CN206132056U - Prop up three -dimensional gesture system of posture - Google Patents

Abstract

The utility model provides a prop up three -dimensional gesture system of posture, its characterized in that: prop up three -dimensional gesture system of posture (2.1) include coaxial interface unit (2.1.1), face upward bow motion unit, course motion unit, flattening unit, bluetooth communication unit (2.1.5), computer board (2.1.6) and support (2.1.7). The utility model discloses a prop up three -dimensional gesture system of posture can sell alone, also can be used for other mapping equipment, for example support to use the mutual general surveying instrument host computer that distributes, can conveniently make up the use, have important market value.

Description

Stent-type 3 d pose system

Technical field

The utility model belongs to field of measuring technique, more particularly to a kind of support for the general surveying instrument of distributed interactiveFormula 3 d pose system.

Background technology

There are 2 class Related products in the market：Conventional instrument of surveying and mapping, the Trimble Geo 7x equipment of U.S. Tian Bao companyWith the 3D GNSS-CS20 of Lai Ka companies of Switzerland（Both technical indicator identical functions are close）.

1st, conventional instrument of surveying and mapping：

Such as rangefinder, spirit level, plane table, dipmeter, sedimentometer, theodolite, total powerstation (rangefinder+theodolite), GPSPosition indicator and matching used data radio station/GPRS/3G communication equipments, super-station instrument (total powerstation+GPS location instrument) etc..The whole world,The production and sales of Jun Youduo companies of China.Conventional instrument of surveying and mapping is without photogrammetric function.The limitation that conventional instrument of surveying and mapping is presentIt is：

1）Legacy equipment：Rangefinder, spirit level, plane table, dipmeter, sedimentometer, theodolite, mark post, rib

The legacy equipments such as mirror belong to simple function instrument, are made by angle measurement, the synthesis surveyed height, find range, survey the means such as levelFor obtaining the relative relation data between survey station and measured target under self-defined coordinate.Legacy equipment is operated by artificial,Human error and segmentation introduce the error of geodetic coordinates greatly and without effective Correction of Errors method.Legacy equipment efficiency is very low,Obtaining the object space three-dimensional geodetic coordinates of a low precision usually needs one group of professional and technical personnel's work really long days.It is a large amount of to expendManpower and time, real work high cost.

2）GPS location instrument：Instrument must be erected on measured target and be observed, this has erection instrument firstly the need of measured targetThe condition of device, and need the impact point of measurement usually not have the condition for setting up instrument.

3）Total powerstation：Angle measurement and range finding in self-defined coordinate system.

4）Super-station instrument：The three-dimensional geodetic coordinates of itself can also be determined in addition to angle measurement, range finding.Although " super-station instrument+RTKEquipment " can remote measurement geodetic coordinates, but askiatic function：Cost is more than 10 ten thousand yuan/set-hundreds of thousands unit（Import）/ set,Many equipment are needed to use cooperatively.

2nd, the Trimble Geo 7x equipment of U.S. Tian Bao company and Switzerland come the 3D GNSS-CS20 of card：

The Trimbie Geo 7x equipment that U.S. Tian Bao company releases for 2014, is that global first item can synchronous remote measurement acquisitionTarget three-dimensional geodetic coordinates and remote sensing obtain the portable machine of target live-action image, 70,000 yuan/platform of current price：Remote measurement precision is low, quiltSurvey target 40 meters of distance then remote measurement target three-dimensional geodetic coordinates error more than 1 meter（100 meters of distance then error more than 2.6 meters；Nominal 120 meters of maximum ranging distance, in 70 meters of practical ranging）；It is weak without optical amplifier, the little optical environment adaptability of luminous flux；The whole worldPositioning precision is high, the stable field adaptability of properties of product is good；Product function is few and concentrate on single direction, still with conventional " RTK+ handbook " is main functionality.

Lai Ka companies of Switzerland subsequently release 3D GNSS-CS20 equipment, 150,000 yuan/platform of price or so：With Trimbie Geo7x equipment is compared, and be increased to be increased on built-in radio station and public network communication module, software on hardware and is converted the data into for surveyingThe 3D models painted.Other technical indicators and product function are identical with Trimbie Geo 7x equipment.

