WO2016131203A1 - 一种测距系统及测距方法 - Google Patents

一种测距系统及测距方法 Download PDF

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Publication number
WO2016131203A1
WO2016131203A1 PCT/CN2015/074461 CN2015074461W WO2016131203A1 WO 2016131203 A1 WO2016131203 A1 WO 2016131203A1 CN 2015074461 W CN2015074461 W CN 2015074461W WO 2016131203 A1 WO2016131203 A1 WO 2016131203A1
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WO
WIPO (PCT)
Prior art keywords
terminal device
distance
travel trajectory
ranging
wheel
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PCT/CN2015/074461
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English (en)
French (fr)
Inventor
石昕
邢星
Original Assignee
上海诺司纬光电仪器有限公司
美国西北仪器公司
Priority date (The priority date 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 date listed.)
Filing date
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Application filed by 上海诺司纬光电仪器有限公司, 美国西北仪器公司 filed Critical 上海诺司纬光电仪器有限公司
Priority to EP15882342.7A priority Critical patent/EP3260813B1/en
Priority to CA2976520A priority patent/CA2976520C/en
Priority to US15/503,222 priority patent/US10473473B2/en
Priority to ES15882342T priority patent/ES2929463T3/es
Priority to DK15882342.7T priority patent/DK3260813T3/da
Publication of WO2016131203A1 publication Critical patent/WO2016131203A1/zh
Priority to US16/656,276 priority patent/US11243309B2/en
Priority to US17/581,470 priority patent/US20220146279A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B3/00—Measuring instruments characterised by the use of mechanical techniques
    • G01B3/12—Measuring wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3688—Systems comprising multiple parts or multiple output devices (not client-server), e.g. detachable faceplates, key fobs or multiple output screens
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

Definitions

  • the invention relates to the field of surveying and painting, in particular to a distance measuring system and a distance measuring method.
  • distance measuring devices for line and area measurement and planning, such as in the field of construction, road engineering, transportation, pipeline laying, garden landscape and so on.
  • the more commonly used distance measuring device is a distance measuring wheel.
  • the existing measuring wheel usually only has a ranging function.
  • the basic principle is to measure the distance by measuring the rolling of the wheel, matching the mechanical gear counter or the electronic counter, and then calculating the number of turns of the measuring wheel.
  • This measuring method is usually used. It can only measure the length of the traveling track of the measuring wheel between the point and the point, and the drawing of the later drawing needs to be generated in stages, which wastes time and has low measurement precision. Only limited functions can be realized in actual use.
  • the technical problem to be solved by the present invention is to provide a ranging system capable of generating a traveling trajectory map in real time while realizing ranging.
  • the preferred embodiment of the present invention can perform markings such as markings or punctuation on the actual scene for a predetermined traveling trajectory on a pre-designed drawing, and can also prompt the direction and distance.
  • a distance measuring system comprising: a distance measuring device and a terminal device, the distance measuring device comprising: a measuring wheel, a rotating shaft disposed on the measuring wheel, and a connecting shaft connected to the rotating shaft for obtaining the measuring wheel in real time
  • An electronic counter of the distance information of the route that has traveled wherein
  • the distance measuring device or the terminal device further includes an angle sensor configured to obtain angle information of the measuring wheel while traveling in real time;
  • a communication module is respectively disposed on the terminal device and the ranging device to transmit data in the ranging device to the terminal device;
  • the terminal device includes a data processing module configured to generate a travel trajectory map of the ranging wheel in real time based on distance information from the electronic counter and angle information from the angle sensor.
  • said terminal device further comprises a memory storing a pre-designed travel trajectory map; said data processing module further configured to determine a measurement wheel based on said distance information and angle information based on said pre-designed travel trajectory map The current travel trajectory is monitored, and the deviation data is output when the current travel trajectory deviates from the pre-designed travel trajectory map; the terminal device further includes a prompting module configured to perform orientation and/or distance according to the deviation data A prompt is provided to guide the user to correct the current travel path of the measurement wheel and to guide the user to mark on the travel path of the measurement wheel according to the pre-designed travel trajectory map.
  • said terminal device further comprises a memory storing a pre-designed travel trajectory map; said data processing module further configured to determine a measurement wheel based on said distance information and angle information based on said pre-designed travel trajectory map The current travel trajectory is monitored, and the deviation data is output when the current travel trajectory deviates from the pre-designed travel trajectory map; the terminal device further includes a prompting module configured to perform orientation and/or distance according to the deviation data Prompting to guide the user to correct the current travel route of the measuring wheel; the distance measuring device is further provided with a marker configured to travel on the measuring wheel according to an instruction of the user or according to an instruction of the data processing module Mark on.
