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CN-122018112-A - Intelligent rotation method and device for prism

CN122018112ACN 122018112 ACN122018112 ACN 122018112ACN-122018112-A

Abstract

The invention relates to an intelligent rotation method and device for a prism, wherein the device comprises the prism, the prism is arranged on a bracket, the angle of elevation can be adjusted, a servo motor is arranged in the bracket, the servo motor drives the bracket and the prism to horizontally rotate along a vertical axis, the signal reflection center of the prism is positioned on a rotating shaft of the servo motor, a circuit board below the servo motor is provided with an MCU, embedded software and a memory, a rotating base is arranged below the bracket, the rotating base is coaxially arranged with the bracket, a double-shaft inclination sensor is arranged in the bracket and used for measuring the double-shaft inclination value of the prism in real time, a wireless communication antenna port used for installing an antenna is arranged on the back surface of the bracket and is connected with a control terminal of the total station in a wireless communication mode.

Inventors

  • GU JIANLIN

Assignees

  • 上海埃测软件有限公司

Dates

Publication Date
20260512
Application Date
20260130

Claims (10)

  1. 1. The intelligent prism rotating device is characterized by comprising a prism (2), wherein a coarse sighting device (1) is arranged at the top of the prism (2), the prism (2) is arranged on a support (3) through a prism fixing screw (10) and can be used for adjusting an angle in a pitching mode, a servo motor (4) is arranged in the support (3), the output end of the servo motor (4) is connected with the support (3) and drives the support (3) and the prism (2) to horizontally rotate along a vertical axis integrally, the signal reflection center of the prism (2) is positioned on a rotating shaft of the servo motor (4), a circuit board (6) is arranged below the servo motor (4), the circuit board (6) is provided with an MCU, embedded software and a memory, a rotating base (8) is arranged below the support (3), the rotating base (8) is coaxially arranged with the support (3), a mounting hole (9) is formed in the bottom of the rotating base (8) and is arranged on the prism rod through the mounting hole (9), a dual-shaft tilt sensor (15) is arranged in the support (3), the dual-shaft tilt sensor (15) is used for measuring a real-time wireless antenna (14) of the tilt antenna (2), and is connected with the total station control terminal in a wireless communication mode.
  2. 2. The device according to claim 1, wherein a quick lock button (11) and a power supply charging port (13) are arranged on the back of the rotating base (8), the quick lock button (11) is a shaft with a groove and is provided with a spring, the quick lock button (11) is used for quickly locking or unlocking the connection between the device and a prism rod, the rotating base (8) is provided with a rotating button (7) and an inclination angle measuring button (17) on the front, the rotating button (7) is a physical button, the rotating button (7) is pressed down to enable the prism (2) to automatically rotate horizontally by 180 degrees, and the inclination angle measuring button (17) is pressed down to obtain the horizontal axis inclination angle and the vertical axis inclination angle of a built-in double-shaft inclination sensor (15) of the current prism (2).
  3. 3. The device according to claim 2, wherein the circuit board (6) is used for receiving and processing station setting coordinates and prism coordinates of the total station, calculating azimuth angles of the prism and the total station, and a transverse axis inclination angle and a longitudinal axis inclination angle of the inclination sensor, receiving and processing wireless rotation instructions, controlling a motor, calculating inclination compensation values, correcting prism center coordinates, storing and processing automatic rotation plans, power management, charging management and processing rotation triggering information of a rotation button (7), and a concentric brush is designed on the back of the circuit board (6), and is connected with the rotation base (8) in a maintaining manner and is used for supplying power, charging and communication.
  4. 4. The device according to claim 3, wherein a rechargeable lithium battery (5) is arranged outside the servo motor (4), the rechargeable lithium battery (5) is a ring-shaped rechargeable lithium battery, and the rechargeable lithium battery (5) is used for supplying power to the servo motor (4) and the circuit board (6).
  5. 5. The apparatus of claim 3, wherein the apparatus has four modes of automatic rotation: i. automatically calculating azimuth angles of the prism center and the total station in real time, and synchronously driving a servo motor (4) to ensure that the prism always faces the total station; pressing a rotating button (7) on the prism (2), and automatically rotating the prism (2) by 180 degrees; The prism wireless communication module receives the rotation instruction, and the prism (2) automatically rotates a certain angle according to the angle of the rotation instruction or rotates to a designated direction; the prism (2) automatically rotates a set angle or rotates to a set direction at time intervals or at fixed time points according to a work plan set on the built-in circuit board (6).