Therefore, all there is single function, poor universality, operation inconvenience, problem with high costs in currently existing product.

Utility model content

The purpose of this utility model be for support realize distribution interactive global integration mapping, surveying and mapping activity it is general,Mapping operations are general, high accuracy, high efficiency, high performance-price ratio, low cost the general surveying instrument of distributed interactive, there is provided a kind of stent-type3 d pose system.

The utility model provides a kind of stent-type 3 d pose system, and the stent-type 3 d pose system 2.1 includes togetherAxial interface unit 2.1.1, flexion-extension moving cell, course moving cell, screed units, bluetooth-communication unit 2.1.5, microcomputer plate2.1.6 with support 2.1.7；

The coaxial interface unit 2.1.1 is arranged on lateral flexure axle 2.1.2.1；

The flexion-extension moving cell includes lateral flexure axle 2.1.2.1, elevation-depression angle encoder 2.1.2.2；Lateral flexure axle 2.1.2.1On support 2.1.7, elevation-depression angle encoder 2.1.2.3 is arranged on the axis of lateral flexure axle 2.1.2.1；

The course moving cell includes vertical pivot 2.1.3.1, course heading encoder 2.1.3.2；Vertical pivot 2.1.3.1 is installedOn support 2.1.7, course heading encoder 2.1.3.2 is arranged on vertical pivot 2.1.3.1；

The screed units include adjusting screw rod group and Electronic bubble, and screed units are arranged on support 2.1.7；

The elevation-depression angle encoder 2.1.2.3, course heading encoder 2.1.3.2, Electronic bubble, bluetooth-communication unit2.1.5 it is connected on microcomputer plate 2.1.6.

And, the coaxial interface unit 2.1.1 includes Morse's taper mother mouth end 2.1.1.1, exit screw rod 2.1.1.2 andLock nut 2.1.1.3.

And, when carrying out the connection of the general surveying instrument main frame 1 of distributed interactive and stent-type 3 d pose system 2.1, will notThe Morse's taper male end coaxial interface 1.4 of the general surveying instrument main frame 1 of family name's taper mother's mouth end 2.1.1.1 insertion distributed interactives, turnsDynamic lock nut 2.1.1.3 is fixed on distributed interactive general surveying instrument main frame 1 in stent-type 3 d pose system 2.1；NowThe straight line that the phase center of global location antenna 1.1.1.1 is constituted with the geometric center of Morse's taper mother mouth end 2.1.1.1 overlapsIn the axis of vertical pivot 2.1.3.1；Conversely, unclamping lock nut 2.1.1.3, rotation exits screw rod 2.1.1.2, from stent-type threeThe general surveying instrument main frame 1 of distributed interactive is taken out on dimension attitude system 2.1.

The utility model provides a kind of stent-type 3 d pose system, for supporting to use the general surveying instrument master of distributed interactiveMachine, can easily be applied in combination, and compare with the Trimble Geo 7x equipment of U.S. Tian Bao company,

1）Remote measurement measurement radius is 2 times of Trimble Geo 7x（250 model）~ 8 times（1000 types）；

2）Optical magnification is 7 times of Trimble Geo 7x（250 model）~ 30 times（1000 types）；

3）Under focal length the same terms, luminous flux is 20 times of Trimble Geo 7x；

4）Image display resolution is 7 times of Trimble Geo 7x；

5）3 d pose certainty of measurement is Trimble Geo 7x（Trimble Geo 7x only have hand-held, two kinds of centering rodUse pattern）270 times

Stent-type 3 d pose system of the present utility model can individually sell, it is also possible to for supporting that distributed interactive is generalOther mapping equipments such as surveying instrument main frame, with important market value.

Description of the drawings

Fig. 1 is the general surveying instrument host structure chart of distributed interactive that the utility model embodiment is supported；

Fig. 2 is the stent-type 3 d pose system of the utility model embodiment and the group of the general surveying instrument main frame of distributed interactiveAttach together figure.

Fig. 3 is the general surveying instrument main frame of distributed interactive and stent-type 3 d pose system in combination of the utility model embodimentShafting figure after assembling.