  • said angle sensor is an electronic compass disposed in said distance measuring device, said electronic compass being coupled to a communication module of said distance measuring device.
  • said angle sensor is a gyroscope disposed within said terminal device, said gyroscope being coupled to said data processing module.
  • said distance measuring device further comprises a gripper for securing said terminal device.
  • the terminal device further comprises a camera configured to acquire a scene image in the direction of travel of the measuring wheel in real time, the prompting module being configured to provide the orientation and/or distance prompt on the scene image.
  • the communication module is a wireless communication module or a wired communication module
  • the interface of the wired communication module is: RS232, RS485, I2C, SPI or CAN;
  • the communication mode of the communication module is: Bluetooth, WIFI, Zigbee or RF communication.
  • the ranging system further includes a cloud server
  • the terminal device is networked with the cloud server
  • the cloud server is configured to store and share data sent by the terminal device, and the data sent by the terminal device
  • the distance information of the electronic counter, the angle information of the angle sensor, and/or the first travel trajectory map are included, and the terminal device is capable of acquiring a pre-designed travel trajectory map from the cloud server.
  • the data processing module is configured to obtain the closed graphic by calculating the area of the mesh included in the closed graphic by meshing the closed graphic when the first traveling trajectory map is a closed graphic Area.
  • the terminal device is a smartphone, a computer or a handset.
  • the embodiment of the present invention further provides a ranging method based on the above ranging system, comprising: obtaining, in the real-time, the distance information of the traveled route of the measuring wheel through the electronic counter when the measuring wheel travels, and passing the angle
  • the sensor obtains the angle information of the measuring wheel in real time; transmits the distance information and the angle information to the data processing module; the data processing module generates a traveling trajectory map of the measuring wheel in real time according to the distance information and the angle information.
  • the ranging method further comprises: storing a pre-designed travel trajectory map in the terminal device; the data processing module determining the distance information and the angle information based on the pre-designed travel trajectory map The current travel trajectory of the measurement wheel is monitored, and the deviation data is output when the current travel trajectory deviates from the pre-designed travel trajectory map; the orientation and/or distance prompt is performed according to the deviation data to guide the user to correct the current measurement wheel The travel route and guide the user to mark on the travel path of the measurement wheel according to the pre-designed travel trajectory map.
  • the ranging method further comprises: storing a pre-designed travel trajectory map in the terminal device; the data processing module determining the distance information and the angle information based on the pre-designed travel trajectory map The current travel trajectory of the measurement wheel is monitored, and the deviation data is output when the current travel trajectory deviates from the pre-designed travel trajectory map; the orientation and/or distance prompt is performed according to the deviation data to guide the user to correct the current measurement wheel Route of travel and use by a marker placed in the ranging device The instructions of the person are marked on the route of travel of the measuring wheel according to instructions of the data processing module.
  • the ranging method further comprises: acquiring a scene image in a direction of travel of the measuring wheel in real time, and providing the orientation and/or distance hint on the scene image.
  • the invention adopts the cooperation of the electronic counter and the angle sensor, and uses the data measured by the distance measuring device to generate the drawing of the traveling track in real time on the terminal device, which not only achieves the purpose of measuring the distance, but also generates the drawing of the traveling track in real time. Effectively improve work efficiency;
  • the terminal device of the present invention further has a camera, and the terminal device can combine the information captured by the camera with the trajectory on the drawing to complete the punctuation or marking of the implementation site, and in the process of marking, can also travel Correction of the route;
  • the invention has the advantages of simple structure, light weight, flexibility and convenient use.
  • FIG. 1 is a schematic structural view of a ranging system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of a ranging system according to another embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a travel trajectory diagram of a rule generated by a ranging system according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an irregular continuous trajectory map generated by a ranging system according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an area of a ranging system for generating a traveling trajectory by using a grid calculation according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram of a ranging system during a measurement wheel traveling process according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural view of a ranging system according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a ranging system according to another embodiment of the present invention.
  • the ranging system of the embodiment of the present invention includes: a distance measuring device and a terminal device 3, the distance measuring device includes: a measuring wheel 1, a rotating shaft disposed on the measuring wheel 1, and a real-time connected to the rotating shaft An electronic counter 2 that obtains distance information of the route that the measurement wheel has traveled is obtained.
  • a data processing module is disposed in the terminal device 3, and a communication module is disposed on the data processing module and the electronic counter, and the angle measuring device is further included in the ranging device or the terminal device.
  • the data processing module receives the distance information from the electronic counter and the angle information of the angle sensor, and performs calculation according to the distance information and the angle information, thereby drawing the measured route of the measuring wheel in real time on the screen of the terminal device. Traveling trajectory map.