  6. 6. The intelligent prism rotation method is characterized by comprising the following steps that a total station control terminal is connected with an intelligent prism rotation device in a wireless communication mode, when the total station control terminal is in an initial position, the total station control terminal sends total station setting coordinates (X A ,Y A ,Z A ) and prism body center prism coordinates (X B0 ,Y B0 ,Z B0 ) of a prism, an azimuth angle alpha AB0 between the prism and the total station is achieved, an angle of a servo motor encoder is set by embedded software of the device to be alpha AB0 , when the device moves, the total station locks the prism body of the device, continuously measures the prism body center coordinates and sends the prism body center coordinates to the device, when the device moves to a new position, the total station control terminal sends the prism body center coordinates (X B1 ,Y B1 ,Z B1 ) to the device, the azimuth angle alpha AB1 between the prism body center and the total station is achieved, the servo motor is controlled by embedded software of the prism to rotate to alpha AB1 , and the device is enabled to always face the total station in the continuous movement process, and the azimuth angles alpha AB0 and alpha AB1 are calculated as follows: 。
  7. 7. The method of claim 6, further comprising the step of determining a specific angle value of azimuth α AB between the prism and the total station: ΔX AB = X B – X A ΔY AB = Y B – Y A The quadrant in which alpha AB is located is judged according to the sign of delta X AB 、ΔY AB , A) DeltaX AB >0 and DeltaY AB is one quadrant, alpha AB =α AB Sharp tool B) DeltaX AB <0 and DeltaY AB >0 are two quadrants, alpha AB =180°-α AB Sharp tool C) DeltaX AB <0 and DeltaY AB <0 are three quadrants, alpha AB =180°+α AB Sharp tool D) DeltaX AB >0 and DeltaY AB <0 is four quadrants, alpha AB =360°-α AB Sharp tool E) Δx AB =0 and Δy AB > 0 then α AB =90° F) Δx AB =0 and Δy AB <0 then α AB =270 °.
  8. 8. The method of claim 6, further comprising a leveling accuracy check method comprising the steps of: When the precise control network is measured, after the triangular base is leveled, a measuring button on the prism base is pressed to obtain a transverse axis inclination angle beta Transverse and normal and a longitudinal axis inclination angle beta Vertical alignment of the current prism built-in double-shaft inclination sensor, a 180-degree rotating button on the prism base is pressed, the rotating body of the device rotates 180 degrees to obtain a transverse axis inclination angle beta Transverse reverse and a longitudinal axis inclination angle beta Longitudinal and reverse directions of the current prism built-in double-shaft inclination sensor, and the angle correction values of the double-shaft inclination sensor are calculated by embedded software, wherein the calculation formula is as follows: Δ β lateral correction = （β Transverse reverse - β Transverse and normal )÷ 2 Δ β Longitudinal correction = （β Longitudinal and reverse directions – β Vertical alignment )÷ 2 The leveling accuracy for the angle measurements of the tilt sensor for the beta B0 Transverse bar and beta B0 Longitudinal direction , triangular base levels when the prism is in the B0 position is calculated as follows: Δ Horizontal axis leveling error = β B0 Transverse bar - Δ β lateral correction Δ Error of leveling of the vertical axis = β B0 Longitudinal direction - Δ β Longitudinal correction the leveling accuracy of the triangular base can be checked through the two items of data.
  9. 9. The method of claim 7, wherein, the method for correcting the leveling error of the triangular base is further comprised and comprises the following steps: When the device is moved to the B1 position, the angle measurements of the dual axis tilt sensor are β B1 Transverse bar and β B1 Longitudinal direction , the prism measurement coordinates are (X B1 ,Y B1 ,Z B1 ), the device prism center to device base top surface distance H 0 , and the device embedded software calculates the device prism center lateral and longitudinal offset values due to triangle base flattening errors as: γ Transverse direction = H 0 × sin(β B1 Transverse bar - Δ β lateral correction ) γ Longitudinal direction = H 0 × sin(β B1 Longitudinal direction - Δ β Longitudinal correction ) Center of prism body of device the horizontal deviation value is: d = Sqrt(γ Transverse direction 2 + γ Longitudinal direction 2 ) The central coordinates of the corrected prism body of the device are as follows: X Correction = X B1 + d × sin(α AB1 + 90°+ arctan(γ Longitudinal direction ÷γ Transverse direction )) Y Correction = Y B1 + d × cos(α AB1 + 90°+ arctan(γ Longitudinal direction ÷γ Transverse direction )) the embedded software of the device sends correction data to the control terminal of the total station in a wireless transmission mode, so that the accurate coordinate of the center of the prism body after the leveling error of the triangular base is eliminated is obtained.
  10. 10. The method of claim 6, wherein the intelligent prism turning device has prism constants, prism center-to-mounting hole distances, mounting hole sizes and mounting modes consistent with the Leica round prism and interchangeable with the Leica round prism without replacing prism rods.

