CN206132056U - Prop up three -dimensional gesture system of posture - Google Patents
Prop up three -dimensional gesture system of posture Download PDFInfo
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- CN206132056U CN206132056U CN201621161036.9U CN201621161036U CN206132056U CN 206132056 U CN206132056 U CN 206132056U CN 201621161036 U CN201621161036 U CN 201621161036U CN 206132056 U CN206132056 U CN 206132056U
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Abstract
The utility model provides a prop up three -dimensional gesture system of posture, its characterized in that: prop up three -dimensional gesture system of posture (2.1) include coaxial interface unit (2.1.1), face upward bow motion unit, course motion unit, flattening unit, bluetooth communication unit (2.1.5), computer board (2.1.6) and support (2.1.7). The utility model discloses a prop up three -dimensional gesture system of posture can sell alone, also can be used for other mapping equipment, for example support to use the mutual general surveying instrument host computer that distributes, can conveniently make up the use, have important market value.
Description
Technical field
The utility model belongs to field of measuring technique, more particularly to a kind of support for the general surveying instrument of distributed interactive
Formula 3 d pose system.
Background technology
There are 2 class Related products in the market：Conventional instrument of surveying and mapping, the Trimble Geo 7x equipment of U.S. Tian Bao company
With the 3D GNSS-CS20 of Lai Ka companies of Switzerland（Both technical indicator identical functions are close）.
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.The limitation that conventional instrument of surveying and mapping is present
It is：
1）Legacy equipment：Rangefinder, spirit level, plane table, dipmeter, sedimentometer, theodolite, mark post, rib
The legacy equipments such as mirror belong to simple function instrument, are made by angle measurement, the synthesis surveyed height, find range, survey the means such as level
For obtaining the relative relation data between survey station and measured target under self-defined coordinate.Legacy equipment is operated by artificial,
Human error and segmentation introduce the error of geodetic coordinates greatly and without effective Correction of Errors method.Legacy equipment efficiency is very low,
Obtaining the object space three-dimensional geodetic coordinates of a low precision usually needs one group of professional and technical personnel's work really long days.It is a large amount of to expend
Manpower and time, real work high cost.
2）GPS location instrument：Instrument must be erected on measured target and be observed, this has erection instrument firstly the need of measured target
The condition of device, and need the impact point of measurement usually not have the condition for setting up instrument.
3）Total powerstation：Angle measurement and range finding in self-defined coordinate system.
4）Super-station instrument：The three-dimensional geodetic coordinates of itself can also be determined in addition to angle measurement, range finding.Although " super-station instrument+RTK
Equipment " can remote measurement geodetic coordinates, but askiatic function：Cost is more than 10 ten thousand yuan/set-hundreds of thousands unit（Import）/ set,
Many equipment are needed to use cooperatively.
2nd, the Trimble Geo 7x equipment of U.S. Tian Bao company and Switzerland come the 3D GNSS-CS20 of card：
The Trimbie Geo 7x equipment that U.S. Tian Bao company releases for 2014, is that global first item can synchronous remote measurement acquisition
Target three-dimensional geodetic coordinates and remote sensing obtain the portable machine of target live-action image, 70,000 yuan/platform of current price：Remote measurement precision is low, quilt
Survey target 40 meters of distance then remote measurement target three-dimensional geodetic coordinates error more than 1 meter（100 meters of distance then error more than 2.6 meters；
Nominal 120 meters of maximum ranging distance, in 70 meters of practical ranging）；It is weak without optical amplifier, the little optical environment adaptability of luminous flux；The whole world
Positioning precision is high, the stable field adaptability of properties of product is good；Product function is few and concentrate on single direction, still with conventional " RTK
+ handbook " is main functionality.
Lai Ka companies of Switzerland subsequently release 3D GNSS-CS20 equipment, 150,000 yuan/platform of price or so：With Trimbie Geo
7x equipment is compared, and be increased to be increased on built-in radio station and public network communication module, software on hardware and is converted the data into for surveying
The 3D models painted.Other technical indicators and product function are identical with Trimbie Geo 7x equipment.
