CN106996770A - The space mapping system and method for a kind of combination space orientation scanner uni intelligent terminal - Google Patents
The space mapping system and method for a kind of combination space orientation scanner uni intelligent terminal Download PDFInfo
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- CN106996770A CN106996770A CN201710222719.3A CN201710222719A CN106996770A CN 106996770 A CN106996770 A CN 106996770A CN 201710222719 A CN201710222719 A CN 201710222719A CN 106996770 A CN106996770 A CN 106996770A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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Abstract
The invention discloses a kind of space mapping system of combination space orientation scanner uni intelligent terminal and method, including spacescan subsystem, terrestrial positioning subsystem and control management subsystem, spacescan subsystem includes scan module and control unit, at the top of scan module alignment ground survey thing, the scan data information being aligned under collection position；Terrestrial positioning subsystem includes locating module and control unit, and locating module locks and positioned the spatial position data information marked in the air；Control, which manages subsystem, includes display module, and the display of collection point space coordinate at the top of measurement object, mark position, scanning information calculating, display, historical record and data sharing can be achieved.The present invention combines accurate 3-D scanning and accurate space orientation technique, dissipates thing cubing, and measurement module is taken in the air, changes original metering system, fundamentally improves measurement accuracy, saves measurement cost, reduction time of measuring.
Description
Technical field
The present invention relates to space technical field of mapping, especially a kind of space of combination space orientation scanner uni intelligent terminal
Mapping system and method.
Background technology
At present, in the survey field of space, generally using total station survey, its cardinal principle is in the datum mark set
On use total powerstation to dissipating thing, laser range finder and inclinometer that total powerstation is carried collect the mark tally evidence of measurement thing, so
After beam back computer generation simulation dissipate thing Mathematical Model of heaped-up, by calculate demonstration derive bulk storage object accumulate.
The problems with and shortcoming existed by the way of total station survey：
（1）, it is necessary to first around thing setting datum mark is dissipated, then in datum mark when subject matter is to measure the volume for dissipating thing
On successively using total powerstation scanning take a little.Requirement for fixed-site is very high, once the position of datum mark change, it is necessary to
The correct analogue data information of hind computation software can just be made by redeterminating the position of datum mark.In terms of measurement accuracy, existing skill
Art takes a negligible amounts, is limited to the narrow and small of the ground visual field, once the center of measurement thing is recessed, measuring instrument can not have
The acquisition correct measurement point of effect, so as to cause having a greatly reduced quality for measurement accuracy.In terms of measurement cost, prior art needs multiple spot many
Secondary measurement, for being measured for large-scale place, personnel need the whole measuring apparatus that carries to move.
（2）Preceding preparation complexity is measured, it is necessary to dissipate the shaping operation of thing, increases the input of measurement cost.Survey
Accuracy of measurement is limited to gather the quantity of mark point on datum mark.Measurement process is cumbersome, it is necessary to which actual survey crew repeatedly lays survey
Measure facility.Surveying Actual Precision can be limited by measurement place, for having the measurement place of shelter, poor anti jamming capability.
After measurement result generation, it is impossible to carry out artificial recheck and audit.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of mapping of the space of combination space orientation scanner uni intelligent terminal
System and method, the system combines accurate 3-D scanning and accurate space orientation technique, in thing cubing is dissipated, and breaks through
Ground is limited, and measurement module is taken in the air, and the original metering system of change fundamentally improves measurement accuracy, saving and measured into
Originally, reduction time of measuring.
In order to solve the above technical problems, the technical solution used in the present invention is：One kind combines space orientation scanner uni intelligence
The space mapping system of energy terminal, it is characterised in that including spacescan subsystem, terrestrial positioning subsystem and control management
System, the spacescan subsystem includes scan module and control unit, and scan module is directed at ground survey thing straight down
The scan data information being aligned under top, collection position；The terrestrial positioning subsystem includes locating module and control is single
Member, locating module locks and positioned the spatial position data information marked in the air；The control management subsystem includes having intelligence
The display module of energy terminal, can be achieved the display of collection point space coordinate, mark position scanning information meter at the top of measurement object
Calculation, display, historical record and data sharing；The spacescan subsystem, terrestrial positioning subsystem and control management subsystem
Include transport module and power supply module, wherein transport module is used to keep the real-time data transmission between three subsystems；Institute
The instruction that the control unit stated is sent according to control management subsystem controls spacescan subsystem data Collecting operation；Power supply mould
Block provides exchange for three subsystems or battery is powered.
Such scheme is further qualified, the spacescan subsystem is set including unmanned plane, spheroid and scanning probe
It is standby, scanning probe equipment is wherein set below unmanned plane below the markd spheroid of fixed hanging device, spheroid, and unmanned plane carries ball
Body and scanning probe equipment are moved in space.
