CN102927976B - integrated spatial information measuring method and device - Google Patents
integrated spatial information measuring method and device Download PDFInfo
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- CN102927976B CN102927976B CN201210448274.8A CN201210448274A CN102927976B CN 102927976 B CN102927976 B CN 102927976B CN 201210448274 A CN201210448274 A CN 201210448274A CN 102927976 B CN102927976 B CN 102927976B
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Abstract
本发明提供了一体化空间信息测量方法与装置，相应的方法包括通过已知空间点计算获得测量装置的当前三维坐标；通过所述测量装置的当前三维坐标计算获得待测点的三维坐标。本发明提供的一体化空间信息测量方法与装置能够根据一个空间已知点三维坐标快速测量待测点的三维坐标，进而快速测量出未知区域的空间三维形态，提高矿山领域测量工作的效率，具有测量方便、易于携带和后期数据处理较简单的特点。
The present invention provides an integrated spatial information measurement method and device. The corresponding method includes obtaining the current three-dimensional coordinates of the measuring device through calculation of known spatial points; and obtaining the three-dimensional coordinates of the point to be measured through the calculation of the current three-dimensional coordinates of the measuring device. The integrated spatial information measurement method and device provided by the present invention can quickly measure the three-dimensional coordinates of the point to be measured according to the three-dimensional coordinates of a known point in space, and then quickly measure the three-dimensional spatial shape of the unknown area, improve the efficiency of the measurement work in the mine field, and have the advantages of It has the characteristics of convenient measurement, easy portability and relatively simple post-data processing.
Description
Technical field
The present invention relates to information measuring method and device between integrated air, belong to spatial information field of measuring technique.
Background technology
At present, in the spatial information measuring technique of mine, common measurement means mainly comprises transit, spirit-leveling instrument, total powerstation, GPS and steel tape or tape measure etc.In practice process, there is certain problem in above-mentioned technology.First, measuring process complexity is high, needs professional surveying and mapping personnel to complete, and consuming time very long, is unfavorable for the raising of work efficiency.In addition, these instrument portability are poor, and flexibility ratio is lower, and late time data is processed complicated, and the integrated operation degree of system is not high, are difficult to realize the whole-course automation, integrated of mine surveying, can not meet the complicated applications demand in mine.
For improving technical merit and the operating efficiency in mine surveying field, adaptation mine intelligent melts to be adopted the intelligentized requirement of mine surveying, need a kind of device that can Quick Measurement spatial point three-dimensional coordinate of research and development badly, by the modes such as simple some survey, paddling to objective body carry out quick point type, line formula is measured, thereby conveniently obtain the shape information of mine down-hole space structure.
Summary of the invention
The present invention's problem that the measuring process existing in the spatial information measuring technique of existing mine is more complicated, work efficiency is lower in order to solve, portable poor and late time data processing is more complicated, provides information measuring method and device between a kind of integrated air.For this reason, the invention provides following technical scheme:
Information measuring method between integrated air, comprising:
By known spatial point, calculate the current three-dimensional coordinate that obtains measurement mechanism;
Current three-dimensional coordinate by described measurement mechanism calculates the three-dimensional coordinate that obtains tested point.
Information measurement apparatus between integrated air, comprising:
Current coordinate acquiring unit, for calculating the current three-dimensional coordinate that obtains measurement mechanism by known spatial point;
Coordinate acquiring unit to be measured, calculates for the current three-dimensional coordinate by described measurement mechanism the three-dimensional coordinate that obtains tested point.
Between integrated air provided by the invention, information measuring method can be according to the three-dimensional coordinate of other unknown point of three-dimensional coordinate Quick Measurement of a space known point with device, and then Quick Measuring measures the 3 d space coordinate information of zone of ignorance, improve the efficiency of field, mine surveying work, have measure convenient, be easy to carry about with one and late time data is processed better simply feature.
Accompanying drawing explanation
The principle schematic of information measuring method between the integrated air that Fig. 1 provides for the specific embodiment of the present invention;
The schematic flow sheet of information measuring method between the integrated air that Fig. 2 provides for the specific embodiment of the present invention;
The principle schematic of the increment of coordinate that the calculating A point that Fig. 3 provides for the specific embodiment of the present invention is ordered to B;
The structural representation of information measurement apparatus between the integrated air that Fig. 4 provides for the specific embodiment of the present invention;
The line design structured flowchart of information measurement apparatus between the integrated air that Fig. 5 provides for the specific embodiment of the present invention;
The electrical block diagram of the power supply unit of information measurement apparatus between the integrated air that Fig. 6 provides for the specific embodiment of the present invention.
