CN114755699A - RTK receiver and stakeout method - Google Patents

Abstract

The invention discloses an RTK receiver and a stakeout method. The RTK receiver comprises an inertial measurement unit, a positioning module, an input module, a processing module and a transmitting device. The input module is used for receiving parameters of a stakeout point; the positioning module is used for obtaining current The positioning information of the position; the inertial measurement unit is used to obtain the attitude information of the RTK receiver; the processing module is used to obtain the position information of the stakeout point corresponding to the parameters of the stakeout point according to the positioning information, the parameters of the stakeout point and the attitude information; the processing module is also used to obtain the stakeout point position information The positional relationship between the point position information and the positioning information; the transmitting device is used for projecting indicating light to the actual position corresponding to the position information of the stakeout point according to the positional relationship. The invention combines RTK technology and tilt measurement, obtains the position of the stakeout point in real time, and gives instructions, and intuitively displays the position of the target stakeout point, which effectively solves the problems that users are difficult to find and fix, saves work time, and improves work efficiency.

Description

RTK receiver and stakeout method

technical field

The invention relates to an RTK receiver and a stakeout method.

Background technique

Engineering surveying refers to the general term for surveying and mapping work in engineering, including various surveying work carried out in the stages of involving, engineering construction survey, construction and management.

Stakeout in engineering survey is to measure the points on the design or drawings on the field. The three-dimensional positioning measurement of any space object is reflected in the measurement of distance, angle (direction), and elevation. The existing RTK stakeout method usually requires the use of an electronic handbook to subjectively judge how to stake out, and it is impossible to determine how to stake out. Intuitively reflect the stakeout point on the spot, which reduces the work efficiency and accuracy.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the defects that the stakeout method in the prior art usually needs to rely on an electronic handbook to subjectively judge how to stake out, which cannot intuitively reflect stakeout points on the spot, and reduces work efficiency and accuracy. It is an RTK receiver and stakeout method that can intuitively confirm the position and quickly stake out, easy operation, precise control, fast and accurate stakeout, effectively improve stakeout efficiency and accuracy, and reduce stakeout work difficulty.

The present invention solves the above-mentioned technical problems through the following technical solutions:

An RTK receiver with tilt measurement function, the RTK receiver includes an inertial measurement unit, a positioning module, an input module, a processing module and a transmitting device,

The input module is used for receiving stakeout point parameters;

The positioning module is used to obtain the positioning information of the current position;

The inertial measurement unit is used to obtain the attitude information of the RTK receiver;

The processing module is configured to obtain the stakeout point position information corresponding to the stakeout point parameter according to the positioning information, the stakeout point parameter and the attitude information;

The processing module is further configured to acquire the positional relationship between the position information of the stakeout point and the positioning information;

The emitting device is used for projecting indicating light to the actual position corresponding to the position information of the stakeout point according to the position relationship.

Preferably, the RTK receiver can be fixed by a centering rod.

The processing module is configured to obtain the launch point coordinates of the launch device according to the relationship between the launch device and the positioning module, the attitude information and the positioning information;

The processing module is also used to obtain the coordinates of the target stake-out point according to the stake-out point parameters;

The processing module is also used to obtain a vector from the launch point to the target stakeout point as the positional relationship according to the launch point coordinates and the coordinates of the target stakeout point;

The emitting device is used for emitting laser light to the actual position corresponding to the target stakeout point according to the positional relationship.

Preferably, the transmitting device is a laser module, and the laser transmitting head of the laser module is fixed on the casing of the RTK receiver,

The processing module is configured to acquire the emission direction of the laser emitting head according to the relationship between the laser emitting head and the positioning module, the attitude information and the positioning information;

The processing module is used to determine whether the emission direction coincides with the vector from the emission point to the target stakeout point, and if so, activate the laser emission head to project laser light.

