WO2021207934A1

WO2021207934A1 - Measurement terminal, remote control, measurement assembly and measurement method

Info

Publication number: WO2021207934A1
Application number: PCT/CN2020/084757
Authority: WO
Inventors: 黄振昊; 何纲; 潘国秀
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2021-10-21
Also published as: CN112469973A

Abstract

A measurement terminal (100), a remote control, a measurement assembly (1000) and a measurement method. The measurement terminal (100) comprises: a shell (10), and a processor (11), a positioning unit (14), a distance measurement unit (16) and an angle measurement unit (18) which are mounted on the shell (10), wherein 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 for acquiring the position of the positioning unit (14); the distance measurement unit (16) is used for acquiring the distance between a marker (50) and the measurement terminal (100); the angle measurement unit (18) is used for acquiring the relative position of the distance measurement unit (16) and a preset direction (P); and 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 distance measurement unit (16) and the preset direction (P), and a preset relative position of the positioning unit (14) and the distance measurement unit (16) and a preset distance therebetween.

Description

Measuring terminal, remote control, measuring component and measuring method

Technical field

This application relates to the field of measurement technology, and in particular to a measurement terminal, a remote control, a measurement component, and a measurement method.

Background technique

In related technologies, traditional total stations are generally used for surveying and mapping, and calibration points need to be set in advance, and the instrument should be set up for setting. The use of the superstation also needs to be set up together. Most of these devices are used for distance measurement in relatively long-distance scenarios. The surveying and mapping in the close-range scene generally uses a centering pole plan, but this kind of plan is more inconvenient because of the need to carry a pole. Secondly, this kind of plan is only effective when collecting points on the ground. If you need to collect The point is not on the ground. For example, if the point of a pillar on the ground needs to be collected, the user needs to place the rod on the pillar, which will cause greater difficulty for the user.

Summary of the invention

The embodiments of the present application provide a measurement terminal, a remote control, a measurement component, and a measurement method.

A measurement terminal provided by an implementation manner of the present application includes:

A housing and a processor, a positioning unit, a distance measuring unit and an angle measuring unit installed in the housing, the processor is connected to the positioning unit, the distance measuring unit and the angle measuring unit;

The positioning unit is used to obtain the position of the positioning unit;

The distance measurement unit is used to obtain the distance between the marker and the measurement terminal;

The angle measuring unit is used to obtain the relative position of the distance measuring unit and a preset direction;

The processor is configured to obtain the position of the positioning unit, the relative position of the distance measuring unit and the preset direction, the preset relative position of the positioning unit and the distance measuring unit, and the distance. The location of the marker.

The above-mentioned measuring terminal obtains the position of the marker by setting the positioning unit, the distance measuring unit and the angle measuring unit, and processing the data obtained by the positioning unit, the distance measuring unit and the angle measuring unit, so that a relatively simple and easy-to-use surveying and mapping can be realized , Especially suitable for short-distance surveying and mapping operations.

A remote control according to an embodiment of the present application is used for a mobile platform, the remote control includes a remote control main body, the remote control main body is provided with a manipulation device for a user to input remote control instructions, and the remote control further includes:

Positioning unit, distance measuring unit and angle measuring unit;

At least part of the positioning unit is rotatably disposed on the remote control main body;

The distance measuring unit is arranged on the side of the remote control main body;

The angle measuring unit is arranged inside the main body of the remote controller or on the surface of the main body of the remote controller, and is kept relatively fixed with the main body of the remote controller.

The above remote controller collects the required data by setting the positioning unit, the distance measuring unit and the angle measuring unit, and then the data can be processed to obtain the position of the marker, which can realize relatively simple and easy-to-use surveying and mapping, and is especially suitable for Close-range surveying and mapping operations.

A measurement component according to an embodiment of the present application includes a mobile platform and the above-mentioned measurement terminal, and the measurement terminal wirelessly communicates with the mobile platform.

A measurement component according to an embodiment of the present application includes a mobile platform and the above-mentioned remote controller, and the remote controller wirelessly communicates with the mobile platform.

The above-mentioned measurement component and remote controller can obtain the position of the marker by setting the positioning unit, the ranging unit and the angle measuring unit, and processing the data obtained by the positioning unit, the ranging unit and the angle measuring unit. The used surveying and mapping is especially suitable for close-range surveying and mapping operations. In addition, through the control of the mobile platform, on the one hand, the operator can get the location of the surveying point without having to go to the surveying point; on the other hand, even if the terrain is not convenient for close-range surveying and mapping, it can also conduct surveying and mapping.

