CN112469973A

CN112469973A - Measuring terminal, remote controller, measuring assembly and measuring method

Info

Publication number: CN112469973A
Application number: CN202080003997.XA
Authority: CN
Inventors: 黄振昊; 何纲; 潘国秀
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2021-03-09
Also published as: WO2021207934A1

Abstract

A measurement terminal (100), a remote controller, a measurement assembly (1000) and a measurement method, the measurement terminal (100) comprising: the device comprises a shell (10), and a processor (11), a positioning unit (14), a ranging unit (16) and an angle measuring unit (18) which are arranged on the shell (10), wherein the processor (11) is connected with the positioning unit (14), the ranging unit (16) and the angle measuring unit (18); the positioning unit (14) is used for acquiring the position of the positioning unit (14); the distance measurement unit (16) is used for acquiring the distance between the marker (50) and the measurement terminal (100); the angle measuring unit (18) is used for acquiring the relative position of the distance measuring unit (16) and the preset direction (P); the processor (11) is used for acquiring the position of the marker (50) according to the position of the positioning unit (14), the relative position of the ranging unit (16) and the preset direction (P), the preset relative position of the positioning unit (14) and the ranging unit (16) and the distance.

Description

Measuring terminal, remote controller, measuring assembly and measuring method

Technical Field

The application relates to the technical field of measurement, in particular to a measurement terminal, a remote controller, a measurement assembly and a measurement method.

Background

In the related art, surveying and mapping generally uses a conventional total station, and a calibration point needs to be set in advance, and an instrument needs to be erected and set. The use of the super station instrument also requires erection together. Such devices are mostly used for ranging in long-distance scenes. Surveying and mapping under a close-distance scene generally adopts a scheme of using a centering rod, however, the scheme is inconvenient because a rod-shaped object needs to be carried, secondly, the scheme is effective only for collecting the point positions on the ground, and if the point positions needing to be collected are not on the ground, for example, the point positions of columns on the ground need to be collected, a user needs to put the rod-shaped object on the columns, so that great use difficulty is brought to the user.

Disclosure of Invention

The embodiment of the application provides a measuring terminal, a remote controller, a measuring assembly and a measuring method.

The embodiment of the application provides a measurement terminal, includes:

the device comprises a shell, and a processor, a positioning unit, a distance measuring unit and an angle measuring unit which are arranged on the shell, wherein the processor is connected with the positioning unit, the distance measuring unit and the angle measuring unit;

the positioning unit is used for acquiring the position of the positioning unit;

the distance measuring unit is used for acquiring the distance between a marker and the measuring terminal;

the angle measuring unit is used for acquiring the relative position of the distance measuring unit and a preset direction;

the processor is used for acquiring the position of the marker according to the position of the positioning unit, the relative position of the ranging unit and the preset direction, the preset relative position of the positioning unit and the ranging unit and the distance.

According to the measuring terminal, the positioning unit, the distance measuring unit and the angle measuring unit are arranged, and the positions of the markers are obtained by processing the data acquired by the positioning unit, the distance measuring unit and the angle measuring unit, so that simple and easy-to-use surveying and mapping can be realized, and the measuring terminal is particularly suitable for short-distance surveying and mapping operation.

The utility model provides a remote controller of embodiment for moving platform, the remote controller includes the remote controller main part, the remote controller main part is equipped with the controlling device who is used for supplying the user to input remote control instruction, the remote controller still includes:

the device comprises a positioning unit, a distance measuring unit and an angle measuring unit;

at least part of the positioning unit is rotatably arranged on the remote controller main body;

the distance measuring unit is arranged on the side part of the remote controller main body;

the angle measuring unit is arranged in the remote controller main body or on the surface of the remote controller main body and is relatively fixed with the remote controller main body.

According to the remote controller, the required data are collected by arranging the positioning unit, the distance measuring unit and the angle measuring unit, and the data can be processed subsequently to obtain the position of the marker, so that simple and easy-to-use surveying and mapping can be realized, and the remote controller is particularly suitable for short-distance surveying and mapping operation.

The measuring assembly comprises a mobile platform and the measuring terminal, wherein the measuring terminal is in wireless communication with the mobile platform.

The measuring assembly comprises a mobile platform and the remote controller, wherein the remote controller is in wireless communication with the mobile platform.

According to the measuring assembly and the remote controller, the positioning unit, the distance measuring unit and the angle measuring unit are arranged, and the positions of the markers are obtained by processing the data acquired by the positioning unit, the distance measuring unit and the angle measuring unit, so that simple and easy-to-use surveying and mapping can be realized, and the measuring assembly and the remote controller are particularly suitable for short-distance surveying and mapping operation. In addition, through the control to moving platform, on the one hand, the operating personnel need not necessarily to the survey and drawing point, just can obtain the position of survey and drawing point, and on the other hand, even the topography is not convenient for survey and drawing closely, also can survey and drawing.

The measurement method of the embodiment of the application is used for measuring a terminal, the measuring terminal comprises a shell, and a positioning unit, a distance measurement unit and an angle measurement unit which are arranged on the shell, and the measurement method comprises the following steps:

the position of the positioning unit is obtained through the positioning unit, the distance between a marker and the measuring terminal is obtained through the distance measuring unit, and the relative position of the distance measuring unit and the preset direction is obtained through the angle measuring unit;

and acquiring the position of the marker according to the position of the positioning unit, the relative position of the ranging unit and the preset direction, the preset relative position of the positioning unit and the ranging unit and the distance.

According to the measuring method, the positions of the markers are obtained by arranging the positioning unit, the distance measuring unit and the angle measuring unit and processing the data acquired by the positioning unit, the distance measuring unit and the angle measuring unit, so that simple and easy-to-use surveying and mapping can be realized, and the measuring method is particularly suitable for short-distance surveying and mapping operation.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic plan view of a measurement terminal according to an embodiment of the present application;

FIG. 2 is a schematic front side view of a measurement terminal according to an embodiment of the present application;

FIG. 3 is a schematic diagram of the left side of the measurement terminal according to an embodiment of the present application;

FIG. 4 is another left side schematic view of a measurement terminal according to an embodiment of the present application;

FIG. 5 is another schematic plan view of a measurement terminal according to an embodiment of the present application;

fig. 6 is a measurement schematic diagram of a measurement terminal according to an embodiment of the present application;

fig. 7 is another measurement schematic diagram of a measurement terminal according to an embodiment of the present application;

fig. 8 is a further measurement schematic diagram of a measurement terminal according to an embodiment of the present application;

FIG. 9 is a further schematic plan view of a measurement terminal according to an embodiment of the present application;

FIG. 10 is another front side schematic view of a measurement terminal of an embodiment of the present application;

FIG. 11 is a schematic diagram of a left side of a measurement terminal according to an embodiment of the present application;

FIG. 12 is a further schematic plan view of a measurement terminal according to an embodiment of the present application;

fig. 13 is still another left side schematic view of a measurement terminal according to an embodiment of the present application;

fig. 14 is still another measurement schematic diagram of a measurement terminal according to an embodiment of the present application;

fig. 15 is another measurement schematic diagram of a measurement terminal according to an embodiment of the present application;

FIG. 16 is a schematic view of a measurement assembly according to an embodiment of the present application;

fig. 17 is a flowchart of a measurement method according to an embodiment of the present application.

Description of the drawings with the main elements symbols:

a measurement terminal 100;

the system comprises a shell 10, a processor 11, a first adjusting component 13, a first thumb wheel 132, a first pointer 1322, a positioning unit 14, a first antenna 142, a driving circuit board 144, a second adjusting component 15, a second thumb wheel 152, a distance measuring unit 16, a first distance measuring unit 162, a second distance measuring unit 164, an angle measuring unit 18, a second antenna 184, a horizontal measuring instrument 20, a remote control antenna 30, a touch display screen 40, a marker 50 and a bracket 60;

measurement assembly 1000, mobile platform 200.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1 to 15, a measurement terminal 100 according to an embodiment of the present disclosure includes a housing 10, and a processor 11, a positioning unit 14, a distance measurement unit 16, and an angle measurement unit 18 mounted on the housing 10, where the processor 11 is connected to the positioning unit 14, the distance measurement unit 16, and the angle measurement unit 18.

The positioning unit 14 is used to acquire the position of the positioning unit 14.

The ranging unit 16 is used to acquire the distance between the marker 50 and the measurement terminal 100.

The angle measuring unit 18 is used to obtain the relative position of the ranging unit 16 to the preset direction.

The processor 11 is configured to obtain the position of the marker 50 according to the position of the positioning unit 14, the relative position of the ranging unit 16 to the preset direction, the preset relative position of the positioning unit 14 and the ranging unit 16, and the distance.

The measuring terminal 100 is provided with the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18, and processes data acquired by the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18 to obtain the position of the marker 50, so that simple and easy-to-use mapping can be realized, and the measuring terminal is particularly suitable for mapping operation in a short distance.

In the related art, most of surveying and mapping generally uses a traditional total station or super station, but the existing equipment used in a complex environment is heavy, and a poor and inconvenient operation environment is caused for users. Moreover, most of the devices are used in the remote scene, and although the centering rod scheme can be used in the near distance, the requirement of the centering rod scheme on the acquisition point position is higher. If the collection point is not on the ground, it is difficult for the user to measure the near distance point by using the device. Therefore, in order to solve the problem that the equipment is heavy and not easy to carry, and the problem of accurate positioning of the markers 50 with short distances, the measuring terminal 100, the remote controller, the measuring assembly and the measuring method are further designed.

Specifically, referring to fig. 1 to 8, the measuring terminal 100 can be used to measure the position of the near or far marker 50, thereby providing a convenient and effective ranging method for the user. The measurement terminal 100 may include a housing 10, a processor 11, a positioning unit 14, a ranging unit 16, and an angle measurement unit 18. The processor 11 processes the above-mentioned data information to obtain the distance between the measuring terminal 100 and the marker 50, so as to accurately measure the position of the marker 50. In this embodiment, the measurement terminal 100 may be used in an unmanned aerial vehicle aerial survey system.

In addition, in this embodiment, the positioning unit 14 may include an RTK module (Real-time kinematic), that is, the positioning technology adopted by the positioning unit 14 is an RTK positioning technology, the RTK positioning technology is a difference method that processes the observed quantities of the carrier phases of two or more measurement stations in Real time, and the carrier phases acquired by the reference station are sent to a user receiver to perform differencing and coordinate resolving, so as to achieve centimeter-level accuracy. In the RTK mode of operation, the base station transmits its observations to the rover station along with the rover coordinate information via the data chain. The RTK positioning technique is a commonly used satellite positioning measurement method. In addition, the reference station is a ground fixed observation station that continuously observes the satellite navigation signal for a long period of time and transmits the observation data to the data center in real time or at regular time by the communication facility. The rover station may stream measurement stations established by receivers operating within a range of the reference station.

With the development of chip technology, GNSS algorithm and hardware technology, the carrier of RTK positioning technology has been developed from a large-volume and large-power-consumption GNSS receiver to a small-size, low-power-consumption and high-sensitivity GNSS board card or even chip, and the cost is also continuously reduced, so that it is possible to integrate a GNSS chip on a measurement terminal, such as an unmanned aerial vehicle remote controller.