Preferably, the laser module includes a power regulator, and the power regulator is connected to the laser emitting head,

The processing module is used to obtain the angle between the launch direction and the vector from the launch point to the target stakeout point;

The processing module is further configured to control the power regulator according to the included angle, and the smaller the included angle is, the greater the power regulator adjusts the emitting power of the laser emitting head.

Preferably, the laser emitting head includes a laser emitter and a focusing lens,

The processing module is used to obtain the angle between the launch direction and the vector from the launch point to the target stakeout point;

The processing module is further configured to control the distance between the laser emitter and the focusing lens according to the included angle, and the smaller the included angle is, the higher the focusing degree of the laser emitter and the focusing lens is.

Preferably, the stakeout point parameter includes an initial coordinate of an initial stakeout point,

The processing module is configured to obtain the positional relationship between the initial coordinates and the positioning information according to the positioning information, the initial coordinates and the attitude information;

The transmitting device is used for projecting pointing light to the actual position corresponding to the initial coordinates according to the positional relationship;

For a stakeout point to be measured, the processing module is further configured to obtain the relationship between the stakeout point to be measured and the initial stakeout point according to the stakeout point parameters, and then obtain the coordinates of the stakeout point to be measured of the stakeout point to be measured;

The processing module is configured to obtain the positional relationship between the coordinates of the stakeout point to be measured and the positioning information according to the positioning information, the coordinates of the stakeout point to be measured and the attitude information;

The transmitting device is used for projecting indicating light to the actual position corresponding to the to-be-measured stakeout point according to the positional relationship.

Preferably, the launching device is a projection module, and the projection lens of the projection module is fixed on the casing of the RTK receiver,

The processing module is configured to obtain the to-be-projected vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information;

The processing module is used to determine whether the current to-be-projected vector is located within the projection area of the current projection module, and if so, to control the projection module to project an image indicating the actual position of the stakeout point along the belt projection direction.

Preferably,

The processing module is configured to obtain the projection direction vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information;

The processing module is used to judge whether the current to-be-projected vector is located in the projection area of the current projection module according to the angle between the to-be-projected vector and the projection direction vector, and if so, to control the projection module to project along the belt Direction projection is used to indicate the image of the actual position of the stakeout point. Otherwise, the intersection of the vector to be projected and the projection direction vector on the target plane is obtained, and then an indication graphic is obtained according to the indication vector. The indication vector is the projection direction vector on the target. The vector from the plane intersection to the intersection of the vector to be projected at the target plane, where the target plane is perpendicular to the projection direction;

The processing module is used for controlling the projection module to project the indication graphic.

Preferably, the processing module is used to set the length of the indication graphic according to the length of the indication vector, and when the angle between the to-be-projected vector and the projection direction vector is greater than 90 degrees, it will prompt to rotate the RTK receiver on the projection interface. machine indicator.

A stakeout method based on an RTK receiver, the stakeout method utilizes the RTK receiver as described above for stakeout.

On the basis of conforming to common knowledge in the art, the above preferred conditions can be combined arbitrarily to obtain preferred examples of the present invention.

The positive progressive effect of the present invention is:

The present invention adopts the method of on-site projection for stake-out. When the user approaches the target stake-out point, the RTK receiver receives the differential correction data and combines the built-in IMU attitude data of the receiver to directly mark the position of the target stake-out point on the spot through the laser, so that the Users can intuitively confirm the position and quickly stake out, easy operation, precise control, fast and accurate stakeout, effectively improve stakeout efficiency and accuracy, and reduce stakeout work difficulty.

Description of drawings

FIG. 1 is a schematic diagram of the use of the RTK receiver according to Embodiment 1 of the present invention.

FIG. 2 is a flow chart of the stakeout method in Embodiment 1 of the present invention.

Detailed ways

The present invention is further described below by way of examples, but the present invention is not limited to the scope of the described examples.

Example 1

Referring to FIG. 1 , this embodiment provides an RTK receiver with a tilt measurement function.