  • the angle sensor may be an electronic compass connected to the electronic counter disposed in the distance measuring device, or may be a gyroscope connected to the data processing module disposed in the terminal device.
  • the invention adopts the cooperation of the electronic counter and the angle sensor, and uses the data measured by the distance measuring device to generate the drawing of the traveling track in real time on the terminal device, which not only achieves the purpose of measuring the distance, but also generates the drawing of the traveling track in real time, which is effective. Improve work efficiency.
  • the ranging system can be used to reticle or punctuate the construction site.
  • the pre-designed travel trajectory map may be stored in a memory of the terminal device, and the data processing module determines a current travel trajectory of the measurement wheel according to the distance information and the angle information, and determines the current current of the determined measurement wheel according to the pre-designed travel trajectory map.
  • the travel trajectory is monitored, and when the current travel trajectory of the measurement wheel deviates from the pre-designed travel trajectory, the deviation between the current travel trajectory and the pre-designed travel trajectory map is output as the deviation data.
  • the deviation data may, for example, be angle and distance data that needs to be adjusted to correct the current position of the measurement wheel to the pre-designed travel trajectory.
  • the terminal device may further include a prompting module, configured to receive the deviation data, and configured to perform orientation and/or distance prompting according to the deviation data to guide the user to correct a current traveling route of the measuring wheel, and the pre-designed traveling trajectory map may be With marked points or signs Line, the prompting module can prompt or guide the user to perform punctuation or marking on the traveling path of the measuring wheel according to the marking point or the marking line with a separate marker.
  • a prompting module configured to receive the deviation data, and configured to perform orientation and/or distance prompting according to the deviation data to guide the user to correct a current traveling route of the measuring wheel, and the pre-designed traveling trajectory map may be With marked points or signs Line
  • the prompting module can prompt or guide the user to perform punctuation or marking on the traveling path of the measuring wheel according to the marking point or the marking line with a separate marker.
  • the marker can be disposed in the distance measuring device, for example, coupled to the rotating shaft, so that the user does not need to carry the marker separately, but the pointing module prompts the current position to require the marking or marking.
  • the user can issue an instruction to the marker to cause the marker to punctuate or reticle at a predetermined location.
  • the marker may also send the marking instruction to the marker through the communication module according to the data processing module comparing the current traveling trajectory with the pre-designed traveling trajectory and determining the current position of the measuring wheel as the position to be marked, thereby automatically Punctuation or marking on the measurement site.
  • Figure 2 there is shown a schematic view of the coupling of the marker 4 to the spindle of the distance measuring device. This figure is merely an example, and the marker can also be coupled to other components in the distance measuring device, such as to a link between the electronic counter and the rotating shaft, and the like.
  • the marking of the actual scene by marking or punctuation can be realized for the predetermined traveling trajectory on the pre-designed drawing, and the direction and the distance can also be prompted.
  • FIG. 3 is a schematic diagram of a trajectory of a rule generated by a ranging system according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an irregular continuous trajectory map generated by the ranging system according to an embodiment of the present invention.
  • the regular route or any irregular path can be continuously measured by the embodiment of the present invention, and the traveling trajectory of the ranging wheel can also be generated in real time.
  • the distance measuring device is further provided with a holder for fixing the terminal device 3 coupled to the side end of the electronic counter 2, which is convenient for measurement, and can also maintain stable signal transmission, and can also maintain stable signal transmission. Avoid causing measurement errors in the angle sensor.
  • the distance measuring device and the communication module in the terminal device 3 may be wired communication modules, such as RS232, RS485, I2C, SPI or CAN.
  • the gripper may be disposed at the upper or lower portion of the electronic counter 2 as long as the terminal device 3 and the electronic counter 2 can be stably secured. Connect together.
  • the present invention is not limited thereto. But by setting the distance measuring device and the terminal The wireless communication module in the device, the terminal device can obtain the distance information and the angle information by means of wireless communication without being fixed on the ranging device, and the communication mode of the wireless communication module can be: Bluetooth, WIFI, Zigbee or RF communication.
  • the memory in the terminal device in the embodiment of the present invention may also be used to store distance information, angle information, and a travel trajectory map generated by the data processing module, to facilitate subsequent calls.
  • the terminal device in the embodiment of the present invention may be a smart phone, a computer or a handheld device.
  • the data processing module may mesh the closed graphic to calculate a mesh included in the closed graphic formed by the traveling trajectory.
  • the area thereby obtaining the actual area of the closed figure enclosed by the measured trajectory.