Therefore, all there is single function, poor universality, operation inconvenience, problem with high costs in currently existing product.
Utility model content
The purpose of this utility model be for support realize distribution interactive global integration mapping, surveying and mapping activity it is general,
Mapping operations are general, high accuracy, high efficiency, high performance-price ratio, low cost the general surveying instrument of distributed interactive, there is provided a kind of stent-type
3 d pose system.
The utility model provides a kind of stent-type 3 d pose system, and the stent-type 3 d pose system 2.1 includes together
Axial interface unit 2.1.1, flexion-extension moving cell, course moving cell, screed units, bluetooth-communication unit 2.1.5, microcomputer plate
2.1.6 with support 2.1.7；
The coaxial interface unit 2.1.1 is arranged on lateral flexure axle 2.1.2.1；
The flexion-extension moving cell includes lateral flexure axle 2.1.2.1, elevation-depression angle encoder 2.1.2.2；Lateral flexure axle 2.1.2.1
On support 2.1.7, elevation-depression angle encoder 2.1.2.3 is arranged on the axis of lateral flexure axle 2.1.2.1；
The course moving cell includes vertical pivot 2.1.3.1, course heading encoder 2.1.3.2；Vertical pivot 2.1.3.1 is installed
On support 2.1.7, course heading encoder 2.1.3.2 is arranged on vertical pivot 2.1.3.1；
The screed units include adjusting screw rod group and Electronic bubble, and screed units are arranged on support 2.1.7；
The elevation-depression angle encoder 2.1.2.3, course heading encoder 2.1.3.2, Electronic bubble, bluetooth-communication unit
2.1.5 it is connected on microcomputer plate 2.1.6.
And, the coaxial interface unit 2.1.1 includes Morse's taper mother mouth end 2.1.1.1, exit screw rod 2.1.1.2 and
Lock nut 2.1.1.3.
And, when carrying out the connection of the general surveying instrument main frame 1 of distributed interactive and stent-type 3 d pose system 2.1, will not
The Morse's taper male end coaxial interface 1.4 of the general surveying instrument main frame 1 of family name's taper mother's mouth end 2.1.1.1 insertion distributed interactives, turns
Dynamic lock nut 2.1.1.3 is fixed on distributed interactive general surveying instrument main frame 1 in stent-type 3 d pose system 2.1；Now
The straight line that the phase center of global location antenna 1.1.1.1 is constituted with the geometric center of Morse's taper mother mouth end 2.1.1.1 overlaps
In the axis of vertical pivot 2.1.3.1；Conversely, unclamping lock nut 2.1.1.3, rotation exits screw rod 2.1.1.2, from stent-type three
The general surveying instrument main frame 1 of distributed interactive is taken out on dimension attitude system 2.1.
The utility model provides a kind of stent-type 3 d pose system, for supporting to use the general surveying instrument master of distributed interactive
Machine, can easily be applied in combination, and compare with the Trimble Geo 7x equipment of U.S. Tian Bao company,
1）Remote measurement measurement radius is 2 times of Trimble Geo 7x（250 model）~ 8 times（1000 types）；
2）Optical magnification is 7 times of Trimble Geo 7x（250 model）~ 30 times（1000 types）；
3）Under focal length the same terms, luminous flux is 20 times of Trimble Geo 7x；
4）Image display resolution is 7 times of Trimble Geo 7x；
5）3 d pose certainty of measurement is Trimble Geo 7x（Trimble Geo 7x only have hand-held, two kinds of centering rod
Use pattern）270 times
Stent-type 3 d pose system of the present utility model can individually sell, it is also possible to for supporting that distributed interactive is general
Other mapping equipments such as surveying instrument main frame, with important market value.
Description of the drawings
Fig. 1 is the general surveying instrument host structure chart of distributed interactive that the utility model embodiment is supported；
Fig. 2 is the stent-type 3 d pose system of the utility model embodiment and the group of the general surveying instrument main frame of distributed interactive
Attach together figure.
