CN110133672A - A kind of movable type rangefinder and its control method - Google Patents
A kind of movable type rangefinder and its control method Download PDFInfo
- Publication number
- CN110133672A CN110133672A CN201910338794.5A CN201910338794A CN110133672A CN 110133672 A CN110133672 A CN 110133672A CN 201910338794 A CN201910338794 A CN 201910338794A CN 110133672 A CN110133672 A CN 110133672A
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned plane
- wireless relay
- tof measurement
- relay module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
Abstract
The invention discloses a kind of mobile rangefinder and its control methods, it is related to technical field of distance measurement, it works for ranging, solve the problems, such as that the mobile inconvenient caused development ranging work under extreme terrain of existing rangefinder is more difficult, comprising: unmanned plane, vision positioning module, TOF measurement module, wireless relay module；Vision positioning module is securely fitted on unmanned plane, for obtaining and exporting the distance away the ground reference information of unmanned plane；TOF measurement module is securely fitted on unmanned plane, for measuring and exporting the distance between unmanned plane and target object；Wireless relay module is securely fitted on unmanned plane, and it is electrically connected with vision positioning module and TOF measurement module, distance away the ground reference information and pitch information for will receive are transmitted back to the receiver positioned at ground, and the control signal for receiving receiver output, and according to the state of flight of control signal control unmanned plane, to reduce the difficulty for carrying out ranging work under extreme terrain.
Description
Technical field
The present invention relates to technical field of distance measurement more particularly to a kind of mobile rangefinder and its control methods.
Background technique
In the fields such as life application and industrial application, it is often necessary to the distance between two objects or length are measured,
It is the distance between two objects directly to be measured by tools such as tape measures, but its limitation is too greatly gradually in early stage
It is eliminated.And rangefinder gradually captures market.
Rangefinder is a kind of equipment for measuring length or distance, and ranging method of sound wave or electro-optical distance measurement method is mainly used to survey
The distance between two objects or length are measured, indoors and outdoor can carry out distance or measurement of length.
But in the use process of rangefinder, be mostly ranging scheme is designed according to specific application scenarios, and with
The fixed rangefinder of auxiliary stand or man-hour manually hand-held rangefinder detect the distance between two objects, if however, meeting
To there are barriers between complicated landform or two objects, then it can work the ranging of rangefinder and generate greatly puzzlement, because
This, existing rangefinder is mobile inconvenient, so that carrying out the more difficult disadvantage of ranging work under extreme terrain.
Summary of the invention
The main purpose of the present invention is to provide a kind of mobile rangefinder and its application methods, it is intended to solve the prior art
In rangefinder it is mobile inconvenient caused by carry out the more difficult technical problem of ranging work under extreme terrain.
To achieve the above object, first aspect present invention provides a kind of mobile rangefinder, comprising: unmanned plane, vision are fixed
Position module, TOF measurement module, wireless relay module；The vision positioning module is securely fitted on the unmanned plane, for obtaining
The distance away the ground reference information of the unmanned plane is taken, and exports the distance away the ground reference information；The TOF measurement module is fixed
Be assemblied on the unmanned plane, for measuring the distance between the unmanned plane and target object, and export the unmanned plane with
The pitch information of target object；The wireless relay module is securely fitted on the unmanned plane, and with the vision positioning mould
Block and TOF measurement module electrical connection, for passing the distance away the ground reference information received and the pitch information
Defeated return is in the receiver on ground, and the control signal for receiving the receiver output, and according to the control signal control
Make the state of flight of the unmanned plane.
Further, the distance away the ground reference information include: the unmanned plane location information and the unmanned plane with
Range information between ground；The vision positioning module includes: the camera being securely fitted on the unmanned plane, the camera shooting
Head is electrically connected with the wireless relay module, for obtaining the location information of the unmanned plane, and to the wireless relay module
Export the location information；The height measurement unit being securely fitted on the unmanned plane, the height measurement unit is for surveying
The relative altitude information between the unmanned plane and ground is measured, and exports the relative altitude information to the wireless relay module.
Further, mobile rangefinder further include: electric platform, the electric platform are securely fitted in the unmanned plane
On, and the TOF measurement module is securely fitted on the electric platform.
