CN109324334A - Ranging system and method - Google Patents
Ranging system and method Download PDFInfo
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- CN109324334A CN109324334A CN201811228410.6A CN201811228410A CN109324334A CN 109324334 A CN109324334 A CN 109324334A CN 201811228410 A CN201811228410 A CN 201811228410A CN 109324334 A CN109324334 A CN 109324334A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 75
- 238000012545 processing Methods 0.000 claims abstract description 70
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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Abstract
The present invention relates to ranging technology fields, more particularly to a kind of range-measurement system and method, pass through setting processing equipment and at least two measuring devices, measuring device includes range unit, control module, communication module, earth induction module and gyroscope, when carrying out ranging, the range unit of each measuring device measures the measuring device to the distance value of corresponding object to be measured and is sent to corresponding control module, control module obtains the angle-data that the geomagnetic data that corresponding earth induction module detects and gyroscope detect when receiving distance value and is sent to processing equipment by corresponding communication module, processing equipment is worth according to the distance between each measuring device, and the geomagnetic data that each measuring device is sent, angle-data and distance value obtain space coordinate relationship and distance between the corresponding object to be measured of each measuring device Value carries out effectively reliable measurement to the distance between object to be measured and space coordinate relationship to realize.
Description
Technical field
The present invention relates to ranging technology fields, in particular to a kind of range-measurement system and method.
Background technique
With the continuous development of science and technology, there is huge progress in ranging technology, the communication technology, currently, simple laser
The solution party that ranging technology comparative maturity, either pulse ranging technology or phase ranging technology have complete mature
Case, and in industry and civilian ranging field large-scale use.But the various ranging made a general survey of at present on the market produces
Product are essentially all that the distance between can be only done from distance mearuring equipment to object to be measured ranging, and instrument is all whole with individual ranging
The form at end occurs, and cooperation ranging can not be formed, so that the application range of rangefinder receives a degree of limitation.
Therefore it provides a kind of equipment that can carry out accurate range measurement to spatially the distance between object to be measured is
Technical problem urgently to be resolved.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of range-measurement system and method, to realize to spatially mesh to be measured
The distance between mark is accurately measured.
To achieve the above object, the embodiment of the present invention adopts the following technical scheme that
A kind of range-measurement system, including processing equipment and at least two measuring devices, the measuring device include range unit,
Control module, communication module, earth induction module and gyroscope, the range unit, communication module, earth induction module with
And gyroscope is electrically connected with the control module respectively, the control module is logical by the communication module and the processing equipment
Letter connection, each measuring device have respectively corresponded object to be measured；
Each measuring device has respectively corresponded object to be measured, and the range-measurement system is when carrying out ranging, each measuring device
Range unit measure the measuring device to the distance value of corresponding object to be measured and be sent to corresponding control module, the control
Module obtains the geomagnetic data that corresponding earth induction module detects and gyroscope detection when receiving the distance value
To angle-data and the processing equipment is sent to by corresponding communication module, the processing equipment is according to each measurement
Geomagnetic data, angle-data and the distance value that the distance between equipment value and each measuring device are sent obtain each survey
Measure the space coordinate relationship and distance value between the corresponding object to be measured of equipment.
Optionally, in above-mentioned range-measurement system, the range unit includes laser emitter and ranging receiver, described to swash
Optical transmitting set and the ranging receiver are electrically connected with the control module respectively；
The control module controls the laser emitter and issues laser, the ranging receiver to corresponding object to be measured
It receives the laser reflected through the object to be measured and is sent to the control module, institute after carrying out photoelectric conversion into electric measurement signal
It states control module and the range unit is obtained to the distance between corresponding object to be measured value according to the electric measurement signal.
Optionally, in above-mentioned range-measurement system, the measuring device further includes structural body, and the range unit further includes standard
Straight lens and receiving lens group, the laser emitter, ranging receiver, control module and communication module are respectively arranged at institute
It states in structural body, the collimation lens and receiving lens group are respectively arranged at the structural body, so that the laser emitter is sent out
Transmitting is to the object to be measured after laser out passes through the collimation lens, and make the receiving lens group receive through it is described to
The laser of the receiving lens group is passed through after surveying target reflection and generates the electric measurement signal.
