CN209728172U - A kind of careat measuring instrument - Google Patents
A kind of careat measuring instrument Download PDFInfo
- Publication number
- CN209728172U CN209728172U CN201920422023.XU CN201920422023U CN209728172U CN 209728172 U CN209728172 U CN 209728172U CN 201920422023 U CN201920422023 U CN 201920422023U CN 209728172 U CN209728172 U CN 209728172U
- Authority
- CN
- China
- Prior art keywords
- electrically connected
- chip microcontroller
- laser
- module
- battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model discloses a kind of careat measuring instruments, it is related to technical field of measuring equipment；Battery circuit detection circuit is electrically connected with the input terminal of single-chip microcontroller, the communication ends of single-chip microcontroller are electrically connected with bluetooth module, bluetooth module is connect with mobile phone wireless, the output end of single-chip microcontroller is electrically connected with buzzer, the input of single-chip microcontroller, output end is electrically connected by conducting wire with laser ranging module, laser ranging module is fixedly mounted in the shaft of stepper motor, electric machine speed regulation driver is electrically connected with the control terminal of stepper motor, the output end of single-chip microcontroller is electrically connected with electric machine speed regulation driver, frequency synthesis module is electrically connected with laser modulation circuitry, laser modulation circuitry is electrically connected with semiconductor laser；The utility model can greatly improve working efficiency, so that it is easy to operate when user measures indoors, it is easy to carry, there is very strong practicability, reduce labor intensity；Accuracy is improved, and stability is high, structure is simple, while can be realized real time inspection data.
Description
Technical field
The utility model belongs to technical field of measuring equipment, and in particular to a kind of careat measuring instrument.
Background technique
In recent years, with China's economic stability, lasting, high speed development, real-estate market also shows one prosperity
Scene.Possessing oneself house and saying always to common people is happy event the most, but often things turn out contrary to one's wishes for actual conditions.
The people for adopting a young relative, will buying house and buying house is bought, had or will all encounter the experience for testing room, and it is most important in testing room
One link, exactly measures floor space.And most of points for occurring disputing on the problem of being exactly about size.
At this stage, China's science and technology enters the high-speed developing period, it is corresponding we measuring tool and method it is also continuous
Upgrading.Our the main workable equipment in house measurement include steel tape, ultrasonic distance measuring apparatus, Handheld laser ranging at present
Instrument etc..Error is big when steel tape long range measurements, and measurement is inconvenient, very backward.And ultrasonic range finder precision is lower, measurement away from
From also restrained, do not meet and fast and accurately require.Although the hand-held laser rangefinder to grow up in recent years, Neng Gouda
To higher precision, small and exquisite volume and visible light collimation are easily used.But this instrument is dimensional measurement, in complexity
It needs to correct under weather conditions, is measured under strong reflection and strong astigmatism irradiation condition and be easy error (such as to the vertical measurement of ceramic tile face
Shi Changchang error), it can not graphing and data processing.Area measurement instrument is the automatic device for measuring measured object area, manually
The area precision for measuring irregular measured object is poor, low efficiency, and measure batch wants usable floor area self-operated measuring unit.
Laser radar is very extensive using oneself in the prior art, but still is the new and high technology of a continuous development.Small in size,
Light-weight, optical maser wavelength will be as mainstream from now on to eye-safe, high energy laser radar system.The hair of the following laser radar
Exhibition will concentrate mainly on new working system, new laser good fortune penetrates many aspects such as source and new application.Not with device technology
Disconnected development, high-power, multi-functional, integrated new device are continuously available research and development and application, guarantee measurement function, performance and
Under conditions of reliability, laser radar system is significantly reduced.Volume, weight is possibly realized.New device and material are not
Disconnected development, topology layout are continued to optimize, the mature application of finite element analysis optimization software, the continuous liter of processing and assembling
It is horizontal also to substantially increase laser radar structural technique designing for grade.
Also there is the producer of many production laser range finders in the country at present, and domestic laser range finder has good sexual valence
Than advantage, import rangefinder is shaken in the monopolization situation in market.But in the small-sized rangefinder side using semiconductor laser
Face, since the Technical comparing that the country takes falls behind.And it can not be with developed country in terms of optical manufacturing and IC design
It compares, laser range finder is larger in performance and precision aspect and external gap, and general Domestic made Small rangefinder precision is extremely difficult to
Grade.Many domestic laser range finder manufacturing enterprises still rest on the imitated process segment.In the hand-held of multifunctional low power consumption
Formula laser range finder develops, since the requirement to optical device and electronic circuit is higher, and related scientific research, production simultaneously
Unit insufficient investment causes still to occur without high performance product currently on the market.