In some embodiments, referring to fig. 1, the positioning unit 14 includes a first antenna 142, and the positioning unit 14 is configured to obtain a position of a phase center of the first antenna 142 as a position of the positioning unit 14. In this way, the position of the positioning unit 14 can be accurately obtained through the first antenna 142, and the accuracy of obtaining the position information of the positioning unit 14 is ensured.

Specifically, the first antenna 142 of the positioning unit 14 may be an RTK main antenna. The RTK main antenna affects the speed and accuracy of the high precision positioning of the positioning unit 14. In this embodiment, the positioning unit 14 may receive a signal of an aerial satellite through the RTK antenna, and further obtain the position of the phase center of the first antenna 142 through the received satellite signal, where the position of the phase center of the first antenna 142 may be a centimeter-level precision position, so as to accurately obtain the position of the positioning unit 14, and prepare for the subsequent short-distance measurement of the measurement terminal 100. In addition, the RTK main antenna is responsible for receiving and transmitting position information, respectively. The position of the positioning unit 14 here may be the absolute position of the positioning unit 14.

In some embodiments, the measurement terminal 100 further includes a first adjusting component 13 connected to the first antenna 142, and the first adjusting component 13 is configured to adjust the orientation of the first antenna 142 such that the orientation of the first antenna 142 is vertically upward. In this way, through the operation of the first adjusting component 13, it can be precisely ensured that the first antenna 142 can keep vertically upward under most scenes, and stably receives signals of a complete satellite constellation.

Specifically, referring to fig. 1 to fig. 3, the first adjusting element 13 is connected to the first antenna 142 of the positioning unit 14. Since the measuring terminal 100 inevitably undergoes a positional shift during ranging of the plurality of markers 50. In case that the whole measuring terminal 100 is tilted, the first antenna 142 is not oriented in a vertical upward direction, and the first antenna 142 is shifted, the satellite signal cannot be stably received by the first antenna 142, which has an effect on receiving the complete satellite signal, and the result of positioning is unreliable. In order to avoid the orientation deviation of the first antenna 142 during the position movement of the measurement terminal 100, the first antenna 142 is rotatably connected to the housing 10, the first adjusting assembly 13 is connected to the first antenna 142 through a relevant structure (such as a gear, a belt, a chain, a screw, a motor, etc.), and a user can adjust the first adjusting assembly 13 to rotate the first antenna 142 to adjust the orientation of the first antenna 142 to ensure that the orientation of the first antenna 142 is vertically upward, so that the first antenna 142 at the positioning unit 14 of the measurement terminal 100 can completely and stably receive the aerial satellite signal, and the positioning position of the measurement terminal 100 can be obtained with high precision. Additionally, the first antenna 142 may be oriented vertically upward in a direction that the first antenna 142 is facing the top of the sky.

In some embodiments, the first adjustment assembly 13 includes a first thumb wheel 132 disposed on a surface of the housing 10. Thus, the orientation of the first antenna 142 can be accurately adjusted by the arrangement of the first thumb wheel 132, and the orientation of the first antenna 142 is ensured to be vertically upward, so that the orientation of the measuring terminal 100 can be adjusted more conveniently and accurately.

Specifically, referring to fig. 1 and 4, the first thumb wheel 132 is disposed on the upper surface of the housing 10. The first wheel 132 may be a rotary wheel, and may rotate clockwise or counterclockwise, and is not limited herein. In one example, when the orientation of the first antenna 142 is tilted to the left, rotating the first wheel 132 clockwise can cause the first antenna 142 to be tilted to the right, thereby adjusting the orientation of the first antenna 142 to be vertically upward. In another example, when the orientation of the first antenna 142 is tilted to the right, rotating the first thumb wheel 132 counterclockwise can cause the first antenna 142 to be tilted to the left, thereby adjusting the orientation of the first antenna 142 to be vertically upward. And is not particularly limited herein. In addition, the angle of rotation of the first jog dial 132 is different, and the angle of deviation of the orientation of the first antenna 142 is also different. The first dial wheel 132 may have a cylindrical shape, a rectangular parallelepiped shape, a prism shape, or the like. Referring to fig. 4, in the case that the measuring terminal 100 is inclined with respect to the horizontal plane, the first antenna 142 may be oriented vertically upward by dialing the first dial wheel 132.

In some embodiments, the first adjustment assembly 13 is provided with a first angle indicator. As such, the first angle indicator may facilitate the user in identifying and perceiving the adjustment range of the first adjustment assembly 13.

Specifically, in this embodiment, the user can further know the adjustment range of the first adjustment assembly 13 through the first angle identifier. The first angle indicator may be provided at the first thumb wheel 132. Referring to fig. 11, the first wheel 132 is provided with a first pointer 1322, and the first pointer 1322 can be used to rotate to point to the corresponding first angle indicator by rotating the first wheel 132. In one example, since the adjustment of the first wheel 132 can control the orientation of the first antenna 142 of the positioning unit 14, the user can know the adjusted angle of the first antenna 142 by rotating the first wheel 132 to make the first pointer 1322 point to the first angle identifier, such as 30 ° or 50 °, and further can adjust the orientation of the first antenna 142 by 30 ° or 50 °, so that the user can know the adjusted angle of the first antenna 142 through the first angle identifier pointed by the first pointer 1322, thereby further ensuring the accuracy of the distance measurement of the measuring terminal 100, and meanwhile, the processor 11 can determine the adjusted angle of the first antenna 142 according to the rotated angle of the first wheel 132. The relationship between the rotation angle of the first wheel 132 and the adjusted angle of the first antenna 142 may be calibrated and stored through a predetermined test, and the rotation angle of the first wheel 132 may be detected through an angle sensor. In other embodiments, the first angle indicator may be disposed near the first wheel 132, and is not limited herein. In addition, the first thumb wheel 132 can also be referred to as an angle thumb wheel.

It will be appreciated that the value read from the first angular index (i.e., the angle of rotation of the first thumbwheel 132) can be used to calculate the angle of offset of the measurement terminal 100 with respect to horizontal by various means of calibration. In one embodiment, the value read by the first angle indicator is directly used as the offset angle of the measurement terminal 100 relative to the horizontal, and in other embodiments, the value read by the first angle indicator is subtracted from 90 degrees (or other angles) used as the offset angle of the measurement terminal 100 relative to the horizontal. And is not particularly limited herein.

In some embodiments, the positioning unit 14 includes a driver circuit board 144 located within the housing 10, the driver circuit board 144 being connected to the first antenna 142. In this manner, the driver circuit board 144 may be used to resolve relevant data within the positioning unit 14 and control the reception and transmission of the first antenna 142.

Specifically, referring to fig. 1, the driving circuit board 144 is located inside the housing 10, and the driving circuit board 144 is electrically connected to the first antenna 142 of the positioning unit 14. In this embodiment, the driving circuit board 144 may also be an RTK board. The driver circuit board 144 may perform a calculation of the data in the positioning unit 14, in one example, the first antenna 142 receives an air satellite signal, and the driver circuit board 144 may perform a calculation of the data to obtain the position of the phase center of the first antenna 142.

In some embodiments, the first antenna 142 is mounted on the top or side of the housing 10. In this way, the first antenna 142 can be flexibly installed on different parts of the housing 10, which is beneficial to leave a certain space for installing other components of the housing 10 and is beneficial to flexibly installing other components of the measurement terminal 100.

Specifically, referring to fig. 1, in the present embodiment, the first antenna 142 is installed at the top of the housing 10, so that the first antenna 142 can further face vertically upward and stably and accurately receive signals of an aerial satellite, so that the positioning unit 14 can be positioned more accurately. In addition, the first antenna 142 may be mounted on a side portion of the housing 10, and the first antenna 142 may be oriented vertically upward by operating the first adjustment assembly 13. The first antenna 142 mounted on the side of the casing 10 can provide a certain mounting space for mounting other components of the measurement terminal 100, and save space resources at the top of the casing 10, so that the mounting position of other components of the measurement terminal 100 can be more selected.

In some embodiments, ranging unit 16 includes at least two ranging units 16, and at least two ranging units 16 are respectively installed at different sides of housing 10. In this way, ranging of markers 50 in different orientations may be achieved, such that the versatility of the measurement terminal 100 is further enhanced.

Specifically, referring to fig. 1 to 5, the distance measuring unit 16 may include a laser distance measuring instrument, which measures the time required for the laser to travel to and from the marker 50, and calculates the distance to be measured by the speed of light and the atmospheric refractive index. The laser range finder may be provided with a laser emitting port. In other embodiments, ranging unit 16 may comprise an acoustic rangefinder.

In the present embodiment, two distance measuring units 16 are installed at different sides of the housing 10. In other embodiments, the number of the distance measuring units 16 may also be three, four or more, and they are distributed and installed on different sides of the housing 10, or some two or three are installed on the same side, and another one or two or more are installed on another side, and they are set according to the actual and need, and are not limited herein.

In some embodiments, the measurement terminal 100 further includes a second adjusting component 15, and the second adjusting component 15 is connected to at least one of the ranging units 16, and is used for adjusting the orientation of the ranging unit 16 connected to the second adjusting component 15. In this manner, precise adjustment of the orientation of ranging unit 16 may be achieved, such that measuring terminal 100 may stably range markers 50 in different orientations.

Specifically, referring to fig. 1 to 5, the second adjusting assembly 15 is disposed on the housing 10. In the present embodiment, the second adjusting unit 15 is connected to one of the distance measuring units 16, and the second adjusting unit 15 can adjust the direction of the transmitting port of the distance measuring unit 16, and further adjust the direction of the distance measuring unit 16. In the process of measuring the distance of the measuring terminal 100, the second adjusting component 15 may be used to adjust the orientation of the connected distance measuring unit 16, so that the laser emitting port of the distance measuring unit 16 is aligned with the marker 50 to be measured, thereby more accurately and effectively measuring the distance between the marker 50 and the measuring terminal 100, and realizing convenient and fast distance measurement between short distances. In other embodiments, the second adjustment assembly 15 may be further connected to two ranging units 16, so as to control the orientations of the two ranging units 16, so that the orientations of the ranging units 16 are more convenient for the user to perform ranging.

In some embodiments, the second adjustment assembly 15 includes a second thumb wheel 152 disposed on a surface of the housing 10. Thus, the orientation of the distance measuring unit 16 can be precisely adjusted by adjusting the second thumb wheel 152.

Specifically, referring to fig. 1 to 5, the second adjusting assembly 15 includes a second thumb wheel 152, and the second thumb wheel 152 may be located on a surface of the housing 10. The second thumb wheel 152 is coupled to at least one of the ranging units 16. The user can adjust the offset angle of the ranging unit 16 connected to the second jog dial 152 with respect to the horizontal direction and/or the vertical direction (or the vertical direction) by manipulating the second jog dial 152, so that the ranging unit 16 can measure a desired marker 50, such as a marker 50 directly in front and obliquely above, or directly below or obliquely below, in case that the measuring terminal 100 is arbitrarily tilted.

The second wheel 152 may rotate clockwise or counterclockwise, and is not limited in particular. In one example, when the orientation of the ranging unit 16 is biased to the left or biased to the down in a diagonal direction, clockwise rotation of the second thumb wheel 152 may cause the ranging unit 16 to be biased to the right or biased to the up, thereby aligning the ranging unit 16 with the marker 50 to be measured. In another example, when the orientation of the ranging unit 16 is tilted to the right or upward, rotating the second thumb wheel 152 counterclockwise may cause the ranging unit 16 to be tilted to the left or downward, thereby aligning the ranging unit 16 with the marker 50 to be measured. And is not particularly limited herein. In addition, the angle of rotation of the second thumb wheel 152 is different, and the offset angle of the distance measuring unit 16 is also different. The second jog dial 152 may have a cylindrical shape, a rectangular parallelepiped shape, a prism shape, or the like.