Optionally, in above-mentioned range-measurement system, the measuring device is two, and two measuring devices pass through company respectively
Fitting is set to the processing equipment so that the measuring device can relative to the processing equipment pitch regulation and rotation,
The distance between described measuring device value there are two being prestored in the processing equipment.
Optionally, in above-mentioned range-measurement system, the connector includes connecting rod and rotating junction, the connecting rod
One end is set to the processing equipment, and the other end is rotatablely connected by rotating junction and the measuring device.
Optionally, it in above-mentioned range-measurement system, is provided on the structural body of the measuring device and the rotating junction
Matched first groove, and with matched second groove of the connecting rod, first groove is connected to second groove.
Optionally, in above-mentioned range-measurement system, the measuring device further includes for measuring the measuring device and other surveys
The carrier wave range finder module of the distance between equipment value is measured, the carrier wave range finder module is electrically connected with the control module.
Optionally, in above-mentioned range-measurement system, the carrier wave range finder module is Bluetooth carrier range finder module, ultra-broadband ranging
Module or differential GPS range finder module.
Optionally, in above-mentioned range-measurement system, the processing equipment includes receiving the control information and right of user's input
The human-computer interaction device that space coordinate relationship and distance value between the corresponding object to be measured of each measuring device are shown, it is described
Human-computer interaction device is electrically connected with the processing equipment.
The present invention also provides a kind of distance measuring methods, and applied to above-mentioned range-measurement system, the distance measuring method includes:
Processing equipment while the control module transmission range distance measuring instruction into each measuring device；
Control module in the measuring device controls the survey of the measuring device when receiving distance ranging instruction
Away from device to measure the measuring device to the distance value of corresponding object to be measured, and the earth induction mould of the measuring device is obtained
Angle-data that the geomagnetic data and gyroscope that block detects detect simultaneously is sent to the processing equipment；
The ground magnetic number that the processing equipment is worth according to the distance between each measuring device and each measuring device is sent
Space coordinate relationship and distance value between the corresponding object to be measured of each measuring device are obtained according to, angle-data and distance value.
A kind of range-measurement system and method provided by the invention, including processing equipment and at least two measuring devices, measurement are set
It is standby to pass through setting range unit, control module, communication module, earth induction module and gyroscope, each measuring device point
It is not corresponding with object to be measured, each measuring device has respectively corresponded object to be measured, and the range-measurement system is when carrying out ranging, respectively
The range unit of measuring device measures the measuring device to the distance value of corresponding object to be measured and is sent to corresponding control mould
Block, the control module obtain the geomagnetic data and top that corresponding earth induction module detects when receiving the distance value
Angle-data that spiral shell instrument detects simultaneously is sent to the processing equipment by corresponding communication module, and the processing equipment is according to each
Geomagnetic data, angle-data and the distance value that the distance between described measuring device value and each measuring device are sent
The space coordinate relationship and distance value between the corresponding object to be measured of each measuring device are obtained, is treated by above-mentioned setting with realizing
It surveys the distance between target and carries out effectively reliable measurement, and obtain the space coordinate relationship between object to be measured.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only section Example of the invention, therefore is not construed as pair
The restriction of the scope of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other relevant attached drawings can be obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of range-measurement system provided in an embodiment of the present invention.
Fig. 2 is the connection block diagram of measuring device provided in an embodiment of the present invention.
Fig. 3 is the functional block diagram of measuring device provided in an embodiment of the present invention.
Fig. 4 is another structural schematic diagram of range-measurement system provided in an embodiment of the present invention.
Fig. 5 is the structural schematic diagram of measuring device provided in an embodiment of the present invention.
Fig. 6 is the operating mode schematic diagram of measuring device provided in an embodiment of the present invention.
Fig. 7 is the ranging space vector figure of range-measurement system provided in an embodiment of the present invention.
Fig. 8 is the projection view in Fig. 7 in XOZ plane.
Fig. 9 is a kind of flow diagram of measurement method provided in an embodiment of the present invention.
