CN214470600U - Space coordinate measuring device based on GNSS - Google Patents
Space coordinate measuring device based on GNSS Download PDFInfo
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- CN214470600U CN214470600U CN202120830939.6U CN202120830939U CN214470600U CN 214470600 U CN214470600 U CN 214470600U CN 202120830939 U CN202120830939 U CN 202120830939U CN 214470600 U CN214470600 U CN 214470600U
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Abstract
The application provides a space coordinate measuring device based on a GNSS, which comprises a centering rod, a support, a prism, a double-shaft tilt sensor, a GNSS receiver, a communication assembly and a power supply assembly; the support is movably arranged on the centering rod, and the prism is movably arranged on the support; the double-shaft inclination angle sensor is arranged on the centering rod, and the GNSS receiver is arranged at the top of the support; the communication assembly is connected with the GNSS receiver and the double-shaft inclination angle sensor; the power supply part is connected with the GNSS receiver and the double-shaft inclination angle sensor. The device of this application, the topography that can accurately judge the mounting point and take place changes, avoids because of the mounting point changes the observation problem that leads to, has reduced because the mounting point changes the measuring error who leads to, has improved the measurement accuracy of device, has promoted the reliability of device.
Description
Technical Field
The application relates to the technical field of surveying and mapping equipment, in particular to a space coordinate measuring device based on GNSS.
Background
At present, with the expansion of the related industry of domestic engineering, the terrain measurement and the engineering survey are inevitable technical contents in the related industry of engineering, wherein, in various building engineering surveys, especially in the field urban terrain survey and the current terrain survey, the use of a GNSS receiver to obtain the geographical position information of a control point has become a widely applied engineering survey means, which brings great convenience to the development and the progress of survey work.
However, in the conventional measuring device, in the engineering of displacement monitoring and engineering measurement with a long period, there is a possibility that a measured point on which the measuring device is mounted is changed in topography, for example, the measured point is loosened, so that the measuring device is inclined, and at this time, a center point of a prism and a center point of a GNSS receiver are deviated and are not on the same plumb line, so that spatial coordinates of the prism and the GNSS receiver are wrong, further additional measurement errors are caused, the measurement accuracy of the device is reduced, and the above situation often occurs in the engineering measurement with a long period, so that the wrong deviation also reduces the reliability of the device.
Disclosure of Invention
An object of the embodiment of the application is to provide a space coordinate measuring device based on GNSS, can accurately judge the topography change that the mounting point takes place, avoid because of the mounting point changes the observation problem that leads to, reduced because the mounting point changes the measuring error that leads to, improved the measurement accuracy of device, promoted the reliability of device.
In a first aspect, an embodiment of the present application provides a GNSS-based spatial coordinate measuring apparatus, including a centering rod, a support, a prism, a dual-axis tilt sensor, a GNSS receiver, a communication assembly, and a power supply;
the support is movably arranged on the centering rod, and the prism is movably arranged on the support;
the double-shaft inclination angle sensor is arranged on the centering rod, and the GNSS receiver is arranged at the top of the support;
the communication assembly is connected with the GNSS receiver and the double-shaft inclination angle sensor;
the power supply part is connected with the GNSS receiver and the double-shaft inclination angle sensor.
In the implementation process, the space coordinate measuring device based on the GNSS can acquire rotation, inclination and offset conditions of a measured target point while measuring the space coordinate due to the matched prism, the GNSS receiver and the double-shaft tilt angle sensor, so that the terrain change of a mounting point is accurately judged, the observation problem caused by the change of the mounting point is avoided, the measuring error caused by the change of the mounting point is reduced, the measuring precision of the device is improved, and the reliability of the device is improved.
Furthermore, a plurality of LED modules which are positioned on the same plane are installed on the support, and the LED modules are arranged in a central symmetry mode about the central point of the prism.
In the implementation process, the plurality of LED modules which are centrosymmetric about the central point of the prism are arranged on the support, and the coordinates of the central point of the prism can be determined according to the bright light of the LED modules under the night condition, so that the device has the effect of measuring at night, and the usability of the device is obviously improved.
Further, the number of the plurality of LED modules is even, and the number of the plurality of LED modules is at least four.
In the implementation process, the work of determining the coordinate of the central point of the prism through the bright light of the LED modules can be well completed by using four or more LED modules, and the usability of the device is improved.