Specific embodiment

Below by embodiment, the technical solution of the utility model is described in further detail.

Referring to Fig. 1, the general surveying instrument main frame 1 of distributed interactive that the utility model embodiment is supported includes data collecting system1.1st, distributed interactive communication system 1.2, data handling system 1.3, Morse's taper male end coaxial interface 1.4.When being embodied as,Data collecting system 1.1, distributed interactive communication system 1.2, data handling system 1.3 can be arranged on the general mapping of distributed interactiveThe inside the shell of instrument main frame 1, the shell of the general surveying instrument main frame 1 of the connection distributed interactive of Morse's taper male end coaxial interface 1.4, leads toIt is standing to be placed in shell lower section.

The data collecting system 1.1 include global positioning unit, built-in 3 d pose unit, automated imaging unit,Range cells；

The distributed interactive communication system 1.2 includes that bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network lead toLetter unit 1.2.3, cors Differencing communication unit 1.2.4, when being embodied as, can also be using public network connection using long-rangeCommunications platform 1.2.5, therefore can be considered distributed interactive communication system 1.2 also include communications platform 1.2.5；

The data handling system 1.3 includes central processing unit 1.3.1, man-machine interaction unit 1.3.3, power subsystem1.3.2, when being embodied as, computing can also be shared using long-range cloud computing unit 1.3.4 using public network connection and is appointedBusiness, therefore can be considered that data handling system 1.3 also includes cloud computing unit 1.3.4.

The external 3 d pose system 2 adopts stent-type 3 d pose system 2.1.

For the sake of to implement reference, implementing for the general surveying instrument main frame 1 of distributed interactive in embodiment is first introduced：

1）The composition of the data collecting system 1.1, operation principle and function realizing method：

A. the composition of global positioning unit, operation principle and function realizing method

The global positioning unit includes global location antenna 1.1.1.1 and GPS receiver board1.1.1.2.Global positioning unit is the working cell of multicore unification, including in GPS, the Big Dipper, Galileo, GLONASS, SBASPartly or entirely, can be realized using prior art when being embodied as.Global location antenna 1.1.1.1 and global positioning system are receivedMachine board 1.1.1.2 connects, GPS receiver board 1.1.1.2 connection central processing unit 1.3.1, global location listUnit receives the signal of global location day net and the data after preliminary treatment is uploaded to into central processing unit 1.3.1.

B. the composition and operation principle of built-in 3 d pose unit

The built-in 3 d pose unit includes electronics 3 d pose instrument 1.1.2.1, micromechanical gyro 1.1.2.2.ElectricitySub- 3 d pose instrument 1.1.2.1, micromechanical gyro 1.1.2.2 connect respectively central processing unit 1.3.1, built-in 3 d pose listFirst 3 d pose data for obtaining the general surveying instrument main frame 1 of distributed interactive in real time are simultaneously uploaded to central processing unit 1.3.1.

C. the composition of automated imaging unit, operation principle and function realizing method

The composition of automated imaging unit：

Automated imaging unit includes zoom system, pancreatic system, focusing system two parts.

The zoom system, pancreatic system includes object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, zoom motor 1.1.3.1.3, changeBurnt transmission group 1.1.3.1.4, zoom encoder 1.1.3.1.5.Central processing unit 1.3.1, zoom motor 1.1.3.1.3, zoomTransmission group 1.1.3.1.4, zoom microscope group 1.1.3.1.2 are sequentially connected, and light Jing object lens 1.1.3.1.1 inject zoom microscope group1.1.3.1.2, zoom transmission group 1.1.3.1.4, zoom encoder 1.1.3.1.5, central processing unit 1.3.1 are sequentially connected.

The focusing system include object lens 1.1.3.1.1, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2,Focusing encoder 1.1.3.2.3, focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5, graphics processing unit 1.1.3.2.6.

Zoom system, pancreatic system, focusing system share same object lens 1.1.3.1.1.Object lens 1.1.3.1.1, zoom microscope group1.1.3.1.2, at the optical lens of focusing microscope group 1.1.3.2.4, CCD module 1.1.3.2.5 on the same line, light path is realizedTransmission.