Icon: 100- range-measurement system；110- processing equipment；130- measuring device；131- range unit；131a- laser hair
Emitter；131b- ranging receiver；131c- collimation lens；131d- receiving lens group；133- control module；135- communication module；
137- earth induction module；139- gyroscope；141- structural body；The first groove of 141a-；The second groove of 141b-；150- connection
Part；151- connecting rod；The rotating junction 153-；300- object to be measured.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the present invention is applied by the technical solution in example is clearly and completely described, it is clear that described embodiment is this
Invention a part of the embodiment, instead of all the embodiments.Embodiments of the present invention, which are generally described and illustrated herein in the accompanying drawings
Component can arrange and design with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
In concrete meaning.
Referring to Fig. 1, a kind of range-measurement system 100 provided in an embodiment of the present invention, including processing equipment 110 and at least two
Measuring device 130, at least two measuring device 130 are connect with the processing equipment 110 respectively.
Incorporated by reference to Fig. 2, the measuring device 130 includes range unit 131, control module 133, communication module 135, earth magnetism
Induction module 137 and gyroscope 139, the range unit 131, communication module 135, earth induction module 137 and gyro
Instrument 139 is electrically connected with the control module 133 respectively, and the control module 133 passes through the communication module 135 and the processing
Equipment 110 communicates to connect, and each measuring device 130 has respectively corresponded object to be measured 300.
By above-mentioned setting, with when carrying out ranging using above-mentioned range-measurement system 100, the ranging of each measuring device 130
Device 131 measures the measuring device 130 to the distance value of corresponding object to be measured 300 and is sent to corresponding control module 133,
The control module 133 obtained when receiving the distance value geomagnetic data that corresponding earth induction module 137 detects with
And the angle-data that detects of gyroscope 139 and the processing equipment 110 is sent to by corresponding communication module 135, it is described
The earth magnetism that processing equipment 110 is worth according to the distance between each described measuring device 130 and each measuring device 130 is sent
Data, angle-data and distance value obtain space coordinate relationship between the corresponding object to be measured 300 of each measuring device 130 and
Distance value, and then realize and measure and obtain space to spatially the distance between any two object to be measured 300
Coordinate position relationship between upper any two object to be measured 300.
In addition, can control this extremely when the processing equipment 110 is connect at least two distance measuring equipments 130
Few two distance measuring equipments 130 work at the same time, at least two distance measuring equipment 130 ranging simultaneously, avoid because
Error caused by environmental factor, the effective guarantee accuracy of measurement result.
Wherein, the processing equipment 110 can be a kind of electronics with data processing function and data-transformation facility and set
It is standby, for example, it may be computer, mobile phone or laptop etc., are not specifically limited herein, as long as be able to carry out data processing with
And it is able to carry out data transmission.
For convenient for the working condition of measuring device 130 and the processing equipment 110 described in user's control at least two, with
And check that the distance between the corresponding measurement target of two measured the measuring device 130 value and space coordinate are closed convenient for user
System, in the present embodiment, the processing equipment 110 include receiving the control information of user's input and to each measuring device 130
The human-computer interaction device that space coordinate relationship and distance value between corresponding object to be measured 300 are shown, the man-machine friendship
Mutual device is electrically connected with the processing equipment 110.
Wherein, the human-computer interaction device can be liquid crystal touch screen, be also possible to display and key, not make to have herein
Body limits, and is configured according to actual needs.
The range unit 131 can be the laser ranging system measured using laser distance measuring principle, can also adopt
The supersonic range finder that ranging is carried out with sound wave, is not specifically limited herein, and is configured according to actual needs.
In the present embodiment, the range unit 131 is measured using Principles of Laser, and the range unit 131 can be with
Transmitter and one or more receivers for receiving laser including one or more transmitting laser, do not limit specifically herein
It is fixed, it is configured according to actual needs.