Fig. 3 is the general surveying instrument main frame of distributed interactive and stent-type 3 d pose system in combination of the utility model embodiment
Shafting figure after assembling.
Specific embodiment
Below by embodiment, the technical solution of the utility model is described in further detail.
Referring to Fig. 1, the general surveying instrument main frame 1 of distributed interactive that the utility model embodiment is supported includes data collecting system
1.1st, distributed interactive communication system 1.2, data handling system 1.3, Morse's taper male end coaxial interface 1.4.When being embodied as,
Data collecting system 1.1, distributed interactive communication system 1.2, data handling system 1.3 can be arranged on the general mapping of distributed interactive
The inside the shell of instrument main frame 1, the shell of the general surveying instrument main frame 1 of the connection distributed interactive of Morse's taper male end coaxial interface 1.4, leads to
It is standing to be placed in shell lower section.
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 that bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network lead to
Letter unit 1.2.3, cors Differencing communication unit 1.2.4, when being embodied as, can also be using public network connection using long-range
Communications platform 1.2.5, therefore can be considered distributed interactive communication system 1.2 also include communications platform 1.2.5；
The data handling system 1.3 includes central processing unit 1.3.1, man-machine interaction unit 1.3.3, power subsystem
1.3.2, when being embodied as, computing can also be shared using long-range cloud computing unit 1.3.4 using public network connection and is appointed
Business, therefore can be considered that data handling system 1.3 also includes cloud computing unit 1.3.4.
The external 3 d pose system 2 adopts stent-type 3 d pose system 2.1.
For the sake of to implement reference, implementing for the general surveying instrument main frame 1 of distributed interactive in embodiment is first introduced：
1）The composition of the data collecting system 1.1, operation principle and function realizing method：
A. the composition of global positioning unit, operation principle and function realizing method
The global positioning unit includes global location antenna 1.1.1.1 and GPS receiver board
1.1.1.2.Global positioning unit is the working cell of multicore unification, including in GPS, the Big Dipper, Galileo, GLONASS, SBAS
Partly or entirely, can be realized using prior art when being embodied as.Global location antenna 1.1.1.1 and global positioning system are received
Machine board 1.1.1.2 connects, GPS receiver board 1.1.1.2 connection central processing unit 1.3.1, global location list
Unit receives the signal of global location day net and the data after preliminary treatment is uploaded to into central processing unit 1.3.1.
B. the composition and operation principle of built-in 3 d pose unit
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 connect respectively central processing unit 1.3.1, built-in 3 d pose list
First 3 d pose data for obtaining the general surveying instrument main frame 1 of distributed interactive in real time are simultaneously uploaded to central processing unit 1.3.1.
C. the composition of automated imaging unit, operation principle and function realizing method
The composition of automated imaging unit：
Automated imaging unit includes zoom system, pancreatic system, focusing system two parts.
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 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 Jing object lens 1.1.3.1.1 inject zoom microscope group
1.1.3.1.2, zoom transmission group 1.1.3.1.4, zoom encoder 1.1.3.1.5, central processing unit 1.3.1 are sequentially connected.
The focusing system include object lens 1.1.3.1.1, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2,
Focusing encoder 1.1.3.2.3, focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5, graphics processing unit 1.1.3.2.6.
Zoom system, pancreatic system, focusing system share same object lens 1.1.3.1.1.Object lens 1.1.3.1.1, zoom microscope group
1.1.3.1.2, at the optical lens of focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5 on the same line, light path is realized
Transmission.
Described image processing unit 1.1.3.2.6 is the special DSP of image procossing, including based on image definition evaluation letter
Several image processing softwares（For example with the existing image processing software based on Wavelet Transformation Algorithm, the utility model is refused
Repeat）.