Described image processing unit 1.1.3.2.6 is the special DSP of image procossing, including based on image definition evaluation letterSeveral image processing softwares（For example with the existing image processing software based on Wavelet Transformation Algorithm, the utility model is refusedRepeat）.

Central processing unit 1.3.1, focusing motor 1.1.3.2.1, focusing transmission group 1.1.3.2.2, focusing microscope group1.1.3.2.4 be sequentially connected, focusing transmission group 1.1.3.2.2, focusing encoder 1.1.3.2.3 and central processing unit 1.3.1 according toSecondary connection, focusing microscope group, CCD modules 1.1.3.2.5, graphics processing unit 1.1.3.2.6 and central processing unit 1.3.1 connect successivelyConnect.Graphics processing unit 1.1.3.2.6 judges whether focusing is accurate, whether be imaged clear by focus detection：If image isThen automatic focusing task is completed to meet established standardses；If image does not meet established standardses and uploads focusing to central processing unit 1.3.1The new direction of motion of microscope group 1.1.3.2.4 and motion amplitude data, focusing work closed loop starts new round working cycles, until figureAs meeting established standardses.

The operation principle and implementation method of automated imaging unit：

Central processing unit 1.3.1 constitutes zoom work closed loop, focusing work closed loop with automated imaging unit, by the twoWork closed loop completes automated imaging task.

Zoom work closed loop completes autozoom：

Central processing unit 1.3.1 reads the zoom calibration value of zoom microscope group 1.1.3.1.2 and drives zoom motor1.1.3.1.3, zoom transmission group 1.1.3.1.4 makes zoom microscope group 1.1.3.1.2 move to corresponding calibration position, zoom encoder1.1.3.1.5 the motion state synchronous feedback of real time record zoom transmission group 1.1.3.1.4 gives central processing unit 1.3.1, central authoritiesProcessor 1.3.1 calculates pulse shape modification value and sends next instruction accordingly, until zoom transmission group 1.1.3.1.4 reaches settingPosition completes the Focussing to zoom microscope group 1.1.3.1.2.

Focusing work closed loop completes automatic focusing：

The first step, white light is reached via object lens 1.1.3.1.1, zoom microscope group 1.1.3.1.2, focusing microscope group 1.1.3.2.4CCD modules 1.1.3.2.5.CCD modules 1.1.3.2.5 convert optical signals to be transferred to graphics processing unit after electric signal1.1.3.2.6.Graphics processing unit 1.1.3.2.6 by focus detection judge to focus on whether accurately, imaging it is whether clear and toCentral processing unit 1.3.1 uploads the direction of motion and motion amplitude data of focusing microscope group 1.1.3.2.4；

Second step, central processing unit 1.3.1 sends the direction of motion to focusing motor 1.1.3.2.1 accordingly and motion amplitude refers toData, focusing motor 1.1.3.2.1 and focusing transmission group 1.1.3.2.2 is made to drive focusing microscope group 1.1.3.2.4 to reach command bitsPut, focusing encoder 1.1.3.2.3 records being actually reached data and being uploaded to central processing unit for focusing transmission group 1.1.3.2.21.3.1.CCD modules 1.1.3.2.5 obtain the optical signal and general transmitted in focusing microscope group 1.1.3.2.4 new position after exerciseIt is converted into electric signal transmission to graphics processing unit 1.1.3.2.6.Graphics processing unit 1.1.3.2.6 is again by focusing inspectionSurvey judges whether focusing is accurate, whether be imaged clear：Automatic focusing task is completed if image has met established standardses；If figureThe new direction of motion of focusing microscope group 1.1.3.2.4 and motion amplitude are uploaded as not meeting established standardses to central processing unit 1.3.1Data, focusing work closed loop starts new round working cycles, until image meets established standardses.

Central processing unit 1.3.1 so far obtains the clearly object space live-action image for meeting established standardses.