In some embodiments, a second angle indicator is provided on the second adjustment assembly 15. So for second adjustment assembly 15 is at the in-process of adjusting range unit 16 orientation, and the user can hold the yardstick of regulation more accurately, and then improves the accuracy that second adjustment assembly 15 adjusted, makes the user can adjust range unit 16's orientation fast conveniently.

Specifically, in the present embodiment, the user can further know the adjustment range of the second adjustment assembly 15 through the second angle identifier. The second angle indicator may be provided at the second thumb wheel 152. The second thumb wheel 152 is provided with a second pointer, and the second pointer can be used for rotating to point to a corresponding second angle indicator through rotating the second thumb wheel 152. In one example, since adjustment of the second thumb wheel 152 can control the orientation of the distance measuring unit 16, the orientation of the distance measuring unit 16 can be adjusted by 30 ° or 50 ° by rotating the second thumb wheel 152 such that the second pointer points to a second angle indicator, such as 30 ° or 50 °. In this way, the user can know the angle adjusted by the ranging unit 16 through the second angle indication pointed by the second pointer, so that the ranging unit 16 is aligned with the marker 50 to be measured, and the distance between the measuring terminal 100 and the marker 50 is measured. Meanwhile, the processor 11 may also determine the adjusted angle of the distance measuring unit 16 according to the rotation angle of the second thumb wheel 152. The relationship between the rotation angle of the second wheel 152 and the adjusted angle of the distance measuring unit 16 may be calibrated and stored through a preliminary test, and the rotation angle of the second wheel 152 may be detected by an angle sensor. In other embodiments, the second angle indicator may be disposed near the second wheel 152, which is not limited herein. In addition, the second thumb wheel 152 may also be referred to as an angle thumb wheel.

It will be appreciated that the value read from the second angle indicator (i.e., the angle of rotation of the second thumb wheel 152) may be used to calculate the angle of adjustment of the range finding unit 16 in a different calibration manner. In one embodiment, the value read by the second angle indicator is directly used as the angle adjusted by ranging unit 16, and in another embodiment, the value read by the first angle indicator is subtracted from 90 degrees (or other angles) as the angle adjusted by ranging unit 16. And is not particularly limited herein.

In some embodiments, the at least two ranging units 16 include a first ranging unit 162 and a second ranging unit 164, the first ranging unit 162 being mounted at the front of the housing 10, and the second ranging unit 164 being mounted at the bottom of the housing 10. In this manner, by mounting ranging unit 16 at multiple orientations on housing 10, measuring terminal 100 is enabled to perform ranging at multiple orientations.

Specifically, referring to fig. 1 to 5, in the present embodiment, the two ranging units 16 are a first ranging unit 162 and a second ranging unit 164, respectively. The first distance measuring unit 162 may be installed at the front of the housing 10, so as to measure the distance right in front of or obliquely in front of the housing 10; the second distance measuring unit 164 may be installed at the bottom of the case 10, and may measure a distance directly below or obliquely below the case 10. In other embodiments, the distance measuring unit 16 may be further installed at a side portion of the case 10, and may measure a distance in a left or right direction of the case 10. And is not particularly limited herein. In this way, the measuring terminal 100 measures the distance of the markers 50 in different directions, and can measure the distance by controlling the distance measuring unit 16 closest to the direction of the marker 50, thereby efficiently and accurately measuring the distance.

In addition, in the embodiment of the present application, the second adjusting assembly 15 is connected to the first distance measuring unit 162, and the orientation of the first distance measuring unit 162, such as the orientation of the emitting opening of the first distance measuring unit 162, can be adjusted by rotating the second dial wheel 152. In other embodiments, the second adjusting assembly 15 may be connected to the second distance measuring unit 164, or the second adjusting assembly 15 may be connected to the first distance measuring unit 162 and the second distance measuring unit 164, and the second adjusting assembly 15 includes two second thumb wheels 152 to adjust the orientations of the first distance measuring unit 162 and the second distance measuring unit 164, respectively.

In some embodiments, the distance includes a first distance of the marker 50 located in front of the measuring terminal 100 from the measuring terminal 100 measured by the first ranging unit 162; the processor 11 is specifically configured to obtain the position of the marker 50 located in front of the measurement terminal 100 according to the position of the positioning unit 14, the relative position of the first ranging unit 162 to the preset direction P, the preset relative position of the positioning unit 14 to the first ranging unit 162, the offset angle of the first ranging unit 162 with respect to the horizontal direction, and the first distance. In this way, the processor 11 can analyze and process the relevant position data to obtain the specific position of the marker 50 in front of the measuring terminal 100.

Specifically, referring to fig. 4, 6 and 7, the first distance L1 is the distance between the marker 50 and the emitting opening of the first distance measuring unit 162 at the oblique front (oblique upward) of the measuring terminal 100, the first distance L1 can be measured by the first distance measuring unit 162, and the distance between the emitting and receiving position of the first distance measuring unit 162 and the rotating shaft of the second wheel 152 is L2, that is, the length of the first distance measuring unit 162 is L2, then the distance L between the rotating shaft of the second wheel 152 and the marker 50 is L1+ L2 (see fig. 6). The horizontal offset angle is an inclination angle when the first distance measuring unit 162 is to face the diagonally forward marker 50. The relative position of the first distance measuring unit 162 to the predetermined direction P and the predetermined relative position of the positioning unit 14 to the first distance measuring unit 162 can be used to compensate the coordinate position of the marker 50. The processor 11 may analyze and process the position of the marker 50 in front of the measuring terminal 100 according to the position of the positioning unit 14, the relative position of the first ranging unit 162 to the preset direction P, the preset relative position of the positioning unit 14 to the first ranging unit 162, the offset angle of the first ranging unit 162 with respect to the vertical direction, and the first distance L1. In the present embodiment, since the second jog dial 152 adjusts the orientation of the first distance measuring unit 162, the relative position of the second jog dial 152 with respect to the phase center of the first antenna 142 and the relative position of the marker 50 with respect to the reference of the rotation axis of the second jog dial 152 are calculated. In calculating the distance of the marker 50 from the measuring terminal 100, L2 needs to be compensated to the first distance L1 measured by the first ranging unit 162. And L2 is a preset value. In another embodiment, the transmission and reception positions of the first distance measuring unit 162 or other positions of the measuring terminal 100 may be used as references instead of the rotation axis of the second jog dial 152, and the position of the positioning unit 142 may be converted to the reference position in the body coordinates of the measuring terminal 100, and then the position of the marker 50 may be converted from the reference position. And is not particularly limited herein.

More specifically, the front may be a straight front and an oblique front. In the embodiment of the present application, in the case of measuring the position of the marker 50 located in the oblique front of the measurement terminal 100, the user can horizontally position the measurement terminal 100, and by the transmission and reception of the first antenna 142, the centimeter-level accuracy position of the phase center of the first antenna 142, that is, the position of the positioning unit 14, can be obtained, which is denoted by (X, Y, Z).

When the measuring terminal 100 is in a horizontal state, the second dial wheel 152 connected to the first distance measuring unit 162 is rotated to adjust the orientation of the first distance measuring unit 162, so that the emitting port of the first distance measuring unit 162 is aligned with the marker 50 in an oblique front direction, at this time, referring to fig. 6, the angle of the second dial wheel 152 connected to the first distance measuring unit 162 along the vertical direction a-a is ≦ H1, and the angle ≦ H1 is used as the offset angle of the first distance measuring unit 162 with respect to the horizontal direction. Referring to fig. 7, the relative position of the first ranging unit 162 and the predetermined direction P is an angle H2, i.e. the offset angle of the first ranging unit 162 relative to the predetermined direction P. The angle H2 can be measured by the angle measuring unit 18.

In the case where the measurement terminal 100 is horizontally placed, the distance between the transmission port of the first ranging unit 162 and the marker 50 is L1, and the length of the first ranging unit 162 is L2, that is, the distance between the transmission port of the first ranging unit 162 and the receiving position to the rotation axis of the second jog dial 152 is L2. Then, the second wheel 152 rotates by a distance L from the marker 50, which is L1+ L2. The distance L2 is a preset amount of the measurement terminal 100.

Under the body coordinate system of the fixed measuring terminal 100, the first distance measuring unit 162 can measureA first distance L1 between the marker 50 located in front of the measurement terminal 100 and the measurement terminal 100 is obtained by a trigonometric function relationship, where the relative position between the marker 50 and the first distance measurement unit 162 is (L3, L4, and L5), where L5 is L Sin (H1) (L1+ L2) Sin (H1), L3 is L Sin (H2) (L1+ L2) Sin (H2), and L4 is L Cos (H2), because the offset angle of the first distance measurement unit 162 with respect to the horizontal direction is H1, and the relative position of the first distance measurement unit 162 with respect to the preset direction P is angle H2. While the predetermined relative position between the positioning unit 14 and the first ranging unit 162 is a predetermined value of the measurement terminal 100, specifically, in fig. 6, the predetermined relative position between the positioning unit 14 and the first ranging unit 162 can compensate the position of the positioning unit 14 to the position of the first ranging unit 162 under the body coordinate system. Therefore, in the body coordinate system, the coordinate position of the rotation axis of the second jog dial 152 can be obtained as (X) according to the position of the phase center of the first antenna 142 to the position of the rotation axis of the second jog dial 152_{Body offset}，Y_{Body offset}，Z_{Body offset}) This serves as the position of the first ranging unit 162.

Coordinate position (X) by the first ranging unit 162_{Body offset}，Y_{Body offset}，Z_{Body offset}) And the relative positions of the marker 50 and the first ranging unit 162 (L3, L4, L5), compensation in XYZ directions is performed, so that the position (X) of the marker 50 located in front of the measuring terminal 100 can be calculated_Landmark，Y_Landmark，Z_Landmark)。

In summary, with reference to < H1, < H2, and first distance L1, under the body coordinate system, the phase center position of first antenna 142 is converted to the position of first distance measuring unit 162, and then to the position (X) of marker 50 in front of measuring terminal 100_Landmark，Y_Landmark，Z_Landmark)。

Further, when the measurement terminal 100 itself is tilted, the first wheel 132 may be rotated such that the first antenna 142 is always kept vertically upward, and thus, in the case of calculating the coordinates of the marker 50, a corresponding compensation may be made according to the angle measured by the angle measuring unit 18 and the first angle indication of the first wheel 132.

The position acquired by the positioning unit 14 is referenced to a preset direction P, for example, the coordinate of due north, and in the case that the distance measuring unit 16 is shifted from the preset direction P, the shift is compensated to the position acquired by the positioning unit 14.

In this embodiment, the marker 50 may be a landmark marker 50 that can be reached and reflected by the laser light emitted from the emission port of the first ranging unit 162. If the reflection intensity of the laser light emitted from the laser emitting port of the first distance measuring unit 162 is not sufficient, a small prism or a reflecting plate needs to be disposed at the marker 50 to enhance the reflection intensity of the laser light. The marker 50 may be the top of a building or the like. And is not particularly limited herein.

