are ejection structure and the magnet piece being connected with described ejection structure inside described mark ejection system.?
This, mark ejection system is made up of ejection structure and small magnet, when dolly arrives anchor point position, advertiser receives letter
Number, single-chip microcomputer analysis, send the instruction control described ejection structure of unlatching by described single-chip microcomputer and start working, Magnet is positioned over
As labelling at anchor point coordinate predetermined on work platforms, owing to deep-sea experimentation comprehensive platform is to be paved into by iron plate, therefore
Magnet can be fitted ground well, can tint in Magnet appearance so that it is more obvious, conveniently recognized.
Preferably, it is additionally provided with, in described car body, the direction sensor being connected with described single-chip microcomputer, it is possible to control more accurately
Make the moving direction of described automatic anchor point mark dolly.
Preferably, being additionally provided with the infrared sensor being connected with described single-chip microcomputer in described car body, described single-chip microcomputer is infrared
Sensor obtains current road conditions, and rationally selects mobile route according to described current road conditions, it is achieved described automatic anchor point mark is little
The function that keeps in obscurity of car.
Preferably, in described car body, it is additionally provided with the battery being connected with described single-chip microcomputer, is used for as described automatic anchor point mark
Know each building block continued power of dolly.
Preferably, described single-chip microcomputer includes PID controller, and the basis that PID controls is ratio control；Integration control can eliminate
Steady-state error, but overshoot may be increased；Differential controls to accelerate Great inertia system response speed and weaken overshoot trend.PID
Controller (proportional-integral derivative controller) is feedback circuit parts common in Industry Control Application, by ratio list
Unit P, integral unit I and differentiation element D composition.The basis that PID controls is ratio control；Integration control can eliminate steady-state error,
But overshoot may be increased；Differential controls to accelerate Great inertia system response speed and weaken overshoot trend.This is theoretical and answers
It is crucial that make correct measurement and compare after, how could preferably correcting system.PID (ratio
(proportion), integration (integral), derivative (derivative)) controller is as the most practical controller
Last 100 years history, is currently still most widely used industrial control unit (ICU).PID controller is easily understood, and is not required to accurately in using
The prerequisite such as system model, thus become the controller being most widely used.In dolly traveling process, reception is believed
Number, and according to road conditions, single-chip microcomputer uses PID control system, calculates present feasible path, the most precisely arrive anchor point position.
The using method of the above-mentioned automatic anchor point mark dolly mutual with total powerstation is as follows:
Use PID control system.First total powerstation is fixed on a fixing point O of anchor point place plane.Open full station
Instrument, uses the adjusting knob on total powerstation that total powerstation is regulated level, selects the coordinate of total powerstation to draw function, at anchor point afterwards
Planar drawing coordinate system XOY, coordinate direction is vertical directions, two, all directions.Afterwards dolly is put into anchor point institute
1 A in plane.Now total powerstation starts automatically to rotate searching dolly and vehicle-mounted comes card prism.When total powerstation searches out dolly
After, record dolly coordinate A (x1, y1) now.Next step, dolly starts along self forward travel to another B, total powerstation
All the time follow the prism on dolly, record the coordinate after moving of car (x2, y2).According to this two point coordinates, dolly calculates it
Direction vector i=under XOY coordinate system at present.After dolly determines direction, anchor point coordinate 0 ' is sent to dolly by total powerstation.
The most now dolly calculates self direction and i and BO ' angle theta, then dolly carries out the inverse time by the magnitude relationship of judgement with 0 afterwards
Pin or turn to clockwise: turn to clockwise more than or equal to zero, otherwise, turn to counterclockwise.After turning over θ, dolly is along self side
To walking, until going to anchor point, the dolly coordinate now recorded via total powerstation is (x0, y0).In the ideal case, i.e. platform
For plane, without rugged, dolly turns to accurately, only need to turn to and the most then can arrive anchor point.But it is little on actual platform
Carriage walking can be caused error by the fluctuating turning to precision and platform of car.And have by infrared wall in view of dolly self
The function of barrier, dolly is during walking in addition to the computing that carries out keeping in obscurity, and dolly above-mentioned turns to calculating by persistently carrying out.Hold
Continuous turns to calculating and turns to, and is equivalent to a kind of recurrence, makes dolly can reduce environment band under actual environment step by step
The error come, eventually arrives at the position of anchor point.Finally after arriving anchor point coordinate, dolly will cast a mark.