D. the composition of range cells, operation principle and function realizing method

Range cells 1.1.4 include that laser beam emitting device 1.1.4.1, laser receiver 1.1.4.2, distance are resolvedDevice 1.1.4.3.Laser beam emitting device 1.1.4.1 connect central processing unit 1.3.1, laser receiver 1.1.4.2 connection away fromFrom resolver 1.1.4.3, apart from resolver 1.1.4.3 central processing unit 1.3.1 is connected, central processing unit 1.3.1 is to swashingLight emitting devices 1.1.4.1 sends distance measuring instruction, and laser beam emitting device 1.1.4.1 is to objective emission laser, laser receiver1.1.4.2 it is received from the laser of target return and filters out and transmit after clutter to apart from resolver 1.1.4.3.Distance resolves dressPut 1.1.4.3 and convert optical signals into electric signal, range data is calculated according to the time difference between send-receive and laser phaseAnd central processing unit 1.3.1 is uploaded to, concrete resolving is embodied as prior art, and it will not go into details for the utility model.

2）The composition of the distributed interactive communication system 1.2, operation principle and function realizing method：

Distributed interactive communication system 1.2 is the general surveying instrument main frame 1 of distributed interactive and other distributed interactive system processorsBetween communication station.

The processor is the device with data communication, data acquisition or data-handling capacity.

The distributed interactive system is the work system being made up of the interaction of one group of processor.

The distributed interactive system processor is the processor for constituting distributed interactive system, is meant：It is connected to indigo plant

Tooth communication network, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing communicationsThe device with data communication/data processing or data acquisition ability on the various communication networks such as net, sensor Ad Hoc network.ExampleSuch as, computer, mobile phone, sensor, the general mapping of distributed interactive being including but not limited to connected on the various communication networksInstrument main frame 1, external 3 d pose system 2, global positioning system base station, communications platform 1.2.5, cloud computing unit 1.3.4Etc..The distributed interactive system processor can be the device in a communication network being connected in the communication network, also may be usedTo be while the multiple communication networks being connected in the communication network or the device in whole communication networks.

Central processing unit 1.3.1 can simultaneously enable bluetooth-communication unit 1.2.1, station telecommunication unit 1.2.2, public network communicationIt is part or all of in unit 1.2.3, cors Differencing communication unit 1.2.4, communications platform 1.2.5, sensor Ad Hoc network.

According to the instruction of central processing unit 1.3.1, bluetooth-communication unit 1.2.1 is in the general surveying instrument master of distributed interactiveBidirectional data communication is set up between machine 1 and other distributed interactive system processors to link.Distance between the two is less than 30 meters.

According to the instruction of central processing unit 1.3.1, the station telecommunication unit 1.2.2 is in the general surveying instrument master of distributed interactiveBidirectional data communication is set up between machine 1 and other distributed interactive system processors to link.Distance between the two is public less than 30In.

According to the instruction of central processing unit 1.3.1, the public network communication unit 1.2.3 is online via public correspondence is connected toCommunications platform 1.2.5, the general surveying instrument main frame 1 of distributed interactive with distribution in the world be connected to public networkOn other distributed interactive system processors between set up bidirectional data communication link.The communications platform 1.2.5 is used to be distributedPoint-to-Point Data between interactive system processor mutually passes the data broadcasting with point-to-multipoint.Public network coverage itIt is interior, limit without locus between communication link contact and also limit without distance.

The communications platform 1.2.5 is to be connected to the online brand computer communication services device of public correspondence, is communicated by public networkUnit 1.2.3 is connected with central processing unit 1.3.1, for setting up the data of real-time intercommunication between distributed interactive system processorChain.

According to the instruction of central processing unit 1.3.1, the cors Differencing communications unit 1.2.4 passes through 2.5G public networksIn special cors differential communication channels set up bidirectional data communication and link with the cors differential service platforms of locality.The corsDifferencing communication unit 1.2.4 is applied to public cors difference net, certainly group cors difference nets, is used uniformly across certain in public networkOne channel carries out Differencing communication.Within the coverage of local cors Differencing communications net, limit without locus between the twoSystem is also limited without distance.