Further, the power supply is also connected with a plurality of the LED modules.
In the implementation process, the power supply part is connected with the LED modules, so that the power supply requirement of normal work of the LED modules is met.
Further, the top of centering rod is provided with first swivel connected coupler, the support set up in on the first swivel connected coupler.
In the implementation process, the rotary connecting piece is adopted to connect the support and the centering rod, so that the support has a movable function relative to the centering rod.
Furthermore, a second rotating connecting piece is arranged on the support, and the prism is arranged on the second rotating connecting piece.
In the implementation process, the rotating connecting piece is adopted to connect the support and the prism, so that the prism has a movable function relative to the support.
Further, a sensor mounting piece is arranged on the centering rod, the double-shaft inclination angle sensor is arranged on the sensor mounting piece, and the plane where the double-shaft inclination angle sensor is located is perpendicular to the centering rod.
In the implementation process, the sensor mounting part is arranged, and the plane where the double-shaft tilt sensor is located is perpendicular to the centering rod, so that the double-shaft tilt sensor can effectively work and is matched with the prism and the GNSS receiver.
Further, the prism is a six-sided prism or a universal prism.
In the implementation process, the prisms which can be adopted comprise six-sided prisms and universal prisms, and the selected prisms can rotate to a certain degree, so that the measurement flexibility of the device is enhanced.
Further, the centering rod is a telescopic centering rod.
In the implementation process, the telescopic centering rod can help the device to better adapt to the complex geographic environment problem in the process of topographic survey.
Further, the power supply part comprises at least one of a wind power supply part, a solar power supply part, a storage battery and an alternating current power supply.
In the implementation process, one or more combinations of various types of power supply parts are adopted, so that the power supply safety and the power supply stability of the device can be effectively guaranteed, and the reliability and the stability of the device are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a GNSS-based spatial coordinate measuring apparatus according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a portion of a GNSS based spatial coordinate measuring apparatus according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a sensor mount according to an embodiment of the present application.
Icon: 110-centering rod, 111-first swivel joint, 120-GNSS receiver, 121-top mount, 130-support, 131-second swivel joint, 140-prism, 150-biaxial tilt sensor, 151-sensor mount, 160-LED module, 170-communication module, 181-wind power supply, 182-solar power supply, 183-battery.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or a point connection; either directly or indirectly through intervening media, or may be an internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the specific nature and configuration may be the same or different), and are not used to indicate or imply the relative importance or number of the indicated devices, elements, or components. "plurality" means two or more unless otherwise specified.
In an embodiment, referring to fig. 1 and 2, fig. 1 and 2 are schematic structural diagrams of a GNSS-based spatial coordinate measuring apparatus according to the present invention, which includes a centering rod 110, a support 130, a prism 140, a dual-axis tilt sensor 150, a GNSS receiver 120, a communication module 170, and a power supply component, wherein the support 130 is movably disposed on the centering rod 110, the prism 140 is movably disposed on the support 130, the dual-axis tilt sensor 150 is disposed on the centering rod 110, the GNSS receiver 120 is mounted on a top of the support 130, the communication module 170 is connected to the GNSS receiver 120 and the dual-axis tilt sensor 150, and the power supply component is connected to the GNSS receiver 120 and the dual-axis tilt sensor 150.
The GNSS receiver 120 is a Global Navigation Satellite System receiver (Global Navigation Satellite System) and is used for basic mapping.
The dual-axis tilt sensor 150 includes two directions of an X axis and a Y axis, and a roll angle and a pitch angle of the spatial coordinate measuring apparatus can be calculated through included angles between the X axis and the Y axis and the gravitational acceleration.
The communication component 170 is configured to transmit the GNSS data obtained by the GNSS receiver 120 and the real-time tilt data obtained by the two-axis tilt sensor 150 to the server.
Referring to fig. 2, the GNSS receiver 120 may be disposed on top of the stand 130 by a top mount 121; when the GNSS receiver 120 is set, the center point of the GNSS receiver 120 needs to be on the same vertical line as the center point of the prism 140, and a difference between the center point of the GNSS receiver 120 and the center point of the prism 140 in the vertical direction is a preset fixed constant.
Alternatively, the top mounting device 121 may be fixedly connected to the bracket 130 and the GNSS receiver 120, and the top mounting device 121 may be connected to the bracket 130 and the GNSS receiver 120 by bonding, bolting, riveting, welding, or other connection methods.