This utility model includes that an automatic anchor point mark dolly and a total powerstation, automatic anchor point mark dolly have and covers
Barrier, moves towards specified coordinate, draws the functions such as anchor point, by the location of total powerstation, surveys and draws function, interacts, make robot arrive
The required point drawing anchor point accurate lock anchor point, it is possible to solve the bigger error of artificial anchor point during swimmer's pool draws anchor point
With the problem wasted time and energy of artificial anchor point, can be applicable to ocean deepwater laboratory and carry out the work of mechanical drawing anchor point, it is possible to
It is generalized to other fields needing to pinpoint setting-out.
In sum, of the present utility model overcome problems of the prior art, first, there is the spy saving manpower
Point, after improvement, this work only has once completing to two people, and speed is fast more a lot of than artificial.Second, by labelling from pen
Picture becomes Magnet, adapts to, at the bottom of iron core vacation, can avoid marking bias as far as possible.3rd, registration, dolly adds mechanical arm and places
Beacon approach will not elapse in time and produce error, and computer calculates path, and error is less.
Compared with prior art, this utility model has the following advantages:
1. use total powerstation to coordinate the method for prism to determine coordinate, in conjunction with practical situation, can reduce what engineer calculated
Error, operation easier is little simultaneously, it is to avoid numerous and diverse calculating.
2. projection Magnet is as labelling, compares traditional marking pen and is marked the most accurate.
3. dolly accurate anchor point mark voluntarily, reduces the error that artificial anchor point brings, it is achieved that mechanization.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.
Obviously, those skilled in the art can carry out various change and modification without deviating from this practicality newly to utility model
The spirit and scope of type.So, if of the present utility model these amendment and modification belong to this utility model claim and
Within the scope of equivalent technologies, then this utility model is also intended to change and including modification include these.
Claims (9)
1. the automatic anchor point mutual with a total powerstation mark dolly, it is characterised in that including:
Described automatic anchor point mark dolly include car body, be arranged at described car body top vehicle-mounted come card prism, be arranged at described
The wheel body of vehicle bottom and the mark ejection system being arranged on described car body, the single-chip microcomputer being arranged in described car body and described
The signal receiving device that single-chip microcomputer connects,
Described single-chip microcomputer is connected with vehicle-mounted card prism, wheel body and the mark ejection system of coming respectively, and described single-chip microcomputer passes through described letter
Number receive device mutual with described total powerstation.
2. the automatic anchor point mark dolly the most mutual with total powerstation, it is characterised in that described wheel body bag
Include:
Four wheels, the steering wheel group being connected with described four wheels respectively, described steering wheel group is also connected with described single-chip microcomputer.
3. as claimed in claim 1 the most mutual with total powerstation automatic anchor point identifies dolly, it is characterised in that described vehicle-mounted come card
Prism keeps vertical with dolly.
4. as claimed in claim 1 the most mutual with total powerstation automatic anchor point identifies dolly, it is characterised in that described in be designated magnetic
Ferrum.
5. the automatic anchor point mark dolly the most mutual with total powerstation, it is characterised in that described mark is launched
Internal system has ejection structure and the magnet piece being connected with described ejection structure.
6. the automatic anchor point mark dolly the most mutual with total powerstation, it is characterised in that in described car body also
It is provided with the direction sensor being connected with described single-chip microcomputer.
7. the automatic anchor point mark dolly the most mutual with total powerstation, it is characterised in that in described car body also
It is provided with the infrared sensor being connected with described single-chip microcomputer.
8. the automatic anchor point mark dolly the most mutual with total powerstation, it is characterised in that in described car body also
It is provided with the battery being connected with described single-chip microcomputer.
9. the automatic anchor point mark dolly the most mutual with total powerstation, it is characterised in that described single-chip microcomputer bag
Include PID controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620889812.0U CN205879187U (en) | 2016-08-17 | 2016-08-17 | With interactive automatic anchor point sign dolly of total powerstation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620889812.0U CN205879187U (en) | 2016-08-17 | 2016-08-17 | With interactive automatic anchor point sign dolly of total powerstation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108330800A (en) * | 2018-01-30 | 2018-07-27 | 北京建筑大学 | A kind of automatic point location setting-out robot and method |
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2016
- 2016-08-17 CN CN201620889812.0U patent/CN205879187U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108330800A (en) * | 2018-01-30 | 2018-07-27 | 北京建筑大学 | A kind of automatic point location setting-out robot and method |
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