  • the smaller the grid used when meshing the closed figure the higher the accuracy of calculating the area of the closed figure. .
  • the ranging system of the present invention may further comprise a cloud server, the terminal device is connected to the cloud server, and the cloud server is configured to store and share data sent by the terminal device, the data may include: ranging information of the electronic counter, angle of the angle sensor Information and/or generated travel trajectory map, and the terminal device is capable of acquiring a pre-designed travel trajectory map from the cloud server.
  • the saved data can be retrieved in real time, and the test data or drawings can be shared with other engineering personnel, effectively improving the quality and efficiency of the work.
  • the trajectory map generated by the terminal device is uploaded to the cloud server and becomes a pre-designed trajectory map that can be acquired.
  • the terminal device further includes a camera
  • the data processing module can display the scene image acquired by the camera in combination with the track on the drawing
  • the prompting module can provide the orientation and the image on the scene image. / or distance prompts, in order to guide the user to correct the travel route, and guide the user to complete the punctuation or marking of the construction site.
  • the worker can mark the actual work site according to the travel trajectory on the drawing.
  • FIG. 6 there is shown a combination of a travel trajectory map and a deviation direction hint and a deviation distance hint on the scene image, where the travel trajectory map may be a pre-designed travel trajectory map obtained from the cloud server.
  • the invention also provides a ranging method based on the above ranging system, comprising: obtaining the distance information of the traveled route of the measuring wheel in real time through the electronic counter in the distance measuring device when the measuring wheel travels, and passing the distance measuring device or the interrupting device
  • the angle sensor in the real-time obtains the angle information of the measuring wheel, transmits the distance information and the angle information to the data processing module, and the data processing module generates the traveling trajectory map of the measuring wheel in real time according to the distance information and the angle information.
  • the data measured by the distance measuring device is used to generate the drawing of the traveling track in real time on the terminal device, which not only achieves the purpose of measuring the distance, but also generates the drawing of the traveling track in real time, which is effective. Improve work efficiency.
  • the ranging method further includes: storing the pre-designed travel trajectory map in the terminal device; and the data processing module real-time determining the measurement wheel based on the distance information and the angle information according to the pre-designed travel trajectory map
  • the current travel trajectory is monitored, and the deviation data is output when the current travel trajectory deviates from the pre-designed travel trajectory map; the orientation and/or distance prompt is performed according to the deviation data to guide the user to correct the current travel route of the measurement wheel and guide the user according to the
  • the pre-designed travel trajectory map is marked on the travel path of the measuring wheel.
  • the ranging method further includes: storing the pre-designed travel trajectory map in the terminal device; and the data processing module determining the measurement wheel based on the distance information and the angle information according to the pre-designed travel trajectory map
  • the current travel trajectory is monitored, and the deviation data is output when the current travel trajectory deviates from the pre-designed travel trajectory map; the orientation and/or distance prompt is performed according to the deviation data to guide the user to correct the current travel route of the measurement wheel, and
  • the marker disposed in the distance measuring device is marked on the travel path of the measuring wheel according to a user's instruction or according to an instruction of the data processing module.
  • the marking of the actual scene by marking or punctuation can be realized for the predetermined traveling trajectory on the pre-designed drawing, and the direction and the distance can also be prompted.
  • the ranging method further includes: acquiring a scene image in a traveling direction of the measuring wheel in real time, and providing the orientation and/or distance prompt on the scene image.
  • the ranging method of the embodiment facilitates guiding the user to correct the travel route and guiding the user to complete the punctuation or marking on the construction site.

