CN107329486A - Terrestrial positioning regulation device and method - Google Patents
Terrestrial positioning regulation device and method Download PDFInfo
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- CN107329486A CN107329486A CN201710683757.9A CN201710683757A CN107329486A CN 107329486 A CN107329486 A CN 107329486A CN 201710683757 A CN201710683757 A CN 201710683757A CN 107329486 A CN107329486 A CN 107329486A
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- engineering machinery
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- offset
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- 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
- G01C15/004—Reference lines, planes or sectors
- G01C15/006—Detectors therefor
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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
- G01C15/10—Plumb lines
- G01C15/105—Optical plumbing
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of terrestrial positioning regulation device, for adjusting engineering machinery in the position location on ground, has：Measuring unit, the measuring unit is in the engineering machinery, and the horizontal location benchmark for catching job site accordingly generates detection information；Control unit, described control unit is used to calculate the engineering machinery and the offset of the horizontal location benchmark according to the detection information, and the regulated quantity for adjusting the engineering machinery is generated according to the offset；Adjustment unit, the adjustment unit is used for the levelness that the engineering machinery is adjusted according to the regulated quantity, until the offset bit of the engineering machinery and the horizontal location benchmark is in the range of allowable error.The invention provides a kind of automatic terrestrial positioning regulation device and method for realizing terrestrial positioning position measurement and regulation.
Description
Technical field
It is a kind of terrestrial positioning regulation device and method specifically the invention belongs to technical field of engineering machinery.
Background technology
With the development of building trade, traditional form of construction work is by very big challenge.Traditional form of construction work is by workman
Manual processing is carried out, the heavy processing efficiency for making workman of processing tasks is very limited.Meanwhile, being relied on this form of construction work more
In the experience of workman, cause crudy very different, construction quality is difficult to ensure that.
Along with the development of automatic technology, some engineering machinery have been engendered, for discharging architecture production power, have been mitigated
The work burden of workman.Thus, building trade occurs in that new development trend, and automated production needs increasingly to increase.
Existing engineering machinery, for example, smear the machinery of metope, though automatic technology is employed to a certain extent, by
Limited in technology with structure, its automaticity is still very low.For example, in processing indoors, mechanical level is more to marking
Using manual regulation, re-adjustments are also needed with the movement of station.This aspect adds the burden of operator, on the other hand
Have a strong impact on efficiency of construction.In existing engineering machinery, still difficulty solves the above problems.
The content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of terrestrial positioning regulation device and method, with
Construction ground is automatically positioned the function of regulation and control, drastically increases the automaticity of work progress.
The purpose of the present invention is achieved through the following technical solutions：
A kind of terrestrial positioning regulation device, for adjusting engineering machinery in the position location on ground, has：
Measuring unit, the measuring unit is in the engineering machinery, the horizontal location base for catching job site
Standard, accordingly generates detection information；
Control unit, described control unit is used to calculate the engineering machinery according to the detection information and the level is determined
The offset of position benchmark, the regulated quantity for adjusting the engineering machinery is generated according to the offset；
Adjustment unit, the adjustment unit is used for the levelness that the engineering machinery is adjusted according to the regulated quantity, until
The offset bit of the engineering machinery and the horizontal location benchmark is in the range of allowable error.
As the improvement of above-mentioned technical proposal, the measuring unit has visual detector, and the visual detector is used for
Scan the horizontal location benchmark.
As the further improvement of above-mentioned technical proposal, the visual detector includes industrial camera, the industrial camera
The image information of the horizontal location benchmark is obtained for scanning the job site, described control unit calculates described image
The depth of parallelism of the scanning direction of information and the industrial camera and obtain the offset.
As the further improvement of above-mentioned technical proposal, the terrestrial positioning regulation device also has laser leveler, institute
Stating laser leveler is used to generate the horizontal location benchmark at the construction field (site), and the horizontal location benchmark is horizontal datum.