Range sensor mainly has stereoscopic vision, laser ranging, ultrasonic distance measurement and infrared distance measurement at present, their spy
Point is described below: stereoscopy passive ranging is using the vision system of the composition of camera known to two mutual alignments, according to same
The parallaxometer that scenery is imaged on two cameras calculates the depth of scenery, to obtain its range information, but current technology is also
It is immature, it is difficult to while reaching the requirement of real-time.Laser ranging laser range finder is expensive and heavy according to optar,
And speed is slow, so its application is few.In comparison, although 2D laser range finder only scans on two-dimensional surface, it is tied
Structure is simple, and scanning speed is fast and data point is intensive, accurate.It is widely answered in autonomous mobile robot map structuring indoors
With, while being all commonly using 2D laser range finder in the self-positioning of robot, avoidance, track following and navigation etc..Millimeter
Wave distance measuring sensor have many advantages, such as it is small in size, light-weight and can ranging from remote, and do not influenced by sleet etc. is boisterous,
Environment resistant changing capability is strong, has been widely used in helicopter, cruise missile and anti-tank guided weapons, is also applied in recent years
On anti-collision system for automobile.But it adjust the distance small barrier detection it is more difficult.Therefore it is mainly used in the machine of outside work
On device people.Supersonic sounding is similar to laser ranging, supersonic sounding principle be by detection ultrasonic wave from be emitted to reflect to
The time of emission source carries out ranging, the distance several sensor arrangements being obtained in a different direction in plane
Information.Ultrasonic sensor feature be it is small in size, price is low.Applied in the research of mobile robot very universal, but same
Laser sensor is compared there is obvious deficiencies in performance: having biggish energy attenuation when ultrasonic wave is in air borne, it is difficult to
Obtain accurate range information.Ultrasonic wavelength is generally several millimeters, is easy to happen mirror-reflection, cause range error compared with
Greatly.The field angle of ultrasonic wave is big, so that the accurate orientation of transmitting target point is difficult to determine.Therefore, ultrasonic wave is generally in early stage
Using more in robot experiment, with the decline of laser range sensor price, it is gradually replaced by laser range sensor,
Or applied to the occasion of less demanding to perceived accuracy.Infrared distance measurement is also to be received by transmitting infrared ray and by photodetector
The light being reflected back, to detect the distance of object.It is protected from environmental it is larger, the color of object, around light it is equal
It can cause measurement error, but it has the advantages that time of measuring is short, is suitable for night measurement.
Utility model content
To solve existing careat measuring instrument measurement inaccuracy, and it is complicated for operation, while the problem of stability difference；This
Utility model is designed to provide a kind of careat measuring instrument.
A kind of careat measuring instrument of the utility model, it includes single-chip microcontroller, battery circuit detection circuit, electric power storage
Pond, Voltage stabilizing module, buzzer, bluetooth module, laser ranging module, electric machine speed regulation driver, stepper motor；Battery circuit inspection
Slowdown monitoring circuit is electrically connected with the input terminal of single-chip microcontroller, the feeder ear of battery respectively with the input terminal of battery circuit detection circuit,
Voltage stabilizing module electrical connection, Voltage stabilizing module are electrically connected with the power end of single-chip microcontroller, and the communication ends of single-chip microcontroller are electrically connected with bluetooth module,
Bluetooth module is connect with mobile phone wireless, and the output end of single-chip microcontroller is electrically connected with buzzer, and the input of single-chip microcontroller, output end, which pass through, leads
Line is electrically connected with laser ranging module, and laser ranging module is fixedly mounted in the shaft of stepper motor, electric machine speed regulation driver
It is electrically connected with the control terminal of stepper motor, the output end of single-chip microcontroller is electrically connected with electric machine speed regulation driver, the laser ranging mould
Block includes frequency synthesis module, laser modulation circuitry, semiconductor laser, collimating lens, focusing lens, photelectric receiver, puts
Big device, converter；Frequency synthesis module is electrically connected with laser modulation circuitry, and laser modulation circuitry is electrically connected with semiconductor laser
It connects, the laser emission point side of semiconductor laser is disposed with collimating lens, focusing lens, the side setting of condenser lens
There is photelectric receiver, photelectric receiver is electrically connected with amplifier, and amplifier is electrically connected with converter.
Preferably, the single-chip microcontroller is STM32F103RBT6 single-chip microcontroller.
Preferably, the battery circuit detection circuit includes battery charging circuit, accumulator electric-quantity detection circuit；
Battery charging circuit is electrically connected with accumulator electric-quantity detection circuit.