Abstract

一种测距系统和测距方法，测距系统包括：测距装置和终端设备（3），测距装置包括:测量轮（1）、设置在测量轮（1）上的转轴、以及与转轴相连的用于获得测量轮的距离信息的电子计数器（2），其中，测距装置或终端设备（3）中还包括角度感应器；终端设备（3）和测距装置上分别设有通信模块；终端设备（3）包括数据处理模块，其配置为根据来自电子计数器（2）的测距信息和角度感应器的角度信息实时生成测量轮的行进轨迹图。因而，在测距的功能的基础上还能实时生成行进轨迹的图纸，有效的提高了工作效率。配合标记器（4）还可以实现根据预先设计好的图纸在施工现场进行标线的功能，结构简单、轻巧灵活。

Description

一种测距系统及测距方法 技术领域
本发明涉及测绘领域，尤其涉及一种测距系统及测距方法。
背景技术
目前，在人们生活和工作的方方面面几乎都需要用到测距装置进行线路、区域的测量和规划，如在建筑领域、道路工程领域、交通领域、管线的铺设、园林风景领域等。较为常用的测距装置为测距轮。
现有的测距轮通常只具有测距功能，其基本原理是通过测量轮的滚动，配合机械齿轮计数器或电子计数器，然后计算测量轮转动的圈数来实现距离的测量，这种测量方法通常只能测量点到点之间测量轮的行进轨迹长度，且后期的图纸的绘制需要分段进行生成，既浪费时间，测量精度也很低，在实际使用中只能实现有限的功能。
发明内容
本发明所要解决的技术问题是提供一种能够在实现测距的同时还能实时生成行进轨迹图的测距系统。
本发明的优选实施例可以针对预设计的图纸上的预定行进轨迹实现对实际场景进行标线或标点等标记，还能进行方向和距离的提示。
为了实现上述技术目的，本发明采用了如下技术方案：
一种测距系统,包括:测距装置和终端设备,所述测距装置包括:测量轮、设置在所述测量轮上的转轴、以及与所述转轴相连的用于实时获得所述测量轮已行进路线的距离信息的电子计数器，其中，
所述测距装置或所述终端设备中还包括角度感应器，其配置为实时获得所述测量轮在行进时的角度信息；
所述终端设备和所述测距装置上分别设有通信模块以将所述测距装置中的数据传输到所述终端设备；
所述终端设备包括数据处理模块，其配置为根据来自所述电子计数器的距离信息和来自所述角度感应器的角度信息实时生成所述测距轮的行进轨迹图。
作为优选，所述终端设备还包括存储器，其存储预设计的行进轨迹图；所述数据处理模块还配置为根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；所述终端设备还包括提示模块，其配置为根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线并引导使用者根据所述预设计的行进轨迹图在所述测量轮的行进路线上进行标记。
作为优选，所述终端设备还包括存储器，其存储预设计的行进轨迹图；所述数据处理模块还配置为根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；所述终端设备还包括提示模块，其配置为根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线；所述测距装置中还设置有标记器，其配置为根据使用者的指令或根据所述数据处理模块的指令在所述测量轮的行进路线上进行标记。
作为优选，所述角度感应器为设置在所述测距装置中的电子罗盘,所述电子罗盘连接到所述测距装置的通信模块。
作为优选，所述角度感应器为设置在所述终端设备内的陀螺仪，所述陀螺仪连接到所述数据处理模块。
作为优选，所述测距装置还包括用于固定所述终端设备的夹持器。
作为优选，所述终端设备还包括摄像头,其配置为实时获取所述测量轮行进方向上的场景图像,所述提示模块配置为在所述场景图像上提供所述方位和/或距离提示。
作为优选，所述通信模块为无线通信模块或有线通信模块，所述有线通信模块的接口为：RS232、RS485、I2C，SPI或CAN；所述无线 通信模块的通信方式为：蓝牙、WIFI、Zigbee或RF通信。
作为优选，所述测距系统还包括一云服务器，所述终端设备与所述云服务器相联网，所述云服务器用于存储和共享所述终端设备发送的数据，所述终端设备发送的数据包括：电子计数器的距离信息、角度感应器的角度信息和/或所述第一行进轨迹图，并且所述终端设备能够从所述云服务器获取预设计的行进轨迹图。
作为优选，所述数据处理模块配置为当所述第一行进轨迹图为封闭图形时，通过将所述封闭图形网格化、根据所述封闭图形所包含网格的面积计算获得所述封闭图形的面积。
作为优选，所述终端设备是智能手机、计算机或手持机。
本发明实施例还提供了一种基于上述测距系统的测距方法，包括：在所述测量轮行进时，通过所述电子计数器实时获得测量轮已行进路线的距离信息，并通过所述角度感应器实时获得测量轮的角度信息；将所述距离信息和角度信息传输到所述数据处理模块；所述数据处理模块根据所述距离信息和角度信息实时生成所述测量轮的行进轨迹图。