Such scheme is further qualified, the scanning probe equipment is included by sweeping that adjustable laser range finding probe is constituted
Linear transducer array is retouched, scanning head array is arranged on support plate, the independence that each adjustable laser range finding probe is left on support plate turns
Dynamic space, each adjustable laser range finding probe left and right and swing in its independent rotation space.
Such scheme is further qualified, the adjustable laser range finding probe parallel equidistant arrangement form scanning head battle array
Row, are mating spherical surfaces between adjustable laser range finding probe and support plate, and adjustable laser range finding probe is rotated in support plate around the centre of sphere,
Angle controller is provided with below adjustable laser range finding probe.
Such scheme is further qualified, the angle controller includes left-right adjusting mechanism and front and rear regulation machine
Structure, wherein left-right adjusting mechanism are located at below scanning head array, and it controls each adjustable laser range finding probe around the centre of sphere on a left side
Right direction swing angle, front and rear governor motion is located at the lower section of left-right adjusting mechanism, and it controls often row adjustable laser range finding probe
Around the centre of sphere in fore-and-aft direction swing angle；Front and rear governor motion is fixedly supported to bottom by the fixed chuck positioned at two ends
In level support platform.
Such scheme is further qualified, the left-right adjusting mechanism includes left regulation motor, right regulation motor and skin
Belt wheel, wherein its middle belt pulley are located at below each adjustable laser range finding probe, and by belt wheel drive adjustable laser ranging
Probe is swung around the centre of sphere；Scanning head array is divided into left-half and right half part, wherein left-half and right half part scanning
The belt pulley of linear transducer array is sequentially connected in series by belt, forms link gear, the adjustable laser survey of left-half and right half part
Away from probe as one group, equidirectional swing, the adjustable laser range finding probe of left-half is driven by the left regulation motor positioned at left end
Dynamic, the adjustable laser range finding probe of right half part is by the right regulation motor driving positioned at right-hand member；Left regulation motor and right regulation electricity
Synchronizer is provided between machine；Gearratio between two neighboring belt pulley keeps constant, is visited with the adjustable laser ranging in a line
Head, its angle that swings is sequentially reduced from two ends to centre.
Such scheme is further qualified, the front and rear governor motion includes fixed a line adjustable laser range finding probe
Horizontal single-row support plate, laterally the lower surface of single-row support plate is provided with the gear being engaged with, wherein swashing positioned at the adjustable of first half
Gear below ligh-ranging probe is forward swing gear, and the gear below the adjustable laser range finding probe of latter half is put after being
Gear, provided with two intermeshing breast wheels between forward swing gear and rear pendulum gear, two breast wheels are respectively at forward swing tooth
Wheel and rear pendulum gear engagement, wherein belt transmission between pendulum gear and front and rear regulation motor afterwards.
Such scheme is further qualified, the left-right adjusting mechanism is provided with left and right angular transducer, front and rear regulation
Mechanism is provided with front and rear angles sensor, and left-right adjusting mechanism and front and rear governor motion adjust angle of rotation by scanning monitor
Degree, left and right angular transducer and front and rear angles sensor collection rotational angle feed back to scanning monitor.
Such scheme is further qualified, the terrestrial positioning subsystem includes range finding probe array, loads ranging spy
The amendment head and fixation tripod of head array, range finding probe array are arranged on laser probe support plate, and laser probe is carried
Pitching rotating shaft in the middle part of plate lower surface, laser probe support plate can be fixed on vertical support around pitching axis of rotation, pitching rotating shaft two ends
On, vertical support is fixed on horizontal revolving stage surface, and horizontal revolving stage is connected with support tripod by horizontal rotating shaft；Also include pitching
Angular transducer, horizontal angle sensor, pitching motor, horizontal drive motor and register control, wherein luffing angle
Sensor is fixed in pitching rotating shaft, and pitching rotating shaft is driven by pitching motor, and horizontal angle sensor is fixed on level
On turntable, vertical support is driven by horizontal drive motor to be rotated, register control control pitching motor and horizontal drive
Motor speed and start and stop, luffing angle sensor and horizontal angle sensor gather laser probe support plate and horizontal revolving stage respectively
Rotational angle, and numeric feedback to register control.