Further, mobile rangefinder further include: the general supply module being securely fitted on the unmanned plane, it is described total
Power module is electrically connected with the unmanned plane, the vision positioning module, the wireless relay module and the TOF measurement module
It connects, for providing electricity for the unmanned plane, the vision positioning module, the wireless relay module and the TOF measurement module
Source；Voltage transformation module, the general supply module are electrically connected with the voltage transformation module, the voltage transformation module with it is described
Unmanned plane, the vision positioning module, the wireless relay module and TOF measurement module electrical connection, it is described for regulating and controlling
General supply module is defeated to the unmanned plane, the vision positioning module, the wireless relay module and the TOF measurement module
Voltage out.
Further, the wireless relay module offers the first Wi-Fi hotspot and the second Wi-Fi hotspot；The receiver
And it is wirelessly connected between the wireless relay module by the first Wi-Fi hotspot, and carried out by first Wi-Fi hotspot
Data transmission；The wireless relay module is wirelessly connected with the unmanned plane by the second Wi-Fi hotspot, and by described
Second Wi-Fi hotspot carries out data transmission.
Further, the unmanned plane is the small drone of Tello model；The model of the TOF measurement module
TFmini TOF measurement sensor；The wireless relay module is the wireless repeater of ESP8266 or ESP32 model.
Further, the vision positioning module is securely fitted in the bottom of the unmanned plane.
Second aspect of the present invention provides a kind of application method of mobile rangefinder, using shifting described in above-mentioned any one
Dynamic formula rangefinder, comprising: when the wireless relay module and unmanned plane, receiver are in connection status, receiver in response to
The control signal of input, and the control signal is transmitted to wireless relay module, to control the flight shape of the unmanned plane
State, wherein mobile rangefinder generates after receiving the control signal to the instruction response and unmanned plane for controlling signal
Condition responsive, and control the vision positioning module and the TOF measurement module obtains the distance away the ground reference information respectively
And the pitch information, by the wireless relay module to the receiver feedback data parameter, the data parameters include
Described instruction response, condition responsive, the distance away the ground reference information and the pitch information；Receiver receives the data ginseng
Number, and save the corresponding relationship of the control signal and the data parameters；It repeats the above steps, until by a measurement in need
Range measurement finish.
The present invention provides a kind of mobile rangefinder and its application method, beneficial effect are: in the process for carrying out ranging
In, unmanned plane then can be obtained by vision positioning module by unmanned plane during flying above an object into two objects
Height reference information over the ground, and the distance between unmanned plane and another object are measured by TOF measurement module, to calculate two
The distance between a object, and unmanned plane is convenient for manipulation and movement, so that being used for the vision positioning module and TOF of ranging
Range finder module is easy to remove, therefore reduces the difficulty of ranging.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic block diagram of movable type of embodiment of the present invention rangefinder；
Fig. 2 is the schematic process flow diagram of the control method of movable type of embodiment of the present invention rangefinder.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Fig. 1, for a kind of mobile rangefinder, comprising: unmanned plane 1, vision positioning module 2, TOF measurement module 3,
Wireless relay module 4；Vision positioning module 2 is securely fitted on unmanned plane 1, and the distance away the ground for obtaining unmanned plane 1 refers to
Information, and export distance away the ground reference information；TOF measurement module 3 is securely fitted on unmanned plane 1, for measure unmanned plane 1 with
The distance between target object, and export the pitch information of unmanned plane 1 Yu target object；Wireless relay module 4 is securely fitted in
It on unmanned plane 1, and is electrically connected with vision positioning module 2 and TOF measurement module 3, for believing the distance away the ground received reference
Breath and pitch information are transmitted back to the receiver positioned at ground, and the control signal for receiving receiver output, and according to control
The state of flight of signal control unmanned plane 1.