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 be sequentially connected, focusing transmission group 1.1.3.2.2, focusing encoder 1.1.3.2.3 and central processing unit 1.3.1 according to
Secondary connection, focusing microscope group, CCD modules 1.1.3.2.5, graphics processing unit 1.1.3.2.6 and central processing unit 1.3.1 connect successively
Connect.Graphics processing unit 1.1.3.2.6 judges whether focusing is accurate, whether be imaged clear by focus detection：If image is
Then automatic focusing task is completed to meet established standardses；If image does not meet established standardses and uploads focusing to central processing unit 1.3.1
The new direction of motion of microscope group 1.1.3.2.4 and motion amplitude data, focusing work closed loop starts new round working cycles, until figure
As meeting established standardses.
The operation principle and implementation method of automated imaging unit：
Central processing unit 1.3.1 constitutes zoom work closed loop, focusing work closed loop with automated imaging unit, by the two
Work closed loop completes automated imaging task.
Zoom work closed loop completes autozoom：
Central processing unit 1.3.1 reads the zoom calibration value of zoom microscope group 1.1.3.1.2 and drives zoom motor
1.1.3.1.3, zoom transmission group 1.1.3.1.4 makes zoom microscope group 1.1.3.1.2 move to corresponding calibration position, zoom encoder
1.1.3.1.5 the motion state synchronous feedback of real time record zoom transmission group 1.1.3.1.4 gives central processing unit 1.3.1, central authorities
Processor 1.3.1 calculates pulse shape modification value and sends next instruction accordingly, until zoom transmission group 1.1.3.1.4 reaches setting
Position completes the Focussing to zoom microscope group 1.1.3.1.2.
Focusing work closed loop completes automatic focusing：
The first step, white light is reached 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 convert optical signals to be transferred to graphics processing unit after electric signal
1.1.3.2.6.Graphics processing unit 1.1.3.2.6 by focus detection judge to focus on whether accurately, imaging it is whether clear and to
Central processing unit 1.3.1 uploads the direction of motion and motion amplitude data of focusing microscope group 1.1.3.2.4；
Second step, central processing unit 1.3.1 sends the direction of motion to focusing motor 1.1.3.2.1 accordingly and motion amplitude refers to
Data, focusing motor 1.1.3.2.1 and focusing transmission group 1.1.3.2.2 is made to drive focusing microscope group 1.1.3.2.4 to reach command bits
Put, focusing encoder 1.1.3.2.3 records being actually reached data and being uploaded to central processing unit for focusing transmission group 1.1.3.2.2
1.3.1.CCD modules 1.1.3.2.5 obtain the optical signal and general transmitted in focusing microscope group 1.1.3.2.4 new position after exercise
It is converted into electric signal transmission to graphics processing unit 1.1.3.2.6.Graphics processing unit 1.1.3.2.6 is again by focusing inspection
Survey judges whether focusing is accurate, whether be imaged clear：Automatic focusing task is completed if image has met established standardses；If figure
The new direction of motion of focusing microscope group 1.1.3.2.4 and motion amplitude are uploaded as not meeting established standardses to central processing unit 1.3.1
Data, focusing work closed loop starts new round working cycles, until image meets established standardses.
Central processing unit 1.3.1 so far obtains the clearly object space live-action image for meeting established standardses.
D. the composition of range cells, operation principle and function realizing method
Range cells 1.1.4 include that laser beam emitting device 1.1.4.1, laser receiver 1.1.4.2, distance are resolved
Device 1.1.4.3.Laser beam emitting device 1.1.4.1 connect central processing unit 1.3.1, laser receiver 1.1.4.2 connection away from
From resolver 1.1.4.3, apart from resolver 1.1.4.3 central processing unit 1.3.1 is connected, central processing unit 1.3.1 is to swashing
Light emitting devices 1.1.4.1 sends distance measuring instruction, and laser beam emitting device 1.1.4.1 is to objective emission laser, laser receiver
1.1.4.2 it is received from the laser of target return and filters out and transmit after clutter to apart from resolver 1.1.4.3.Distance resolves dress
Put 1.1.4.3 and convert optical signals into electric signal, range data is calculated according to the time difference between send-receive and laser phase
And central processing unit 1.3.1 is uploaded to, concrete resolving is embodied as prior art, and it will not go into details for the utility model.