Embodiment
Below in conjunction with the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
The specific embodiment of the present invention provides information measuring method between a kind of integrated air, its ultimate principle as shown in Figure 1, by known spatial point three-dimensional coordinate, calculate measurement mechanism self volume coordinate position, and then measure and calculate the 3 d space coordinate of tested point.Below in conjunction with Figure of description, elaborate, as shown in Figure 2, between corresponding integrated air, information measuring method comprises:
Step 21, calculates the current three-dimensional coordinate that obtains measurement mechanism by known spatial point.
Concrete, if the three-dimensional coordinate of known spatial point is (X
0, Y
0, Z
0), the current three-dimensional coordinate of measurement mechanism is (X
1, Y
1, Z
1), X wherein
1=X
0+ Δ X
1, Y
1=Y
0+ Δ Y
1, Z
1=Z
0+ Δ Z
1, corresponding Δ X
1, Δ Y
1with Δ Z
1represent respectively measurement mechanism on three-dimensional to the increment of coordinate of known spatial point.
Step 22, the current three-dimensional coordinate by described measurement mechanism calculates the three-dimensional coordinate that obtains tested point.
Concrete, when calculating the three-dimensional coordinate of acquisition measurement mechanism, be A (X
1, Y
1, Z
1) after, for any point B in this three-dimensional system of coordinate, need to obtain distance, air line distance, level inclination and the attitude of the B point horizontal projection of ordering for A, as shown in Figure 3, specific algorithm is as follows:
Suppose that the air line distance between A point and B point is L, the vertical projection of straight line AB in corresponding three-dimensional system of coordinate is:
l=L·sinα
The increment of coordinate that the coordinate that B is ordered is ordered with respect to A in corresponding three-dimensional system of coordinate is:
Δx=l·cosθ=L·cosα·cosθ
Δy=l·sinθ＝L·cosα·sinθ
Δz=L·sinα
Wherein, l represents the distance of the horizontal projection between measurement mechanism and tested point, L represents the air line distance between measurement mechanism and tested point, and α represents the level inclination between measurement mechanism and tested point, and θ represents the attitude between measurement mechanism and tested point.
Therefore known, in corresponding coordinate system, the coordinate of any point is:
Wherein, X
0, Y
0and Z
0the coordinate that represents respectively known point, Δ x
i, Δ y
iwith Δ z
irepresent respectively any point increment of coordinate with respect to known point in corresponding coordinate system,
with
denotation coordination increment adds up respectively.After the coordinate information of point that obtains scheduled volume, can obtain corresponding spatial information.
The technical scheme that adopts this embodiment to provide, can be according to the three-dimensional coordinate of space known point three-dimensional coordinate Quick Measurement unknown point to be measured, and then obtain the 3 d space coordinate information of zone of ignorance, improve the efficiency of field, mine surveying work, have measure convenient, be easy to carry about with one and late time data is processed better simply feature; And the technical scheme that this embodiment provides can be quickly and easily for down-hole engineering structure actual measurement; , information measurement apparatus between integrated air and mine operation process are organically combined meanwhile, can form integrated borehole operation system, thereby significantly improve mine, produce and technological design efficiency.
The specific embodiment of the present invention also provides information measurement apparatus between a kind of integrated air, as shown in Figure 4, comprising:
Current coordinate acquiring unit 41, for calculating the current three-dimensional coordinate that obtains measurement mechanism by known spatial point;
Tested coordinate acquiring unit 42, calculates for the current three-dimensional coordinate by described measurement mechanism the three-dimensional coordinate that obtains tested point.
Preferably, in tested coordinate acquiring unit 42, can comprise:
Increment of coordinate computation subunit, for calculating and obtain the increment of coordinate that described measurement mechanism arrives described tested point according to following formula:
Δx=l·cosθ=L·cosα·cosθ
Δy=l·sinθ＝L·cosα·sinθ
Δz=L·sinα
Wherein, l represents the distance of the horizontal projection between measurement mechanism and tested point, L represents the air line distance between measurement mechanism and tested point, and α represents the level inclination between measurement mechanism and tested point, and θ represents the attitude between measurement mechanism and tested point.