A kind of space mapping method, this method uses the space mapping system for combining space orientation scanner uni intelligent terminal,
It is characterized in that obtaining the volume V of ground object in measurement range as follows：
Step S1：Terrestrial positioning subsystem is directed at the mark point of spacescan subsystem, detects the sky of mark point correspondence system
Between coordinate data be（a、b、c）；
Step S2：Terrestrial positioning subsystem completes alignment collection, while spacescan subsystem obtains scan data, that is, measures
Each measurement point of thing surface is corresponding, and the corresponding coordinate data in scanning system space is(a、b、c) 1 、（a、b、c） 2 、……、（a、 b、c） n-1 、（a、b、c） n ；
Step S3：Control manages coordinate data of the subsystem according to the spacescan subsystem mark point of transmission, and measurement thing table
The corresponding coordinate data in millet cake correspondence scanning system space, show that the space of the corresponding system of each measurement point of measurement thing surface is sat
Mark data（x、y、z） 1 、（x、y、z） 2 、……、（x、y、z） n-1 、（x、y、z） n ；
Step S4：The soffit plane of correspondence system coordinate is divided into floor space identical standard flat, and area iss；
Step S5：Control management subsystem calculates corresponding flat coordinate according to the measurement thing surface coordinate data being collected into
The volume v, v=s of unit area × z；
Step S6：The volume v of cumulative all coordinate units, obtains the cumulative volume V of ground object in measurement range,V=v 1 +v 2 +……+v n-1 +v n 。
It is using the beneficial effect produced by above-mentioned technical proposal：
（1）The space mapping system of combination space orientation scanner uni intelligent terminal in the present invention, accurate 3-D scanning and essence
Quasi- space orientation technique, in thing cubing is dissipated, breaks through ground limitation, measurement module is taken in the air, changed original
Metering system fundamentally improves measurement accuracy, saves measurement cost, reduction time of measuring；
（2）The present invention is in terms of measurement accuracy, and laser head locks the use of locating module, spatial positioning accuracy is reached millimeter
Level.It is aerial to use three-dimensional ranging scan module, dissipate mark point collecting quantity on thing and be greatly improved；
（3）Thing cubing unmanned plane and traditional total station survey are dissipated, for using aerial visual angle, breaking stacking thing needs to survey
The traditional means of regular geometric shapes are shaped to before amount, without shaping, are directly taken a crane shot from the air, the obstruction in the ground visual field is eliminated,
Save measurement cost；
（4）The use of unmanned plane during this law is bright, makes measurement process become free and relaxed.The anti-equipment of people is no longer needed to take everywhere
Point, it is only necessary to which unmanned plane takes off, leapt measurement thing overhead, that is, completed measurement operation, eliminate the rule for needing to prepare before measurement
Then plastic operation, effectively lifts measurement efficiency, saves measurement cost, convenient and swift, effectively reduce time of measuring；
（5）The present invention breaks ground limitation, and measurement of taking a crane shot in the air greatly promotes measurement sampling site quantity, significant increase measurement essence
Degree, using flight unmanned plane, reduces personnel's labour supervision measurement cost.Aerial broad view eliminates ground sight and blocks what is brought
Error.The unmanned plane free degree is high, and complex landform situation can not be limited.Save shaping setting up cost, rapid and convenient before surveying.Nothing
Datum mark need to be set in advance, with set with survey simple and fast；
（6）Space mapping method in the present invention, system uses accumulation superposition algorithm, abandons the complex logic of functional operation, when
When measurement part needs to stop, the volume information measured is directly obtained, and supports to restart, it is not necessary to is started anew, with survey
With taking.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the space mapping system composition frame diagram that space orientation scanner uni intelligent terminal is combined in the present invention；
Fig. 2 is the structure principle chart of hollow scanning subsystem of the invention；
Fig. 3 is the transport stream signal journey figure of scanning probe equipment in the present invention；
Fig. 4 is range finding probe array of figure in the present invention；
Fig. 5 is A-A sectional views in Fig. 4；
Fig. 6 is B-B revolved sectional views in Fig. 4；
Fig. 7 is terrestrial positioning subsystem signals transfer process figure in the present invention；
Fig. 8 is the structural representation of terrestrial positioning subsystem；
In figure：1st, range finding probe array, 2, amendment head, 2-1, pitching rotating shaft, 2-2, vertical support, 2-3, horizontal revolving stage, 2-
4th, horizontal rotating shaft, 2-5, luffing angle sensor, 2-6, horizontal angle sensor, 2-7, pitching motor, 2-8, level are driven
Dynamic motor, 3, tripod, 4, spheroid, 5, unmanned plane, 6, scanning probe equipment, 6-1, adjustable laser range finding probe, 6-2, support plate,
6-3, fixed chuck, 6-4, level support platform, 6-7, left and right angular transducer, 6-8, front and rear angles sensor, 6-10, right tune
Section motor, 6-11, left regulation motor, 6-12, belt pulley, 6-13, front-and-back adjusting device, 6-14, laterally single-row support plate, 6-15,
Forward swing gear, 6-16, breast wheel, put gear, 6-18, front and rear regulation motor at 6-17 afterwards；7th, flight controller, 8, time synchronized
Device, 9, scanning result display, 10, register control, 11, scanning monitor.