2）The composition of the distributed interactive communication system 1.2, operation principle and function realizing method：
Distributed interactive communication system 1.2 is the general surveying instrument main frame 1 of distributed interactive and other distributed interactive system processors
Between communication station.
The processor is the device with data communication, data acquisition or data-handling capacity.
The distributed interactive system is the work system being made up of the interaction of one group of processor.
The distributed interactive system processor is the processor for constituting distributed interactive system, is meant：It is connected to indigo plant
Tooth communication network, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing 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, computer, mobile phone, sensor, the general mapping of distributed interactive being including but not limited to connected on the various communication networks
Instrument main frame 1, external 3 d pose system 2, global positioning system base station, communications platform 1.2.5, cloud computing unit 1.3.4
Etc..The distributed interactive system processor can be the device in a communication network being connected in the communication network, also may be used
To be while the multiple communication networks being connected in the communication network or the device in whole communication networks.
Central processing unit 1.3.1 can simultaneously enable bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network communication
It is part or all of in unit 1.2.3, cors Differencing communication unit 1.2.4, communications platform 1.2.5, sensor Ad Hoc network.
According to the instruction of central processing unit 1.3.1, bluetooth-communication unit 1.2.1 is in the general surveying instrument master of distributed interactive
Bidirectional data communication is set up between machine 1 and other distributed interactive system processors to link.Distance between the two is less than 30 meters.
According to the instruction of central processing unit 1.3.1, the station telecommunication unit 1.2.2 is in the general surveying instrument master of distributed interactive
Bidirectional data communication is set up between machine 1 and other distributed interactive system processors to link.Distance between the two is public less than 30
In.
According to the instruction of central processing unit 1.3.1, the public network communication unit 1.2.3 is online via public correspondence is connected to
Communications platform 1.2.5, the general surveying instrument main frame 1 of distributed interactive with distribution in the world be connected to public network
On other distributed interactive system processors between set up bidirectional data communication link.The communications platform 1.2.5 is used to be distributed
Point-to-Point Data between interactive system processor mutually passes the data broadcasting with point-to-multipoint.Public network coverage it
It is interior, limit without locus between communication link contact and also limit without distance.
The communications platform 1.2.5 is to be connected to the online brand computer communication services device of public correspondence, is communicated by public network
Unit 1.2.3 is connected with central processing unit 1.3.1, for setting up the data of real-time intercommunication between distributed interactive system processor
Chain.
According to the instruction of central processing unit 1.3.1, the cors Differencing communications unit 1.2.4 passes through 2.5G public networks
In special cors differential communication channels set up bidirectional data communication and link with the cors differential service platforms of locality.The cors
Differencing communication unit 1.2.4 is applied to public cors difference net, certainly group cors difference nets, is used uniformly across certain in public network
One channel carries out Differencing communication.Within the coverage of local cors Differencing communications net, limit without locus between the two
System is also limited without distance.
The general surveying instrument main frame 1 of distributed interactive can simultaneously connection be carried on indigo plant by the distributed interactive communication system 1.2
Tooth communication network, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing communication nets etc. are various
Multiple other distributed interactive system processors on communication network, also once can only connect and be carried on one or more communication networks
On one or more of the other distributed interactive system processor.
3）The composition of the data handling system 1.3, operation principle and function realizing method：
The data handling system 1.3 includes central processing unit 1.3.1, man-machine interaction unit 1.3.3.
The central processing unit 1.3.1 is to include CPU, built-in storage, external memory, data interface unit 1.3.1.1, electricity
Source control unit 1.3.1.2 is in interior data processing unit.
The uplink port of data interface unit 1.3.1.1 connects the CPU of central processing unit 1.3.1, and downlink port connects
Connect including 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 communication unit 1.2.4, man-machine interaction unit
1.3.3, all working units of the power subsystem 1.3.2 in the interior general surveying instrument main frame 1 of distributed interactive.