In the present embodiment, TOF measurement module 3 is specially TOF sensor, the model TFmini of TOF measurement module 3
The range measurement principle of TOF measurement sensor, TOF measurement module 3 is as follows: TOF measurement module 3 is by periodically launching outward modulation
Near infrared light signal afterwards, modulated near infrared light signal reflect after encountering barrier, and TOF measurement module 3 is by connecing
After receiving the near infrared light signal fired back, by the round-trip phase difference of near infrared light, when can calculate the flight of near infrared light
Between, the relative distance D between current TOF measurement module 3 and measured target is finally calculated again, and relative distance D can use 1 table of formula
Show, formula 1 is expressed as follows:
In equation 1, c indicates that the light velocity, f indicate the modulating frequency of near infrared light, and π indicates pi,Indicate phase
Difference.
According to the range measurement principle of above-mentioned TOF measurement module 3, so that movable type rangefinder provided by the present application can be based on nothing
Man-machine 1 flexibility carries out ranging work to specified region, and above-mentioned specified region can be simple landform, is also possible to multiple
Miscellaneous landform, therefore ranging work can be carried out to simple landform or complicated landform relatively simplely.
Distance away the ground reference information includes: the range information between the location information and unmanned plane 1 and ground of unmanned plane 1；?
In the present embodiment, vision positioning module 2 is securely fitted in the bottom of unmanned plane 1.Vision positioning module 2 includes: to be securely fitted in
Camera on unmanned plane 1, camera are electrically connected with wireless relay module 4, for obtaining the location information of unmanned plane 1, and to
4 output position information of wireless relay module；The height measurement unit being securely fitted on unmanned plane 1, height measurement unit are used for
The relative altitude information between unmanned plane 1 and ground is measured, and exports relative altitude information to wireless relay module 4；In this implementation
In example, height measurement unit is TOF sensor, what the TOF sensor that height measurement unit is related to was related to TOF measurement module 3
TOF sensor is identical, in other embodiments, what the TOF sensor and TOF measurement module 3 that height measurement unit is related to were related to
TOF sensor is not identical, it is to be understood that as long as the TOF sensing of relative altitude between unmanned plane 1 and ground can be measured
Device is suitable for the height measurement unit of the present embodiment.
It is in the present embodiment, mobile to realize that TOF measurement module 3 can measure on unmanned plane 1 multi-facetedly
Rangefinder further include: electric platform, electric platform are securely fitted on unmanned plane 1, and TOF measurement module 3 is securely fitted in electricity
On dynamic holder, in the present embodiment, electric platform is electronic two axis holders or three axis holders, to realize that TOF measurement module 3 exists
Rotation on unmanned plane 1, so that TOF measurement module 3 can carry out multi-faceted measurement；In other embodiments, TOF is surveyed
It is revolving TOF measurement sensor away from module 3, to realize TOF measurement module 3TOF range finder module 3 on unmanned plane 1
Rotation.
Mobile rangefinder further includes general supply module and voltage transformation module；General supply module is securely fitted in unmanned plane
On 1, general supply module is electrically connected with unmanned plane 1, vision positioning module 2, wireless relay module 4 and TOF measurement module 3, is used for
Power supply is provided for unmanned plane 1, vision positioning module 2, wireless relay module 4 and TOF measurement module 3；General supply module and voltage
Conversion module electrical connection, voltage transformation module and unmanned plane 1, vision positioning module 2, wireless relay module 4 and TOF measurement module
3 electrical connections, for regulating and controlling general supply module to unmanned plane 1, vision positioning module 2, wireless relay module 4 and TOF measurement module 3
Output voltage.
Specifically, since the supply voltage of TOF measurement module 3 in actual use is 5V, and the power supply of wireless relay module 4
Voltage is 3.3V, and the supply voltage of general supply module is 3.7V, therefore, in order to prevent under the supply voltage of general supply module,
TOF measurement module 3 is in under-voltage condition or wireless relay module 4 is in overvoltage condition and influences the working condition of itself, makes
With the output voltage of voltage transformation module regulation general supply module, TOF measurement module 3 and wireless relay module 4 are existed
It works under normal voltage.
Wireless relay module 4 offers the first Wi-Fi hotspot and the second Wi-Fi hotspot；Receiver and wireless relay module 4 it
Between be wirelessly connected by the first Wi-Fi hotspot, and carried out data transmission by the first Wi-Fi hotspot；Wireless relay module 4 with
Unmanned plane 1 is wirelessly connected by the second Wi-Fi hotspot, and is carried out data transmission by the second Wi-Fi hotspot.
