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测量机器人变形监测作业的过程

已有 2021 次阅读 2021-3-24 11:35 |个人分类:IoT|系统分类:科研笔记

一般的变形监测测量作业的过程包括以下几步:

1) 初始化 GeoCOM;

2) 打开通讯端口;

3) 将望远镜照准指定方向

4) 精密照准目标;

5) 执行测距动作;

6) 获取角度和距离的测量数据;

7) 清空测距结果(即清空仪器上数据池);

8) 执行其他作业;

9) 关闭通讯端口;

10)退出GeoCOM;


本文以徕卡机器人为例说明:采用发送与接收ASCII 字符串方式(ASCII Protocol)控制

11.png

22.png


1、初始化GeoCOM:

ASCII 的请求串:无

ASCII 的应答串:无

2、退出GeoCOM:

ASCII 的请求串:无

ASCII 的应答串:无

3、打开/关闭通讯串口:

ASCII 的请求串:无

ASCII 的应答串:无

4、将望远镜照准指定方向:

ASCII 的请求串:%R1Q,9027:Hz,V,PosMode[integer],ATRMode[integer],0

ASCII 的应答串:%R1P,0,0:RC

JSON格式:

"setDirection": {
    "enabled": true,
    "request": "%R1Q,9027:4.5075838041231,1.47996115068853,2,0,0\r\n",
    "response": "",
    "responseDelimiter": "\r\n",
    "responsePattern": "(?:%R1P,0,0:)(?P<rcSetDirection>\\d+)",
    "sleepTime": 10.0,
    "timeout": 30.0
},

5、精密照准:

ASCII 的请求串:%R1Q,9037:dSrchHz[double], dSrchV[double],0

ASCII 的应答串:%R1P,0,0:RC

JSON格式:

"automaticTarget": {
    "enabled": true,
    "request": "%R1Q,9037:0.5,0.5,0\r\n",
    "response": "",
    "responseDelimiter": "\r\n",
    "responsePattern": "(?:%R1P,0,0:)(?P<rcautomaticTarget>\\d+)",
    "sleepTime": 10.0,
    "timeout": 30.0
},

6、执行测距动作(或清空测距结果):

ASCII 的请求串:%R1Q,2008: Command [long], Mode[long]

ASCII 的应答串:%R1P,0,0:RC

image.png

JSON格式:

"measureDistanceFace": {
    "enabled": true,
    "request": "%R1Q,2008:1,1\r\n",
    "responseDelimiter": "\r\n",
    "responsePattern": "(?:%R1P,0,0:)(?P<rcMeasureDistance>\\d+)",
    "sleepTime": 2.0,
    "timeout": 30.0
},

The result of the distance measurement is kept in the instrument and is valid to the next TMC_DoMeasure command where a new distance is requested or the distance is clear by the measurement program TMC_CLEAR.

image.png

Please note that this command does not output any values (distances). In order to get the values you

have to use other measurement functions such as TMC_GetCoordinate (2082) , TMC_GetSimpleMea (2108) or TMC_GetAngle (2003 or 2107).

7、获取角度和距离数据:

ASCII 的请求串:%R1Q,2108: WaitTime [long], Mode[long]

ASCII 的应答串:%R1P,0,0:RC,Hz[double],V[double],SlopeDistance [double]

JSON格式:

"getCoordinate": {
    "enabled": true,
    "request": "%R1Q,2108:5000,0\r\n",
    "responseDelimiter": "\r\n",
    "responsePattern": "(?:%R1P,0,0:)(?P<rcGetValues>\\d+)(?:,(?P<Hz>\\d*\\.?\\d+),
    (?P<V>\\d*\\.?\\d+),(?P<SlopeDistance>-?\\d*\\.?\\d+))?",
    "sleepTime": 10.0,
    "timeout": 30.0
}

inclination measure mode:

Inclination sensor measurement mode.:

the inclination measure mode TMC_AUTO_INC has the following form (note that the value 1 is used for the Mode parameter because the counting of enumeration data types start at 0)


image.png

8、获得坐标数据:

ASCII 的请求串:%R1Q,2116:WaitTime[long],eProg[long]

ASCII 的应答串:%R1P,0,0:RC,dCoordE[double], dCoordN[double], dCoordH[double]

JSON格式:

"getCoordinate": {
    "enabled": true,
    "request": "%R1Q,2116:5000,0\r\n",
    "responseDelimiter": "\r\n",
    "responsePattern": "(?:%R1P,0,0:)(?P<rcGetValues>\\d+)(?:,(?P<dCoordE>\\d*\\.?\\d+),
    (?P<dCoordN>\\d*\\.?\\d+),(?P<dCoordH>-?\\d*\\.?\\d+))?",
    "sleepTime": 10.0,
    "timeout": 30.0
}


Geocom说明文档.pdf

TPS1200_GeoCOM_Manual.pdf

totalstation.json




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