The PMU 1.3.1.2 is the DSP with data-handling capacity, undertakes the general surveying instrument of distributed interactive
The power management task of main frame 1.The uplink port of PMU 1.3.1.2 connects the CPU of central processing unit 1.3.1, under
Row port connects all working unit of the general surveying instrument main frame 1 of distributed interactive by connection data interface unit 1.3.1.1.
The man-machine interaction unit 1.3.3 includes touch-screen and button, via data interface unit 1.3.1.1 connection central authorities
The CPU of processor 1.3.1.
The Data-Link sets up mode：Central processing unit 1.3.1 is three-dimensional with external by bluetooth-communication unit 1.2.1
Attitude system 2.1, combined type 3 d pose system 2.2, high-power data radio station, range distribution interact general surveying instrument main frame
Other the distributed interactive system processors of Bluetooth communication that need in 130 meters set up Data-Link；Central processing unit 1.3.1 is by electricity
Platform communication unit 1.2.2 or public network communication unit 1.2.3 or cors Differencing communication unit 1.2.4, interacts general with range distribution
Other distributed interactive system processors in 130 kilometers of surveying instrument main frame set up Data-Link；Central processing unit 1.3.1 passes through public network
Communication unit 1.2.3 or cors Differencing communication unit 1.2.4 is in the general surveying instrument main frame 1 of distributed interactive and other distributed interactive systems
Data-Link is set up between system processor.In the communication coverage of the public network or cors Differencing communication nets, distribution
Data interconnection between the general surveying instrument main frame 1 of interaction and other distributed interactive system processors is without distance restriction, without space bit
Put restriction.
The cloud computing platform 1.3.4 is to be connected to the online Computing server of public correspondence, logical by public network
Letter unit 1.2.3 is connected with central processing unit 1.3.1, for providing the height of big data quantity for all distributed interactive system processors
Fast cloud computing service.
4）It is coaxial concentric
Collimation axis is built first：Design and produce optical bracket so that the collimation axis of object lens 1.1.3.1.1, zoom microscope group
1.1.3.1.2 collimation axis, the collimation axis of focusing microscope group 1.1.3.2.4, the collimation axis of CCD module 1.1.3.2.5 optical lens
Place is on the same line.
The collimation axis M of automated imaging unit：The collimation axis of object lens 1.1.3.1.1, the collimation of zoom microscope group 1.1.3.1.2
Axle, the collimation axis of focusing microscope group 1.1.3.2.4, the collimation axis of CCD module 1.1.3.2.5 optical lens are on same straight line M
When, straight line M is referred to as the collimation axis of automated imaging unit.
Three light are coaxial：Automated imaging unit collimation axis M, the optical axis N of laser beam emitting device 1.1.4.1, laser receiver
1.1.4.2 optical axis P three is parallel to each other or overlaps, and referred to as three light are coaxial.
Multiaxis is concentric：The collimation axis M and straight line L of the automated imaging unit is vertically intersected on O ' ' points.Wherein L is as follows
The straight line of 2 points of compositions：The phase center point O of global location antenna 1.1.1.11, Morse's taper male end coaxial interface 1.4 with
The corresponding interface end in external 3 d pose system 2 and the full landform real time dynamic measurement bar 3 of full attitude, such as Morse's taper mother's mouth
End 2.1.1.1, be combined to site O2.O ' ' points are referred to as the calibration coordinate origin of the general surveying instrument main frame 1 of distributed interactive, sit
It is designated as（0,0,0）.
2nd, embodiment provides implementing for external 3 d pose system 2：
The external 3 d pose system 2 of the utility model embodiment adopts stent-type 3 d pose system 2.1.
Referring to Fig. 2, the stent-type 3 d pose system 2.1 include coaxial interface unit 2.1.1, pitch moving cell,
Course moving cell, screed units, bluetooth-communication unit 2.1.5, microcomputer plate 2.1.6, support 2.1.7.
The coaxial interface unit 2.1.1 includes Morse's taper mother mouth end 2.1.1.1, exits screw rod 2.1.1.2, locking spiral shell
Bar 2.1.1.3.The coaxial interface unit 2.1.1 is arranged on lateral flexure axle 2.1.2.1.