Incorporated by reference to Fig. 3, optionally, in the present embodiment, the range unit 131 includes laser emitter 131a and ranging
Receiver 131b, the laser emitter 131a and the ranging receiver 131b are electrically connected with the control module 133 respectively,
The control module 133 controls the laser emitter 131a and issues laser to corresponding object to be measured 300, and the ranging receives
Device 131b receives the laser reflected through the object to be measured 300 and is sent to the control after carrying out photoelectric conversion into electric measurement signal
Molding block 133, the control module 133 obtain the range unit 131 to corresponding mesh to be measured according to the electric measurement signal
The distance between mark 300 value.
Wherein, the control module 133 is according to the laser emitter 131a laser signal issued and the electric measurement signal
It is arrived based on pulse ranging principle, phase ranging principle or linear frequency modulation ranglng principle the acquisition range unit 131 corresponding
The distance between object to be measured 300, is not specifically limited herein, and is configured according to actual needs.
To keep the result for carrying out ranging acquisition more acurrate, and it is convenient for ranging, in the present embodiment, the measurement is set
Standby 130 further include structural body 141, and the range unit 131 further includes collimation lens 131c and receiving lens group 131d, described to swash
Optical transmitting set 131a, ranging receiver 131b, control module 133 and communication module 135 are respectively arranged at the structural body 141
Interior, the collimation lens 131c and receiving lens group 131d are respectively arranged at the structural body 141, so that the laser emitter
The laser that 131a is issued emits after passing through the collimation lens 131c to the object to be measured 300, and makes the receiving lens
Group 131d, which is received, to be passed through the laser of the receiving lens group 131d after the object to be measured 300 reflection and generates the electrical measurement
Signal.
By the way that the collimation lens 131c and receiving lens group 131d is arranged to receive the Laser emission to the greatest extent
Device 131a is issued and the laser that reflects through object to be measured 300, and then measuring device 130 described in effective guarantee and corresponding mesh to be measured
The accuracy of the distance value of range measurement acquisition is carried out between mark 300.In addition, by by the laser emitter 131a, ranging
Receiver 131b, control module 133 and communication module 135 are respectively arranged in the structural body 141 in order to user's progress
Measurement carries out convenience when ranging to improve.
The shape of the structural body 141 can be the regular shapes such as column or cube shape, be also possible to any irregular shape
Shape is not specifically limited herein, and is configured according to actual needs.
It is having data processing function that the control module 133 can be controller, microprocessor, logic control device etc.
Electronic device is not specifically limited herein, and is configured according to actual needs.The communication module 135 can be GPRS
The wireless communication modules such as module, bluetooth module or WIFI module are also possible to be connected with the signal transmssion line of data transmission interface,
It is not specifically limited herein, is configured according to actual needs.The earth induction module 137 can be earth magnetism sensing
Device.The gyroscope 139 can be gyro sensor or the arbitrary angular movement detection device for using gyroscope principle, herein
It is not especially limited, is configured according to actual needs.
It should be noted that the particular number of at least two measuring devices 130 can be in the range-measurement system 100, but
Two, three or four are not limited to, is configured, is not specifically limited herein according to actual needs.
It is appreciated that when the quantity of at least two measuring devices 130 is two, two measuring devices 130 can be with
It is set to the processing equipment 110, can also be not specifically limited herein, with 110 split settings of processing equipment according to reality
Border demand is configured.
Incorporated by reference to Fig. 4, in the present embodiment, when two measuring devices 130 are set to the processing equipment 110,
Two measuring devices 130 can be set in the both ends of the processing equipment 110, specifically, two measuring devices 130
The processing equipment 110 is set to by connector 150 respectively, so that the measuring device 130 can be relative to the processing
110 pitch regulation of equipment and rotation, prestore that there are two the distance between the measuring device 130 values in the processing equipment 110.
Wherein, the connector 150 can be realized folding turnover, or can relative to the processing equipment 110 and/or
Measuring device 130 rotates, and is not specifically limited herein.
Optionally, in the present embodiment, the connector 150 includes connecting rod 151 and rotating junction 153, the company
One end of extension bar 151 is set to the processing equipment 110, and the other end passes through rotating junction 153 and 130 turns of the measuring device
Dynamic connection.
Wherein, the shape of the rotating junction 153 may be, but not limited to, the regular shapes such as spherical or column, can also
To be any irregular shape, it is not specifically limited herein, is configured according to actual needs.