Alternatively, the centering rod 110 may be chosen to be retractable, thereby helping the device to better accommodate complex geographic environmental issues in terrain surveying.
In the specific implementation process of this embodiment, the original center point coordinates of the prism 140 of the GNSS-based spatial coordinate measuring apparatus are recorded in the installation process of the GNSS-based spatial coordinate measuring apparatus, and in the long-term monitoring process, the server may obtain the actual tilt angle of the GNSS-based spatial coordinate measuring apparatus through the angle in the X-axis direction and the angle in the Y-axis direction obtained by the dual-axis tilt sensor 150, and may obtain the actual center point coordinates of the prism 140 according to the observation prism 140. When the actual inclination angle of the GNSS-based space coordinate measuring device calculated by the server exceeds a preset threshold value, or the difference value between the actual central point coordinate of the prism 140 and the original central point coordinate of the prism 140 exceeds a preset threshold value, corresponding early warning reminding can be carried out, so that the observation problem caused by the change of the installation point is avoided.
The space coordinate measuring device based on the GNSS can acquire rotation, inclination and offset conditions of a measured target point while measuring space coordinates due to the matched use of the prism 140, the GNSS receiver 120 and the double-shaft tilt angle sensor 150, so that the observation problem caused by terrain change of a mounting point is solved, the measurement error caused by the change of the mounting point is reduced, the measurement precision of the device is improved, and the reliability of the device is improved.
The GNSS based space coordinate measuring apparatus described above, referring to fig. 2, allows the bracket 130 and the centering rod 110 to be movably coupled through the first rotary coupling 111. The first rotating connecting piece 111 can enable the support 130 to rotate 360 degrees around the centering rod 110 in the horizontal direction, so that the support 130 has the flexibility of rotating in the horizontal direction, and the direction can be conveniently adjusted in space coordinate measurement. Meanwhile, the first rotating connector 111 is further provided with a first rotating fixing member, which can be used for fixing the rotating angle of the bracket 130, so that the rotating angle of the bracket 130 relative to the centering rod 110 is kept unchanged.
Alternatively, the first rotation fixing member may be connected to the first rotation connector 111 by bonding, bolting, riveting, welding or other means, and the first rotation fixing member may also be a part of the first rotation connector 111.
Alternatively, the first rotational fixing member may be selected as a screw, and after the bracket 130 is adjusted to a proper angle, the screw is tightened so that the angle of the bracket 130 with respect to the centering rod 110 is fixed.
Specifically, referring to fig. 2, the second rotating connector 131 is disposed on the bracket 130, the prism 140 is disposed on the second rotating connector 131, and the prism 140 can rotate around the bracket 130 by 360 degrees in the vertical direction by using the second rotating connector 131, so that the prism 140 has flexibility of rotating in the vertical direction, and the bracket 130 itself can rotate in the horizontal direction relative to the centering rod 110, so that the GNSS-based spatial coordinate measuring apparatus can freely adjust the direction of the prism 140, and thus, when the laser range finder is used for measuring spatial coordinates, the requirement of the laser range finder for the reflection angle of the prism 140 is met. Meanwhile, the second rotating connector 131 is further provided with a second rotating fixing member, and the second rotating fixing member can be used for fixing the rotating angle of the prism 140, so that the rotating angle of the prism 140 relative to the bracket 130 is kept unchanged.
Alternatively, the prism 140 may be a six-sided prism, and when the prism 140 is a six-sided prism, the six-sided prism may be connected to the bracket 130 by the second rotating connector 131, which ensures that the six-sided prism can rotate at least 360 degrees in the vertical direction or in the vertical direction.
Alternatively, the prism 140 may be a gimbaled prism that is freely rotatable, thereby enabling at least 360 degrees rotation in the vertical direction or rotation in the vertical direction.
Alternatively, the second rotation fixing member may be connected to the second rotation connector 131 by bonding, bolting, riveting, welding or other methods, and may also be a part of the second rotation connector 131.
Alternatively, the second rotary fixing member may be selected as a screw, and after the prism 140 is adjusted to a proper angle, the screw is tightened so that the angle of the prism 140 with respect to the bracket 130 is fixed.