The general surveying instrument main frame 1 of distributed interactive can simultaneously connection be carried on indigo plant by the distributed interactive communication system 1.2Tooth communication network, station telecommunication net, 4G/3G/2.5G public networks, wire/wireless internet, cors Differencing communication nets etc. are variousMultiple other distributed interactive system processors on communication network, also once can only connect and be carried on one or more communication networksOn one or more of the other distributed interactive system processor.

3）The composition of the data handling system 1.3, operation principle and function realizing method：

The data handling system 1.3 includes central processing unit 1.3.1, man-machine interaction unit 1.3.3.

The central processing unit 1.3.1 is to include CPU, built-in storage, external memory, data interface unit 1.3.1.1, electricitySource control unit 1.3.1.2 is in interior data processing unit.

The uplink port of data interface unit 1.3.1.1 connects the CPU of central processing unit 1.3.1, and downlink port connectsConnect including global positioning unit, built-in 3 d pose unit, automated imaging unit, range cells, bluetooth-communication unit1.2.1, station telecommunication unit 1.2.2, public network communication unit 1.2.3, cors Differencing communication unit 1.2.4, man-machine interaction unit1.3.3, all working units of the power subsystem 1.3.2 in the interior general surveying instrument main frame 1 of distributed interactive.

The PMU 1.3.1.2 is the DSP with data-handling capacity, undertakes the general surveying instrument of distributed interactiveThe power management task of main frame 1.The uplink port of PMU 1.3.1.2 connects the CPU of central processing unit 1.3.1, underRow port connects all working unit of the general surveying instrument main frame 1 of distributed interactive by connection data interface unit 1.3.1.1.

The man-machine interaction unit 1.3.3 includes touch-screen and button, via data interface unit 1.3.1.1 connection central authoritiesThe CPU of processor 1.3.1.

The Data-Link sets up mode：Central processing unit 1.3.1 is three-dimensional with external by bluetooth-communication unit 1.2.1Attitude system 2.1, combined type 3 d pose system 2.2, high-power data radio station, range distribution interact general surveying instrument main frameOther the distributed interactive system processors of Bluetooth communication that need in 130 meters set up Data-Link；Central processing unit 1.3.1 is by electricityPlatform communication unit 1.2.2 or public network communication unit 1.2.3 or cors Differencing communication unit 1.2.4, interacts general with range distributionOther distributed interactive system processors in 130 kilometers of surveying instrument main frame set up Data-Link；Central processing unit 1.3.1 passes through public networkCommunication unit 1.2.3 or cors Differencing communication unit 1.2.4 is in the general surveying instrument main frame 1 of distributed interactive and other distributed interactive systemsData-Link is set up between system processor.In the communication coverage of the public network or cors Differencing communication nets, distributionData interconnection between the general surveying instrument main frame 1 of interaction and other distributed interactive system processors is without distance restriction, without space bitPut restriction.

The cloud computing platform 1.3.4 is to be connected to the online Computing server of public correspondence, logical by public networkLetter unit 1.2.3 is connected with central processing unit 1.3.1, for providing the height of big data quantity for all distributed interactive system processorsFast cloud computing service.

4）It is coaxial concentric

Collimation axis is built first：Design and produce optical bracket so that the collimation axis of object lens 1.1.3.1.1, zoom microscope group1.1.3.1.2 collimation axis, the collimation axis of focusing microscope group 1.1.3.2.4, the collimation axis of CCD module 1.1.3.2.5 optical lensPlace is on the same line.

The collimation axis M of automated imaging unit：The collimation axis of object lens 1.1.3.1.1, the collimation of zoom microscope group 1.1.3.1.2Axle, the collimation axis of focusing microscope group 1.1.3.2.4, the collimation axis of CCD module 1.1.3.2.5 optical lens are on same straight line MWhen, straight line M is referred to as the collimation axis of automated imaging unit.

Three light are coaxial：Automated imaging unit collimation axis M, the optical axis N of laser beam emitting device 1.1.4.1, laser receiver1.1.4.2 optical axis P three is parallel to each other or overlaps, and referred to as three light are coaxial.