The RTK receiver 11 includes an inertial measurement unit, a positioning module, an input module, a processing module and a transmitting device. The emitting device may be a laser transmitter, a projection device, or the like.

The input module is used for receiving stakeout point parameters, and the input module may include a touch screen or a data transmission interface. External input target stakeout point parameters. The handbook device 12 acquires the parameters of the target stakeout point, and the handbook device may be a handbook, a mobile phone, a tablet or other portable devices.

The positioning module is used to obtain the positioning information of the current position, and by using the positioning information, the coordinates of the RTK receiver and the coordinates of the bottom of the centering rod installed on the receiver can be obtained. The RTK receiver has a built-in antenna module and wireless communication equipment to obtain differential correction data. The wireless communication equipment includes a radio module and a network module, any of which can be used.

The inertial measurement unit is used to obtain the attitude information of the RTK receiver; the inertial measurement unit (IMU module) obtains the attitude data of the RTK receiver. The receiver has a built-in IMU module, including a three-axis accelerometer and a three-axis gyroscope, which are used to obtain the attitude data of the RTK receiver. The RTK receiver calculates the positional relationship according to the attitude information and the parameters of the target stakeout point and obtains the actual position of the stakeout point.

The processing module is configured to obtain the stakeout point position information corresponding to the stakeout point parameter according to the positioning information, the stakeout point parameter and the attitude information;

The processing module is further configured to acquire the positional relationship between the position information of the stakeout point and the positioning information;

The emitting device 13 is used for projecting indicating light to the actual position 14 corresponding to the position information of the stakeout point according to the positional relationship.

The RTK receiver can be fixed by a centering pole.

The processing module is configured to obtain the launch point coordinates of the launch device according to the relationship between the launch device and the positioning module, the attitude information and the positioning information;

The processing module is also used to obtain the coordinates of the target stake-out point according to the stake-out point parameters;

The processing module is also used to obtain a vector from the launch point to the target stakeout point as the positional relationship according to the launch point coordinates and the coordinates of the target stakeout point;

The emitting device is used for emitting laser light to the actual position corresponding to the target stakeout point according to the positional relationship.

The emitting device is a laser module, and the laser emitting head of the laser module is fixed on the casing of the RTK receiver,

The processing module is configured to acquire the emission direction of the laser emitting head according to the relationship between the laser emitting head and the positioning module, the attitude information and the positioning information;

The processing module is used to determine whether the emission direction coincides with the vector from the emission point to the target stakeout point, and if so, activate the laser emission head to project laser light.

The position of the stakeout point is projected on the spot by the laser beam. The projection equipment includes a laser module, which can generate a laser beam and project the precise coordinate position, which can reach millimeter-level high precision. The positional relationship between the laser module and the RTK receiver unit is fixed when in use.

Further, in order to facilitate real-time positioning and spot-finding for users, the laser module of this embodiment includes a power regulator, and the power regulator is connected to the laser emitting head.

The processing module is used to obtain the angle between the launch direction and the vector from the launch point to the target stakeout point;

The processing module is further configured to control the power regulator according to the included angle, and the smaller the included angle is, the greater the power regulator adjusts the emitting power of the laser emitting head.

In other embodiments, the laser emitting head includes a laser emitter and a focusing lens.

The processing module is used to obtain the angle between the launch direction and the vector from the launch point to the target stakeout point;

The processing module is further configured to control the distance between the laser emitter and the focusing lens according to the included angle, and the smaller the included angle is, the higher the focusing degree of the laser emitter and the focusing lens is.

The stakeout point parameters include an initial coordinate of an initial stakeout point. In this embodiment, an initial coordinate is allocated to the initial stakeout point. Then, in the design drawing, the relationship between the subsequent stakeout point and the initial stakeout point can calculate the coordinates of the subsequent stakeout point.