Concrete, between the integrated air that this embodiment provides information measurement apparatus can implementation space the measurement of three key parameters needing of point coordinate location, one of them is the air line distance between spatial point auto levelizer, two other position angle that is respectively device when pointing to towards some direction and for the inclination angle of level.
Just can be by calculating the coordinate of space unknown point after known above-mentioned three parameters, for obtaining above-mentioned three kinds of known parameters, in this device, integrated a high-precision electronic compass and an obliquity sensor, can realize the measurement at position angle and inclination angle; And an integrated small-sized laser range sensor, implement device is to the measurement of distance between tested point.Also comprise in addition processor and interface unit, realize the functions such as collection, processing, storage and communication integrated of each sensing data, form applicable product device.
Between the integrated air that this embodiment provides, the line design structure of information measurement apparatus as shown in Figure 5, ARM9 processor unit is selected in master control wherein, adopt Embedded System Design, it is graphical that optimization software development is designed and Implemented operation and control interface, and simplifying the operation, it is visual to strengthen.Between electronic compass sensor in this device, obliquity sensor, laser range sensor and processor core unit, by RS232 serial port protocol, communicate by letter.System interface also comprises USB interface in addition, for the storage of measurement data, is convenient to subsequent analysis; Ethernet interface, controls for the communications access between main frame and equipment and control; Display screen interface, connects one group of tangibly display screen, for equipment is graphical, measures and display operation.The measurement calculating of this device, disturbance rejecting, error compensation and output control etc. are all completed by core ARM9 processor, electronic compass sensor and laser range sensor are the crucial vitals in system, equipment power supply is also the significant element in system in addition, has determined the accuracy of measuring.
Between the integrated air that this embodiment provides, another core key of information measurement apparatus is power supply unit, in system, critical component comprises electronic compass, obliquity sensor and laser range sensor, the technology of high-precision laser range-finding sensor, obliquity sensor is comparatively ripe, system flexibility is also very strong, but the electronic compass of realizing measurement of azimuth really realize high-acruracy survey not only equipment itself need to there is high precision, system environments is also had to very strong requirement.
Conventional miniature electronic compass detector is all generally holds magnetic induction type, will guarantee around without any magnetic interference, but laser range sensor and power conversion unit in this device all has very large interference to it when carrying out measurement of azimuth.Reason is that laser range sensor needs instantaneous pressure support when measuring, this high-voltage power supply is to producing very large electromagnetic interference (EMI) around, this device need to pass through powered battery as portable instrument in addition, the low-loss of system is crucial, Power supply conversion designs adopts Switching Power Supply mentality of designing for solving efficient problem, so power supply unit can produce larger electromagnetic interference (EMI).
For solving above two interference source problems, this device is optimized design to power supply unit, and method of testing is optimized, the power supply of turn-offing laser range sensor in the moment of carrying out measurement of azimuth, make laser range sensor in off working state, the power switching of system is to linear power supply power supply state in the meantime in addition, and the output of closing switch power supply, has adopted the electromagnetic interference problem that has effectively solved system after these two kinds of measures.
Between the integrated air that this embodiment provides, the design of the power supply unit of information measurement apparatus as shown in Figure 6, the lithium battery that the battery that this device is used is 11V, the output of lithium battery is linked into the supply voltage switch conversion line in device, the two-way voltage of Switching Power Supply conversion line stable output, be respectively 5V and 12V, wherein 12V voltage is to provide to laser range sensor, and the power supply of all the other equipment is all from 5V output power taking.
In this device, also backed up in addition one group of simple and easy 5V voltage transitions circuit, input is also the output of battery.This group circuit adopts the design of linear voltage stabilization conversion, by processor control module, controls using and closing of stabilized voltage supply.After in the process of this measurement device, laser ranging completes, by controller, controlling voltage stabilizing circuit starts working, the output of stopcock power supply simultaneously when voltage stabilizing circuit output voltage reaches 5V, therefore Switching Power Supply circuit quits work, 12V output disappears immediately, laser range sensor quits work, and main interference source is eliminated.
