CN201187990Y

CN201187990Y - 3D locating measuring instrument

Info

Publication number: CN201187990Y
Application number: CNU2008201118693U
Authority: CN
Inventors: 冯金勋
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-05-04
Filing date: 2008-05-04
Publication date: 2009-01-28
Anticipated expiration: 2018-05-04

Abstract

The utility model relates to an instrument for detecting target tridimensional position information, with the name of tridimensional location detecting instrument. In order to solve the problems of slow detection speed and disappointing correctness in the prior art, the utility model combines the GPS location principle and the laser ranging technique and provides a tridimensional location detecting instrument which comprises a shell 8 and a calculation circuit 2. The calculation circuit 2 is connected with a laser ranging instrument 7, a first GPS locator 6 and a second GPS locator 4 through a data wire. The first GPS locator 6, the second GPS locator 4 and the laser ranging instrument 7 are coaxial. The calculation circuit 2 can calculate the tridimensional coordinate values of a detected object according to the tridimensional coordinate values of the two GPS locators, the distance between the laser ranging instrument and the detected object, and the distance between the laser ranging instrument and the GPS locators. The tridimensional location detecting instrument has fast speed, immediacy and easy operation, and is economical and practical.

Description

The three-dimensional localization measuring instrument

Technical field

The utility model relates to a kind of instrument of measurement target three dimensional local information.

Background technology

At present, using binocular stereo vision is the main means that obtain the target three dimensional local information, method commonly used is during with two camera synchronization gain stereo-pictures, again according to the principle of stereoscopic vision, calculate the depth information of every bit in the public visual field of image, generate depth map, extract the depth information of target correspondence again, determine the Three-dimension Target positional information, but these equipment there are the following problems:

1, equipment complexity, operand is big, and speed is slow.Because of needs obtain the visual information of target, need on the equipment picture pick-up device and vision processing system are installed, cause the equipment assembling complicated.Simultaneously, stereoscopic vision is found the solution each corresponding point in the stereo-picture, because of image has comprised a large amount of abundant informations, makes that the speed of the corresponding coupling of pointwise is very slow, causes difficulty in computation and operand all very big, and locating speed is slow, has limited its application.

2, distance precision is low.These equipment (in 5 meters) when measuring close-in target have than higher precision, but very poor even can't measure in remote (beyond 5 meters) precision.

3, accuracy is disturbed by extraneous factor easily.Because of the positioning principle of these equipment is principle of stereoscopic vision, picture pick-up device is subjected to the interference of factors such as light, target shape feature, picture pick-up device characteristic easily when photographic subjects, causes the image information that is difficult to accurately calculate target, has influenced accuracy of measurement.

Summary of the invention

The technical problems to be solved in the utility model is that speed is slow when utilizing the binocular vision principle to obtain the target three dimensional local information in the prior art, precision is low, accuracy is not high.For solving above-mentioned particular problem, the utility model by the following technical solutions: a kind of three-dimensional localization measuring instrument comprises housing 8, computing circuit 2.Its special character is, this computing circuit 2 is connected with laser range finder 7 and a GPS steady arm 6, the 2nd GPS steady arm 4 by data connecting line, and a described GPS steady arm 6, the 2nd GPS steady arm 4 and laser range finder 7 threes are coaxial.

Utilize the ultimate principle of the utility model measurement target three dimensional local information to be: for two known coordinate points on the space, can determine a space line, any unknown point on being positioned at this straight line when known, then can be determined the volume coordinate of this unknown point to the distance of an above-mentioned coordinate points.Because laser range finder 7 is coaxial with two GPS steady arms, promptly the position of measured target, laser range finder 7 is all on two determined space lines of GPS steady arm.Computing circuit 2 just can calculate the D coordinates value of measured target according to the distance of 6 of the distance of D coordinates value, laser range finder 7 and the measured target of two GPS steady arms, laser range finder 7 and GPS steady arms.

As a kind of preferred version of the present utility model, aiming foresight 1 and breach 3 are installed, the parallel axes that the axis that described aiming foresight 1 and breach 3 are determined and a GPS steady arm 6, the 2nd GPS steady arm 4, laser range finder 7 threes determine above the housing 8 of three-dimensional localization measuring instrument.

When measured target apart from too far away, when causing survey crew can't see the laser spots that drops on the object clearly and can't accurately aim at, can utilize aiming foresight 1 and breach 3 auxiliary aiming measured targets because of naked eyes.

The display screen 9 of display-object three-dimensional information is installed on housing 8 of the present utility model.

After computing circuit 2 calculates the three dimensional local information of measured target, can it be reached and be presented on the display screen 9 by data line, personnel gather to be convenient for measuring, record data.