In some embodiments, the offset angle of the first distance measuring unit 162 with respect to the horizontal direction is obtained according to the measurement data of the angle measuring unit 18; alternatively, the first and second electrodes may be,

the measurement terminal 100 further includes a second adjusting component 15, wherein the second adjusting component 15 is connected to the second ranging unit 164, and is configured to adjust the orientation of the second ranging unit 164, and the offset angle is determined according to an orientation change amount generated when the second adjusting component 15 adjusts the orientation of the second ranging unit 164; alternatively, the first and second electrodes may be,

the positioning unit 14 includes a first antenna 142, and the measurement terminal 100 further includes a first adjusting component 13 connected to the first antenna 142, wherein the offset angle is determined by an orientation change amount generated when the first adjusting component 13 adjusts the orientation of the first antenna 142.

As such, the offset angle may be obtained in a variety of ways, allowing flexibility in the measurement terminal 100.

Specifically, referring to fig. 6 and 7, the offset angle of the first ranging unit 162 with respect to the horizontal direction may be obtained by using the angle measuring unit 18, the second ranging unit 164 or the first antenna 142.

In one embodiment, the offset angle of the first ranging unit 162 with respect to the horizontal direction may be measured by the angle measuring unit 18. The angle measuring unit 18 is located in the housing 10 of the measuring terminal 100 and is held stationary relative to the housing 10. The angle measuring unit 18 is electrically connected to the processor 11, and the angle of the housing 10 offset from the horizontal direction can be measured by the angle measuring unit 18, and the housing 10 and the first distance measuring unit 162 can be fixed relative to each other, so that the angle of the first distance measuring unit 162 offset from the horizontal direction can be obtained. The angle measurement unit 18 may include an Inertial Measurement Unit (IMU).

In another embodiment, the offset angle may also be measured by the orientation change amount of the first ranging unit 162. The second adjustment assembly 15 may be used to adjust the orientation of the first ranging unit 162 such that the orientation of the emission opening of the first ranging unit 164 is aligned with the marker 50. The variation of the orientation of the first distance measuring unit 162 may be a variation of the second angle indicator generated by rotating the second wheel 152. Therefore, in the process of adjusting the orientation of the first distance measuring unit 162, the orientation variation of the emitting opening of the first distance measuring unit 162 can be obtained by adjusting the second thumb wheel 152, so as to determine the offset angle of the first distance measuring unit 162 relative to the horizontal direction. In addition, the second angle identification information of the second jog dial 152 may be detected by a manual input or an angle sensor.

In yet another embodiment, the offset angle may also be measured by the amount of change in the orientation of the first antenna 142. In the case where the emitting port of the first ranging unit 162 directly faces the marker 50 in an oblique front direction by orienting the measuring terminal 100 as a whole upward, the first antenna 142 is inclined at an offset angle from the vertical direction. At this time, the orientation of the first antenna 142 can be adjusted by the first adjusting component 13, specifically, the first adjusting component 13 is connected to the first antenna 142, and the first adjusting component 13 can be used to adjust the orientation of the first antenna 142, so that the first antenna 142 is directed vertically upward to receive accurate satellite signals. Here, the variation of the orientation of the first antenna 142 can be understood as an offset angle when the measurement terminal 100 is oriented upwards, that is, an offset angle of the transmission port of the first ranging unit 162 with respect to the horizontal direction. The variation of the orientation of the first antenna 142 may be the variation of the first angle indicator generated by rotating the first wheel 132. Therefore, in the process of adjusting the orientation of the first antenna 142, the orientation variation of the first antenna 142 can be obtained by adjusting the first thumb wheel 152, and the offset angle of the first ranging unit 16 relative to the horizontal direction can be determined. In addition, the first angle identification information of the first wheel 132 may be detected by a manual input or an angle sensor. Thus, the offset angle can be obtained in a variety of ways.

In some embodiments, the distance includes a second distance L6 of the marker 50 located below the measurement terminal 100 from the measurement terminal 100 measured by the second ranging unit 164. The processor 11 is specifically configured to obtain the position of the marker 50 located under the measurement terminal 100 according to the position of the positioning unit 14, the relative position of the second ranging unit 164 to the preset direction, the preset relative position of the positioning unit 14 to the second ranging unit 164, the offset angle of the second ranging unit 164 to the vertical direction, and the second distance. In this manner, the position of the marker 50 located below the measurement terminal 100 can be obtained by the analysis processing of the relevant position information by the processor 11.

Specifically, referring to fig. 1 and 8, the second distance L6 is the distance between the marker 50 located under the measuring terminal 100 and the measuring terminal 100, and the second distance L6 can be measured by the second ranging unit 164, that is, the second distance L6 is the distance measured by the measuring terminal 100 to measure the marker 50 located under the measuring terminal. The offset angle in the vertical direction is an inclination angle when the second ranging unit 162 is to face the marker 50 below. The relative position of the second ranging unit 164 to the predetermined direction and the predetermined relative positions of the positioning unit 14 and the second ranging unit 164 can be used to compensate the coordinate position of the marker 50. The processor 11 may analyze and process the position of the marker 50 under the measuring terminal 100 according to the position of the positioning unit 14, the relative position of the second ranging unit 164 to the preset direction, the preset relative position of the positioning unit 14 to the second ranging unit 164, the offset angle of the second ranging unit 164 with respect to the vertical direction, and the second distance L6.

It should be noted that the lower direction may include a right lower direction and an oblique lower direction. In the embodiments of the present application, the description will be given taking the right below as an example. Referring to fig. 8, when measuring the position of the marker 50 directly below the measurement terminal 100, first, a centimeter-level precision position of the phase center of the first antenna 142, that is, the position (X, Y, Z) of the positioning unit 14 is obtained through the first antenna 142 of the positioning unit 14; secondly, since the marker 50 is located directly below the measuring terminal 100, in the case where the measuring terminal 100 is horizontally placed, the emitting port of the second ranging unit 164 is directed vertically downward, and the orientation of the second ranging unit 164 is directed to the marker 50 directly below without adjustment, i.e., the second ranging unit 164 is not offset in the vertical direction a-a, or is offset by an angle of zero (when measuring the marker 50 obliquely below, there is an offset angle different from zero). The relative position of the second distance measuring unit 164 to the preset direction is an angle H2 (not shown), i.e. the offset angle of the second distance measuring unit 164 to the preset direction. The angle H2 can be measured by the angle measuring unit 18.

In the body coordinate system of the fixed measurement terminal 100, specifically, in fig. 8, the preset relative positions of the positioning unit 14 and the second ranging unit 164 may be converted from the position of the positioning unit 14 to the position of the second ranging unit 164 in the body coordinate system. Therefore, in the body coordinate system, the coordinate position of the transmitting port of the second distance measuring unit 164 is obtained as (X) according to the position of the phase center of the first antenna 142 to the position of the transmitting port of the second distance measuring unit 164_{Body offset}，Y_{Body offset}，Z_{Body offset}) This serves as the position of the second ranging unit 164.

Coordinate position (X) by the second ranging unit 164_{Body offset}，Y_{Body offset}，Z_{Body offset}) And a second distance L6, such that the position (X) of the marker 50 directly below the measuring terminal 100 can be calculated_Landmark，Y_Landmark，Z_Landmark)＝(X_{Body offset}，Y_{Body offset}，Z_{Body offset}-L6)。

It is understood that, in the case where the marker 50 is located obliquely below the measuring terminal 100, the offset angle of the second ranging unit 164 with respect to the vertical direction is similar to the above-described embodiment of measuring the marker 50 located in front of the measuring terminal 100, and therefore, in order to avoid redundancy, the description thereof is omitted.

In some embodiments, the offset angle is derived from measurement data of the angle measurement unit 18; alternatively, the first and second electrodes may be,

the measurement terminal 100 further includes a second adjusting component 15, wherein the second adjusting component 15 is connected to the first ranging unit 162 and is configured to adjust the orientation of the first ranging unit 162, and the offset angle is determined according to an orientation variation generated when the second adjusting component 15 adjusts the orientation of the first ranging unit 162; alternatively, the first and second electrodes may be,

the positioning unit 14 includes a first antenna 142, and the measurement terminal 100 further includes a first adjusting component 13 connected to the first antenna 142, wherein the offset angle is determined by an orientation change amount generated when the first adjusting component 13 adjusts the orientation of the first antenna 142. As such, the offset angle may be obtained in a variety of ways, allowing flexibility in the measurement terminal 100.

Specifically, referring to fig. 6, the offset angle of the first ranging unit 162 with respect to the horizontal direction may be obtained by using the angle measuring unit 18, the second ranging unit 164 and the first antenna 142.

In one embodiment, the offset angle may also be measured by the amount of change in orientation of the first ranging unit 164. The second adjustment assembly 15 may be used to adjust the orientation of the first ranging unit 162 such that the orientation of the laser emitting port of the first ranging unit 162 is aligned with the marker 50. The variation of the orientation of the first distance measuring unit 162 may be a variation of the second angle indicator generated by rotating the second wheel 152. Therefore, in the process of adjusting the orientation of the first distance measuring unit 162, the orientation variation of the laser emitting port of the first distance measuring unit 162 can be obtained by adjusting the second thumb wheel 152, and the offset angle of the first distance measuring unit 162 relative to the horizontal direction can be further determined. In addition, the second angle identification information of the second jog dial 152 may be detected by a manual input or an angle sensor.

In yet another embodiment, the offset angle may also be measured by the amount of change in the orientation of the first antenna 142. In the case where the emitting port of the first ranging unit 162 faces the marker 50 obliquely downward by orienting the entire measuring terminal 100 upward, the first antenna 142 is inclined at an offset angle from the vertical direction. At this time, the orientation of the first antenna 142 can be adjusted by the first adjusting component 13, specifically, the first adjusting component 13 is connected to the first antenna 142, and the first adjusting component 13 can be used to adjust the orientation of the first antenna 142, so that the first antenna 142 is directed vertically upward to receive accurate satellite signals. Here, the variation of the orientation of the first antenna 142 can be understood as an offset angle when the measurement terminal 100 is oriented upwards, that is, an offset angle of the transmission port of the first ranging unit 162 with respect to the horizontal direction. The variation of the orientation of the first antenna 142 may be the variation of the first angle indicator generated by rotating the first wheel 132. Therefore, in the process of adjusting the orientation of the first antenna 142, the orientation variation of the first antenna 142 can be obtained by adjusting the first thumb wheel 152, and the offset angle of the first ranging unit 16 relative to the horizontal direction can be determined. In addition, the first angle identification information of the first wheel 132 may be detected by a manual input or an angle sensor. Thus, the offset angle can be obtained in a variety of ways. In some embodiments, the angle measurement unit 18 includes at least one of an inertial measurement unit and a compass (not shown). In this way, the function to be performed by the angle measuring unit 18 can be performed by a number of different devices.

Specifically, referring to fig. 1 to 5, the angle measuring unit 18 may be disposed at the housing 10. The angle measurement unit 18 may include an inertial measurement unit, may also include a compass, and may also include an inertial measurement unit and a compass. The Inertial measurement unit may include an IMU module (Inertial measurement unit), which may be a device that measures the attitude of the output device, including three attitude angles of pitch-roll-yaw. In the embodiment of the present application, the inertial measurement unit may be used to directly measure the offset angle of the first distance measurement unit 16 with respect to the horizontal direction. Due to the development of hardware, chips and algorithm technology, the size and cost of the IMU are reduced and lowered, and the IMU can be loaded on the measuring terminal 100 and the unmanned aerial vehicle remote controller. In addition, through the compass, the offset angle of the measurement terminal 100 from the preset direction can be obtained.