As the further improvement of above-mentioned technical proposal, the visual detector includes line-scan digital camera or contact type image is passed
Sensor, the line-scan digital camera or contact-type image sensor are used for the image information for scanning the generation horizontal location benchmark, institute
State the flat of scanning direction of the control unit for calculating described image information and the line-scan digital camera or contact-type image sensor
Row degree and obtain the offset.
As the further improvement of above-mentioned technical proposal, the laser leveler is additionally operable to generate lead in the job site
Hang down positioning datum, and the vertical positioning datum is plumb datum line, and the engineering machinery is provided with vertical measuring unit, the lead
Vertical measuring unit has line-scan digital camera, and the line-scan digital camera is used to scan the plumb datum line and obtain vertical image information.
As the further improvement of above-mentioned technical proposal, described control unit calculates the vertical image information and the line
The depth of parallelism of the scanning direction of array camera and obtain vertical regulated quantity, the adjustment unit according to the vertical regulated quantity adjust institute
State engineering machinery.
As the further improvement of above-mentioned technical proposal, the adjustment unit has at least one regulation enforcement division, described
Regulation enforcement division is used to make engineering machinery be moved and/or vert and adjust the attitude angle of the engineering machinery；And/or it is described
Terrestrial positioning regulation device also has the inclinator for the verticality for being used to measure the engineering machinery.
A kind of terrestrial positioning regulates and controls method, for adjusting engineering machinery in the position location on ground, including：
Scan the horizontal location benchmark of job site and generate detection information；
The engineering machinery and the offset of the horizontal location benchmark are calculated according to the detection information, according to described inclined
Shifting amount generates the regulated quantity for adjusting the engineering machinery；
The levelness of the engineering machinery is adjusted according to the regulated quantity, until the engineering machinery and the horizontal location
The offset bit of benchmark is in the range of allowable error.
As the improvement of above-mentioned technical proposal, scan the horizontal location benchmark using visual detector and obtain image letter
Breath；
Calculate the depth of parallelism of described image information and the scanning direction of the visual detector and obtain the offset, root
The regulated quantity is generated according to the offset；
The posture of the engineering machinery is adjusted according to the regulated quantity, until described image information and the visual detector
Scanning direction the depth of parallelism be located at the allowable error in the range of.
The beneficial effects of the invention are as follows：
With measuring unit, control unit and adjustment unit, measuring unit is in engineering machinery and for catching level
Positioning datum and generate detection information, control unit is used to calculate the inclined of engineering machinery and horizontal location benchmark according to detection information
Shifting amount, calculates the regulated quantity for adjusting engineering machinery accordingly, and adjustment unit adjusts the levelness of engineering machinery according to regulated quantity,
Until the offset bit of engineering machinery and horizontal location benchmark is in the range of allowable error, observing and controlling regulation process is automatic and with anti-
Feedback regulation, so that there is provided a kind of automatic ground for realizing terrestrial positioning position measurement and regulation with very high control accuracy
Position regulation device and method.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the first schematic diagram of the terrestrial positioning regulation device that the embodiment of the present invention 1 is provided；
Fig. 2 is the second schematic diagram of the terrestrial positioning regulation device that the embodiment of the present invention 1 is provided；
Fig. 3 is the 3rd schematic diagram of the terrestrial positioning regulation device that the embodiment of the present invention 1 is provided；
Fig. 4 is the side schematic view for the terrestrial positioning regulation device that the embodiment of the present invention 1 is provided；
Fig. 5 is the schematic top plan view for the terrestrial positioning regulation device that the embodiment of the present invention 1 is provided；
Fig. 6 is the step flow chart that the terrestrial positioning that the embodiment of the present invention 1 is provided regulates and controls method.
Main element symbol description：
1000- terrestrial positioning regulation devices, 0100- measuring units, the line-scan digital cameras of 0110- first, 0200- control units,
0210- image processing modules, 0300- adjustment units, 0310- regulation enforcement divisions, 0400- laser levelers, the measurement of 0500- verticals
Unit, the line-scan digital cameras of 0510- second, 2000- engineering machinery.