Computing circuit 2 of the present utility model also is connected with data output apparatus by data connecting line.

Needs for different field, can be in the utility model housing the installation data output device, after computing circuit 2 calculates the three dimensional local information of measured target, can transmit it to data output apparatus, be connected with computing machine or realize Long-distance Control by data line.

Because the utility model combines GPS positioning principle and laser ranging technique, utilized the accuracy of GPS location and the high precision of laser range finder, make it have good stable.Simultaneously, because know-why of the present utility model is simple, calculated amount is little, so speed is fast, real-time is good, equipment making processing, easy to assembly, and easy to operate, economic and practical.

Because this utility model has above-mentioned advantage, can be widely used in data collection, the collection in military remote sensing field or civilian exploration field.

Description of drawings

Fig. 1 is front view of the present utility model (broken section);

Fig. 2 is a right view of the present utility model.

Embodiment

Below in conjunction with accompanying drawing most preferred embodiment of the present utility model is described in further detail.

As shown in Figure 1 and Figure 2, the utility model three-dimensional localization measuring instrument is made up of housing 8, laser range finder 7, computing circuit 2, a GPS steady arm 6, the 2nd GPS steady arm 4, aiming foresight 1, breach 3, power knob 5, display screen 9.Laser range finder 7, a GPS steady arm 6 and 4 three equipment of the 2nd GPS steady arm are coaxial, and are connected with computing circuit 2 by data line.The integrated distance value of laser range finder 7 to the one GPS steady arms 6 in the computing circuit 2.The parallel axes that the axis that aiming foresight 1 that install housing 8 tops and breach 3 are determined and a GPS steady arm 6, the 2nd GPS steady arm 4, laser range finder 7 threes determine.

When the three dimensional local information of need measurement target, can press power knob 5, make the utility model in running order, to aim at measured target from the laser beam that laser range finder 7 emits, when measured target causes naked eyes and can't see laser spots on the target clearly than long-range guided missile, can utilize the sighting device aiming testee of forming by the aiming foresight 1 and the breach 3 of tool housing 8 tops, laser range finder 7 has promptly obtained the distance of itself and measured target, and this distance value is transferred to computing circuit 2 by data line.Simultaneously, self three dimensional local information that an in running order GPS steady arm 6 and the 2nd GPS steady arm 4 will receive acquisition via satellite also transfers to computing circuit 2 by data line, and computing circuit 2 calculates the Three-dimension Target positional information by following principle.

Suppose that the 2nd GPS steady arm 4 is spatial point

, its coordinate is

The one GPS steady arm 6 is a spatial point

, its coordinate is

Target to be measured is a spatial point

, its coordinate is

Laser range finder 7 is a spatial point

Arrive

Distance be

Record

Arrive Distance be By

,

The space line equation of determining is

Arrive

Distance be

, the range formula that carries it into the space point-to-point transmission is:

Computing circuit 2 receives by data line

After the information, just can calculate

Value, according to system of equations (1) and equation (2), but computing is tried to achieve

, promptly the three dimensional local information of measured target reaches display screen or data transmission set with these data by data line again.

For the needs of different field, can the display screen 9 that have data to be connected with computing circuit 2 be installed on housing 8, be used for the three dimensional local information of display-object.Also the data transmission set that has data to be connected with computing circuit 2 can be installed in housing 8, this data transmission set can be the usb data-interface, it also can be radio transmission apparatus, by data transmission set the target three dimensional local information is transferred to computing machine or radio receiver, realize the collection or the Long-distance Control of data.

Claims

1, a kind of three-dimensional localization measuring instrument, comprise housing (8), computing circuit (2), it is characterized in that: this computing circuit (2) is connected with laser range finder (7), a GPS steady arm (6) and the 2nd GPS steady arm (4) by data connecting line, and a described GPS steady arm (6), the 2nd GPS steady arm (4) and laser range finder (7) three are coaxial.

2, according to right 1 described three-dimensional localization measuring instrument, it is characterized in that: housing (8) top is equipped with aiming foresight (1) and breach (3), the parallel axes that the axis that described aiming foresight (1) and breach (3) are determined and a GPS steady arm (6), the 2nd GPS steady arm (4), laser range finder (7) three determine.

3, according to right 1 or 2 described three-dimensional localization measuring instruments, it is characterized in that: the display screen (9) that the display-object three-dimensional information is installed on the housing (8).

4, according to right 3 described three-dimensional localization measuring instruments, it is characterized in that: computing circuit (2) is connected with data output apparatus by data connecting line.