Wherein, linear stabilized power supply circuit is by R1, R2, R3, R4, D1, Q1, Q2 and C1 form, when controller core unit provides a low level and opens signal, Q1 is turned off, battery by R1 to C1 capacitor charging, when the voltage on C1 reaches 4.5V, be R3, when R4 both end voltage reaches 4.5V, pass through R3, the voltage that R4 dividing potential drop produces raises, R3, R4 intermediate point is connected to the switch of switch power controller and controls pin, make switch power controller receive shutoff voltage thresholding, switch power controller quits work, Switching Power Supply circuit is in the state of quitting work, two-way output disappears, battery continues to capacitor C 1 charging by R1, when capacitance voltage reaches 5.8V, pressure stabilization function due to D1 stabilivolt, voltage on C1 no longer increases, the base voltage that is Q2 triode is stabilized in 5.8V, remove the biasing pressure drop of triode, the output of triode emitter-base bandgap grading is in 5.1V left and right, and having no progeny in Switching Power Supply pass, linear stabilized power supply continues as processor unit and electronic compass provides burning voltage.
When measurement of azimuth completes, processor unit provides a high-level control signal, Q1 is switched on, and C1 electric capacity is discharged, and Q2 base voltage is pulled down near zero potential, Q2 triode turn-offs, linear power supply quits work, and in the middle of R3, two resistance of R4, differential pressure drop is as low as zero about current potential simultaneously, gives low-voltage of switch power controller switch control end, the power-supply controller of electric that opens the light starts to devote oneself to work, and Switching Power Supply circuit comes into operation.Because it is constant that the load of system 5V electricity consumption is stablized, can be so that two groups of power supplys make the supply voltage transient fluctuation of 5V little in the process of switching by increasing the numerical value of capacitor C 2.Linear power supply circuit pack just just can come into operation in the process of measurement of azimuth, at ordinary times in closed condition, because the power consumption of linear sources own is larger, only as instantaneous measurement, uses.
The technical scheme that adopts this embodiment to provide, can be according to the method and apparatus of space other unknown point three-dimensional coordinates to be measured of known point three-dimensional coordinate Quick Measurement, and by this device, can Quick Measuring measure the 3 d space coordinate information of zone of ignorance, improve the efficiency of field, mine surveying work, have measure convenient, be easy to carry about with one and late time data is processed better simply feature; And the technical scheme that this embodiment provides is enough quickly and easily for the actual measurement of down-hole engineering structure; , information measurement apparatus between integrated air and mine operation process are organically combined meanwhile, can form integrated borehole operation system, thereby significantly improve mine, produce and technological design efficiency.
The above; it is only preferably embodiment of the present invention; but protection scope of the present invention is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the embodiment of the present invention discloses; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (5)
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| CN103307996B (en) * | 2013-07-04 | 2016-03-02 | 合肥工业大学 | A kind of laser scanning easy device |
| CN106123871A (en) * | 2016-06-14 | 2016-11-16 | 河南华泰规划勘测设计咨询有限公司 | A kind of Multifunctional mapping tool |
| CN110986782A (en) * | 2019-12-26 | 2020-04-10 | 苏州伟信奥图智能科技有限公司 | Calibration method suitable for manipulator |
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| CN202471075U (en) * | 2012-03-02 | 2012-10-03 | 马庆勋 | Multifunctional geological working apparatus for mine |
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| JP5583371B2 (en) * | 2009-07-31 | 2014-09-03 | 大成建設株式会社 | Finished type accuracy confirmation system, 3D measuring machine arrangement planning device, 3D measuring machine arrangement planning program, and 3D measuring machine arrangement planning method |
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| CN101421584A (en) * | 2005-12-08 | 2009-04-29 | 贝盈科技有限公司 | Hand-held optical distance measuring device |
| JP2010223754A (en) * | 2009-03-24 | 2010-10-07 | Shinryo Corp | 3D position measurement and positioning system |
| CN202074965U (en) * | 2011-05-06 | 2011-12-14 | 宋建明 | A full-featured day and night laser range finder |
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Inventor after: Yang Xiaocong Inventor after: Chen Kai Inventor after: Zhang Yuansheng Inventor after: Lu Desheng Inventor after: Yu Bin Inventor after: Zhang Da Inventor after: Yu Lewen Inventor after: Yuan Bensheng Inventor after: Zhang Xuan Inventor after: Dai Bin Inventor before: Zhang Yuansheng Inventor before: Lu Desheng Inventor before: Yu Bin Inventor before: Zhang Da Inventor before: Yu Lewen Inventor before: Yuan Bensheng Inventor before: Zhang Xuan Inventor before: Dai Bin Inventor before: Chen Kai |
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