In some embodiments, the positioning unit 14 includes the first antenna 142, the positioning unit 14 is configured to obtain a position of a phase center of the first antenna 142 as a position of the positioning unit 14, the angle measuring unit 18 includes the second antenna 184, and the angle measuring unit 18 is configured to obtain a relative position of the ranging unit 16 to the preset direction through a directional baseline angle between the second antenna 184 and the first antenna 142. In this way, the relative position of the ranging unit 16 to the predetermined direction can be obtained through the arrangement of the first antenna 142 and the second antenna 184.

Specifically, referring to fig. 9 to 15, the positioning unit 14 may include a first antenna 142, and the angle measuring unit 18 may include a second antenna 184. The first antenna 142 and the second antenna 184 may be connected to the driving circuit board 144. In the present embodiment, the first antenna 142 is a main antenna, and the second antenna 184 is a sub-antenna. The first antenna 142 can be used to obtain the position of the positioning unit 14, and the second antenna 184 forms a directional baseline angle H2 with the first antenna 142, so as to obtain the relative position of the ranging unit 16 to the predetermined direction.

Referring to fig. 9 to 13, from the horizontal direction, the devices of the whole measurement terminal 100 are in rigid connection, that is, when the orientation of the whole measurement terminal 100 is changed, the orientation of the ranging unit 16 is changed, for example, the orientation of the transmitting port of the ranging unit 16 is also changed.

In the embodiment of the present application, the position of the positioning unit 14 acquired by the positioning unit 14 is set based on the preset direction. In the case where the measuring terminal 100 and the ranging unit 16 have no offset or zero offset with respect to the predetermined direction, there may be no need to compensate for the position deviation of the positioning unit 14 caused by the offset.

Referring to fig. 9, a directional baseline K1 is formed between the second antenna 184 and the first antenna 142. In the case where the measurement terminal 100 is not shifted in configuring the measurement terminal 100, the orientation baseline K1 is parallel to or coincides with the preset direction P. Referring to fig. 12, when the measuring terminal 100 is shifted relative to the predetermined direction P in the horizontal plane, the orientation baseline K1 is also shifted by an angle H2, and the shift angle H2 can also be used as the shift angle of the measuring terminal 100 relative to the predetermined direction. Since the measurement terminal 100 is in a rigid connection state, the relative position of the ranging unit 16 to the preset direction P is correspondingly shifted, and the shift needs to compensate the position of the positioning unit 14.

In the case where the entire measurement terminal 100 assumes an obliquely upward state, the transmission port of the first ranging unit 162 is obliquely upward, and the transmission port of the second ranging unit 164 is obliquely leftward. The first antenna 142 may be connected to the first thumb wheel 132, and the first antenna 142 may be oriented vertically upward by adjusting the first thumb wheel 132. The first dial wheel 132 is provided with a pointer and a scale, and the pointer of the first dial wheel 132 can point to the 0 scale when the measurement terminal 100 is horizontally placed. In the case where the measurement terminal 100 is placed obliquely upward, in order to ensure that the first antenna 142 is vertically upward, the pointer of the first wheel 132 may be rotated, and at this time, the pointer of the first wheel 132 may be rotated by an angle formed by the measurement terminal 100 and a predetermined direction.

In the case that the measuring terminal 100 forms an offset angle with the preset direction (here, the preset direction is a north direction) in the horizontal direction, the angle measuring unit 18 can obtain the orientation baseline angle between the first antenna 142 and the second antenna 184, and further obtain the relative position of the ranging unit 16 with respect to the preset direction, that is, obtain the included angle between the measuring device and the preset direction.

It should be noted that the second antenna 184 may be provided to replace the inertial measurement unit and compass of the angle measurement unit 18 for measuring the orientation of the terminal 100.

The following description will take as an example a specific measurement process in which the measuring unit measures the marker 50 located diagonally in front thereof.

In the present embodiment, referring to fig. 14, in order to align the marker 50 diagonally in front of the measurement terminal 100, the measurement terminal 100 is aligned with the marker 50 in its entirety diagonally upward such that the transmission port of the first ranging unit 162 is aligned with the marker 50 diagonally in front. At this time, to ensure that the satellite signal strength can be received, the first dial wheel 132 is adjusted to make the first antenna 142 vertically upward, and an angle H1 of the pointer of the first dial wheel 132 is obtained, where the angle H1 may be an angle relative to the horizontal direction, and the angle H1 may be directly used as an offset angle of the first ranging unit 162 relative to the horizontal direction. From the positioning of the first antenna 142, a centimeter-level accuracy position of the phase center of the first antenna 142, i.e., the position of the positioning unit 14, can be obtained, which is denoted by (X, Y, Z).

Referring to fig. 12, the relative position of the first ranging unit 162 and the preset direction P can be obtained by the orientation of the first antenna 142 and the second antenna 184, that is, the offset angle of the first ranging unit 162 relative to the preset direction P is ≧ H2, that is, the orientation baseline angle × H2.

Next, the first distance L1 is calculated. The first distance L1 is a distance between the marker 50 diagonally in front (upward slant) of the measuring terminal 100 and the emitting opening of the first measuring unit 162, and the first distance L1 can be measured by the first ranging unit 162, that is, the first distance L1 is a distance to be measured by the measuring terminal 100 to measure the marker 50 diagonally in front. Since the offset angle of the first distance measuring unit 162 relative to the horizontal direction is H1, and the relative position of the first distance measuring unit 162 to the preset direction P is angle H2, the relative positions of the marker 50 and the measuring terminal 100 can be obtained as (L3, L4, L5) according to the trigonometric function relationship, wherein L5 is L1 Sin (H1), L3 is L1 Sin (H2), and L4 is L1 Cos (H2).

Next, in the body coordinate system, the position of the transmitting port of the first distance measuring unit 162 is converted according to the position of the phase center of the first antenna 142, and the coordinate position of the transmitting port of the first distance measuring unit 162 is obtained as (X)_{Body offset}，Y_{Body offset}，Z_{Body offset}) This serves as the position of the first ranging unit 162.

Finally, the coordinate position (X) of the first ranging unit 162 is passed_{Body offset}，Y_{Body offset}，Z_{Body offset}) And the relative positions of the marker 50 and the measurement terminal 100 are (L3, L4, L5), compensation is performed in the XYZ directions, so that the position at the measurement can be calculatedPosition (X) of marker 50 diagonally forward of terminal 100_Landmark，Y_Landmark，Z_Landmark)。

In summary, with reference to < H1, < H2 and first distance L1, under the body coordinate system, the phase center position of first antenna 142 is converted to the position of the emitting port of first distance measuring unit 162, and then converted to the position (X) of marker 50 in front of measuring terminal 100_Landmark，Y_Landmark，Z_Landmark)。

The following is a description of another example of a specific measurement process in which the measurement unit measures the marker 50 located directly below the measurement unit.

Referring to fig. 15, first, since the marker 50 is located right below the measuring terminal 100, the measuring terminal 100 may be placed horizontally without being tilted, and the first antenna 142 is directed vertically upward. Acquiring a centimeter-level precision position of a phase center of the first antenna 142, namely, a position (X, Y, Z) of the positioning unit 14, through the first antenna 142 of the positioning unit 14; secondly, since the marker 50 is located directly below the measuring terminal 100, in the case where the measuring terminal 100 is horizontally placed, the emitting port of the second ranging unit 164 is directed vertically downward, and the orientation of the second ranging unit 164 is directed to the marker 50 directly below without adjustment, i.e., the second ranging unit 164 is not offset in the vertical direction a-a, or is offset by an angle of zero (when measuring the marker 50 obliquely below, there is an offset angle different from zero). Because the first antenna 142 and the second antenna 184 are connected to the driving circuit board 144 together, the driving circuit board 144 is used for performing baseline calculation to obtain a horizontal angle between the second antenna 184 and the first antenna 142, that is, the relative position of the second ranging unit 164 to the preset direction is the angle ≦ H2.

Again, in fig. 15, the preset relative positions of the positioning unit 14 and the second ranging unit 164 in the body coordinate system may convert the position of the positioning unit 14 to the position of the emission port of the second ranging unit 164 in the body coordinate system. Therefore, in the body coordinate system, the coordinate position of the transmitting port of the second distance measuring unit 164 is obtained as (X) according to the position of the phase center of the first antenna 142 to the position of the transmitting port of the second distance measuring unit 164_{Body offset}，Y_{Body offset}，Z_{Body offset}) This serves as the position of the second ranging unit 164.

Finally, the coordinate position (X) of the second ranging unit 164 is passed_{Body offset}，Y_{Body offset}，Z_{Body offset}) And a second distance L6, such that the position (X) of the marker 50 directly below the measuring terminal 100 can be calculated_Landmark，Y_Landmark，Z_Landmark)＝(X_{Body offset}，Y_{Body offset}，Z_{Body offset}-L6)。

In some embodiments, the phase center of the first antenna 142, the phase center of the second antenna 184, and the ranging unit 16 are located on the same axis K3. Thus, the relative position of the ranging unit 16 and the predetermined direction P can be conveniently obtained.

Specifically, referring to fig. 10, 11 and 12, a line connecting the phase center of the first antenna 142 and the phase center of the second antenna 184 may form a directional baseline K1. Since the measurement terminal 100 is rigidly connected as a whole, and the phase center of the first antenna 142, the phase center of the second antenna 184 and the ranging unit 16 are located on the same axis K3, specifically, the phase center of the first antenna 142, the phase center of the second antenna 184 and the ranging unit 164 are located on the same axis, that is, the second ranging unit 164 is located on the extension of the orientation baseline K1 between the first antenna 142 and the second antenna 184, the amount of conversion work due to position deviation is reduced, and the efficiency can be improved. It is understood that in other embodiments, the ranging unit 16 may also be located off the extension of the directional baseline K1 between the first antenna 142 and the second antenna 184, and the phase center of the first antenna 142 and the phase center of the second antenna 184 are not on the same axis.

In some embodiments, the axis K3 is parallel to the major axis K2 of the measurement terminal 100. In this way, the relative position of ranging unit 16 with respect to preset direction P can be known without further conversion through orientation baseline angle H2 between second antenna 184 and first antenna 142.

Specifically, referring to fig. 9, generally, the measuring terminal 100 has a main axis K2, and the relative position of the main axis K2 and the preset direction P can be used to define the relative position of the measuring terminal 100 with respect to the preset direction P. In one embodiment, where the housing 10 of the measurement terminal 100 is of an axisymmetric configuration, the axis of symmetry can be taken as the principal axis K2 of the measurement terminal 100. In fig. 9, the main axis K2 is parallel to the preset direction P in the case where the measuring terminal 100 is not offset with respect to the preset direction P. The axis K3 is parallel to the main axis K2.

Referring to fig. 12, when the measurement terminal 100 is shifted in the horizontal plane relative to the predetermined direction P, the shift amount between the axis K3 and the main axis K2 is equal, and the directional baseline angle H2 between the first antenna 142 and the second antenna 184 can be directly used as the relative position between the second ranging unit 164 and the predetermined direction P and the relative position between the measurement terminal 100 and the predetermined direction P, so that no conversion is required, and the calculation efficiency can be improved.