A measurement method according to an embodiment of the present application is used for a measurement terminal. The measurement terminal includes a housing and a positioning unit, a distance measurement unit, and an angle measurement unit installed on the housing. The measurement method includes:

The position of the positioning unit is acquired by the positioning unit, the distance between the marker and the measuring terminal is acquired by the distance measuring unit, and the relative distance between the distance measuring unit and the preset direction is acquired by the angle measuring unit. Location;

The position of the marker is acquired according to the position of the positioning unit, the relative position of the distance measuring unit and the preset direction, the preset relative position of the positioning unit and the distance measuring unit, and the distance.

The above-mentioned measurement method obtains the position of the marker by setting the positioning unit, the ranging unit and the angle measuring unit, and processing the data obtained by the positioning unit, the ranging unit and the angle measuring unit, so as to realize a relatively simple and easy-to-use surveying and mapping , Especially suitable for short-distance surveying and mapping operations.

The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the embodiments of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

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

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

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

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

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

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

FIG. 7 is another measurement principle diagram of the measurement terminal according to the embodiment of the present application;

FIG. 8 is another measurement principle diagram of the measurement terminal according to the embodiment of the present application;

FIG. 9 is another schematic plan view of the measuring terminal according to the embodiment of the present application;

FIG. 10 is another schematic diagram of the front side of the measurement terminal according to the embodiment of the present application;

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

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

FIG. 13 is another schematic diagram of the left side of the measurement terminal according to the embodiment of the present application;

FIG. 14 is another measurement principle diagram of the measurement terminal according to the embodiment of the present application;

FIG. 15 is another measurement principle diagram of the measurement terminal according to the embodiment of the present application;

FIG. 16 is a schematic diagram of a measurement component of 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 main component symbols:

Measuring terminal 100;

Housing 10, processor 11, first adjustment component 13, first dial 132, first pointer 1322, positioning unit 14, first antenna 142, drive circuit board 144, second adjustment component 15, second dial 152 , Ranging unit 16, first ranging unit 162, second ranging unit 164, angle measuring unit 18, second antenna 184, level measuring instrument 20, remote control antenna 30, touch screen 40, marker 50, bracket 60 ；

Measuring component 1000 and mobile platform 200.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation to the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" and other directions or The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be understood as a restriction on this application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more than two, unless specifically defined otherwise.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connect, or connect in one piece. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be a communication between two elements or an interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

Please refer to Figures 1 to 15, a measurement terminal 100 provided by the embodiment of the present application includes a housing 10, a processor 11 installed in the housing 10, a positioning unit 14, a distance measuring unit 16, and an angle measuring unit 18, processing The device 11 is connected to the positioning unit 14, the distance measuring unit 16 and the angle measuring unit 18.

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

The distance measuring unit 16 is used to obtain the distance between the marker 50 and the measuring terminal 100.

The angle measuring unit 18 is used to obtain the relative position of the distance measuring 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 distance measuring unit 16 and the preset direction, and the preset relative position and distance between the positioning unit 14 and the distance measuring unit 16.

The above-mentioned measuring terminal 100 obtains the position of the marker 50 by setting the positioning unit 14, the ranging unit 16 and the angle measuring unit 18, and processing the data acquired by the positioning unit 14, the ranging unit 16 and the angle measuring unit 18, so that the position of the marker 50 can be obtained. Realize relatively simple and easy-to-use surveying and mapping, especially suitable for short-distance surveying and mapping operations.

In related technologies, traditional total stations or superstations are generally used in surveying and mapping, but the existing equipment is relatively cumbersome when used in a more complex environment, which creates a poor and inconvenient operating environment for users. Moreover, this type of equipment is mostly used in relatively long-distance scenarios. Although the pole-centering scheme can be used at a short distance, the pole-centering scheme has higher requirements for the collection point. If the collection point is not on the ground, it will be more difficult for the user to use the device to measure the point at a relatively close distance. Therefore, in order to solve the problem of not being easy to carry caused by the heavy equipment and the problem of precise positioning of the short-distance marker 50, the present application further designs the measuring terminal 100, the remote control, the measuring component, and the measuring method.