Embodiment
Accompanying drawing 1 is the composition frame diagram for the space mapping system for combining space orientation scanner uni intelligent terminal, the frame diagram
Include spacescan subsystem, control management subsystem and terrestrial positioning subsystem, control management subsystem as medium,
Spacescan subsystem and terrestrial positioning subsystem link together, and form the transfer of data message.Wherein, spacescan
Subsystem includes scan module and control unit, and scan module is aligned at the top of ground survey thing straight down, gathers position
The scan data information of lower alignment target；Terrestrial positioning subsystem includes locating module and control unit, and locating module is locked simultaneously
Positioning is aerial with markd spatial position data information；Control management subsystem includes the display module with intelligent terminal,
As middle transition module, the display of collection point space coordinate, mark position scanning information meter at the top of measurement object can be achieved
Calculation, display, historical record and data sharing.Spacescan subsystem, terrestrial positioning subsystem and control management subsystem are wrapped
Transport module and power supply module are included, wherein transport module is used to keep the real-time data transmission between three subsystems；Control is single
Member manages the instruction control spacescan subsystem data Collecting operation that subsystem is sent according to control pipe；Power supply module is three sons
System provides exchange or battery is powered.
According to the functional statement of three above subsystem, its primary structure is as follows：Spacescan subsystem is main by nothing
Man-machine 5, constituted with markd spheroid 4 and scanning probe equipment, terrestrial positioning subsystem it is main by range finding probe array 1, repair
Positive head 2 and tripod 3 are constituted.
The operation principle of hollow mapping system of the invention is to load scanning probe using the unmanned plane 5 provided with carrier to set
Standby, scanning probe equipment coordinates control unit to form aerial head, and regulation scan module is all the time straight down to locating tab assembly thing top
Portion.Terrestrial positioning subsystem coordinates the amendment head 2 of the adjustable angle of range finding probe array 1 using range finding probe array 1, realizes
Range finding probe array 1 locks the unmanned plane 5 of airflight, monitors the spatial positional information of unmanned plane 5, by collecting, returning to position
Put with scanning information to management subsystem is controlled, hind computation, simulation, display measurement thing model draw survey using calculation formula
Measure object product.
According to the operation principle and function of space mapping system, to spacescan subsystem and the knot of terrestrial positioning subsystem
Structure composition carries out detailed design, and its structure composition is as follows：
As shown in Figure 2, spacescan subsystem includes unmanned plane 5, spheroid 4 and scanning probe equipment 6, wherein under unmanned plane 5
The markd spheroid 4 of the fixed hanging device in side, the lower section of spheroid 4 sets scanning probe equipment 6, and unmanned plane 5 carries spheroid 4 and scanning is visited
Measurement equipment 6 is moved in space.
As shown in Figure 4, scanning probe equipment 6 includes the scanning head array being made up of adjustable laser range finding probe 6-1,
Scanning head array is arranged on support plate 6-2, adjustable laser range finding probe 6-1 parallel equidistant arrangement form scanning head arrays,
It is mating spherical surfaces between adjustable laser range finding probe 6-1 and support plate 6-2, adjustable laser range finding probe 6-1 is in support plate 6-2 around ball
The heart is rotated, and angle controller is provided with below adjustable laser range finding probe 6-1.
The direction of above-mentioned angle controller adjustment adjustable laser range finding probe 1, makes linear transducer array be directed at fixed setting, together
Shi Peihe scan modules complete Scan orientation operation；As depicted in figures 5 and 6, angle controller includes a left side to angle controller
Right governor motion and front and rear governor motion.
As shown in Figure 5, left-right adjusting mechanism is located at below scanning head array, and it controls each adjustable laser ranging to visit
Head 6-1 is around the centre of sphere in left and right directions swing angle, and front and rear governor motion is located at the lower section of left-right adjusting mechanism, and it is controlled, and often row can
Adjust laser ranging probe 6-1 around the centre of sphere in fore-and-aft direction swing angle；Front and rear governor motion passes through the fixed chuck positioned at two ends
6-3, is fixedly supported on the level support platform 6-4 of bottom.Left-right adjusting mechanism includes left regulation motor 6-11, right regulation motor
6-10 and belt pulley 6-12, wherein its middle belt pulley 6-12 are located at below each adjustable laser range finding probe 6-1, and by belt
6-12 driving adjustable laser range finding probe 6-1 are taken turns to swing around the centre of sphere；Scanning head array is divided into left-half and right half part, its
The belt pulley 6-12 of middle left-half and right half part scanning head array is sequentially connected in series by belt, forms link gear, left
The adjustable laser range finding probe 6-1 of half part and right half part is as one group, and equidirectional swing, the adjustable laser of left-half is surveyed
Away from probe 6-1 by the left regulation motor 6-11 drivings positioned at left end, the adjustable laser range finding probe 6-1 of right half part is by positioned at the right side
The right regulation motor 6-10 drivings at end；Synchronizer is provided between left regulation motor 6-11 and right regulation motor 6-10；It is two neighboring
Gearratio between belt pulley 6-12 keeps constant, with the adjustable laser range finding probe 6-1 in a line, its swing angle by
Two ends are sequentially reduced to centre.