To enable the measuring device 130 to form different angles from the processing equipment 110, so that different measurements
Equipment 130 measures the object to be measured 300 at different location, and in the present embodiment, the rotating junction 153 is spherical shape.
Incorporated by reference to Fig. 5, for convenient for relatively rotating the distance measuring equipment 130 with rotating device and avoid rotation process
It is middle that there is a situation where be mutually disengaged.In the present embodiment, it is provided with and described turn on the structural body 141 of the measuring device 130
The matched first groove 141a of rotation connection 153, and with the matched second groove 141b of the connecting rod 151, described first
Groove 141a is connected to the second groove 141b.
By above-mentioned setting, with when measuring, the connecting rod 151 is separated from each other with the second groove 141b,
The rotating junction 153 is located in corresponding 130 first groove 141a of measuring device and can be opposite with the measuring device 130
Rotation so that the measuring device 130 and the processing equipment 110 relatively rotate with to the object to be measured 300 at different location into
Row measurement.When being accommodated, the rotating junction 153 is located in the first groove 141a of corresponding measuring device 130, and
The connecting rod 151 is located in corresponding second groove 141b.
When two measuring devices 130 are with 110 split settings of processing equipment, two surveys are measured to realize
Measure the distance between equipment 130, in the present embodiment, the measuring device 130 further include for measure the measuring device 130 with
The carrier wave range finder module of the distance between other measuring devices 130 value, 133 electricity of the carrier wave range finder module and the control module
Connection.
Wherein, the carrier wave range finder module is set in the structural body 141, and the carrier wave range finder module can be,
But it is not limited to Bluetooth carrier range finder module, ultra-broadband ranging module or differential GPS range finder module, is not specifically limited herein, root
It is configured according to actual demand.
It is appreciated that when at least two measuring devices 130 are split settings with the processing equipment 110, it is described
Communication module 135 is wireless communication module 135, and the wireless communication module 135 may be, but not limited to, GPRS communication module
135 or bluetooth module etc..When at least two measuring devices 130 are set to the processing equipment 110, the communication module
135 can be the transmission line with signal transmission interface, and the range unit 131 passes through the transmission line and the processing equipment
110 connections.
It include a processing equipment 110 and two measurements with the range-measurement system 100 in the present embodiment incorporated by reference to Fig. 6
Equipment 130, and two measuring devices 130 are respectively the first measuring device A and the second measuring device B, and respectively correspond first to
It is illustrated for survey target C and the second object to be measured D.
It is origin O incorporated by reference to Fig. 7 and Fig. 8, set point A, is rotated by coordinate and realize rectangular space coordinate conversion, it can be again
Construct the coordinate relationship of the first measuring device A, the second measuring device B, the first object to be measured C and the second object to be measured D are as follows: with XZ
Plane is horizontal plane, and AB line is coordinate Z axis, and the plane of 3 points of ABC compositions is XOZ plane, and enabling D' is D in ABC plane
Projection, then can obtain the spatial relationship of each point, in Fig. 7, line of vectorAnd line of vectorLength by the first measuring device A and
Two measuring device B measure acquisition respectively,It is known quantity for the distance between two measuring devices 130 value, can be surveyed by first
Carrier wave range finder module in amount equipment A and the second measuring device B measures, or the measurement of the first measuring device A and second is set
Standby B is stored in the parameter in the processing equipment 110 when being installed on the processing equipment 110, due to only having passed through coordinate rotation,
And line of vectorAnd line of vectorLevel inclination and azimuth can directly pass through the earth induction in each measuring device 130
Module 137 and the measurement of gyroscope 139 obtain, and obtain the angle ∠ CAB in coordinate system, ∠ ABD, ∠ DBD'.