Due to being wirelessly connected between wireless relay module 4 and receiver by the first Wi-Fi hotspot, wireless relay mould
Block 4 is wirelessly connected with unmanned plane 1 by the second Wi-Fi hotspot, and therefore, wireless relay module 4 need to have AP, and (full name is
Access Point) mode and Station mode, i.e. wireless relay module 4 itself need to have wirelessly access, allow other
Wireless device access, while itself also may be coupled to the AP of other equipment, and have data processing function, that is, have serial ports
Or the communication interfaces such as IIC or SPI, therefore model ESP8266, ESP32 etc. can be selected to have the wireless module of WIFI function
Wireless relay module 4 is done, in the present embodiment, chooses the wireless module of model ESP8266 as wireless relay module 4；Nothing
Man-machine 1 api interface for needing to have for secondary development, has ap mode radio network functions, in the present embodiment, nobody
The small drone of the selection of machine 1 model Tello.
Referring to Fig. 2, for a kind of control method of mobile rangefinder, the control method is applied to movement among the above
Formula rangefinder, comprising: S1, when wireless relay module and unmanned plane, receiver are in connection status, receiver is in response to input
Control signal, and control signal is transmitted to wireless relay module, to control the state of flight of unmanned plane, wherein mobile
Formula rangefinder upon the reception of control signals, is generated to the instruction response of control signal and the condition responsive of unmanned plane, and control
Vision positioning module and TOF measurement module obtain distance away the ground reference information and pitch information respectively, pass through wireless relay module
To receiver feedback data parameter, data parameters include instruction response, condition responsive, distance away the ground reference information and spacing letter
Breath；S2, receiver receive data parameters, and save the corresponding relationship of control signal and data parameters；S3, it repeats the above steps,
Until by the range measurement of measurement in need finish.
It should be noted that for the aforementioned method embodiment, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because according to
According to the present invention, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know that,
The embodiments described in the specification are all preferred embodiments, and related actions and modules might not all be institute of the present invention
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The above are the descriptions to a kind of mobile rangefinder provided by the present invention and its control method, for this field
Technical staff, thought according to an embodiment of the present invention, there will be changes in the specific implementation manner and application range, comprehensive
On, the contents of this specification are not to be construed as limiting the invention.
Claims (8)
1. a kind of movable type rangefinder characterized by comprising
Unmanned plane, vision positioning module, TOF measurement module, wireless relay module；
The vision positioning module is securely fitted on the unmanned plane, for obtaining the distance away the ground of the unmanned plane with reference to letter
Breath, and export the distance away the ground reference information；
The TOF measurement module is securely fitted on the unmanned plane, for measuring between the unmanned plane and target object
Distance, and export the pitch information of the unmanned plane and target object；
The wireless relay module is securely fitted on the unmanned plane, and with the vision positioning module and the TOF measurement
Module electrical connection, for the distance away the ground reference information received and the pitch information to be transmitted back to connecing positioned at ground
Device, and the control signal for receiving the receiver output are received, and flying for the unmanned plane is controlled according to the control signal
Row state.
2. movable type rangefinder according to claim 1, which is characterized in that
The distance away the ground reference information include: the unmanned plane location information and the unmanned plane between ground at a distance from believe
Breath；
The vision positioning module includes:
The camera being securely fitted on the unmanned plane, the camera is electrically connected with the wireless relay module, for obtaining
The location information of the unmanned plane is taken, and exports the location information to the wireless relay module；
The height measurement unit being securely fitted on the unmanned plane, the height measurement unit for measure the unmanned plane and
Relative altitude information between ground, and the relative altitude information is exported to the wireless relay module.
3. movable type rangefinder according to claim 1, which is characterized in that
Further include:
Electric platform, the electric platform are securely fitted on the unmanned plane, and the TOF measurement module is securely fitted in institute
It states on electric platform.