The processing module is configured to obtain the positional relationship between the initial coordinates and the positioning information according to the positioning information, the initial coordinates and the attitude information;

The transmitting device is used for projecting pointing light to the actual position corresponding to the initial coordinates according to the positional relationship;

For a stakeout point to be measured, the processing module is further configured to obtain the relationship between the stakeout point to be measured and the initial stakeout point according to the stakeout point parameters, and then obtain the coordinates of the stakeout point to be measured of the stakeout point to be measured;

The processing module is configured to obtain the positional relationship between the coordinates of the stakeout point to be measured and the positioning information according to the positioning information, the coordinates of the stakeout point to be measured and the attitude information;

The transmitting device is used for projecting indicating light to the actual position corresponding to the to-be-measured stakeout point according to the positional relationship.

By comparing the actual positional relationship between the initial coordinates and the coordinates of the stakeout point to be measured with the drawings, the measurement accuracy can be further verified.

Referring to FIG. 2, using the above RTK receiver, this embodiment also provides a stakeout method, including:

Step 100, the input module receives the stakeout point parameters;

Step 101, the positioning module obtains the positioning information of the current position;

Step 102, the inertial measurement unit obtains the attitude information of the RTK receiver;

Step 103, the processing module obtains the position information of the stakeout point corresponding to the stakeout point parameter according to the positioning information, the stakeout point parameter and the attitude information;

Step 104, the processing module obtains the positional relationship between the position information of the stakeout point and the positioning information;

Step 105 , the transmitting device projects an indication light to the actual position corresponding to the position information of the stakeout point according to the positional relationship.

Further, the RTK receiver is fixed by the centering rod,

Step 104 is specifically:

The processing module obtains the coordinates of the launch point of the launch device according to the relationship between the launch device and the positioning module, the attitude information and the positioning information;

The processing module obtains the coordinates of the target stake-out point according to the stake-out point parameters;

The processing module obtains a vector from the launch point to the target stakeout point as the positional relationship according to the launch point coordinates and the coordinates of the target stakeout point;

The emitting device emits laser light to the actual position corresponding to the target stakeout point according to the positional relationship.

Further, the transmitting device is a laser module, and the laser transmitting head of the laser module is fixed on the casing of the RTK receiver, and the stakeout method includes:

The processing module obtains the emission direction of the laser emitting head according to the relationship between the laser emitting head and the positioning module, the attitude information and the positioning information;

The processing module determines whether the emission direction coincides with the vector from the emission point to the target stakeout point, and if so, activates the laser emission head to project laser light.

In order to facilitate the user to pinpoint the actual position, a specific method is as follows: the laser module includes a power regulator, the power regulator is connected to the laser emitting head, and the stakeout method includes:

The processing module obtains the angle between the launch direction and the vector from the launch point to the target stakeout point;

The processing module controls the power regulator according to the included angle, and the smaller the included angle is, the higher the power regulator adjusts the emission power of the laser emitting head.

Another specific way is: the laser emitting head includes a laser emitter and a focusing lens, and the stakeout method includes:

The processing module obtains the angle between the launch direction and the vector from the launch point to the target stakeout point;

The processing module controls the distance between the laser emitter and the focusing lens according to the included angle, and the smaller the included angle is, the higher the focusing degree of the laser emitter and the focusing lens is.

The stakeout point parameters include the initial coordinates of an initial stakeout point, and the stakeout method includes:

The processing module obtains the positional relationship between the initial coordinates and the positioning information according to the positioning information, the initial coordinates and the attitude information;

The emitting device projects the pointing light to the actual position corresponding to the initial coordinates according to the positional relationship;

For a stakeout point to be measured, the processing module obtains the relationship between the stakeout point to be measured and the initial stakeout point according to the stakeout point parameters, and then obtains the coordinates of the stakeout point to be measured of the stakeout point to be measured;

The processing module obtains the positional relationship between the coordinates of the stakeout point to be measured and the positioning information according to the positioning information, the coordinates of the stakeout point to be measured and the attitude information;

The emitting device projects an indicator light to the actual position corresponding to the to-be-measured stakeout point according to the positional relationship.