Compared with prior art, the utility model has the following beneficial effects:
One, working efficiency can be greatlyd improve, so that it is easy to operate when user measures indoors, it is easy to carry,
With very strong practicability, labor intensity is reduced；
Two, accuracy is improved, and stability is high, structure is simple, while can be realized real time inspection data.
Detailed description of the invention
The present invention is described in detail by the following detailed description and drawings for ease of explanation,.
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the circuit diagram of the utility model；
Fig. 3 is the circuit diagram of bluetooth module in the utility model；
Fig. 4 is that the output data of semiconductor laser in the utility model illustrates θ figure；
Fig. 5 is cell phone client functional block diagram in the utility model.
Specific embodiment
To make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings
Specific embodiment describes the utility model.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit this reality
With novel range.In addition, in the following description, descriptions of well-known structures and technologies are omitted, to avoid unnecessarily mixing
Confuse the concept of the utility model.
Here, it should also be noted that, in order to avoid having obscured the utility model because of unnecessary details, in the accompanying drawings
It illustrate only the structure and/or processing step closely related with scheme according to the present utility model, and be omitted practical with this
The little other details of new relationship.
As shown in Figure 1 and Figure 2, present embodiment uses following technical scheme: it includes single-chip microcontroller, battery circuit
Detection circuit, battery, Voltage stabilizing module, buzzer, bluetooth module, laser ranging module, electric machine speed regulation driver, stepping electricity
Machine；Battery circuit detection circuit is electrically connected with the input terminal of single-chip microcontroller, and the feeder ear of battery is examined with battery circuit respectively
The input terminal of slowdown monitoring circuit, Voltage stabilizing module electrical connection, Voltage stabilizing module be electrically connecteds with the power end of single-chip microcontroller, the communication ends of single-chip microcontroller and
Bluetooth module electrical connection, bluetooth module connect with mobile phone wireless, and the output end of single-chip microcontroller is electrically connected with buzzer, single-chip microcontroller it is defeated
Enter, output end is electrically connected by conducting wire with laser ranging module, laser ranging module is fixedly mounted in the shaft of stepper motor,
Electric machine speed regulation driver is electrically connected with the control terminal of stepper motor, and the output end of single-chip microcontroller is electrically connected with electric machine speed regulation driver,
The laser ranging module include frequency synthesis module, laser modulation circuitry, semiconductor laser, collimating lens, focusing lens,
Photelectric receiver, amplifier, converter；Frequency synthesis module is electrically connected with laser modulation circuitry, laser modulation circuitry and half
Conductor laser electrical connection, the laser emission point side of semiconductor laser are disposed with collimating lens, focusing lens, focus
The side of lens is provided with photelectric receiver, and photelectric receiver is electrically connected with amplifier, and amplifier is electrically connected with converter.
Major function is to acquire measurement data with STM32 single-chip microcontroller control laser radar, then will be sampled by Bluetooth chip
Data radio to mobile phone.Mobile phone is connected to the biography for positioning after data after transcoding, with SLAM algorithm immediately and receiving measuring system
Transmission of data generates room floor plan, then uses the area of irregular figure algorithm calculated room floor plan.The existing skill used
Main method in art has: the decoding of the transcodings of data, SLAM algorithm (in unknown environment can with communication when measuring system with
Position and generate two-dimentional room floor plan), irregular figure algorithm (then irregular figure is divided into several small triangles
Successively add up the area of each triangle).
As shown in figure 3, in order to realize the Bluetooth communication between cell phone client and master control processing module STC89C52, design
Bluetooth communication circuit out.
The data that laser sensor is read for environmental characteristic description (such as wall, doorway, dustbin) these have it is straight
The reason of line, the edge of the circle is unsatisfactory, generates this error not only includes the error of sensor itself, and robot is in advance process
Vibration, which occurs, for middle ontology can also impact sensor, such as the rotation of robot movement speed and laser sensor reflecting mirror
Drift and deformation occur for the ratio between speed, the initial data that laser sensor can be made to scan when robot motion is very fast, so
Data obtained by we must take corrective action to make more can be close to environmental characteristic.The extraction of geometrical characteristic is usually that will be tested
Predetermined description or template of the sensing data with desired character be compared and matched process.In general, sensor output
Data are greater than the number of estimative feature, and system is overdetermination.Because the data of sensor output are all there is certain errors,
Therefore unanimously solved without ideal, but an optimization problem.In brief it is exactly that we can extract feature, is allowed to and all senses
Difference between the measured value that device is exported is minimum.