Multiaxis is concentric：The collimation axis M and straight line L of the automated imaging unit is vertically intersected on O ' ' points.Wherein L is as followsThe straight line of 2 points of compositions：The phase center point O of global location antenna 1.1.1.1₁, Morse's taper male end coaxial interface 1.4 withThe corresponding interface end in external 3 d pose system 2 and the full landform real time dynamic measurement bar 3 of full attitude, such as Morse's taper mother's mouthEnd 2.1.1.1, be combined to site O₂.O ' ' points are referred to as the calibration coordinate origin of the general surveying instrument main frame 1 of distributed interactive, sitIt is designated as（0,0,0）.

2nd, embodiment provides implementing for external 3 d pose system 2：

The external 3 d pose system 2 of the utility model embodiment adopts stent-type 3 d pose system 2.1.

Referring to Fig. 2, the stent-type 3 d pose system 2.1 include coaxial interface unit 2.1.1, pitch moving cell,Course moving cell, screed units, bluetooth-communication unit 2.1.5, microcomputer plate 2.1.6, support 2.1.7.

The coaxial interface unit 2.1.1 includes Morse's taper mother mouth end 2.1.1.1, exits screw rod 2.1.1.2, locking spiral shellBar 2.1.1.3.The coaxial interface unit 2.1.1 is arranged on lateral flexure axle 2.1.2.1.

The flexion-extension moving cell includes lateral flexure axle 2.1.2.1, elevation-depression angle encoder 2.1.2.2.Lateral flexure axle 2.1.2.1On support 2.1.7, elevation-depression angle encoder 2.1.2.3 is arranged on the axis of lateral flexure axle 2.1.2.1.

The course moving cell includes vertical pivot 2.1.3.1, course heading encoder 2.1.3.2.Vertical pivot 2.1.3.1 is installedOn support 2.1.7, course heading encoder 2.1.3.2 is arranged on vertical pivot 2.1.3.1.

The screed units include adjusting screw rod group, Electronic bubble.Screed units are arranged on support 2.1.7.

The connection of the general surveying instrument main frame 1 of distributed interactive and stent-type 3 d pose system 2.1 and separate：By Morse's taperFemale mouth end 2.1.1.1 insertion Morse's tapers male end coaxial interface 1.4, rotating lock nut 2.1.1.3 makes both fasten as oneIndividual entirety, the general surveying instrument main frame 1 of distributed interactive is fixed in stent-type 3 d pose system 2.1.Now global location dayThe straight line that the phase center of line 1.1.1.1 is constituted with the geometric center of Morse's taper mother mouth end 2.1.1.1 coincides with vertical pivot2.1.3.1 axis.Conversely, unclamping lock nut 2.1.1.3, rotation exits screw rod 2.1.1.2, can be from stent-type three-dimensional appearanceThe general surveying instrument main frame 1 of distributed interactive is taken out in state system 2.1.

The microcomputer plate 2.1.6 is the data processing of stent-type 3 d pose system 2.1 and data source and sink：It is described to face upwardAngular encoder 2.1.2.3, course heading encoder 2.1.3.2, Electronic bubble, bluetooth-communication unit 2.1.5 of bowing is connected to micro-On machine plate 2.1.6, receive and perform the work order of microcomputer plate 2.1.6；Central processing unit 1.3.1 passes through bluetooth-communication unit1.2.1, bluetooth-communication unit 2.1.5 is realized and the bidirectional data communication between microcomputer plate 2.1.6；Microcomputer plate 2.1.6 is by facing upwardBow angular encoder 2.1.2.3, course heading encoder 2.1.3.2, Electronic bubble perform central processing unit 1.3.1 work refer toMake and to central processing unit 1.3.1 feedback informations, make central processing unit 1.3.1 obtain the general surveying instrument main frame 1 of distributed interactive and existReal-time dynamic 3 D attitude data in stent-type 3 d pose system 2.1.

O points are barycenter：After assembling is finished, the general surveying instrument main frame 1 of distributed interactive, lateral flexure axle 2.1.2.1, coaxial interfaceUnit 2.1.1 constitutes a physics entirety W, and O points are the barycenter of W.