Specifically, referring to FIG. 1 to FIG. 8, the measuring terminal 100 can be used to measure the position of the nearby or distant marker 50 to provide the user with a convenient and effective distance measuring method. The measuring terminal 100 may include a housing 10, a processor 11, a positioning unit 14, a distance measuring unit 16, and an angle measuring unit 18. The processor 11 processes the above-mentioned various related data information to obtain the distance between the measuring terminal 100 and the marker 50, so that the position of the marker 50 can be accurately measured. In this embodiment, the measurement terminal 100 can 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 to say, the positioning technology adopted by the positioning unit 14 is the RTK positioning technology. The RTK positioning technology is based on real-time processing of two or two The difference method of carrier phase observation and measurement of more than two measuring stations is to send the carrier phase collected by the reference station to the user receiver to calculate the difference and solve the coordinates, which can reach centimeter-level accuracy. In the RTK operation mode, the base station transmits its observations and the coordinate information of the measuring station to the rover through the data link. RTK positioning technology is a commonly used satellite positioning measurement method. In addition, a reference station is a ground-based fixed observation station that conducts long-term continuous observation of satellite navigation signals and transmits the observation data to the data center in real time or at regular intervals by communication facilities. A rover station can be a measuring station set up by a mobile operating receiver within a certain range of the base station.

With the development of chip technology, GNSS algorithm and hardware technology, the carrier of RTK positioning technology has evolved from a large-volume, high-power GNSS receiver to a small-size, low-power, high-sensitivity GNSS board or even a chip, and the cost is also The continuous decrease makes it possible to integrate GNSS chips on measurement terminals, such as drone remote controls.

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 the position of the phase center of the first antenna 142 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.

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 can receive signals from satellites in the air through the RTK antenna, and obtain the position of the phase center of the first antenna 142 through the received satellite signals. The position can be a centimeter-level precision position, so that the position of the positioning unit 14 can be accurately obtained, so as to prepare for the subsequent short-range distance measurement of the measuring terminal 100. In addition, the main RTK antenna is responsible for receiving and sending location information. Here, the position of the positioning unit 14 may be the absolute position of the positioning unit 14.

In some embodiments, the measurement terminal 100 further includes a first adjustment component 13 connected to the first antenna 142, and the first adjustment component 13 is used to adjust 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 adjustment component 13, it can be accurately ensured that the first antenna 142 can maintain the vertical upward direction in most scenarios, and stably receive the signals of the complete satellite constellation.

Specifically, referring to FIGS. 1 to 3, the first adjustment component 13 is connected to the first antenna 142 of the positioning unit 14. Since the measuring terminal 100 is in the process of measuring the distance of the multiple markers 50, it is inevitable that the position will move. If the entire measurement terminal 100 is tilted, the orientation of the first antenna 142 is not a vertical upward direction, and the first antenna 142 is offset, the first antenna 142 cannot receive the satellite signal stably, which will affect the reception of the complete satellite signal. , Will lead to unreliable positioning results. In order to avoid deviations in the orientation of the first antenna 142 during the position movement of the measuring terminal 100, the first antenna 142 is rotatably connected to the housing 10, and the first adjustment component 13 adopts related structures (such as gears, belts, chains, A screw rod, a motor, etc.) are connected to the first antenna 142. The user can adjust the first antenna 142 by adjusting the first adjustment component 13, so as to adjust the orientation of the first antenna 142 to a certain extent, so as to ensure the orientation of the first antenna 142. Vertically upwards, in this way, the first antenna 142 at the positioning unit 14 of the measuring terminal 100 can receive the satellite signals in the air completely and stably, and the positioning position of the measuring terminal 100 can be obtained with high accuracy. In addition, the vertical direction of the first antenna 142 may be the direction in which the first antenna 142 is facing the zenith.

In some embodiments, the first adjustment assembly 13 includes a first dial 132 provided on the surface of the housing 10. In this way, the setting of the first dial 132 can accurately adjust the orientation of the first antenna 142 to ensure that the orientation of the first antenna 142 is vertically upward, thereby making the adjustment of the orientation of the measuring terminal 100 more convenient and accurate.

Specifically, referring to FIG. 1 and FIG. 4, the first dial 132 is provided on the upper surface of the housing 10. The first dial 132 can be a rotating dial, which can rotate clockwise or counterclockwise, and there is no specific limitation here. In an example, when the orientation of the first antenna 142 is tilted to the left, turning the first dial 132 clockwise can cause the first antenna 142 to tilt 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, turning the first dial 132 counterclockwise can cause the first antenna 142 to tilt to the left, thereby adjusting the orientation of the first antenna 142 to be vertical. up. There are no specific restrictions here. In addition, the angle of turning the first dial 132 is different, and the offset angle of the orientation of the first antenna 142 is also different. The shape of the first dial 132 may be a cylindrical shape, a rectangular parallelepiped shape, a prismatic shape, or the like. Please refer to FIG. 4, when the measuring terminal 100 is inclined with respect to the horizontal plane, the first antenna 142 can be oriented vertically upward by turning the first dial 132.