Embodiment
For the ease of understanding the present invention, terrestrial positioning regulation device and method are carried out below with reference to relevant drawings more complete
The description in face.Terrestrial positioning regulation device and the preferred embodiment of method are given in accompanying drawing.But, terrestrial positioning regulation device
It can be realized from method by many different forms, however it is not limited to embodiment described herein.On the contrary, providing these
The purpose of embodiment is to make the disclosure to terrestrial positioning regulation device and method more thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also have element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertically ", " level ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Herein in terrestrial positioning regulation device and the art used in the description of method
Language is intended merely to describe the purpose of specific embodiment, it is not intended that the limitation present invention.Term as used herein " and/or " bag
Include the arbitrary and all combination of one or more related Listed Items.
Embodiment 1
Please refer to Fig. 1~3, terrestrial positioning regulation device 1000 have measuring unit 0100, control unit 0200 with
Adjustment unit 0300, for adjusting engineering machinery 2000 in the position location on ground.The concrete structure in its each portion lifts it and wants person detailed
State as follows.
Terrestrial positioning regulation device 1000 has measuring unit 0100, and measuring unit 0100 is located in engineering machinery 2000,
Horizontal location benchmark for catching job site, accordingly generates detection information.
Terrestrial positioning regulation device 1000 also has control unit 0200, and control unit 0200 is based on according to detection information
Engineering machinery 2000 and the offset of horizontal location benchmark are calculated, the regulation for adjusting engineering machinery 2000 is generated according to offset
Amount.In an exemplary embodiment, control unit 0200 may include that computer, microprocessor or arithmetic processing circuit etc. are tied
Structure, for realizing that data operation is generated with instruction.
Specifically, horizontal location benchmark is used to provide reference data.Have between engineering machinery 2000 and horizontal location benchmark
There is certain deviation amount, when the offset is in the range of allowable error, you can judge the levelness of engineering machinery 2000 to adjust
It is whole to allow filling.When the offset is in outside allowable error scope, show that the levelness of engineering machinery 2000 is still needed into one
Successive step.Wherein, levelness refers to the depth of parallelism of engineering machinery 2000 and horizontal plane.
In an exemplary embodiment, engineering machinery 2000 has a horizontal reference plane, and aforementioned levels degree is this
The depth of parallelism of horizontal reference plane and horizontal plane.In other words, the offset, that is, the horizontal reference plane and horizontal location benchmark
Between deviant.Usually, the deviant is deviation angle angle value.
Due to having offset between engineering machinery 2000 and horizontal location benchmark, the detection letter that measuring unit 0100 is measured
Also there is deviation between breath and reference information.Accordingly, control unit 0200 is compared using detection information with reference information
Calculate, you can obtain engineering machinery 2000 and the offset of horizontal location benchmark under current state.And then, according to the offset,
Control unit 0200 generates the regulated quantity for regulation.Corresponding to various forms of adjustment units 0300, the regulated quantity can also
Multi-form occurs, and specifically can behave as displacement, angle value etc..
Preferably, measuring unit 0100 has visual detector, and visual detector is used for horizontal scan positioning datum.Specifically
Ground, visual detector is a kind of equipment for replacing human eye with machine to measure and judge.Visual detector will be ingested target
Picture signal is converted into, the image processing module 0210 in control unit 0200 is transmitted in.Image processing module 0210 is according to picture
The information such as element distribution and brightness, color, picture signal is transformed into digitized signal and carries out various computings to these signals
Extract clarification of objective.
Preferably, visual detector includes industrial camera, and industrial camera is used to scan job site and obtain horizontal location
The image information of benchmark, control unit 0200 calculates the depth of parallelism of the scanning direction of image information and industrial camera and offset
Amount.Specifically, industrial camera most essential function is to convert optical signals into orderly electric signal, and directly determines to be collected
The parameter such as image resolution ratio, picture quality.