As shown in figure 4, dot is that laser sensor measures output valve, our target is mentioned according to these measurement point sets
Take straight line.Here there is related uncertainty is measured with each range sensor with noise, so there is no logical
The single straight line of measurement point set is crossed, but gives the principle of certain optimizations, finds out optimal matching.In numerical analysis, with
Similar problem be that one group of given data { (x of a curve negotiating is found out usually using the method for fittingi,yi), i=
1,2 ..., N }, as shown in figure 4, wherein r is the vertical range of coordinate origin and this straight line, α is the folder apart from straight line and X-axis
Angle.Best fit is considered as that curve limit used is multinomial, be exactly in data point match value and functional value have it is minimum accidentally
Poor quadratic sum, i.e. least square fitting.What this method usually obtained is curve more than once.Straight line, which is difficult to meet, to be wanted
It asks.
Distance measuring sensor usually by transmitter, receiver, single-chip microcontroller, form:
1. transmitter: receiving the signal that transmitting drive module generates, generate response according to the signal that transmitting driving issues
Laser debugs signal, internal to be made of Laser emission amplification modulating circuit, photodiode, transmitting optical module；
2. receiver: being made of, can receive faint photodetector, opto-electronic receiver amplifying circuit, converter etc.
Signal is passed to analog-digital converter by transformation by laser signal.
3.MCU: (or realizing identical function using other structures), microprocessor control are mainly formed by microcontroller and DSP
The operation (including DSP) for making all devices, parses the serial port command received, and the conversion of control command mode is produced by working sequence
Raw control signal；Data after DSP samples A/D are handled.
As shown in figure 5, when client is communicated with measuring system, it is first of all clear that the communication between client and bluetooth module
Principle；Its is secondary using data conversion, and the plan view of room area can be accurately obtained by SLAM technology, and energy
Accurate apex coordinate is accessed, to realize the calculating to irregular figure.And realize that cell phone client is specifically applied,
The function of motor speed adjusting is set, to control the purpose of sweep time, the irregular figure carried out using mobile phone on earth
The benefit of calculating is: accuracy is high, it is easy to carry, easy to operate, save money.Cell phone client structure function block diagram.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (3)
1. a kind of careat measuring instrument, it is characterised in that: it includes single-chip microcontroller, battery circuit detection circuit, battery, steady
Die block, buzzer, bluetooth module, laser ranging module, electric machine speed regulation driver, stepper motor；Battery circuit detection electricity
Road is electrically connected with the input terminal of single-chip microcontroller, the feeder ear of battery respectively with the input terminal of battery circuit detection circuit, pressure stabilizing
Module electrical connection, Voltage stabilizing module are electrically connected with the power end of single-chip microcontroller, and the communication ends of single-chip microcontroller are electrically connected with bluetooth module, bluetooth
Module is connect with mobile phone wireless, and the output end of single-chip microcontroller is electrically connected with buzzer, the input of single-chip microcontroller, output end by conducting wire with
Laser ranging module electrical connection, laser ranging module are fixedly mounted in the shaft of stepper motor, electric machine speed regulation driver and step
Control terminal into motor is electrically connected, and the output end of single-chip microcontroller is electrically connected with electric machine speed regulation driver, the laser ranging module packet
Include frequency synthesis module, laser modulation circuitry, semiconductor laser, collimating lens, focusing lens, photelectric receiver, amplifier,
Converter；Frequency synthesis module is electrically connected with laser modulation circuitry, and laser modulation circuitry is electrically connected with semiconductor laser, and half
The laser emission point side of conductor laser is disposed with collimating lens, focusing lens, and the side of condenser lens is provided with light
Electric receiver, photelectric receiver are electrically connected with amplifier, and amplifier is electrically connected with converter.
2. a kind of careat measuring instrument according to claim 1, it is characterised in that: the single-chip microcontroller is
STM32F103RBT6 single-chip microcontroller.