As shown in Figure 6, front and rear governor motion includes the fixed a line adjustable laser range finding probe 6-1 single-row support plate of transverse direction
6-14, laterally single-row support plate 6-14 lower surface is provided with the gear being engaged with, wherein the adjustable laser positioned at first half is surveyed
It is forward swing gear 6-15, the gear below the adjustable laser range finding probe 6-1 of latter half away from the gear below probe 6-1
For rear pendulum gear 6-17, two intermeshing breast wheel 6-16 are provided between forward swing gear 6-15 and rear pendulum gear 6-17,
Two breast wheel 6-16 are respectively at forward swing gear 6-15 and rear pendulum gear 6-17 engagements, wherein pendulum gear 6-17 and front and rear regulation afterwards
Belt transmission between motor 6-18.Left-right adjusting mechanism is provided with left and right angular transducer 6-7, before front and rear governor motion is provided with
Angular transducer 6-8 afterwards, left-right adjusting mechanism and front and rear governor motion adjust rotational angle, left and right by scanning monitor 11
Angular transducer 6-7 and front and rear angles sensor 6-8 collection rotational angles feed back to scanning monitor 11.
Accompanying drawing 3 is the transport stream signal journey figure of scanning probe equipment, the feedback regulation of linear transducer array, in left-right adjusting mechanism
Left and right angular transducer 6-7 is provided with, front and rear governor motion is provided with front and rear angles sensor 6-8, and left-right adjusting mechanism is with before
Governor motion adjusts rotational angle, left and right angular transducer 6-7 and front and rear angles sensor 6-8 by scanning monitor 11 afterwards
Collection rotational angle feeds back to scanning monitor 11, so in front and rear governor motion, left-right adjusting mechanism and scanning monitor 11
Between the double closed-loop control system that is formed, two closed-loop control system independent operatings are accurately adjusted to support plate 6-2 direction
It is whole, according to the information of scanning, feedback regulations of the adjustable laser range finding probe 6-1 in left and right and front and rear corner is realized, is realized
Intelligent control, and total composition is simple, and control is easy to implement, and holistic cost is controllable.
In concrete operations, in order to ensure the rotational angle of left-half and the adjustable laser range finding probe 1 for having half part
It is identical, synchronizer is provided between left regulation motor 6-11 and right regulation motor 6-10, it is ensured that there is two motors identical to turn
Angle.After adjustment corner, in order to ensure laser that each adjustable laser range finding probe 1 is launched continue to keep with distribution, it is desirable to
It is different with each adjustable laser range finding probe 6-1 anglecs of rotation of group, ecto-entad, its anglec of rotation is successively decreases successively, so
It is required that keeping constant with the gearratio organized between two neighboring belt pulley 6-12, gearratio control is 1:1.05 or so, same to a line
Interior adjustable laser range finding probe 6-1, its angle that swings is sequentially reduced from two ends to centre.The mechanism is by an independent drive
Dynamic structure driving, using multilevel transmission structure, keeping vertical probe, property is offset in gradient.
In front and rear governor motion, rear pendulum 6-17 driving wheels of gear, it drives the single-row support plate 6-14 pendulum of the transverse direction of the 3rd row
It is dynamic, the adjustable laser range finding probe 1 of full line is realized around centre of sphere swing, and rear pendulum gear 6-17 is engaged with breast wheel 6-16, is led to
Two breast wheel 6-16 transition is crossed, makes forward swing gear 6-15 rotation directions with rear pendulum gear 6-17 on the contrary, forward swing gear 6-15
The 1st row adjustable laser range finding probe 6-1 is driven around centre of sphere swing.Forward swing gear 6-15 and rear pendulum gear 6-17 number of teeth phases
Together, its swing angle is identical, so under the drive of front and rear regulation motor 18, realizes the 1st and 3 row adjustable laser range finding probes
1 fore-and-aft direction is swung, and the 2nd row adjustable laser range finding probe 6-1 keeps different.If the increase of the line number of adjustable laser range finding probe 1, can
To be symmetrical arranged, by belt or gear transmission mode, ecto-entad swing angle successively decreases successively, keeps adjustable laser ranging to visit
The head lateral symmetry skews of 6-1.