作为优选，所述测距方法还包括：将预设计的行进轨迹图存储在所述终端设备中；所述数据处理模块根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线并引导使用者根据所述预设计的行进轨迹图在所述测量轮的行进路线上进行标记。
作为优选，所述测距方法还包括：将预设计的行进轨迹图存储在所述终端设备中；所述数据处理模块根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线，并且由设置在所述测距装置中的标记器根据使用 者的指令或根据所述数据处理模块的指令在所述测量轮的行进路线上进行标记。
作为优选，所述测距方法还包括：实时获取所述测量轮行进方向上的场景图像,并在所述场景图像上提供所述方位和/或距离提示。
与现有技术相比，本发明的有益效果在于：
1、本发明采用电子计数器和角度感应器的配合，利用测距装置测得的数据在终端设备上实时生成行进轨迹的图纸，既达到了测量距离的目的，又实时生成了行进轨迹的图纸，有效的提高了工作效率；
2、本发明的终端设备上还设有摄像头，终端设备可将摄像头录取的信息与图纸上的轨迹相结合，完成对实施工地的标点或标线，且在标示的过程中，还可对行进路线进行校正；
3、本发明结构简单,轻巧灵活且使用方便。
附图说明
图1为本发明一个实施例的测距系统的结构示意图；
图2为本发明另一个实施例的测距系统的结构示意图；
图3为本发明实施例的测距系统生成的规则的行进轨迹图的示意图；
图4为本发明实施例的测距系统生成的不规则的连续的行进轨迹图的示意图；
图5为本发明实施例的测距系统利用网格计算生成行进轨迹的面积的示意图；
图6为本发明实施例的测距系统在测量轮行进过程中进行提示的示意图；
附图标记说明
1-测量轮      2-电子计数器
3-终端设备    4-标记器
具体实施方式
下面结合附图和具体实施例对本发明作进一步详细描述，但不作为对本发明的限定。
图1为本发明一个实施例的测距系统的结构示意图，图2为本发明另一个实施例的测距系统的结构示意图。
如图1所示,本发明实施例的测距系统包括:测距装置和终端设备3，测距装置包括：测量轮1、设置在测量轮1上的转轴、以及与转轴相连的用于实时获得所述测量轮已行进路线的距离信息的电子计数器2。终端设备3内设有一数据处理模块，数据处理模块和电子计数器上均设有通信模块，测距装置或终端设备中还包括角度感应器。通过该通信模块，数据处理模块接收来自电子计数器的距离信息和角度感应器的角度信息，并根据该距离信息和角度信息进行计算，从而在终端设备的屏幕上实时绘制出测量轮已行进路线的行进轨迹图。在本发明实施例中，角度感应器可以是设置在测距装置中的与电子计数器连接的电子罗盘，也可以是设置在终端设备中的与数据处理模块连接的陀螺仪。
本发明采用电子计数器和角度感应器的配合，利用测距装置测得的数据在终端设备上实时生成行进轨迹的图纸，既达到了测量距离的目的，又实时生成了行进轨迹的图纸，有效的提高了工作效率。
在本发明一个实施例中，测距系统可用来对施工现场进行标线或标点。例如，可将预设计的行进轨迹图存储在终端设备的存储器中，数据处理模块根据距离信息和角度信息确定测量轮的当前行进轨迹，根据预设计的行进轨迹图对所确定的测量轮的当前行进轨迹进行监控，在测量轮的当前行进轨迹偏离了预设计的行进轨迹时，将当前行进轨迹和预设计的行进轨迹图之间的偏差作为偏差数据进行输出。偏差数据可以例如是将测量轮当前所在位置校正到预设计的行进轨迹上所需要调整的角度和距离数据。
终端设备还可以包括提示模块，其接收上述偏差数据，并配置为根据该偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线，并且上述预设计的行进轨迹图上可具有标示点或标示 线，该提示模块可提示或引导使用者用单独的标记器根据该标示点或标示线在测量轮的行进路线上进行标点或标线。
在本发明另一个实施例中，可将标记器设置在所述测距装置中，例如联接到转轴上，从而使用者无需另外携带标记器，而是当提示模块提示当前位置需要标点或标线时，使用者可对标记器发出指令，使得标记器在预定位置进行标点或标线。或者标记器也可以根据数据处理模块在对当前行进轨迹和预设计的行进轨迹图进行比较并确定测量轮当前位置为需要标记的位置时，通过通信模块将标记指令发送给标记器，从而自动对测量现场进行标点或标线。参见图2，其中示出了将标记器4联接在测距装置的转轴上的示意图。该图仅为示例,标记器还可以联接到测距装置中的其他部件上，例如联接到电子计数器和转轴之间的连杆上等。
在本实施例中，可以针对预设计的图纸上的预定行进轨迹实现对实际场景进行标线或标点等标记，还能进行方向和距离的提示。
图3为本发明实施例的测距系统生成的规则的行进轨迹图的示意图，图4为本发明实施例的测距系统生成的不规则的连续的行进轨迹图的示意图。如图3和图4所示，通过本发明的实施例可以对规则路线或者任意不规则的路径进连续测量，同时还能实时生成测距轮的行进轨迹图。