Description

Intelligent rotation method and device for prism Technical Field The invention relates to the technical field of precision measurement operation, in particular to an intelligent rotation method and device for a prism. Background In some continuous dynamic measurement operations, such as track measurement, asphalt paver, lofting and the like, the angular relationship between the prism and the total station is always changed, the prism is required to be stopped or a 360-degree prism is adopted, the precision of the 360-degree prism is lower than that of a precise circular prism, the 360-degree prism cannot be qualified in high-precision dynamic measurement operation, the center of the prism is changed in the rotation process due to the machining precision and the base leveling precision, and the influence is remarkable in the precision measurement operation, so that the measurement precision is reduced. In structural object deformation monitoring works such as dam deformation monitoring, subway deformation monitoring and foundation pit monitoring, in control network measuring works such as CP3 control network measuring and wire network measuring, according to measurement specifications or operation instruction books, the same prism needs to be observed in multiple directions, and when a total station is moved to a station, a measurer manually rotates all prisms needing repeated observation in sequence towards the total station, and after all prisms are turned to the total station, the observation work of a new station can be started. The prisms are far away from the total station and distributed in a scattered manner, and the number of the prisms is numerous, in actual work, the time spent on rotating the prisms is far longer than the time required by measurement, so that in order to ensure the measurement work efficiency, a plurality of technicians are often required to specially rotate the prisms, or the prisms which need to be rotated are on duty, the investment of personnel and material equipment is large, and the observation work efficiency is influenced. In an automatic monitoring project, for the observation in two directions needing to be observed, an upper prism and a lower prism are coaxially installed at present, and for the precision measurement, a new error source is generated by the arrangement, so that the workload is increased for data calculation. The coaxial prism device cannot solve the problem that the same prism needs to observe more than two directions. Disclosure of Invention The invention aims to solve the defects and provide the intelligent prism rotating device, which enables the prism rotating body to rotate to an azimuth angle required to rotate by controlling the driving prism rotating body of the built-in motor, so that the prism rotating body can be quickly turned to the total station or always kept towards the total station in dynamic measurement, and the working efficiency and the measurement precision are greatly improved. The intelligent prism rotating device comprises a prism, wherein a coarse sighting device is arranged at the top of the prism, the prism is arranged on a support through a prism fixing screw and can be used for pitching an angle, a servo motor is arranged in the support, the output end of the servo motor is connected with the support and drives the support and the prism to horizontally rotate along a vertical axis, the signal reflection center of the prism is positioned on a rotating shaft of the servo motor, a circuit board is arranged below the servo motor and is provided with an MCU, embedded software and a memory, a rotating base is arranged below the support and is coaxially arranged with the support, a mounting hole is formed in the bottom of the rotating base and is arranged on a prism rod through the mounting hole, a double-shaft inclination sensor is arranged in the support and is used for measuring double-shaft inclination values of the prism in real time, and a wireless communication antenna port is arranged at the back of the support and is used for mounting an antenna and is connected with a control terminal of a total station in a wireless communication mode. Further, a quick lock button and a power supply charging port are arranged on the back of the rotating base, the quick lock button is a shaft with a groove and is provided with a spring, the quick lock button is used for quickly locking or unlocking the device to be connected with the prism rod, the front of the rotating base is provided with a rotating button and an inclination angle measuring button, the rotating button is a physical button, the prism automatically rotates 180 degrees horizontally by pressing the rotating button, and the inclination angle measuring button can obtain the inclination angle of a transverse shaft and the inclination angle of a longitudinal shaft of the built-in double-shaft inclination sensor of the current prism by pressing the inclination angle measuring