The flexion-extension moving cell includes lateral flexure axle 2.1.2.1, elevation-depression angle encoder 2.1.2.2.Lateral flexure axle 2.1.2.1
On support 2.1.7, elevation-depression angle encoder 2.1.2.3 is arranged on the axis of lateral flexure axle 2.1.2.1.
The course moving cell includes vertical pivot 2.1.3.1, course heading encoder 2.1.3.2.Vertical pivot 2.1.3.1 is installed
On support 2.1.7, course heading encoder 2.1.3.2 is arranged on vertical pivot 2.1.3.1.
The screed units include adjusting screw rod group, Electronic bubble.Screed units are arranged on support 2.1.7.
The connection of the general surveying instrument main frame 1 of distributed interactive and stent-type 3 d pose system 2.1 and separate：By Morse's taper
Female mouth end 2.1.1.1 insertion Morse's tapers male end coaxial interface 1.4, rotating lock nut 2.1.1.3 makes both fasten as one
Individual entirety, the general surveying instrument main frame 1 of distributed interactive is fixed in stent-type 3 d pose system 2.1.Now global location day
The straight line that the phase center of line 1.1.1.1 is constituted with the geometric center of Morse's taper mother mouth end 2.1.1.1 coincides with vertical pivot
2.1.3.1 axis.Conversely, unclamping lock nut 2.1.1.3, rotation exits screw rod 2.1.1.2, can be from stent-type three-dimensional appearance
The general surveying instrument main frame 1 of distributed interactive is taken out in state system 2.1.
The microcomputer plate 2.1.6 is the data processing of stent-type 3 d pose system 2.1 and data source and sink：It is described to face upward
Angular encoder 2.1.2.3, course heading encoder 2.1.3.2, Electronic bubble, bluetooth-communication unit 2.1.5 of bowing is connected to micro-
On machine plate 2.1.6, receive and perform the work order of microcomputer plate 2.1.6；Central processing unit 1.3.1 passes through bluetooth-communication unit
1.2.1, bluetooth-communication unit 2.1.5 is realized and the bidirectional data communication between microcomputer plate 2.1.6；Microcomputer plate 2.1.6 is by facing upward
Bow angular encoder 2.1.2.3, course heading encoder 2.1.3.2, Electronic bubble perform central processing unit 1.3.1 work refer to
Make and to central processing unit 1.3.1 feedback informations, make central processing unit 1.3.1 obtain the general surveying instrument main frame 1 of distributed interactive and exist
Real-time dynamic 3 D attitude data in stent-type 3 d pose system 2.1.
O points are barycenter：After assembling is finished, the general surveying instrument main frame 1 of distributed interactive, lateral flexure axle 2.1.2.1, coaxial interface
Unit 2.1.1 constitutes a physics entirety W, and O points are the barycenter of W.
The general surveying instrument main frame 1 of distributed interactive combines the shafting legend after assembling with stent-type 3 d pose system 2.1 can
Referring to Fig. 3：
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 is vertically intersected on O ' ' points.Wherein L is following 2 points of compositions
Straight line：The phase center point O of global location antenna 1.1.1.11, Morse's taper male end coaxial interface 1.4 and Morse's taper it is female
Mouth end 2.1.1.1's is combined to site O2。
In stent-type 3 d pose system 2.1, straight line L is the axis of vertical pivot 2.1.3.1.
O ' ' points are referred to as the calibration coordinate origin of the general surveying instrument main frame 1 of distributed interactive, and coordinate is（0,0,0）.
The planes of π 2 are the axis of the bottom surface of vertical pivot 2.1.3.1, the planes of π 1 and the mutually orthogonal ， Transverse bent axle 2.1.2.1 of the planes of π 2
The axis of line and vertical pivot 2.1.3.1 is mutually orthogonal with the planes of π 1, and the axis of vertical pivot 2.1.3.1 passes through the planes of π 2.