In some embodiments, the predetermined direction P is a north or east direction. Thus, the calculation of the related data is facilitated. Specifically, the north or east direction may be a reference position commonly used by the positioning unit 16, and the north or east direction is used as the preset direction P, so that unnecessary calculation amount can be reduced, and calculation efficiency can be improved. In the present embodiment, the predetermined direction P is the north direction. In other embodiments, the preset direction P may also be other directions, and is not limited herein.

In some embodiments, the measuring terminal 100 further includes a level gauge 20, and the level gauge 20 is disposed on the housing 10 for displaying a level state of the measuring terminal 100. In this manner, when the measurement terminal 100 needs to be placed in a horizontal state, the level gauge 20 can determine whether or not the measurement terminal 100 is in the horizontal state.

Specifically, referring to fig. 1, in the present embodiment, the level gauge 20 may be a level bubble gauge. By observing the state of the horizontal bubble flow, it is determined whether the measurement terminal 100 is in a horizontal state. In one example, in the case where the transmitting port of the ranging unit 16 needs to be aligned with the lower marker 50, the measuring terminal 100 needs to be placed in a horizontal state, so that whether the measuring terminal 100 is in the horizontal state can be determined by the horizontal measuring instrument 20, and thus, the ranging accuracy of the measuring terminal 100 can be further ensured. Further, the horizontal bubble meter is circular in shape. But may also be rectangular or other shapes. The level gauge 20 may also be a bar level, plastic level, glass level, electronic level, portrait level, frame level, or the like.

In some embodiments, the measuring terminal 100 further includes a touch display 40, and the touch display 40 is disposed on the housing 10 for displaying the horizontal state of the measuring terminal 100. In this manner, the touch display screen 40 can display the level status of the level gauge 20.

Specifically, the touch display screen 40 is installed outside the housing 10, and the touch display screen 40 is provided with a display interface. The display interface may be provided with a plurality of touch keys with different functions, such as a display horizontal state key, a main switch key, a key for turning on the first distance measuring unit 162, a key for controlling the mobile platform, and the like. The type of the key may be a virtual key or a touch key, and is not limited herein. In one example, by touching the display interface of the display screen 40, in the case where the user needs to keep the measuring terminal 100 in the horizontal position, it can be determined through the display interface whether the measuring terminal 100 is in the horizontal state at this time. In addition, the touch screen display 40 may also be used to record location information marked by the user.

In some embodiments, the measurement terminal 100 further includes a bracket 60, the bracket 60 is connected to the housing 10, and the touch display screen 40 is mounted on the bracket 60. In this way, by the connection of the bracket 60, the mountable position space of the housing 10 is widened, so that the touch display screen 40 can be mounted at a position convenient for the user to operate.

Specifically, referring to fig. 1 to 3, the bracket 60 of the measurement terminal 100 may be connected to the housing 10, and in the present embodiment, the bracket 60 is connected to the top of the housing 10. The bracket 60 can be used for mounting the touch display screen 40, and the touch display screen 40 is fixedly mounted on the measurement terminal 100 by being mounted on the bracket 60. In this manner, the touch screen display 40 is mounted at the top of the housing 10, facilitating the user to manipulate the touch screen display 40 and view related information. Preferably, the touch display screen 40 and the bracket 60 are also detachably connected, and the bracket 60 and the housing 10 are detachably connected. In addition, the support 60 may also be used to install a mobile terminal, such as a mobile phone, a tablet computer, a smart wearable device, and the like, which operate the APP correspondingly.

In some embodiments, the measurement terminal 100 is provided with a first mode of operation and a second mode of operation;

in the first operating mode, the processor 11 is configured to store the data in the preset format at the position of the marker 50, so that the data in the preset format can be imported into the mapping software.

In the second mode of operation, the processor 11 is configured to form a boundary area using the position of the marker 50 and to transmit the boundary area to the mobile platform, so that the mobile platform moves according to the boundary area. Thus, the different modes of operation enhance the functionality of the measurement terminal 100.

Specifically, the measurement terminal 100 may have two operation modes, i.e., a first operation mode and a second operation mode. The first mode of operation may be for calibration of a mapping map of the drone. The first operating mode may be a control point mode. In the first operation mode, the processor 11 stores the position data of the marker 50, converts the position data of the marker 50 into data in a preset format, and the mapping software can directly recognize the data in the preset format, so that the data in the preset format can be imported into the mapping software, and the measuring terminal 100 can store geographic information of the markers 50 in different positions. In addition, the preset format may be a data format suitable for the mapping software.

The second mode of operation may be used to utilize the bounding region to cause the mobile platform to move in accordance with the bounding region. The second mode of operation may be a boundary point mode. In one example, in the second operation mode, the measurement terminal 100 can be used to measure the distribution of cell intersections, and the number of measured cell intersections can be 4, which are intersection 1, intersection 2, intersection 3, and intersection 4. Firstly, the measuring terminal 100 in the second working mode can respectively and sequentially perform dotting positioning on 4 intersections, and the marker 50 can be a well lid in the intersection; secondly, after completing the fixed-point work, the processor 11 may enclose the 4 intersections of the fixed point into a boundary area (e.g. a rectangular boundary area), and when the processor 11 moves the subsequent mobile platform, the processor 11 may control the mobile platform to move according to the boundary area, for example, control the mobile platform to move within or outside the space range defined by the boundary area. Thus, the functionality of the measurement terminal 100 is greatly expanded in cooperation with different operation modes.

In some embodiments, processor 11 is further configured to control measurement terminal 100 to be in the first operating mode or the second operating mode according to the input instruction. In this manner, the user is facilitated to select an operation mode of the measurement terminal 100.

Specifically, measurement terminal 100 may include an input component through which a user may input control instructions. In one embodiment, the input component includes a touch screen display 40, and a user may enter commands by touching the display screen 40. Specifically, the display interface of the touch display screen 40 is operated, so that the user can input a mode selection instruction, and the processor 11 selects an operation mode of the measurement terminal 100 according to the mode selection instruction, so as to control the measurement terminal 100 to be in the first operation mode or the second operation mode. In other embodiments, the input command may also be voice information, and is not limited herein. In this manner, the user is facilitated to select an operation mode of the measurement terminal 100.

In some embodiments, measurement terminal 100 is a remote control for controlling a mobile platform. Therefore, the remote controller is integrated with a position measuring function, and great convenience is brought to the use of a user. Specifically, the measurement terminal 100 may be a remote controller of a mobile platform, and the measurement terminal 100 further includes a remote control antenna 30. The number of the remote control antennas 30 can be 2, so that the single-transmitting and double-receiving functions can be realized, and the communication stability of the remote controller and the mobile platform can be improved. By controlling the touch display 40 or other control devices (such as a physical joystick, a physical key, and a touch pad) of the measurement terminal 100 and inputting a specific control command, the remote antenna 30 can send data information to the mobile platform, so as to control the mobile platform, the mobile platform can take pictures of the markers 50, and the like, and the mobile platform can feed back the obtained data information to the measurement terminal 100 through the remote antenna 30. The measuring terminal 100 and the mobile platform can be connected in a wireless mode, and the wireless mode can be realized through WIFI, Bluetooth, infrared, wireless mobile communication (such as 4G, 5G and the like) and the like. And is not particularly limited herein. Mobile platforms include, but are not limited to, drones, robots, mobile carts, and the like.

In addition, this application embodiment still provides a remote controller, and the remote controller is used for moving platform, and the remote controller includes the remote controller main part, and the remote controller main part is equipped with the controlling device who is used for supplying the user to input remote control instruction, and the remote controller still includes:

a positioning unit 14, a ranging unit 16, and an angle measuring unit 18;

at least part of the positioning unit 14 is rotatably provided to the remote controller main body;

the distance measuring unit 16 is arranged on the side part of the remote controller main body;

the angle measuring unit 18 is provided inside or on the surface of the remote controller main body, and is held fixed relative to the remote controller main body.

The remote controller collects the required data by arranging the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18, and then can process the data to obtain the position of the marker 50, so that the remote controller can realize simple and easy-to-use mapping and is particularly suitable for mapping operation in a short distance.

The housing 10 of the measurement terminal 100 of any of the above embodiments may be a housing of a remote controller main body. The manipulating device includes, but is not limited to, a physical joystick (a double joystick or a single joystick), a physical key, a touch pad, a touch display screen, and the like. The processor 11 of the remote control may be located within the body of the remote control, and the processor 11 of the remote control may comprise the processor 11 of the measurement terminal 100 of any of the embodiments described above.

It should be noted that the above explanation of the embodiment and the advantageous effects of the measurement terminal 100 is also applicable to the remote controller of the present embodiment, and is not detailed here to avoid redundancy.

In some embodiments, the positioning unit 14 includes a first antenna 142 rotatably disposed on the remote controller main body, and the positioning unit 14 is configured to acquire a position of a phase center of the first antenna 142 as a position of the positioning unit 14. In this way, the position of the positioning unit 14 can be accurately obtained through the first antenna 142, and the accuracy of obtaining the position information of the positioning unit 14 is ensured.

In some embodiments, the remote controller further comprises a first adjusting component 13 connected to the first antenna 142, wherein the first adjusting component 13 is used for adjusting the orientation of the first antenna 142 so that the orientation of the first antenna 142 is vertically upward. In this way, through the operation of the first adjusting component 13, it can be precisely ensured that the first antenna 142 can keep vertically upward under most scenes, and stably receives signals of a complete satellite constellation.

In some embodiments, the first adjustment assembly 13 includes a first thumb wheel 132 disposed on a surface of the body of the remote control. Thus, the orientation of the first antenna 142 can be accurately adjusted by the arrangement of the first thumb wheel 132, and the orientation of the first antenna 142 is ensured to be vertically upward, so that the orientation of the measuring terminal 100 can be adjusted more conveniently and accurately.

In some embodiments, the positioning unit 14 further includes a driver circuit board 144 located within the remote control body, the driver circuit board 144 being connected to the first antenna 142. In this manner, the driver circuit board 144 may be used to resolve relevant data within the positioning unit 14 and control the reception and transmission of the first antenna 142.

In some embodiments, the first antenna is mounted on the top or side of the remote control body. In this way, the first antenna 142 can be flexibly installed on different parts of the housing 10, which is beneficial to leave a certain space for installing other components of the housing 10 and is beneficial to flexibly installing other components of the measurement terminal 100.

In some embodiments, the ranging unit 16 includes at least two ranging units 16, and the at least two ranging units 16 are respectively installed at different sides of the remote controller body. In this way, ranging of markers 50 in different orientations may be achieved, such that the versatility of the measurement terminal 100 is further enhanced.

In some embodiments, the remote controller further comprises a second adjusting assembly 15, wherein the second adjusting assembly 15 is connected to at least one of the ranging units 16, and is used for adjusting the orientation of the ranging unit 16 connected to the second adjusting assembly 15. In this manner, precise adjustment of the orientation of ranging unit 16 may be achieved, such that measuring terminal 100 may stably range markers 50 in different orientations.

In some embodiments, the second adjustment assembly 15 includes a second thumb wheel 152 disposed on a surface of the body of the remote control. Thus, the orientation of the distance measuring unit 16 can be precisely adjusted by adjusting the second thumb wheel 152.

In some embodiments, the second adjustment assembly 15 is provided with an angle indicator. So for second adjustment assembly 15 is at the in-process of adjusting range unit 16 orientation, and the user can hold the yardstick of regulation more accurately, and then improves the accuracy that second adjustment assembly 15 adjusted, makes the user can adjust range unit 16's orientation fast conveniently.