Accompanying drawing 8 is terrestrial positioning subsystem, and it specifically includes range finding probe array 1, loads the amendment of range finding probe array 1
Head 2 and fixation tripod 3, range finding probe array 1 is arranged on laser probe support plate, in laser probe support plate lower surface
Portion's pitching rotating shaft 2-1, laser probe support plate can be rotated around pitching rotating shaft 2-1, and pitching rotating shaft 2-1 is fixed on vertical support 2- in two ends
On 2, vertical support 2-2 is fixed on horizontal revolving stage 2-3 surfaces, and horizontal revolving stage 2-3 passes through horizontal rotating shaft 2-4 with support tripod 3
Connection；In order to control the motion of structure division in above-mentioned terrestrial positioning subsystem, in addition to luffing angle sensor 2-5, level
Angular transducer 2-6, pitching motor 2-7, horizontal drive motor 2-8 and register control 10, wherein luffing angle are sensed
Device 2-5 is fixed on pitching rotating shaft 2-1, and pitching rotating shaft 2-1 is driven by pitching motor 2-7, horizontal angle sensor 2-6
It is fixed on horizontal revolving stage 2-3, vertical support 2-2 is driven by horizontal drive motor 2-8 to be rotated, and the control of register control 10 is bowed
Face upward motor 2-7 and horizontal drive motor 2-8 rotating speeds and start and stop, luffing angle sensor 2-5 and horizontal angle sensor 2-6
Collection laser probe support plate and horizontal revolving stage 2-3 rotational angle, and numeric feedback to register control 10 respectively.
So, the closed-loop control system between pitching motor 2-7, luffing angle sensor 2-5 and register control 10
System, equally also forms closed-loop control system between horizontal drive motor 2-8, horizontal angle sensor 2-6 and register control 10
System.Two closed-loop control system independent operatings, are accurately adjusted to the direction of laser probe support plate, realize laser ranging spy
Head is to mark subsystem high accuracy, efficient tracking, and total composition is simple, and control is easy to implement, holistic cost
It is controllable.
The present invention employs 5 controllers in control aspect, and wherein unmanned plane 5 can be adjusted by flight controller 7
Position in space；Ground Positioning System and aerial scanning system can the completion data syn-chronizations of passage time synchronizer 8；Scanning knot
Fruit display 9 can simultaneous display Ground Positioning System data and aerial scanning system data；Ground Positioning System and aerial scanning
The data of system can be synchronous；Ground Positioning System can be opened and closed by register control 10；Ground Positioning System can be realized
Locking positioning to aerial scanning system；The amendment head 2 can drive the rotational alignment of range finding probe 1 to mark spheroid 4 in sky
Between in optional position.
Constituted according to above-mentioned principles and structure, the system is in the specifically used course of work：Firstly the need of in survey
Measure and ground locating module is set near thing, main setting leveling etc. is simply provided.After unmanned plane is ready, locating module is locked
Determine unmanned plane.Unmanned plane lift-off is manipulated, locating module operation is checked.Complete after detection work, the aerial head of UAV flight
Adjust scan module straight down, manipulate unmanned plane and flown at the top of measurement thing, complete measurement operation.Unmanned plane flies over measurement thing
Upper space-time, scan module is coordinated to collect scanning and positional information with locating module, beams back hind computation center, finally shows measurement
As a result.
Equipment in the present invention be divided into the air with ground two parts, Aerial parts be by unmanned plane carry scanning probe equipment
It is responsible for aerial stable scanning of taking a crane shot, above ground portion is made up of terrestrial positioning module with hind computation center, location fit unmanned plane
Part carries out locking positioning operation.Synchronously it is positioned at scanning information and beams back the completion calculating of hind computation center.
According to the above-mentioned course of work, a kind of space mapping method for giving said system is summed up, this method passes through such as
Lower step obtains the volume V of ground object in measurement range：
Step S1：Terrestrial positioning subsystem is directed at the mark point of spacescan subsystem, detects the sky of mark point correspondence system
Between coordinate data be（a、b、c）；
Step S2：Terrestrial positioning subsystem completes alignment collection, while spacescan subsystem obtains scan data, that is, measures
Each measurement point of thing surface is corresponding, and the corresponding coordinate data in scanning system space is(a、b、c) 1 、（a、b、c） 2 、……、（a、 b、c） n-1 、（a、b、c） n ；
Step S3：Control manages coordinate data of the subsystem according to the spacescan subsystem mark point of transmission, and measurement thing table
The corresponding coordinate data in millet cake correspondence scanning system space, show that the space of the corresponding system of each measurement point of measurement thing surface is sat
Mark data（x、y、z） 1 、（x、y、z） 2 、……、（x、y、z） n-1 、（x、y、z） n ；
Step S4：The soffit plane of correspondence system coordinate is divided into floor space identical standard flat, and area iss；
Step S5：Control management subsystem calculates corresponding flat coordinate according to the measurement thing surface coordinate data being collected into
The volume v, v=s of unit area × z；
Step S6：The volume v of cumulative all coordinate units, obtains the cumulative volume V of ground object in measurement range,V=v 1 +v 2 +……+v n-1 +v n 。
Below according to the above method, illustrated so that 200*200 meters of place measurements dissipate sand drift as an example：Terrestrial positioning mould
Block is placed in the side for needing to measure place, adjusts water balance, determines reference frame.Unmanned plane carries scan module lift-off,
Locating module is aimed at into the mark that unmanned plane is carried, the locking position monitor of spatial positional information is carried out.Aerial head regulation
Scan module, all the time straight down.Operation unmanned plane was leapt at the top of measurement thing, locating module and scan module synchronous collection number
It is believed that breath.Calculating center is beamed back, the measurement thing model information under correspondence reference frame, result of calculation simultaneous display is calculated.