Since D' is respectively projection of the D in ABC plane, so triangle BDD ' is right angled triangle, can obtain:
Since D' is respectively projection of the D in ABC plane, so triangle ADD ' is also right angled triangle, according to formula
(1) and (3) can obtain:
Due in XAZ plane,ForParallel lines, then obtained according to formula (2), (4) formula:
And due to ∠ CAD '=∠ CAB- ∠ D ' AB, (6)
Then
Because D ' is the projection of D, so being formed by right angled triangle in D, D' and C, the first survey can be obtained by (3), (7) formula
Measure the distance between the measurement of target C and second target D:
The then angle of D and XAZ plane are as follows:
In triangle ACD ', it is calculated by formula (4) and (7):
CauseForParallel lines, angle ∠ CAB is it is known that so have:
∠ ACM=180 °-∠ CAB, (11)
Projection line is obtained by formula (10) and (11)With the angle of coordinate system Z axis:
∠ D'CM=∠ ACD'- ∠ ACM, (12)
In conjunction with the plane included angle D and XAZ of formula (9), projection line in formula (12)With the angle of coordinate system Z axis and
The rotation parameter of coordinate system, it can be deduced that the azimuth of the first measurement target C and the second measurement target D, in conjunction with formula (8), i.e.,
The three dimensional vector diagram and space coordinate relationship of the space line of available first measurement target C and the second measurement target D.
It is appreciated that when the measuring device 130 for including in the range-measurement system 100 is multiple, it can also be using as above
Identical or corresponding calculation obtains the distance between corresponding object to be measured 300 of each measuring device 130 and space coordinate is closed
System.
Referring to Fig. 9, on the basis of the above, the present invention also provides a kind of distance measuring method, the distance measuring method can be applied
In above-mentioned range-measurement system 100, when carrying out ranging using above-mentioned range-measurement system 100, steps are as follows for specific distance measuring method:
Step S110: control module 133 transmission range ranging of the processing equipment 110 simultaneously into each measuring device 130 refers to
It enables.
Step S120: the control module 133 in the measuring device 130 is when receiving distance ranging instruction, control
Make the range unit 131 of the measuring device 130 with measure the measuring device 130 arrive corresponding object to be measured 300 distance value, with
And obtain the geomagnetic data that the earth induction module 137 of the measuring device 130 detects and the angle that gyroscope 139 detects
Data Concurrent is sent to the processing equipment 110.
Step S130: the processing equipment 110 is worth according to the distance between each measuring device 130 and each measurement
Equipment 130 send geomagnetic data, angle-data and distance value obtain the corresponding object to be measured 300 of each measuring device 130 it
Between space coordinate relationship and distance value.
To sum up, a kind of range-measurement system 100 and method provided by the invention, by the way that processing equipment 110 and at least two is arranged
Measuring device 130, and measuring device 130 passes through setting range unit 131, control module 133, communication module 135, earth induction
Module 137 and gyroscope 139, with when carrying out ranging, the range unit 131 of each measuring device 130 measures the measurement
Equipment 130 to corresponding object to be measured 300 distance value and be sent to corresponding control module 133, which is connecing
Geomagnetic data that corresponding earth induction module 137 detects is obtained when receiving the distance value and gyroscope 139 detects
Angle-data and the processing equipment 110 is sent to by corresponding communication module 135, the processing equipment 110 is according to each
The distance between described measuring device 130 value and each measuring device 130 send geomagnetic data, angle-data and
Distance value obtains space coordinate relationship and distance value between the corresponding object to be measured 300 of each measuring device 130, thus realization pair
The distance between object to be measured 300 carries out effectively reliable measurement, and obtain the space coordinate relationship between object to be measured 300 and
Vector vector.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, term " includes " or any other variant are intended to nonexcludability
Include so that include a series of elements process, method, article or equipment not only include those elements, but also
Including other elements that are not explicitly listed, or further include for this process, method, article or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method, article or equipment of element.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of range-measurement system, which is characterized in that including processing equipment and at least two measuring devices, the measuring device includes
Range unit, control module, communication module, earth induction module and gyroscope, the range unit, communication module, earth magnetism
Induction module and gyroscope are electrically connected with the control module respectively, the control module by the communication module with it is described
Processing equipment communication connection, each measuring device have respectively corresponded object to be measured；
For the range-measurement system when carrying out ranging, the range unit of each measuring device measures the measuring device to corresponding mesh to be measured
Target distance value is simultaneously sent to corresponding control module, which obtains corresponding earth magnetism when receiving the distance value
Angle-data that the geomagnetic data and gyroscope that induction module detects detect simultaneously is sent to by corresponding communication module
The processing equipment, the processing equipment is worth according to the distance between each described measuring device and each measuring device is sent out
Geomagnetic data, angle-data and the distance value sent obtains the space coordinate relationship between the corresponding object to be measured of each measuring device
And distance value.