In some embodiments, the first adjustment component 13 is provided with a first angle mark. In this way, the first angle identification can facilitate the user to recognize and perceive the adjustment range of the first adjustment component 13.

Specifically, in this embodiment, the user can learn the adjustment range of the first adjustment component 13 through the first angle mark. The first angle mark may be provided at the first dial 132. Please refer to FIG. 11, the first dial 132 is provided with a first pointer 1322. By rotating the first dial 132, the first pointer 1322 can be used to rotate to point to the corresponding first angle mark. In an example, since the adjustment of the first dial 132 can control the orientation of the first antenna 142 of the positioning unit 14, by rotating the first dial 132, the first pointer 1322 points to the first angle mark, such as 30° or 50°, so that the orientation of the first antenna 142 can be adjusted by 30° or 50°. In this way, the user can know the adjusted angle of the first antenna 142 through the first angle mark pointed to by the first pointer 1322, and thus, further To ensure the accuracy of the distance measurement of the measuring terminal 100, the processor 11 can also determine the adjusted angle of the first antenna 142 according to the rotation angle of the first dial 132. The relationship between the rotation angle of the first dial 132 and the adjusted angle of the first antenna 142 can be calibrated and stored through a preset test, and the rotation angle of the first dial 132 can be detected by an angle sensor. In other embodiments, the first angle indicator may also be provided near the first dial 132, and there is no limitation here. In addition, the first dial 132 can also be referred to as an angle dial.

It is understandable that, through different calibration methods, the value read from the first angle indicator (that is, the rotation angle of the first dial 132) can calculate the offset angle of the measuring terminal 100 relative to the horizontal direction. In one embodiment, the value read by the first angle indicator is directly used as the offset angle of the measuring terminal 100 with respect to the horizontal direction. In another embodiment, 90 degrees (or other angles) are used to subtract the first angle indicator reading. The obtained value is used as the offset angle of the measuring terminal 100 with respect to the horizontal direction. There is no specific limitation here.

In some embodiments, the positioning unit 14 includes a driving circuit board 144 located in the housing 10, and the driving circuit board 144 is connected to the first antenna 142. In this way, the driving circuit board 144 can be used to resolve the relevant data in the positioning unit 14 and to 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 driving circuit board 144 can calculate the data in the positioning unit 14. In an example, the first antenna 142 receives the aerial satellite signal, and the data can be calculated by the driving circuit board 144 to obtain the data of the first antenna 142. The position of the phase center.

In some embodiments, the first antenna 142 is installed 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 helps to leave a certain space for the installation of other components of the housing 10, and facilitates the flexible installation of other components of the measuring terminal 100.

Specifically, please refer to FIG. 1. In this embodiment, the first antenna 142 is installed on the top of the housing 10. In this way, the orientation of the first antenna 142 can be further realized, and the aerial satellites can be received stably and accurately. The signal makes the positioning of the positioning unit 14 more accurate. In addition, the first antenna 142 can also be installed on the side of the housing 10, and the orientation of the first antenna 142 can also be vertically upward through the operation of the first adjustment component 13. The first antenna 142 installed on the side of the housing 10 can provide a certain installation space for the installation of other components of the measuring terminal 100, saving space resources at the top of the housing 10, and making the installation positions of other components of the measuring terminal 100 more convenient. Many choices.

In some embodiments, the distance measuring unit 16 includes at least two distance measuring units 16, and the at least two distance measuring units 16 are respectively installed on different sides of the housing 10. In this way, the ranging of the marker 50 in different orientations can be realized, so that the versatility of the measuring terminal 100 is further enhanced.

Specifically, referring to FIGS. 1 to 5, the distance measuring unit 16 may include a laser distance meter. The principle of the laser distance meter can be to measure the time required for the laser to travel back and forth to the marker 50, which can be calculated by the speed of light and the atmospheric refraction coefficient. Ranging distance. The laser rangefinder can be equipped with a laser emitting port. In other embodiments, the distance measuring unit 16 may include a sonic distance meter.