Further preferably, visual detector includes line-scan digital camera.The first line-scan digital camera that the line-scan digital camera is arranged horizontally
0110, the image information for scanning generation horizontal location benchmark, control unit 0200 is used to calculate image information and linear array phase
The depth of parallelism of the scanning direction of machine and obtain offset.
Specifically, line-scan digital camera also falls within a type of industrial camera, is the camera using line scan image sensor.It is more normal
Insight, line-scan digital camera includes the types such as linear array CCD camera and linear array CMOS cameras.First line-scan digital camera 0110 has along level side
To the photo-sensitive cell of linear distribution, for continuously being scanned line by line to job site carry out level, whole surface is carried out with reaching
Uniform detection.Due to horizontal location benchmark and the optical path difference of periphery other surfaces, the image information of line-scan digital camera collection is presented
Difference characteristic, so as to realize that the seizure to horizontal location benchmark is detected.
Here, line-scan digital camera takes continuous scanning line by line, its scanning direction can be used as reference information.Control unit 0200 is led to
The depth of parallelism crossed between the image information of calculating line-scan digital camera collection and the scanning direction of line-scan digital camera, you can obtain engineering machinery
Attitude offsets between 2000 and horizontal plane.
In another embodiment, visual detector can also be replaced line-scan digital camera and be realized using contact-type image sensor
Measurement.Contact-type image sensor (Contact Image Sensor, CIS), is, by photosensitive unit close-packed arrays, directly to collect
The light information of scanned object reflection, because itself is cheap, and without lens group, structure is more compact, and cost is also big
Big reduction.
Preferably, terrestrial positioning regulation device 1000 also has laser leveler 0400, and laser leveler 0400 is used for
Job site generates horizontal location benchmark, and horizontal location benchmark is horizontal datum.Specifically, laser leveler 0400 can be in existing
Field makes laser beam by prismatic light guide system formation lasing area to project the laser of vertical and level by launching laser beam
Line, that is, horizontal datum and plumb datum line.
Thus, job site can remove the step of preset level locating piece is needed under traditional form and locating rack is set up, ground from
Face positioning regulation device 1000 has the ability of the positioning datum from seeking from setting, and further simplifies construction link, and increases ground and determines
The adaptability of position regulation device 1000.
With reference to foregoing line-scan digital camera, the light of horizontal datum enters line-scan digital camera, compares surrounding ground environment, its light
Intensity has notable difference, is easy to line-scan digital camera to be acquired and forms image information, measurement process simple, intuitive, measurement result
The degree of reliability is high.
As it was previously stated, laser leveler 0400 is additionally operable to generate vertical positioning datum at the construction field (site), vertical positioning datum
For plumb datum line, engineering machinery 2000 is provided with vertical measuring unit 0500, and vertical measuring unit 0500, which has, to be used to scan
The line-scan digital camera of plumb datum line.
Specifically, the line-scan digital camera that vertical measuring unit 0500 has is the second line-scan digital camera 0510 of plumbing arrangement.
Second line-scan digital camera 0510 has the photo-sensitive cell linearly arranged along vertical, connects line by line for carrying out vertical to job site
Continuous scanning, is uniformly detected with reaching to whole surface.Due to plumb datum line and the optical path difference of periphery other surfaces, line
Difference characteristic is presented in the image information of array camera collection, so as to realize that the seizure to plumb datum line is detected.
Further preferably, control unit 0200 calculates vertical image information and the scanning direction of the second line-scan digital camera 0510
The depth of parallelism and obtain vertical regulated quantity, adjustment unit 0300 according to vertical regulated quantity adjust engineering machinery 2000.Specifically, second
The scanning direction of line-scan digital camera 0510 is vertical, and feedback reference is formed with reference to vertical regulated quantity and Level tune amount,
The degree of regulation of engineering machinery 2000 can be further enhanced.