Example 2

This embodiment is basically the same as Embodiment 1, and the difference is only:

The launching device is a projection module, and the projection lens of the projection module is fixed on the casing of the RTK receiver.

The processing module is used to obtain the to-be-projected vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information;

The processing module is used to determine whether the current to-be-projected vector is located within the projection area of the current projection module, and if so, to control the projection module to project an image indicating the actual position of the stakeout point along the belt projection direction.

The processing module is configured to obtain the projection direction vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information;

The relationship between the projection lens and the positioning module, the posture information and the positioning information can not only obtain the projection direction vector but also the posture of the projection lens, and further obtain the projected image posture. The processing module is used to judge whether the current to-be-projected vector is located in the projection area of the current projection module according to the angle between the to-be-projected vector and the projection direction vector, and if so, to control the projection module to project along the belt Direction projection is used to indicate the image of the actual position of the stakeout point. Otherwise, the intersection of the vector to be projected and the projection direction vector on the target plane is obtained, and then an indication graphic is obtained according to the indication vector. The indication vector is the projection direction vector on the target. The vector from the plane intersection to the intersection of the vector to be projected at the target plane, where the target plane is perpendicular to the projection direction;

The processing module is used for controlling the projection module to project the indication graphic.

An instruction graphic can be obtained using the image pose and the instruction vector.

The processing module is used to set the length of the indication graphic according to the length of the indication vector, and when the angle between the vector to be projected and the projection direction vector is greater than 90 degrees, the indication word for rotating the RTK receiver is prompted on the projection interface .

Correspondingly, using the above RTK receiver, the stakeout method includes:

The processing module obtains the to-be-projected vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information;

The processing module determines whether the current to-be-projected vector is located within the projection area of the current projection module, and if so, controls the projection module to project an image indicating the actual position of the stakeout point along the tape projection direction.

Further, the stakeout method includes:

The processing module obtains the projection direction vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information;

The processing module determines whether the current to-be-projected vector is located in the projection area of the current projection module according to the angle between the to-be-projected vector and the projection direction vector, and if so, controls the projection module to project along the belt projection direction The image indicating the actual position of the stakeout point, if otherwise, obtain the intersection of the vector to be projected and the projection direction vector on the target plane, and then obtain an indication graphic according to the indication vector, the indication vector is the projection direction vector on the target plane. a vector of the projection vector at the intersection of the target plane, and the target plane is perpendicular to the projection direction;

The processing module controls the projection module to project the indication graphic.

Specifically, the stakeout method includes: the processing module sets the length of the indication graphic according to the length of the indication vector, and when the angle between the to-be-projected vector and the projection direction vector is greater than 90 degrees, prompting on the projection interface to rotate the Descriptors that describe RTK receivers.

Although specific embodiments of the present invention have been described above, those skilled in the art will understand that these are merely illustrative and the scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims (10)