4. movable type rangefinder according to claim 1, which is characterized in that
Further include:
The general supply module being securely fitted on the unmanned plane, the general supply module and the unmanned plane, the vision are fixed
Position module, the wireless relay module and TOF measurement module electrical connection, for being the unmanned plane, the vision positioning
Module, the wireless relay module and the TOF measurement module provide power supply；
Voltage transformation module, the general supply module are electrically connected with the voltage transformation module, the voltage transformation module and institute
Unmanned plane, the vision positioning module, the wireless relay module and TOF measurement module electrical connection are stated, for regulating and controlling
General supply module is stated to the unmanned plane, the vision positioning module, the wireless relay module and the TOF measurement module
Output voltage.
5. movable type rangefinder according to claim 1, which is characterized in that
The wireless relay module offers the first Wi-Fi hotspot and the second Wi-Fi hotspot；
It is wirelessly connected between the receiver and the wireless relay module by the first Wi-Fi hotspot, and passes through described the
One Wi-Fi hotspot carries out data transmission；
The wireless relay module is wirelessly connected with the unmanned plane by the second Wi-Fi hotspot, and passes through described second
Wi-Fi hotspot carries out data transmission.
6. movable type rangefinder according to claim 1, which is characterized in that
The unmanned plane is the small drone of Tello model；
The model TFmini TOF measurement sensor of the TOF measurement module；
The wireless relay module is the wireless repeater of ESP8266 or ESP32 model.
7. movable type rangefinder according to claim 1, which is characterized in that
The vision positioning module is securely fitted in the bottom of the unmanned plane.
8. a kind of control method of movable type rangefinder, applied to mobile rangefinder described in claim 1-7 any one,
It is characterised by comprising:
When the wireless relay module and unmanned plane, receiver are in connection status, receiver is believed in response to the control of input
Number, and the control signal is transmitted to wireless relay module, to control the state of flight of the unmanned plane, wherein mobile
Formula rangefinder generates after receiving the control signal to the instruction response of control signal and the condition responsive of unmanned plane, and
It controls the vision positioning module and the TOF measurement module obtains the distance away the ground reference information and spacing letter respectively
Breath, by the wireless relay module to the receiver feedback data parameter, the data parameters include described instruction response,
Condition responsive, the distance away the ground reference information and the pitch information；Receiver receives the data parameters, and described in preservation
Control the corresponding relationship of signal and the data parameters；
Repeat the above steps, until by the range measurement of measurement in need finish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910338794.5A CN110133672A (en) | 2019-04-25 | 2019-04-25 | A kind of movable type rangefinder and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910338794.5A CN110133672A (en) | 2019-04-25 | 2019-04-25 | A kind of movable type rangefinder and its control method |
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| CN110133672A true CN110133672A (en) | 2019-08-16 |
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| CN201910338794.5A Pending CN110133672A (en) | 2019-04-25 | 2019-04-25 | A kind of movable type rangefinder and its control method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20180314268A1 (en) * | 2017-05-01 | 2018-11-01 | EAVision Corporation | Detecting and following terrain height autonomously along a flight path |
| CN208110035U (en) * | 2018-04-27 | 2018-11-16 | 四川海讯电子开发集团有限公司 | A kind of unmanned plane range-measurement system |
| CN109073385A (en) * | 2017-12-20 | 2018-12-21 | 深圳市大疆创新科技有限公司 | A kind of localization method and aircraft of view-based access control model |
| US20190064329A1 (en) * | 2017-08-31 | 2019-02-28 | SZ DJI Technology Co., Ltd. | Delay time calibration of optical distance measurement devices, and associated systems and methods |
-
2019
- 2019-04-25 CN CN201910338794.5A patent/CN110133672A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180314268A1 (en) * | 2017-05-01 | 2018-11-01 | EAVision Corporation | Detecting and following terrain height autonomously along a flight path |
| US20190064329A1 (en) * | 2017-08-31 | 2019-02-28 | SZ DJI Technology Co., Ltd. | Delay time calibration of optical distance measurement devices, and associated systems and methods |
| CN109073385A (en) * | 2017-12-20 | 2018-12-21 | 深圳市大疆创新科技有限公司 | A kind of localization method and aircraft of view-based access control model |
| CN208110035U (en) * | 2018-04-27 | 2018-11-16 | 四川海讯电子开发集团有限公司 | A kind of unmanned plane range-measurement system |
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