In some embodiments, the at least two ranging units 16 include a first ranging unit 162 and a second ranging unit 164, the first ranging unit 162 being installed at the front of the remote controller body, and the second ranging unit 164 being installed at the bottom of the remote controller body. In this manner, by mounting ranging unit 16 at multiple orientations on housing 10, measuring terminal 100 is enabled to perform ranging at multiple orientations.

In some embodiments, the first ranging unit 162 is configured to measure a first distance between the remote controller and the marker 50 located in front of the remote controller;

the second ranging unit 164 is used to measure a second distance between the marker 50 under the remote controller and the remote controller.

In some embodiments, the angle measurement unit 18 includes at least one of an inertial measurement unit and a compass. In this way, the function to be performed by the angle measuring unit 18 can be performed by a number of different devices.

In some embodiments, the remote controller further includes a level gauge 20, and the level indicator is disposed on the remote controller main body for displaying a level state of the remote controller. In this manner, when the measurement terminal 100 needs to be placed in a horizontal state, the level gauge 20 can determine whether or not the measurement terminal 100 is in the horizontal state.

In some embodiments, the remote controller further comprises a touch display screen 40, and the touch display screen 40 is disposed on the remote controller main body and is used for displaying the horizontal state of the remote controller. In this manner, the touch display screen 40 can display the level status of the level gauge 20.

In some embodiments, the remote control further comprises a bracket 60, the bracket 60 is connected to the remote control body, and the touch display screen 40 is mounted on the bracket 60. In this way, by the connection of the bracket 60, the mountable position space of the housing 10 is widened, so that the touch display screen 40 can be mounted at a position convenient for the user to operate.

Referring to fig. 16, a measurement assembly 1000 according to an embodiment of the present disclosure includes a mobile platform 200 and a measurement terminal 100 according to any of the embodiments described above, where the measurement terminal 100 is in wireless communication with the mobile platform 200.

In addition, a measurement assembly of the present embodiment includes the mobile platform 200 and the remote controller of any of the above embodiments, and the remote controller is in wireless communication with the mobile platform 200.

The measuring assembly 1000 and the remote controller are provided with the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18, and the positions of the markers 50 are obtained by processing the data acquired by the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18, so that simple and easy-to-use surveying and mapping can be realized, and the measuring assembly is particularly suitable for short-distance surveying and mapping operation. In addition, by controlling the mobile platform 200, on the one hand, the operator can obtain the position of the surveying point without having to go to the surveying point, and on the other hand, even if the terrain is not convenient for short-distance surveying, the surveying can be performed.

In the embodiment of fig. 16, the mobile platform 200 is a drone. In other embodiments, the mobile platform may be a mobile cart, a robot, or other mobile platform.

Referring to fig. 1 and 17, a measurement method provided in an embodiment of the present application is used for a measurement terminal 100, where the measurement terminal 100 includes a housing 10, and a positioning unit 14, a distance measurement unit 16, and an angle measurement unit 18 mounted on the housing 10, and the measurement method includes:

step S1, acquiring the position of the positioning unit 14 through the positioning unit 14, acquiring the distance between the marker 50 and the measuring terminal 100 through the distance measuring unit 16, and acquiring the relative position of the distance measuring unit 16 and the preset direction through the angle measuring unit 18;

in step S3, the position of the marker 50 is obtained according to the position of the positioning unit 14, the relative position of the ranging unit 16 to the preset direction, the preset relative position of the positioning unit 14 to the ranging unit 16, and the distance.

According to the measuring method, the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18 are arranged, and the positions of the markers 50 are obtained by processing data acquired by the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18, so that simple and easy-to-use surveying and mapping can be realized, and the measuring method is particularly suitable for short-distance surveying and mapping operation.

It should be noted that the above explanation of the embodiments and the advantageous effects of the measurement terminal 100, the remote controller, and the measurement module are also applicable to the measurement method of the present embodiment, and are not detailed here to avoid redundancy.

In some embodiments, the positioning unit 14 includes a first antenna 142, and step 1 includes: the position of the phase center of the first antenna 142 is acquired by the positioning unit 14, and the position of the phase center of the first antenna 142 is taken as the position of the positioning unit 14. In this way, the position of the positioning unit 14 can be accurately obtained through the first antenna 142, and the accuracy of obtaining the position information of the positioning unit 14 is ensured. In some embodiments, the measurement terminal 100 further includes a first adjustment assembly 13 coupled to the first antenna 142,

the measuring method comprises the following steps: the orientation of the first antenna 142 is adjusted by the first adjusting member 13 so that the orientation of the first antenna 142 is vertically upward. In this way, through the operation of the first adjusting component 13, it can be precisely ensured that the first antenna 142 can keep vertically upward under most scenes, and stably receives the signal of the complete satellite.

In some embodiments, the first adjustment assembly includes a first thumb wheel 132 disposed on a surface of the housing 10. Thus, the orientation of the first antenna 142 can be accurately adjusted by the arrangement of the first thumb wheel 132, and the orientation of the first antenna 142 is ensured to be vertically upward, so that the orientation of the measuring terminal 100 can be adjusted more conveniently and accurately.

In some embodiments, the measurement terminal 100 further includes a second adjusting component 15, the second adjusting component 15 is connected to at least one of the ranging units 16, and the measurement method further includes: the orientation of the ranging unit 16 connected to the second adjusting assembly 15 is adjusted by the second adjusting assembly 15. In this manner, precise adjustment of the orientation of ranging unit 16 may be achieved, such that measuring terminal 100 may stably range markers 50 in different orientations.

In some embodiments, the distance includes a first distance of the marker 50 located in front of the measuring terminal 100 from the measuring terminal 100 measured by the first ranging unit 162;

the position of the marker 50 is obtained according to the position of the positioning unit 14, the relative position of the ranging unit 16 to the preset direction, the preset relative position of the positioning unit 14 to the ranging unit 16, and the distance, and includes: the position of the marker 50 located in front of the measuring terminal 100 is obtained according to the position of the positioning unit 14, the relative position of the first ranging unit 162 to the preset direction, the preset relative position of the positioning unit 14 to the first ranging unit 162, the offset angle of the first ranging unit 162 to the horizontal direction, and the first distance. In this manner, the position of the marker 50 located below the measurement terminal 100 can be obtained by the analysis processing of the relevant position information.

In some embodiments, the distance includes a second distance of the marker 50 located under the measurement terminal 100 from the measurement terminal 100 measured by the second ranging unit 164;

the position of the marker 50 is obtained according to the position of the positioning unit 14, the relative position of the ranging unit 16 to the preset direction, the preset relative position of the positioning unit 14 to the ranging unit 16, and the distance, and includes: the position of the marker 50 located under the measuring terminal 100 is obtained based on the position of the positioning unit 14, the relative position of the second ranging unit 164 to the preset direction, the preset relative position of the positioning unit 14 to the second ranging unit 164, the offset angle of the second ranging unit 164 with respect to the vertical direction, and the second distance. In this manner, the position of the marker 50 located below the measurement terminal 100 can be obtained by the analysis processing of the relevant position information.

In some embodiments, the axis K3 is parallel to the major axis K2 of the measurement terminal 100. As such, the relative position of ranging unit 16 with respect to preset direction P can be known without further conversion through orientation baseline angle H2 between second antenna 184 and first antenna 142.

In some embodiments, the predetermined direction is a north or east direction. As such, the due north direction or the due east direction is the direction in which the user commonly measures the marker 50.

In some embodiments, measurement terminal 100 further includes a touch screen display 40,

the measuring method further comprises the following steps: the horizontal state of the measuring terminal 100 is displayed by touching the display screen 40. In this manner, the touch display screen 40 can display the level status of the level gauge 20.

In some embodiments, measurement terminal 100 is provided with a first mode of operation and a second mode of operation,

the measuring method further comprises the following steps: in the first mode of operation, the position of the marker 50 is saved as data in a predetermined format to enable the data in the predetermined format to be imported into the mapping software,

in the second mode of operation, the position of the marker 50 is used to form a boundary region and the boundary region is sent to the mobile platform to cause the mobile platform to move according to the boundary region. Thus, the different modes of operation enhance the functionality of the measurement terminal 100.

In some embodiments, the measurement method further comprises: and controlling the measurement terminal 100 to be in the first working mode or the second working mode according to the input instruction. In this manner, the user is facilitated to select an operation mode of the measurement terminal 100.

In some embodiments, measurement terminal 100 is a remote control for controlling a mobile platform. Therefore, the remote controller is integrated with a position measuring function, and great convenience is brought to the use of a user.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A measurement terminal, comprising:

2. The measurement terminal according to claim 1, wherein the positioning unit comprises a first antenna, and the positioning unit is configured to obtain a position of a phase center of the first antenna as the position of the positioning unit.

3. The measurement terminal of claim 2, further comprising a first adjustment component coupled to the first antenna, wherein the first adjustment component is configured to adjust the orientation of the first antenna such that the orientation of the first antenna is vertically upward.

4. The measurement terminal of claim 3, wherein the first adjustment assembly includes a first thumb wheel disposed on a surface of the housing.

5. The measurement terminal of claim 3, wherein the first adjustment assembly is provided with a first angle indicator.

6. The measurement terminal of claim 2, wherein the positioning unit comprises a driver circuit board located within the housing, the driver circuit board being connected to the first antenna.

7. The measurement terminal of claim 2, wherein the first antenna is mounted on a top or side of the housing.

8. The measurement terminal of claim 1, wherein the ranging unit comprises at least two ranging units, and at least two ranging units are respectively installed at different sides of the housing.

9. The measurement terminal of claim 8, further comprising a second adjusting component, wherein the second adjusting component is connected to at least one of the ranging units, and is configured to adjust an orientation of the ranging unit connected to the second adjusting component.

10. The measurement terminal of claim 9, wherein the second adjustment assembly includes a second thumb wheel disposed on a surface of the housing.

11. The measurement terminal of claim 8, wherein the at least two ranging units include a first ranging unit mounted at a front portion of the housing and a second ranging unit mounted at a bottom portion of the housing.

12. The measurement terminal of claim 11, wherein the distance comprises a first distance from the measurement terminal to a marker located in front of the measurement terminal measured by the first ranging unit;

the processor is specifically configured to obtain a position of a marker located in front of the measurement terminal according to the position of the positioning unit, the relative position of the first ranging unit to the preset direction, the preset relative position of the positioning unit to the first ranging unit, the offset angle of the first ranging unit to the horizontal direction, and the first distance.

13. The measurement terminal according to claim 12, wherein the offset angle is obtained from measurement data of the angle measurement unit; alternatively, the first and second electrodes may be,

the measuring terminal further comprises a second adjusting component, the second adjusting component is connected with the first ranging unit and used for adjusting the orientation of the first ranging unit, and the offset angle is determined according to the orientation variation generated when the second adjusting component adjusts the orientation of the first ranging unit; alternatively, the first and second electrodes may be,

the positioning unit comprises a first antenna, the measuring terminal further comprises a first adjusting component connected with the first antenna, and the offset angle is determined by the direction change quantity generated when the first adjusting component adjusts the direction of the first antenna.