Specifically, referring to fig. 1 and 3, wherein fig. 3 is a schematic structural view of a sensor mounting member 151, the centering rod 110 is provided with the sensor mounting member 151, the dual-axis tilt sensor 150 is provided on the sensor mounting member 151, and a plane in which the dual-axis tilt sensor 150 is located is perpendicular to the centering rod 110.
Alternatively, the sensor mount 151 may be a mounting platform on which the dual-axis tilt sensor 150 is fixedly mounted.
Alternatively, the sensor mount 151 may be coupled to the centering rod 110 by bonding, bolting, riveting, welding, or other coupling means.
Alternatively, the dual-axis tilt sensor 150 having the housing surface marked with the X-axis and Y-axis indicators may be selected so that the X-axis or Y-axis of the dual-axis tilt sensor 150 may be more conveniently aligned with the coordinate axes of the geographic coordinate system when installed.
Specifically, the bracket 130 has a plurality of LED modules 160 mounted thereon, and the plurality of LED modules 160 are arranged in a central symmetry with respect to a central point of the prism 140.
When the spatial coordinate measuring activity is performed at night, the light-emitting images of the plurality of LED modules 160 can be obtained through an image acquisition tool such as a video camera, and the pixel center points of speckles formed by the plurality of LED modules 160 in the images can be obtained through calculation by using a DIC (digital image correlation) algorithm, because the plurality of LED modules 160 are arranged in central symmetry with respect to the center point of the prism 140, the pixel coordinates of the center point of the prism 140 can be obtained through the pixel center points, and a laser range finder is guided to align with the center point of the prism 140 for ranging by using a machine vision algorithm, so that the specific position of the center point of the prism 140 can be obtained, and the specific position of the center point of the prism 140, the GNSS spatial coordinates obtained by a GNSS-based spatial coordinate measuring device, and the actual inclination angle obtained by the biaxial inclination angle sensor 150 can be combined, so that the spatial coordinate measuring at night can be realized.
DIC (digital image correlation algorithm) can utilize machine vision technology to track speckle images on the surface of an object, and measure three-dimensional coordinates, displacement and strain of the surface of the object in the deformation process.
According to the space coordinate measuring device based on the GNSS, the plurality of LED modules 160 which are centrosymmetric about the central point of the prism are arranged on the support, and the coordinate of the central point of the prism 140 can be determined according to the light of the plurality of LED modules 160 under the night condition, so that the space coordinate measuring device based on the GNSS has the effect of obtaining the terrain change of the installation point at night, and the usability of the space coordinate measuring device is obviously improved.
In one embodiment, referring to fig. 2, the number of the LED modules 160 is four, and the LED modules 160 are mounted at four corners of the bracket 130, and the diagonal intersection points of the four LED modules 160 coincide with the center point of the prism 140.
In another embodiment, the plurality of LED modules 160 is six, and can be mounted on the inner side of the bracket 130 and located on the same plane, and the six LED modules 160 are distributed in a regular hexagon and are arranged symmetrically with respect to the center point of the prism 140.
Specifically, referring to fig. 1, the power supply unit includes at least one of a wind power supply unit 181, a solar power supply unit 182, a storage battery 183, and an ac power supply, and the power supply unit is configured to supply power to the GNSS receiver 120 and the dual-axis tilt sensor 150, and one or more combinations of various types of power supply units are adopted, so that power supply safety and power supply stability of the device can be effectively ensured, and reliability and stability of the device are improved.
Alternatively, the power supply may be connected to the plurality of LED modules 160 for supplying power to the plurality of LED modules 160.
The plurality of LED modules may be LED modules with their own power supplies.
In one embodiment, the GNSS-based spatial coordinate measuring apparatus is installed by:
vertically fixing the GNSS-based spatial coordinate measuring apparatus on a target point to be measured through a centering rod 110 of the GNSS-based spatial coordinate measuring apparatus;
rotating the direction of the centering rod 110 to point the X-axis or Y-axis of the dual-axis tilt sensor 150 of the GNSS based spatial coordinate measuring apparatus to the north;
and (3) adjusting the centering rod 110 according to the reading obtained by the double-shaft tilt sensor 150, and enabling the X-axis reading of the double-shaft tilt sensor 150 to be smaller than a preset X-axis threshold value and the Y-axis reading to be smaller than a preset Y-axis threshold value.
When the measuring device is installed by the installation method, the error between the coordinates of the center point of the prism 140 and the actual coordinates of the center point of the prism 140 measured by the GNSS receiver 120 can be minimized.