The utility model requires nothing more than protection hardware configuration, and specifically used mode can be by those skilled in the art's sets itself.
It is emphasized that embodiment described in the utility model is illustrative, rather than it is determinate.Therefore this reality
It is every new according to this practicality by those skilled in the art with new including the embodiment being not limited to described in specific embodiment
The other embodiment that the technical scheme of type draws, also belongs to the scope of the utility model protection.
Claims (3)
1. a kind of stent-type 3 d pose system, it is characterised in that：The stent-type 3 d pose system（2.1）Including coaxial
Interface unit（2.1.1）, pitch moving cell, course moving cell, screed units, bluetooth-communication unit（2.1.5）, microcomputer plate
（2.1.6）And support（2.1.7）；
The coaxial interface unit（2.1.1）Installed in lateral flexure axle（2.1.2.1）On；
The flexion-extension moving cell includes lateral flexure axle（2.1.2.1）, elevation-depression angle encoder（2.1.2.2）；Lateral flexure axle
（2.1.2.1）Installed in support（2.1.7）On, elevation-depression angle encoder（2.1.2.3）Installed in lateral flexure axle（2.1.2.1）In
On axis；
The course moving cell includes vertical pivot（2.1.3.1）, course heading encoder（2.1.3.2）；Vertical pivot（2.1.3.1）Peace
It is mounted in support（2.1.7）On, course heading encoder（2.1.3.2）Installed in vertical pivot（2.1.3.1）On；
The screed units include adjusting screw rod group and Electronic bubble, and screed units are arranged on support（2.1.7）On；
The elevation-depression angle encoder（2.1.2.3）, course heading encoder（2.1.3.2）, Electronic bubble, bluetooth-communication unit
（2.1.5）It is connected to microcomputer plate（2.1.6）On.
2. stent-type 3 d pose system according to claim 1, it is characterised in that：The coaxial interface unit
（2.1.1）Including Morse's taper mother's mouth end（2.1.1.1）, exit screw rod（2.1.1.2）And lock nut（2.1.1.3）.
3. stent-type 3 d pose system according to claim 2, it is characterised in that：Carry out the general surveying instrument of distributed interactive
Main frame（1）With stent-type 3 d pose system（2.1）Connection when, by Morse's taper mother mouth end（2.1.1.1）Insertion distribution is handed over
Mutual general surveying instrument main frame（1）Morse's taper male end coaxial interface（1.4）, rotate lock nut（2.1.1.3）Will distribution
The general surveying instrument main frame (1) of interaction is fixed on stent-type 3 d pose system (2.1)；Now global location antenna
（1.1.1.1）Phase center and Morse's taper mother's mouth end（2.1.1.1）Geometric center constitute straight line coincide with vertical pivot
（2.1.3.1）Axis；Conversely, unclamping lock nut（2.1.1.3）, rotate exit screw rod（2.1.1.2）, from stent-type three
Dimension attitude system（2.1）It is upper to take out the general surveying instrument main frame of distributed interactive（1）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621161036.9U CN206132056U (en) | 2016-11-01 | 2016-11-01 | Prop up three -dimensional gesture system of posture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621161036.9U CN206132056U (en) | 2016-11-01 | 2016-11-01 | Prop up three -dimensional gesture system of posture |
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| Publication Number | Publication Date |
|---|---|
| CN206132056U true CN206132056U (en) | 2017-04-26 |
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ID=58575654
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|---|---|---|---|
| CN201621161036.9U Active CN206132056U (en) | 2016-11-01 | 2016-11-01 | Prop up three -dimensional gesture system of posture |
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| Country | Link |
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Effective date of registration: 20170721 Address after: 223800 Suqian City, Jiangsu Province Economic Development Zone Industrial Park Sucheng laser creating factory Patentee after: Jiangsu, such as the earth space Mdt InfoTech Ltd Address before: 430200 Hubei city in Wuhan Province, Wuhan University of science and Technology Park of East Lake Development Zone navigation domain B3-7028 Patentee before: Xu Kaihua |