The general surveying instrument main frame 1 of distributed interactive combines the shafting legend after assembling with stent-type 3 d pose system 2.1 canReferring to Fig. 3：

The collimation axis M of automated imaging unit, the optical axis N of laser beam emitting device 1.1.4.1, laser receiver 1.1.4.2Optical axis P three be parallel to each other or overlap,

The collimation axis M and straight line L of the automated imaging unit is vertically intersected on O ' ' points.Wherein L is following 2 points of compositionsStraight line：The phase center point O of global location antenna 1.1.1.1₁, Morse's taper male end coaxial interface 1.4 and Morse's taper it is femaleMouth end 2.1.1.1's is combined to site O₂。

In stent-type 3 d pose system 2.1, straight line L is the axis of vertical pivot 2.1.3.1.

O ' ' points are referred to as the calibration coordinate origin of the general surveying instrument main frame 1 of distributed interactive, and coordinate is（0,0,0）.

The planes of π 2 are the axis of the bottom surface of vertical pivot 2.1.3.1, the planes of π 1 and the mutually orthogonal ， Transverse bent axle 2.1.2.1 of the planes of π 2The axis of line and vertical pivot 2.1.3.1 is mutually orthogonal with the planes of π 1, and the axis of vertical pivot 2.1.3.1 passes through the planes of π 2.

The utility model requires nothing more than protection hardware configuration, and specifically used mode can be by those skilled in the art's sets itself.

It is emphasized that embodiment described in the utility model is illustrative, rather than it is determinate.Therefore this realityIt is every new according to this practicality by those skilled in the art with new including the embodiment being not limited to described in specific embodimentThe other embodiment that the technical scheme of type draws, also belongs to the scope of the utility model protection.

Claims (3)

1. a kind of stent-type 3 d pose system, it is characterised in that：The stent-type 3 d pose system（2.1）Including coaxialInterface unit（2.1.1）, pitch moving cell, course moving cell, screed units, bluetooth-communication unit（2.1.5）, microcomputer plate（2.1.6）And support（2.1.7）；

The coaxial interface unit（2.1.1）Installed in lateral flexure axle（2.1.2.1）On；

The flexion-extension moving cell includes lateral flexure axle（2.1.2.1）, elevation-depression angle encoder（2.1.2.2）；Lateral flexure axle（2.1.2.1）Installed in support（2.1.7）On, elevation-depression angle encoder（2.1.2.3）Installed in lateral flexure axle（2.1.2.1）InOn axis；

The course moving cell includes vertical pivot（2.1.3.1）, course heading encoder（2.1.3.2）；Vertical pivot（2.1.3.1）PeaceIt is mounted in support（2.1.7）On, course heading encoder（2.1.3.2）Installed in vertical pivot（2.1.3.1）On；

The screed units include adjusting screw rod group and Electronic bubble, and screed units are arranged on support（2.1.7）On；

The elevation-depression angle encoder（2.1.2.3）, course heading encoder（2.1.3.2）, Electronic bubble, bluetooth-communication unit（2.1.5）It is connected to microcomputer plate（2.1.6）On.

2. stent-type 3 d pose system according to claim 1, it is characterised in that：The coaxial interface unit（2.1.1）Including Morse's taper mother's mouth end（2.1.1.1）, exit screw rod（2.1.1.2）And lock nut（2.1.1.3）.

3. stent-type 3 d pose system according to claim 2, it is characterised in that：Carry out the general surveying instrument of distributed interactiveMain frame（1）With stent-type 3 d pose system（2.1）Connection when, by Morse's taper mother mouth end（2.1.1.1）Insertion distribution is handed overMutual general surveying instrument main frame（1）Morse's taper male end coaxial interface（1.4）, rotate lock nut（2.1.1.3）Will distributionThe general surveying instrument main frame (1) of interaction is fixed on stent-type 3 d pose system (2.1)；Now global location antenna（1.1.1.1）Phase center and Morse's taper mother's mouth end（2.1.1.1）Geometric center constitute straight line coincide with vertical pivot（2.1.3.1）Axis；Conversely, unclamping lock nut（2.1.1.3）, rotate exit screw rod（2.1.1.2）, from stent-type threeDimension attitude system（2.1）It is upper to take out the general surveying instrument main frame of distributed interactive（1）.