In another embodiment, terrestrial positioning regulation device 1000 can also use inclinator, realize to engineering machinery
The measurement of 2000 verticality.Inclinator is also known as inclinometer, electronic type inclinometer, is usually used in level angle, relative angle, inclination angle
Measurement, position and velocity characteristic are measured by angle calculation.
Fig. 1 and Fig. 4~5 are please referred to, terrestrial positioning regulation device 1000 also has adjustment unit 0300, adjustment unit
0300 is used for levelness that engineering machinery 2000 is adjusted according to regulated quantity, until engineering machinery 2000 and horizontal location benchmark is inclined
Shifting amount is located in the range of allowable error.Specifically, adjustment unit 0300 can use multiple structural forms, and it, which is characterized by, makes engineering
Machinery 2000 is moved and/or verts and adjust the attitude angle of engineering machinery 2000.
Preferably, adjustment unit 0300 has at least one regulation enforcement division 0310, and regulation enforcement division 0310 is used to make work
Journey machinery 2000 is moved and/or verts and engineering machinery 2000 is tended to level.Specifically, regulation enforcement division 0310 can be adopted
With multiple structural forms, including the form such as electric pushrod, electric cylinders, telescoping cylinder, promote engineering machinery 2000 to be moved and/or incline
Then tend to be parallel with horizontal plane.
In an exemplary embodiment, engineering machinery 2000 has rotatable vertical axes, and vertical axes can be with a variety of
Form realizes rotation, the form such as being articulated with chassis.Adjustment unit 0300 has a plurality of regulation enforcement divisions 0310, a plurality of
Regulation enforcement division 0310 is divided on the chassis and vertical axes of engineering machinery 2000.A plurality of regulation enforcement divisions 0310 are acted on respectively
In metope, chassis is had in the ability for rotating and moving forward and backward in horizontal plane, and vertical axes is had in realization in vertical guide
The ability of rotation, so as to realize that engineering machinery 2000, in the level and position adjustments on ground, particularly realizes the tune to attitude angle
Section.Wherein, attitude angle includes yaw angle, the angle of pitch, roll angle angularly.
Preferably, vertical axes are with being respectively provided with 2 regulation enforcement divisions 0310, and the regulation parallel cloth of enforcement division 0310 on chassis
Put.
It should be noted that under the effect of adjustment unit 0300, the detection information of measuring unit 0100 is gradually changed.Work as tune
When saving in place, the detection information of measuring unit 0100 and the deviation of reference information are in the range of allowable error.
Please refer to Fig. 6, a kind of terrestrial positioning regulation and control method introduced in this together, for adjust engineering machinery 2000 in
The position location on ground, including：
S1：Scan the horizontal location benchmark of job site and generate detection information；
S2：Engineering machinery 2000 and the offset of horizontal location benchmark are calculated according to detection information, generated according to offset
Regulated quantity for adjusting engineering machinery 2000；
S3：The levelness of engineering machinery 2000 is adjusted according to regulated quantity, until engineering machinery 2000 and horizontal location benchmark
Offset bit in the range of allowable error.
Preferably, measuring unit 0100 has visual detector, and visual detector is used for horizontal scan positioning datum and obtained
To image information；
Control unit 0200 calculates the depth of parallelism of the scanning direction of image information and industrial camera and obtains offset, according to
Offset generates regulated quantity；
Adjustment unit 0300 adjusts the posture of engineering machinery 2000 according to regulated quantity, until image information and industrial camera
The depth of parallelism of scanning direction is located in the range of allowable error.