Measure after the completion of operation, verification mending-leakage can be carried out according to the simulation model of display.
Claims (10)
1. a kind of space mapping system of combination space orientation scanner uni intelligent terminal, it is characterised in that including spacescan subsystem
System, terrestrial positioning subsystem and control management subsystem, the spacescan subsystem include scan module and control unit, swept
Retouch module to be aligned straight down at the top of ground survey thing, the scan data information being aligned under collection position；Determine on the ground
Sub-systems include locating module and control unit, and locating module locks and positioned the spatial position data information marked in the air；
The control management subsystem includes the display module with intelligent terminal, and the collection space of points at the top of measurement object can be achieved and sits
Target is shown, mark position scanning information is calculated, display, historical record and data sharing；The spacescan subsystem, ground
Positioning subsystem and control management subsystem include transport module and power supply module, and wherein transport module is used to keep three sons
Real-time data transmission between system；The instruction that described control unit is sent according to control management subsystem controls spacescan
Subsystem data Collecting operation；Power supply module provides exchange for three subsystems or battery is powered.
2. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 1, its feature
It is that the spacescan subsystem includes unmanned plane（5）, spheroid（4）With scanning probe equipment（6）, wherein unmanned plane（5）Under
The markd spheroid of the fixed hanging device in side（4）, spheroid（4）Lower section sets scanning probe equipment（6）, unmanned plane（5）Carry spheroid
（4）With scanning probe equipment（6）Move in space.
3. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 2, its feature
It is the scanning probe equipment（6）Including by adjustable laser range finding probe（6-1）The scanning head array of composition, scanning head
Array is arranged at support plate（6-2）On, in support plate（6-2）On leave each adjustable laser range finding probe（6-1）Independent rotate empty
Between, each adjustable laser range finding probe（6-1）Left and right and swing in its independent rotation space.
4. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 3, its feature
It is the adjustable laser range finding probe（6-1）Parallel equidistant arrangement form scanning head array, adjustable laser range finding probe（6-
1）With support plate（6-2）Between be mating spherical surfaces, adjustable laser range finding probe（6-1）In support plate（6-2）It is interior to be rotated around the centre of sphere, can
Adjust laser ranging probe（6-1）Lower section is provided with angle controller.
5. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 4, its feature
It is that the angle controller includes left-right adjusting mechanism and front and rear governor motion, wherein left-right adjusting mechanism is located at scanning and visited
Below head array, it controls each adjustable laser range finding probe（6-1）Around the centre of sphere in left and right directions swing angle, front and rear regulation machine
Structure is located at the lower section of left-right adjusting mechanism, and it controls often row adjustable laser range finding probe（6-1）Swung around the centre of sphere in fore-and-aft direction
Angle；Front and rear governor motion passes through the fixed chuck positioned at two ends（6-3）, it is fixedly supported to the level support platform of bottom（6-4）
On.
6. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 5, its feature
It is that the left-right adjusting mechanism includes left regulation motor（6-11）, right regulation motor（6-10）And belt pulley（6-12）, wherein
Its middle belt pulley（6-12）Positioned at each adjustable laser range finding probe（6-1）Lower section, and by belt pulley（6-12）Driving is adjustable
Laser ranging probe（6-1）Swung around the centre of sphere；Scanning head array is divided into left-half and right half part, wherein left-half and
The belt pulley of right half part scanning head array（6-12）It is sequentially connected in series by belt, forms link gear, left-half and the right side
The adjustable laser range finding probe of half part（6-1）It is used as one group, equidirectional swing, the adjustable laser range finding probe of left-half
（6-1）By the left regulation motor positioned at left end（6-11）Driving, the adjustable laser range finding probe of right half part（6-1）By positioned at the right side
The right regulation motor at end（6-10）Driving；Left regulation motor（6-11）With right regulation motor（6-10）Between be provided with synchronizer；Phase
Adjacent two belt pulleys（6-12）Between gearratio keep it is constant, with the adjustable laser range finding probe in a line（6-1）, its left and right
Swing angle is sequentially reduced from two ends to centre.
7. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 5, its feature
It is that the front and rear governor motion includes fixed a line adjustable laser range finding probe（6-1）The single-row support plate of transverse direction（6-14）, it is horizontal
To single-row support plate（6-14）Lower surface be provided with the gear that is engaged with, wherein positioned at the adjustable laser range finding probe of first half
（6-1）The gear of lower section is forward swing gear（6-15）, positioned at the adjustable laser range finding probe of latter half（6-1）The gear of lower section
For rear pendulum gear（6-17）, in forward swing gear（6-15）With rear pendulum gear（6-17）Between provided with two intermeshing breast wheels
（6-16）, two breast wheels（6-16）Respectively at forward swing gear（6-15）With rear pendulum gear（6-17）Engagement, wherein after put gear
（6-17）With front and rear regulation motor（6-18）Between belt transmission.
8. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 5, its feature
It is that the left-right adjusting mechanism is provided with left and right angular transducer（6-7）, front and rear governor motion is provided with front and rear angles sensing
Device（6-8）, left-right adjusting mechanism and front and rear governor motion pass through scanning monitor（11）To adjust rotational angle, left and right angle is passed
Sensor（6-7）With front and rear angles sensor（6-8）Collection rotational angle feeds back to scanning monitor（11）.
9. a kind of space mapping system of combination space orientation scanner uni intelligent terminal according to claim 1, its feature
It is that the terrestrial positioning subsystem includes range finding probe array（1）, load range finding probe array（1）Amendment head（2）With
And fixation tripod（3）, range finding probe array（1）It is arranged on laser probe support plate, in the middle part of laser probe support plate lower surface
Pitching rotating shaft（2-1）, laser probe support plate can be around pitching rotating shaft（2-1）Rotate, pitching rotating shaft（2-1）Vertical branch is fixed at two ends
Post（2-2）On, vertical support（2-2）It is fixed on horizontal revolving stage（2-3）Surface, horizontal revolving stage（2-3）With support tripod（3）It is logical
Cross horizontal rotating shaft（2-4）Connection；Also include luffing angle sensor（2-5）, horizontal angle sensor（2-6）, pitching driving electricity
Machine（2-7）, horizontal drive motor（2-8）And register control（10）, wherein luffing angle sensor（2-5）Pitching is fixed on to turn
Axle（2-1）On, pitching rotating shaft（2-1）Pass through pitching motor（2-7）Driving, horizontal angle sensor（2-6）It is fixed on water
Flat turn platform（2-3）On, vertical support（2-2）Pass through horizontal drive motor（2-8）Driving rotation, register control（10）Control is bowed
Face upward motor（2-7）With horizontal drive motor（2-8）Rotating speed and start and stop, luffing angle sensor（2-5）Passed with level angle
Sensor（2-6）Laser probe support plate and horizontal revolving stage are gathered respectively（2-3）Rotational angle, and numeric feedback to location control
Device（10）.
10. a kind of space mapping method, the combination space orientation scanner uni intelligent terminal described in this method usage right requirement 1
Space mapping system, it is characterised in that as follows obtain measurement range in ground object volume V：
Step S1：Terrestrial positioning subsystem is directed at the mark point of spacescan subsystem, detects the sky of mark point correspondence system
Between coordinate data be（a、b、c）；
Step S2：Terrestrial positioning subsystem completes alignment collection, while spacescan subsystem obtains scan data, that is, measures
Each measurement point of thing surface is corresponding, and the corresponding coordinate data in scanning system space is(a、b、c) 1 、（a、b、c） 2 、……、（a、 b、c） n-1 、（a、b、c） n ；
Step S3：Control manages coordinate data of the subsystem according to the spacescan subsystem mark point of transmission, and measurement thing table
The corresponding coordinate data in millet cake correspondence scanning system space, show that the space of the corresponding system of each measurement point of measurement thing surface is sat
Mark data（x、y、z） 1 、（x、y、z） 2 、……、（x、y、z） n-1 、（x、y、z） n ；
Step S4：The soffit plane of correspondence system coordinate is divided into floor space identical standard flat, and area iss；
Step S5：Control management subsystem calculates corresponding flat coordinate according to the measurement thing surface coordinate data being collected into
The volume v, v=s of unit area × z；
Step S6：The volume v of cumulative all coordinate units, obtains the cumulative volume V of ground object in measurement range,V=v 1 +v 2 +……+v n-1 +v n 。
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