如图1和图2所示，测距装置中还设置有联接到电子计数器2的侧端的用于固定终端设备3的夹持器，既方便测量，同时也可以保持稳定的信号传递，还可以避免引起角度感应器的测量误差。在这种情况下，测距装置和终端设备3中的通信模块可以是有线通信模块，例如可以是RS232、RS485、I2C、SPI或CAN。虽然图示了夹持器设置在电子计数器2侧端的情况，但本发明不限于此,夹持器还可以设置在电子计数器2的上部或下部，只要能够将终端设备3和电子计数器2稳固地联接在一起即可。
虽然图1和图2中示出了终端设备3通过夹持器固定在测距装置上的情形，但本发明并不限于此。而是，通过设置在测距装置和终端 设备中的无线通信模块，终端设备不必固定在测距装置上就可以通过无线通信的方式来获得距离信息和角度信息，无线通信模块的通信方式可以是：蓝牙、WIFI、Zigbee或RF通信。
本发明实施例中的终端设备中的存储器还可用于存储距离信息、角度信息以及数据处理模块所生成的行进轨迹图，方便后续调用。本发明实施例中的终端设备可以是智能手机、计算机或手持机。
如图5所示，在本发明实施例中，当生成的行进轨迹图为封闭图形时，数据处理模块可以将该封闭图形网格化，计算出行进轨迹形成的该封闭图形所包含网格的面积，从而获得所测轨迹所围成的封闭图形的实际面积，一般的，当对该封闭图形进行网格化时所使用的网格越小时，对该封闭图形的面积的计算精度就越高。
本发明的测距系统还可以包括一云服务器，终端设备与云服务器联网，云服务器用于存储和共享终端设备发送的数据，该数据可包括：电子计数器的测距信息、角度感应器的角度信息和/或生成的行进轨迹图，并且所述终端设备能够从云服务器获取预设计的行进轨迹图。这样可实时的调取保存的数据，并将测试数据或图纸分享给其他工程人员，有效的提高了工作质量和效率。其中，终端设备生成的行进轨迹图上传到云服务器后，将成为可被获取的预设计的行进轨迹图。
在一优选的实施例中，终端设备上还设有摄像头，数据处理模块可将摄像头获取的场景图像与图纸上的轨迹结合显示在屏幕上，并且提示模块可在该场景图像上提供上述方位和/或距离提示，以便于引导使用者对行进路线进行校正，以及引导使用者完成对施工现场的标点或标线。
当对存储在终端设备或云服务器内的预设计的行进轨迹图进行调取后，工作人员可以根据图纸上的行进轨迹对现实工地上进行标示。参见图6，其中示出了在场景图像上结合有行进轨迹图和偏差方向提示以及偏差距离提示，这里的行进轨迹图可以是从云服务器获得的预设计的行进轨迹图。
本发明同时提供了基于上述测距系统的测距方法，包括:在测量轮行进时，通过测距装置中的电子计数器实时获得测量轮已行进路线的距离信息，并通过测距装置或中断设备中的角度感应器实时获得测量轮的角度信息，将距离信息和角度信息传输到数据处理模块，并由数据处理模块根据距离信息和角度信息实时生成测量轮的行进轨迹图。
本实施例采用电子计数器和角度感应器的配合，利用测距装置测得的数据在终端设备上实时生成行进轨迹的图纸，既达到了测量距离的目的，又实时生成了行进轨迹的图纸，有效的提高了工作效率。
在本发明一个实施例中，该测距方法还包括：将预设计的行进轨迹图存储在终端设备中；数据处理模块实时根据预设计的行进轨迹图对基于距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，在当前行进轨迹偏离了预设计的行进轨迹图时输出偏差数据；根据偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线并引导使用者根据预设计的行进轨迹图在测量轮的行进路线上进行标记。
在本发明另一个实施例中，该测距方法还包括：将预设计的行进轨迹图存储在终端设备中；数据处理模块根据预设计的行进轨迹图对基于距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；根据偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线，并且由设置在测距装置中的标记器根据使用者的指令或根据数据处理模块的指令在测量轮的行进路线上进行标记。
在本实施例中，可以针对预设计的图纸上的预定行进轨迹实现对实际场景进行标线或标点等标记，还能进行方向和距离的提示。
在本发明一个实施例中，该测距方法还包括：实时获取测量轮行进方向上的场景图像,并在该场景图像上提供上述方位和/或距离提示。本实施例的测距方法便于引导使用者对行进路线进行校正，以及引导使用者完成对施工现场的标点或标线。
以上实施例仅为本发明的示例性实施例，不用于限制本发明，本发明的保护范围由权利要求书限定。本领域技术人员可以在本发明的实质和保护范围内，对本发明做出各种修改或等同替换，这种修改或等同替换也应视为落在本发明的保护范围内。

Claims (15)

  1. 一种测距系统，其特征在于，包括：测距装置和终端设备，所述测距装置包括：测量轮、设置在所述测量轮上的转轴、以及与所述转轴相连的用于实时获得所述测量轮已行进路线的距离信息的电子计数器，其中，
    所述测距装置或所述终端设备中还包括角度感应器，其配置为实时获得所述测量轮在行进时的角度信息；