2. range-measurement system according to claim 1, which is characterized in that the range unit includes laser emitter and ranging
Receiver, the laser emitter and the ranging receiver are electrically connected with the control module respectively；
The control module controls the laser emitter and issues laser to corresponding object to be measured, and the ranging receiver receives
The laser that reflects through the object to be measured is simultaneously sent to the control module, the control after carrying out photoelectric conversion into electric measurement signal
Molding root tuber obtains the range unit to the distance between corresponding object to be measured value according to the electric measurement signal.
3. range-measurement system according to claim 2, which is characterized in that the measuring device further includes structural body, the survey
It further include collimation lens and receiving lens group, the laser emitter, ranging receiver, control module and communication mould away from device
Block is respectively arranged in the structural body, and the collimation lens and receiving lens group are respectively arranged at the structural body, so that institute
The laser for stating laser emitter sending emits after the collimation lens to the object to be measured, and makes the receiving lens
Group, which is received, to be passed through the laser of the receiving lens group after object to be measured reflection and generates the electric measurement signal.
4. range-measurement system according to claim 1, which is characterized in that the measuring device is two, two measurements
Equipment passes through connector respectively and is set to the processing equipment, so that the measuring device can bow relative to the processing equipment
Adjusting and rotation are faced upward, prestores that there are two the distance between measuring device values in the processing equipment.
5. range-measurement system according to claim 4, which is characterized in that the connector includes connecting rod and rotation connection
Portion, one end of the connecting rod are set to the processing equipment, and the other end is rotated by rotating junction and the measuring device
Connection.
6. range-measurement system according to claim 5, which is characterized in that be provided on the structural body of the measuring device and institute
State matched first groove in rotating junction, and with matched second groove of the connecting rod, first groove with it is described
The connection of second groove.
7. range-measurement system according to claim 1, which is characterized in that the measuring device further includes for measuring the measurement
The carrier wave range finder module of the distance between equipment and other measuring devices value, the carrier wave range finder module and control module electricity
Connection.
8. range-measurement system according to claim 7, which is characterized in that the carrier wave range finder module is Bluetooth carrier ranging mould
Block, ultra-broadband ranging module or differential GPS range finder module.
9. range-measurement system according to claim 1, which is characterized in that the processing equipment includes receiving the control of user's input
Information processed and between the corresponding object to be measured of each measuring device space coordinate relationship and distance value shown it is man-machine
Interactive device, the human-computer interaction device are electrically connected with the processing equipment.
10. a kind of distance measuring method is applied to range-measurement system described in any one of claim 1-9, which is characterized in that the survey
Include: away from method
Processing equipment while the control module transmission range distance measuring instruction into each measuring device；
Control module in the measuring device controls the ranging dress of the measuring device when receiving distance ranging instruction
Set with measure the measuring device to corresponding object to be measured distance value, and obtain the measuring device earth induction module inspection
Angle-data that the geomagnetic data and gyroscope measured detects simultaneously is sent to the processing equipment；
The processing equipment is worth according to the distance between each measuring device and each measuring device is sent geomagnetic data,
Angle-data and distance value obtain space coordinate relationship and distance value between the corresponding object to be measured of each measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811228410.6A CN109324334A (en) | 2018-10-22 | 2018-10-22 | Ranging system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811228410.6A CN109324334A (en) | 2018-10-22 | 2018-10-22 | Ranging system and method |
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| CN109324334A true CN109324334A (en) | 2019-02-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811228410.6A Pending CN109324334A (en) | 2018-10-22 | 2018-10-22 | Ranging system and method |
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| CN (1) | CN109324334A (en) |
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