In all examples being illustrated and described herein, any occurrence should be construed as merely exemplary, without
It is that therefore, other examples of exemplary embodiment can have different values as limitation.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Therefore limitation of the scope of the invention can not be interpreted as.It should be pointed out that for the person of ordinary skill of the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection model of the present invention
Enclose.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of terrestrial positioning regulation device, for adjusting engineering machinery in the position location on ground, it is characterised in that have：
Measuring unit, the measuring unit is in the engineering machinery, the horizontal location benchmark for catching job site, according to
This generation detection information；
Control unit, described control unit is used to calculate the engineering machinery and the horizontal location base according to the detection information
Accurate offset, the regulated quantity for adjusting the engineering machinery is generated according to the offset；
Adjustment unit, the adjustment unit is used for the levelness that the engineering machinery is adjusted according to the regulated quantity, until described
The offset bit of engineering machinery and the horizontal location benchmark is in the range of allowable error.
2. terrestrial positioning regulation device according to claim 1, it is characterised in that the measuring unit has vision-based detection
Device, the visual detector is used to scan the horizontal location benchmark.
3. terrestrial positioning regulation device according to claim 2, it is characterised in that the visual detector includes industrial phase
Machine, the industrial camera is used to scan the job site and obtain the image information of the horizontal location benchmark, the control
Unit calculates the depth of parallelism of described image information and the scanning direction of the industrial camera and obtains the offset.
4. terrestrial positioning regulation device according to claim 2, it is characterised in that also with laser leveler, described to swash
Light level meter is used to generate the horizontal location benchmark in the job site, and the horizontal location benchmark is horizontal datum.
5. terrestrial positioning regulation device according to claim 4, it is characterised in that the visual detector includes linear array phase
Machine or contact-type image sensor, the line-scan digital camera or contact-type image sensor are used to scan the generation horizontal location base
Accurate image information, described control unit calculates sweeping for described image information and the line-scan digital camera or contact-type image sensor
Retouch the depth of parallelism in direction and obtain the offset.
6. terrestrial positioning regulation device according to claim 4, it is characterised in that the laser leveler is additionally operable in institute
Job site generation vertical positioning datum is stated, the vertical positioning datum is plumb datum line, and the engineering machinery is provided with lead
Hang down measuring unit, the vertical measuring unit has a line-scan digital camera, the line-scan digital camera be used to scanning the plumb datum line and
Obtain vertical image information.
7. terrestrial positioning regulation device according to claim 6, it is characterised in that described control unit calculates the vertical
The depth of parallelism of the scanning direction of image information and the line-scan digital camera and obtain vertical regulated quantity, the adjustment unit is according to
Vertical regulated quantity adjusts the engineering machinery.
8. terrestrial positioning regulation device according to claim 1, it is characterised in that the adjustment unit has at least one
Enforcement division is adjusted, the regulation enforcement division is used to make engineering machinery be moved and/or vert and adjust the engineering machinery
Attitude angle；And/or the terrestrial positioning regulation device also has the inclinator for the verticality for being used to measure the engineering machinery.
9. a kind of terrestrial positioning regulates and controls method, for adjusting engineering machinery in the position location on ground, it is characterised in that including：
Scan the horizontal location benchmark of job site and generate detection information；
The engineering machinery and the offset of the horizontal location benchmark are calculated according to the detection information, according to the offset
Generate the regulated quantity for adjusting the engineering machinery；
The levelness of the engineering machinery is adjusted according to the regulated quantity, until the engineering machinery and the horizontal location benchmark
Offset bit in the range of allowable error.
10. terrestrial positioning according to claim 9 regulates and controls method, it is characterised in that：
The horizontal location benchmark is scanned using visual detector and obtains image information；
Calculate the depth of parallelism of described image information and the scanning direction of the visual detector and obtain the offset, according to institute
State offset and generate the regulated quantity；
The posture of the engineering machinery is adjusted according to the regulated quantity, until described image information and the visual detector are swept
The depth of parallelism for retouching direction is located in the range of the allowable error.
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| CN115341767A (en) * | 2022-07-08 | 2022-11-15 | 国网浙江余姚市供电有限公司 | Horizontal member installation handheld calibrator |
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