3. a kind of careat measuring instrument according to claim 1, it is characterised in that: the battery circuit detection circuit
Including battery charging circuit, accumulator electric-quantity detection circuit；Battery charging circuit is electrically connected with accumulator electric-quantity detection circuit
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920422023.XU CN209728172U (en) | 2019-03-30 | 2019-03-30 | A kind of careat measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920422023.XU CN209728172U (en) | 2019-03-30 | 2019-03-30 | A kind of careat measuring instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209728172U true CN209728172U (en) | 2019-12-03 |
Family
ID=68689471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920422023.XU Expired - Fee Related CN209728172U (en) | 2019-03-30 | 2019-03-30 | A kind of careat measuring instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209728172U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111024025A (en) * | 2019-12-31 | 2020-04-17 | 河南城建学院 | Real estate house acceptance device |
| CN111025324A (en) * | 2020-01-06 | 2020-04-17 | 青梧桐有限责任公司 | Household pattern generating method based on distance measuring sensor |
| CN111102936A (en) * | 2020-01-06 | 2020-05-05 | 青梧桐有限责任公司 | Household graph scanning and generating system |
| CN111288935A (en) * | 2020-03-18 | 2020-06-16 | 徐州工业职业技术学院 | Building area measuring device |
| CN113309328A (en) * | 2021-06-29 | 2021-08-27 | 江苏城乡建设职业学院 | Method and device for controlling ceramic tile sticking robot |
| CN113313761A (en) * | 2021-07-28 | 2021-08-27 | 盎锐(常州)信息科技有限公司 | Site acquisition method, scanning device and system for actual measurement |
-
2019
- 2019-03-30 CN CN201920422023.XU patent/CN209728172U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111024025A (en) * | 2019-12-31 | 2020-04-17 | 河南城建学院 | Real estate house acceptance device |
| CN111024025B (en) * | 2019-12-31 | 2021-07-20 | 河南城建学院 | Real estate house acceptance device |
| CN111025324A (en) * | 2020-01-06 | 2020-04-17 | 青梧桐有限责任公司 | Household pattern generating method based on distance measuring sensor |
| CN111102936A (en) * | 2020-01-06 | 2020-05-05 | 青梧桐有限责任公司 | Household graph scanning and generating system |
| CN111288935A (en) * | 2020-03-18 | 2020-06-16 | 徐州工业职业技术学院 | Building area measuring device |
| CN111288935B (en) * | 2020-03-18 | 2021-07-20 | 徐州工业职业技术学院 | Building area measuring device |
| CN113309328A (en) * | 2021-06-29 | 2021-08-27 | 江苏城乡建设职业学院 | Method and device for controlling ceramic tile sticking robot |
| CN113313761A (en) * | 2021-07-28 | 2021-08-27 | 盎锐(常州)信息科技有限公司 | Site acquisition method, scanning device and system for actual measurement |
| CN113313761B (en) * | 2021-07-28 | 2022-04-01 | 盎锐(常州)信息科技有限公司 | Site acquisition method, scanning device and system for actual measurement |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209728172U (en) | A kind of careat measuring instrument | |
| US10935378B2 (en) | System and method for angle measurement | |
| CN105157697A (en) | Indoor mobile robot pose measurement system and measurement method based on optoelectronic scanning | |
| WO2022126427A1 (en) | Point cloud processing method, point cloud processing apparatus, mobile platform, and computer storage medium | |
| CN205750529U (en) | A kind of sweeping robot intelligent barrier avoiding and alignment system | |
| CN107515402A (en) | A kind of TOF three-dimensionals range-measurement system | |
| CN108844543A (en) | Indoor AGV navigation control method based on UWB positioning and dead reckoning | |
| CN110233664A (en) | A kind of Pointing Control System and pointing control method of wireless light communication | |
| CN206348456U (en) | A kind of solid-state face battle array detection device | |
| CN108776344A (en) | A kind of low cost can slant laser radar | |
| CN110823211A (en) | Multi-sensor map construction method, device and chip based on visual SLAM | |
| CN102520412A (en) | Laser active detecting device based on MEMS (micro-electromechanical system) two-dimensional scanning mirror array | |
| CN212623087U (en) | Laser rangefinder and robot | |
| CN108107912A (en) | A kind of Intelligent unattended machine mapping system | |
| CN106772408A (en) | A kind of solid-state face battle array detection device and detection method | |
| CN109633606A (en) | A kind of three-dimensional laser radar scanning means and measurement method | |
| CN114545918A (en) | Robot inspection system and inspection method capable of accessing mobile terminal | |
| CN106502241A (en) | A kind of sweeping robot intelligent barrier avoiding and alignment system | |
| CN110231607A (en) | A kind of laser radar system of the Special SOC chip based on high integration | |
| CN103995264A (en) | Vehicle-mounted mobile laser radar mapping system | |
| CN111208502A (en) | Positioning method and system for unmanned logistics vehicle | |
| CN110058256A (en) | A kind of tracing-positioning system based on disengagement chamber | |
| CN203772260U (en) | Optical fiber laser ranging ray machine system | |
| CN201749191U (en) | Line scanning laser radar sensor | |
| WO2021253429A1 (en) | Data processing method and apparatus, and laser radar and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191203 Termination date: 20210330 |