    所述终端设备和所述测距装置上分别设有通信模块以将所述测距装置中的数据传输到所述终端设备；
    所述终端设备包括数据处理模块，其配置为根据来自所述电子计数器的距离信息和来自所述角度感应器的角度信息实时生成所述测量轮的行进轨迹图。
  2. 根据权利要求1所述的测距系统，其特征在于，
    所述终端设备还包括存储器，其存储预设计的行进轨迹图；
    所述数据处理模块还配置为根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；
    所述终端设备还包括提示模块，其配置为根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线并引导使用者根据所述预设计的行进轨迹图在所述测量轮的行进路线上进行标记。
  3. 根据权利要求1所述的测距系统，其特征在于，
    所述终端设备还包括存储器，其存储预设计的行进轨迹图；
    所述数据处理模块还配置为根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；
    所述终端设备还包括提示模块，其配置为根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线；
    所述测距装置中还设置有标记器，其配置为根据使用者的指令或 根据所述数据处理模块的指令在所述测量轮的行进路线上进行标记。
  4. 根据权利要求1所述的测距系统，其特征在于：所述角度感应器为设置在所述测距装置中的电子罗盘,所述电子罗盘连接到所述测距装置的通信模块。
  5. 根据权利要求1所述的测距系统，其特征在于：所述角度感应器为设置在所述终端设备内的陀螺仪，所述陀螺仪连接到所述数据处理模块。
  6. 根据权利要求1所述的测距系统，其特征在于：所述测距装置还包括用于固定所述终端设备的夹持器。
  7. 根据权利要求2或3所述的测距系统，其特征在于：所述终端设备还包括摄像头,其配置为实时获取所述测量轮行进方向上的场景图像,所述提示模块配置为在所述场景图像上提供所述方位和/或距离提示。
  8. 根据权利要求1所述的测距系统，其特征在于：所述通信模块为无线通信模块或有线通信模块，所述有线通信模块的接口为：RS232、RS485、I2C，SPI或CAN；所述无线通信模块的通信方式为：蓝牙、WIFI、Zigbee或RF通信。
  9. 根据权利要求1所述的测距系统，其特征在于：还包括一云服务器，所述终端设备与所述云服务器相联网，所述云服务器用于存储和共享所述终端设备发送的数据，所述终端设备发送的数据包括：电子计数器的距离信息、角度感应器的角度信息和/或所述第一行进轨迹图，并且所述终端设备能够从所述云服务器获取预设计的行进轨迹图。
  10. 根据权利要求1所述的测距系统，其特征在于：所述数据处理模块配置为当所述第一行进轨迹图为封闭图形时，通过将所述封闭图形网格化、根据所述封闭图形所包含网格的面积计算获得所述封闭图形的面积。
  11. 根据权利要求1所述的测距系统，其特征在于：所述终端设备是智能手机、计算机或手持机。
  12. 一种基于如权利要求1-11中任一项所述的测距系统的测距方 法，包括:
    在所述测量轮行进时，通过所述电子计数器实时获得测量轮已行进路线的距离信息，并通过所述角度感应器实时获得测量轮的角度信息；
    将所述距离信息和角度信息传输到所述数据处理模块；
    所述数据处理模块根据所述距离信息和角度信息实时生成所述测量轮的行进轨迹图。
  13. 根据权利要求12所述的测距方法，其特征在于，还包括：
    将预设计的行进轨迹图存储在所述终端设备中；
    所述数据处理模块根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；
    根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线并引导使用者根据所述预设计的行进轨迹图在所述测量轮的行进路线上进行标记。
  14. 根据权利要求12所述的测距方法，其特征在于，还包括：
    将预设计的行进轨迹图存储在所述终端设备中；
    所述数据处理模块根据所述预设计的行进轨迹图对基于所述距离信息和角度信息确定的测量轮的当前行进轨迹进行监控，并在当前行进轨迹偏离了所述预设计的行进轨迹图时输出偏差数据；
    根据所述偏差数据进行方位和/或距离提示来引导使用者校正测量轮当前的行进路线，并且由设置在所述测距装置中的标记器根据使用者的指令或根据所述数据处理模块的指令在所述测量轮的行进路线上进行标记。
  15. 根据权利要求13或14所述的测距方法，其特征在于，还包括：实时获取所述测量轮行进方向上的场景图像,并在所述场景图像上提供所述方位和/或距离提示。
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