In one embodiment, the GNSS-based spatial coordinate measuring apparatus obtains the coordinates of the center point of the prism 140 by:
obtaining the GNSS geographical coordinates of the GNSS receiver 120 through the GNSS receiver 120, and performing coordinate conversion on the geographical coordinates and an NEZ coordinate system to obtain NEZ coordinates of the GNSS receiver 120;
acquiring the X-axis inclination data and the Y-axis inclination data of the two-axis inclination sensor 150, and calculating the center point coordinate of the prism 140 according to the X-axis inclination data, the Y-axis inclination data and the NEZ coordinate of the GNSS receiver 120, wherein the calculation formula is as follows:
N1＝N0+L*sin(Ry)
E1＝E0+L*sin(Rx)
wherein (N0, E0, Z0) represents the NEZ coordinates of the GNSS receiver 120, (N1, E1, Z1) represents the center point NEZ coordinates of the prism 140 to be calculated; l is the vertical height difference between the center of the GNSS receiver 120 and the center of the prism 140; rx, Ry are X-axis tilt angle data and Y-axis tilt angle data of the two-axis tilt angle sensor 150, respectively; in this embodiment, the X-axis is aligned with north and the Y-axis is aligned with east.
In all the above embodiments, the terms "large" and "small" are relative terms, and the terms "more" and "less" are relative terms, and the terms "upper" and "lower" are relative terms, so that the description of these relative terms is not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative implementation" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in the examples of the present application," or "as an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are all alternative embodiments and that the acts and modules involved are not necessarily required for this application.
In various embodiments of the present application, it should be understood that the size of the serial number of each process described above does not mean that the execution sequence is necessarily sequential, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A space coordinate measuring device based on a GNSS is characterized by comprising a centering rod, a support, a prism, a double-shaft tilt sensor, a GNSS receiver, a communication assembly and a power supply assembly;
the support is movably arranged on the centering rod, and the prism is movably arranged on the support;
the double-shaft inclination angle sensor is arranged on the centering rod, and the GNSS receiver is arranged at the top of the support;
the communication assembly is connected with the GNSS receiver and the double-shaft inclination angle sensor;
the power supply part is connected with the GNSS receiver and the double-shaft inclination angle sensor.
2. The GNSS based spatial coordinate measuring apparatus of claim 1,
a plurality of LED modules which are positioned on the same plane are installed on the support, and the LED modules are arranged in a central symmetry mode about the central point of the prism.
3. The GNSS based spatial coordinate measuring apparatus of claim 2,
the number of the plurality of LED modules is even, and the number of the plurality of LED modules is at least four.
4. The GNSS based spatial coordinate measuring apparatus of claim 2,
the power supply part is also connected with a plurality of LED modules.
5. The GNSS based spatial coordinate measuring apparatus of claim 1,
the top of centering rod is provided with first swivel connected coupler, the support set up in on the first swivel connected coupler.
6. The GNSS based spatial coordinate measuring apparatus of claim 1,
the support is provided with a second rotating connecting piece, and the prism is arranged on the second rotating connecting piece.
7. The GNSS based spatial coordinate measuring apparatus of claim 1,
the centering rod is provided with a sensor mounting piece, the double-shaft tilt sensor is arranged on the sensor mounting piece, and the plane where the double-shaft tilt sensor is located is perpendicular to the centering rod.
8. The GNSS based spatial coordinate measuring apparatus of claim 1,
the prism is a six-sided prism or a universal prism.
9. The GNSS based spatial coordinate measuring apparatus of claim 1,
the centering rod is a telescopic centering rod.
10. The GNSS based spatial coordinate measuring apparatus of claim 1,
the power supply part comprises at least one of a wind power supply part, a solar power supply part, a storage battery and an alternating current power supply.
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| CN202120830939.6U CN214470600U (en) | 2021-04-22 | 2021-04-22 | Space coordinate measuring device based on GNSS |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116067434A (en) * | 2023-03-07 | 2023-05-05 | 中铁大桥局集团有限公司 | Visual installation system and method for large-section bridge |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116067434A (en) * | 2023-03-07 | 2023-05-05 | 中铁大桥局集团有限公司 | Visual installation system and method for large-section bridge |
| CN116067434B (en) * | 2023-03-07 | 2023-07-04 | 中铁大桥局集团有限公司 | Visual installation system and method for large-section bridge |
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