14. The measurement terminal of claim 11, wherein the distance comprises a second distance from the measurement terminal to a marker located below the measurement terminal measured by the second ranging unit;

the processor is specifically configured to obtain a position of a marker located below the measurement terminal according to the position of the positioning unit, the relative position of the second ranging unit to the preset direction, the preset relative position of the positioning unit to the second ranging unit, the offset angle of the second ranging unit to the vertical direction, and the second distance.

15. The measurement terminal according to claim 14, wherein the offset angle is obtained from measurement data of the angle measurement unit; alternatively, the first and second electrodes may be,

the measuring terminal further comprises a second adjusting component, the second adjusting component is connected with the second ranging unit and used for adjusting the orientation of the second ranging unit, and the offset angle is determined according to the orientation variation generated when the second adjusting component adjusts the orientation of the second ranging unit; alternatively, the first and second electrodes may be,

16. The measurement terminal according to claim 13 or 15, wherein a first angle identifier is provided on the first adjustment assembly, and a second angle identifier is provided on the second adjustment assembly.

17. The measurement terminal of claim 1, wherein the angle measurement unit comprises at least one of an inertial measurement unit and a compass.

18. The measurement terminal according to claim 1, wherein the positioning unit includes a first antenna, the positioning unit is configured to obtain a position of a phase center of the first antenna as the position of the positioning unit, the angle measurement unit includes a second antenna, and the angle measurement unit is configured to obtain a relative position of the ranging unit with respect to the preset direction by a directional baseline angle between the second antenna and the first antenna.

19. The measurement terminal of claim 18, wherein the phase center of the first antenna, the phase center of the second antenna, and the ranging unit are located on a same axis.

20. The measurement terminal of claim 19, wherein the axis is parallel to a major axis of the measurement terminal.

21. The measurement terminal according to claim 1, wherein the predetermined direction is a north or east direction.

22. The measurement terminal of claim 1, further comprising a level gauge disposed in the housing for displaying a level status of the measurement terminal.

23. The measurement terminal according to claim 1, further comprising a touch display screen disposed on the housing for displaying a horizontal state of the measurement terminal.

24. The measurement terminal of claim 23, further comprising a bracket coupled to the housing, wherein the touch screen display is mounted to the bracket.

25. The measurement terminal according to claim 1, characterized in that the measurement terminal is provided with a first and a second operating mode;

in the first working mode, the processor is used for storing the data with the position of the marker in a preset format so as to lead the data in the preset format into the mapping software,

in the second working mode, the processor is configured to form a boundary area by using the position of the marker, and send the boundary area to a mobile platform, so that the mobile platform moves according to the boundary area.

26. The measurement terminal of claim 25, wherein the processor is further configured to control the measurement terminal to be in the first operation mode or the second operation mode according to an input instruction.

27. The measurement terminal of claim 1, wherein the measurement terminal is a remote control for controlling a mobile platform.

28. The utility model provides a remote controller for moving platform, the remote controller includes the remote controller main part, the remote controller main part is equipped with the controlling device who is used for supplying the user to input remote control instruction, its characterized in that, the remote controller still includes:

29. The remote controller according to claim 28, wherein the positioning unit includes a first antenna rotatably provided to the remote controller main body, and the positioning unit is configured to acquire a position of a phase center of the first antenna as the position of the positioning unit.

30. The remote control of claim 29, further comprising a first adjustment assembly coupled to the first antenna, the first adjustment assembly configured to adjust the orientation of the first antenna such that the orientation of the first antenna is vertically upward.

31. The remote control of claim 30, wherein the first adjustment assembly comprises a first thumb wheel disposed on a surface of the remote control body.

32. The remote control of claim 30, wherein the first adjustment assembly has a first angle indicator disposed thereon.

33. The remote control of claim 29, wherein the positioning unit further comprises a driver circuit board located within the remote control body, the driver circuit board being connected to the first antenna.

34. The remote control of claim 29, wherein the first antenna is mounted on a top or side of the remote control body.

35. The remote controller according to claim 28, wherein the ranging unit includes at least two ranging units, at least two ranging units being installed at different sides of the remote controller body, respectively.

36. The remote controller of claim 35, further comprising a second adjusting component, wherein the second adjusting component is connected to at least one of the ranging units for adjusting the orientation of the ranging unit connected to the second adjusting component.

37. The remote control of claim 36, wherein the second adjustment assembly comprises a second thumb wheel disposed on a surface of the remote control body.

38. The remote control of claim 36, wherein the second adjustment assembly has an angle indicator.

39. The remote controller of claim 35, wherein the at least two ranging units include a first ranging unit installed at a front portion of the remote controller body and a second ranging unit installed at a bottom portion of the remote controller body.

40. The remote controller of claim 39, wherein the first ranging unit is configured to measure a first distance between a marker located in front of the remote controller and the remote controller;

the second distance measuring unit is used for measuring a second distance between a marker below the remote controller and the remote controller.

41. The remote control of claim 28, wherein the angle measurement unit comprises at least one of an inertial measurement unit and a compass.

42. The remote controller according to claim 28, wherein the positioning unit includes a first antenna, the positioning unit is configured to obtain a position of a phase center of the first antenna as the position of the positioning unit, the angle measuring unit includes a second antenna, and the angle measuring unit is configured to obtain a relative position of the ranging unit with respect to a preset direction by a directional baseline angle between the second antenna and the first antenna.

43. The remote control of claim 42, wherein the phase center of the first antenna, the phase center of the second antenna, and the ranging unit are located on a same axis.

44. The remote control of claim 43, wherein the axis is parallel to a major axis of the measurement terminal.

45. The remote controller according to claim 28, further comprising a level gauge, wherein the level gauge is disposed on the remote controller main body for displaying a level state of the remote controller.

46. The remote controller according to claim 28, further comprising a touch display screen disposed on the remote controller main body for displaying a horizontal state of the remote controller.

47. The remote control of claim 46, further comprising a bracket coupled to the remote control body, wherein the touch screen is mounted to the bracket.

48. A measurement assembly comprising a mobile platform and a measurement terminal according to any of claims 1-27, the measurement terminal being in wireless communication with the mobile platform.

49. A measurement assembly comprising a mobile platform and the remote control of any of claims 28-47, the remote control in wireless communication with the mobile platform.

50. A measurement method is used for a measurement terminal, and the measurement terminal comprises a shell, and a positioning unit, a distance measurement unit and an angle measurement unit which are arranged on the shell, and the measurement method comprises the following steps:

51. The measurement method of claim 50, wherein the positioning unit comprises a first antenna, and wherein obtaining the position of the positioning unit by the positioning unit comprises: and acquiring the position of the phase center of the first antenna through the positioning unit, wherein the position of the phase center of the first antenna is used as the position of the positioning unit.

52. The measurement method of claim 51, wherein the measurement terminal further comprises a first adjustment component coupled to the first antenna,

the measurement method further comprises: adjusting the orientation of the first antenna through the first adjusting component so that the orientation of the first antenna is vertically upward.

53. The measurement method of claim 52, wherein the first adjustment assembly includes a first thumb wheel disposed on the housing surface.

54. The measurement method of claim 52, wherein the first adjustment assembly is provided with a first angle indicator.

55. The measurement method of claim 51, wherein the positioning unit comprises a driver circuit board located within the housing, the driver circuit board being connected to the first antenna.

56. The measurement method of claim 51, wherein the first antenna is mounted on a top or side of the housing.

57. The method of claim 50, wherein the ranging unit comprises at least two ranging units, and at least two ranging units are respectively installed at different sides of the housing.

58. The measurement method according to claim 57, wherein the measurement terminal further comprises a second adjusting component, the second adjusting component is connected to at least one of the ranging units, and the measurement method further comprises: and adjusting the orientation of the distance measuring unit connected with the second adjusting component through the second adjusting component.

59. The measurement method of claim 58, wherein the second adjustment assembly includes a second thumb wheel disposed on the surface of the housing.

60. The method of claim 57, wherein the at least two ranging units include a first ranging unit and a second ranging unit, the first ranging unit being mounted at a front portion of the housing, the second ranging unit being mounted at a bottom portion of the housing.

61. The measurement method according to claim 60, wherein the distance comprises a first distance of a marker located in front of the measurement terminal from the measurement terminal measured by the first ranging unit;

the obtaining the position of the marker according to the position of the positioning unit, the relative position of the ranging unit and the preset direction, the preset relative position of the positioning unit and the ranging unit, and the distance comprises: and acquiring the position of a marker in front of the measuring terminal according to the position of the positioning unit, the relative position of the first ranging unit and the preset direction, the preset relative position of the positioning unit and the first ranging unit, the offset angle of the first ranging unit relative to the horizontal direction and the first distance.

62. The measurement method according to claim 61, wherein the offset angle is obtained from measurement data of the angle measurement unit; alternatively, the first and second electrodes may be,

63. The measurement method according to claim 60, wherein the distance comprises a second distance from the measurement terminal to a marker located below the measurement terminal measured by the second ranging unit;

the obtaining the position of the marker according to the position of the positioning unit, the relative position of the ranging unit and the preset direction, the preset relative position of the positioning unit and the ranging unit, and the distance comprises: and acquiring the position of a marker positioned below the measuring terminal according to the position of the positioning unit, the relative position of the second ranging unit and the preset direction, the preset relative position of the positioning unit and the second ranging unit, the offset angle of the second ranging unit relative to the vertical direction and the second distance.

64. The measurement method according to claim 63, wherein the offset angle is obtained from measurement data of the angle measurement unit; alternatively, the first and second electrodes may be,

65. The measurement method according to claim 62 or 64, wherein a first angle mark is provided on the first adjustment assembly, and a second angle mark is provided on the second adjustment assembly.

66. The measurement method of claim 50, wherein the angle measurement unit comprises at least one of an inertial measurement unit and a compass.

67. The measurement method according to claim 50, wherein the positioning unit includes a first antenna, the positioning unit is configured to acquire a position of a phase center of the first antenna as the position of the positioning unit, the angle measurement unit includes a second antenna, and the angle measurement unit is configured to acquire a relative position of the ranging unit to a preset direction through a directional baseline angle between the second antenna and the first antenna.

68. The measurement method of claim 67, wherein the phase center of the first antenna, the phase center of the second antenna, and the ranging unit are located on a same axis.

69. A method of measurement according to claim 68, wherein the axis is parallel to a main axis of the measurement terminal.

70. A method of measurement according to claim 50, wherein the predetermined direction is a north or east direction.

71. The method of claim 50, wherein the measurement terminal further comprises a level gauge disposed in the housing, the method further comprising:

and displaying the horizontal state of the measuring terminal through the horizontal measuring instrument.

72. The measurement method of claim 50, wherein the measurement terminal further comprises a touch display screen,

the measurement method further comprises: and displaying the horizontal state of the measuring terminal through the touch display screen.

73. The measurement method of claim 72, wherein the measurement terminal further comprises a bracket connected to the housing, and the touch display screen is mounted on the bracket.

74. The measurement method according to claim 50, wherein the measurement terminal is provided with a first operation mode and a second operation mode,

the measurement method further comprises: under the first working mode, the position of the marker is stored as data in a preset format so that the data in the preset format can be imported into mapping software,

and under the second working mode, forming a boundary area by using the position of the marker and sending the boundary area to a mobile platform so as to enable the mobile platform to move according to the boundary area.

75. The measurement method of claim 74, further comprising:

and controlling the measuring terminal to be in the first working mode or the second working mode according to an input instruction.

76. The measurement method according to claim 50, wherein the measurement terminal is a remote controller for controlling the mobile platform.