1. a RTK receiver with tilt measurement function, is characterized in that, described RTK receiver comprises an inertial measurement unit, a positioning module, an input module, a processing module and a launcher, The input module is used for receiving stakeout point parameters; The positioning module is used to obtain the positioning information of the current position; The inertial measurement unit is used to obtain the attitude information of the RTK receiver; The processing module is configured to obtain the stakeout point position information corresponding to the stakeout point parameter according to the positioning information, the stakeout point parameter and the attitude information; The processing module is further configured to acquire the positional relationship between the position information of the stakeout point and the positioning information; The emitting device is used for projecting indicating light to the actual position corresponding to the position information of the stakeout point according to the position relationship. 2. RTK receiver as claimed in claim 1, is characterized in that, The processing module is configured to obtain the launch point coordinates of the launch device according to the relationship between the launch device and the positioning module, the attitude information and the positioning information; The processing module is also used to obtain the coordinates of the target stake-out point according to the stake-out point parameters; The processing module is also used to obtain a vector from the launch point to the target stakeout point as the positional relationship according to the launch point coordinates and the coordinates of the target stakeout point; The emitting device is used for emitting laser light to the actual position corresponding to the target stakeout point according to the positional relationship. 3. RTK receiver as claimed in claim 2, is characterized in that, described launcher is a laser module, and the laser launch head of described laser module is fixed on the casing of described RTK receiver, The processing module is configured to acquire the emission direction of the laser emitting head according to the relationship between the laser emitting head and the positioning module, the attitude information and the positioning information; The processing module is used to determine whether the emission direction coincides with the vector from the emission point to the target stakeout point, and if so, activate the laser emission head to project laser light. 4. The RTK receiver according to claim 3, wherein the laser module comprises a power regulator, and the power regulator is connected to the laser emitting head, The processing module is used to obtain the angle between the launch direction and the vector from the launch point to the target stakeout point; The processing module is further configured to control the power regulator according to the included angle, and the smaller the included angle is, the greater the power regulator adjusts the emitting power of the laser emitting head. 5. RTK receiver as claimed in claim 3, is characterized in that, described laser emitting head comprises a laser emitter and a focusing lens, The processing module is used to obtain the angle between the launch direction and the vector from the launch point to the target stakeout point; The processing module is further configured to control the distance between the laser emitter and the focusing lens according to the included angle, and the smaller the included angle is, the higher the focusing degree of the laser emitter and the focusing lens is. 6. RTK receiver as claimed in claim 1, is characterized in that, described stake out point parameter comprises the initial coordinate of an initial stake out point, The processing module is configured to obtain the positional relationship between the initial coordinates and the positioning information according to the positioning information, the initial coordinates and the attitude information; The transmitting device is used for projecting pointing light to the actual position corresponding to the initial coordinates according to the positional relationship; For a stakeout point to be measured, the processing module is further configured to obtain the relationship between the stakeout point to be measured and the initial stakeout point according to the stakeout point parameters, and then obtain the coordinates of the stakeout point to be measured of the stakeout point to be measured; The processing module is configured to obtain the positional relationship between the coordinates of the stakeout point to be measured and the positioning information according to the positioning information, the coordinates of the stakeout point to be measured and the attitude information; The transmitting device is used for projecting indicating light to the actual position corresponding to the to-be-measured stakeout point according to the positional relationship. 7. RTK receiver as claimed in claim 2, is characterized in that, described launcher is projection module, the projection lens of described projection module is fixed on the casing of described RTK receiver, The processing module is configured to obtain the to-be-projected vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information; The processing module is used for judging whether the current to-be-projected vector is located within the projection area of the current projection module, and if so, controlling the projection module to project an image indicating the actual position of the stakeout point along the belt projection direction. 8. RTK receiver as claimed in claim 7, is characterized in that, The processing module is configured to obtain the projection direction vector of the projection lens according to the relationship between the projection lens and the positioning module, the attitude information and the positioning information; The processing module is used to judge whether the current to-be-projected vector is located in the projection area of the current projection module according to the angle between the to-be-projected vector and the projection direction vector, and if so, to control the projection module to project along the belt Direction projection is used to indicate the image of the actual position of the stakeout point. Otherwise, the intersection of the vector to be projected and the projection direction vector on the target plane is obtained, and then an indication graphic is obtained according to the indication vector. The indication vector is the projection direction vector on the target. The vector from the plane intersection to the intersection of the vector to be projected at the target plane, where the target plane is perpendicular to the projection direction; The processing module is used for controlling the projection module to project the indication graphic. 9. RTK receiver as claimed in claim 8, is characterized in that, described processing module is used for setting the length of described indication figure according to the length of indication vector, when the included angle of described vector to be projected and projection direction vector is greater than At 90 degrees, an instruction word for rotating the RTK receiver will be prompted on the projection interface. 10 . A method for stakeout based on an RTK receiver, characterized in that the stakeout method utilizes the RTK receiver according to any one of claims 1 to 9 for stakeout.

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