In this embodiment, there are two distance measuring units 16 which are respectively installed on different sides of the housing 10. In other embodiments, the number of the distance measuring units 16 can also be three, four or more, which are distributed and installed on different sides of the housing 10, or some two or three are installed on the same side, and the other or Two or more are installed on the other side, and set according to actual conditions and needs. There is no specific restriction here.

In some embodiments, the measurement terminal 100 further includes a second adjustment component 15, and the second adjustment component 15 is connected to at least one of the distance measurement units 16 for adjusting the orientation of the distance measurement unit 16 connected to the second adjustment component 15. In this way, precise adjustment of the orientation of the ranging unit 16 can be achieved, so that the measuring terminal 100 can stably measure the range of the marker 50 in different orientations.

Specifically, referring to FIGS. 1 to 5, the second adjusting component 15 is provided on the housing 10. In this embodiment, the second adjusting component 15 is connected to one of the ranging units 16, and the second adjusting component 15 can adjust the orientation of the emitting port of the ranging unit 16, and then adjust the orientation of the ranging unit 16. In the process of measuring the distance of the measuring terminal 100, the second adjusting component 15 can 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. The distance between the marker 50 and the measuring terminal 100 can be measured more accurately and effectively, and convenient and quick ranging between shorter distances can be realized. In other embodiments, the second adjustment component 15 can also be connected to the two distance measuring units 16 to control the orientation of the two distance measuring units 16 so that the orientation of the distance measuring unit 16 is more favorable for the user to perform distance measurement.

In some embodiments, the second adjustment assembly 15 includes a second dial 152 provided on the surface of the housing 10. In this way, by adjusting the second dial 152, the orientation of the distance measuring unit 16 can be precisely adjusted.

Specifically, referring to FIGS. 1 to 5, the second adjustment assembly 15 includes a second dial 152, and the second dial 152 may be located on the surface of the housing 10. The second wheel 152 is connected to at least one of the distance measuring units 16. The user can adjust the offset angle of the distance measuring unit 16 connected to the second dial wheel 152 with respect to the horizontal direction and/or the vertical direction (or the vertical direction) by operating the second dial wheel 152, so that the measurement The distance unit 16 can measure the required marker 50 when the measuring terminal 100 is tilted arbitrarily, such as the marker 50 directly in front and diagonally above, or directly below or diagonally below.

The second dial 152 can rotate clockwise or counterclockwise, and there is no specific limitation here. In an example, when the orientation of the distance measuring unit 16 is biased to the left or downward, turning the second dial 152 clockwise can make the distance measuring unit 16 deviate to the right or upward, thereby making the distance measurement The unit 16 is aligned with the marker 50 to be measured. In another example, when the direction of the distance measuring unit 16 is slanted to the right or upward, turning the second dial 152 counterclockwise can make the distance measuring unit 16 deviate to the left or downward, thereby making the distance measuring unit 16 16 Align the marker 50 to be measured. There are no specific restrictions here. In addition, the angle of turning the second dial 152 is different, and the offset angle of the distance measuring unit 16 is also different. In addition, the shape of the second dial 152 may be a cylindrical shape, a rectangular parallelepiped shape, a prismatic shape, or the like.

In some embodiments, the second adjustment component 15 is provided with a second angle mark. In this way, the user can more accurately grasp the adjustment scale during the process of adjusting the orientation of the distance measuring unit 16 by the second adjusting component 15, thereby improving the accuracy of adjustment of the second adjusting component 15 so that the user can quickly and conveniently adjust the distance measurement. The orientation of unit 16.

Specifically, in this embodiment, the user can learn the adjustment range of the second adjustment component 15 through the second angle indicator. The second angle mark may be provided at the second dial 152. The second dial 152 is provided with a second pointer. By rotating the second dial 152, the second pointer can be used to rotate to point to the corresponding second angle mark. In one example, since the adjustment of the second dial wheel 152 can control the orientation of the distance measuring unit 16, by rotating the second dial wheel 152, the second pointer points to the second angle mark, such as 30° or 50°. The orientation of the distance measuring unit 16 is adjusted by 30° or 50°. In this way, the user can know the angle adjusted by the distance measuring unit 16 through the second angle indicator pointed to by the second pointer, so that the distance measuring unit 16 is aligned with the marker 50 to be measured, and the measuring terminal 100 and the marker are measured. The distance between 50. At the same time, the processor 11 can also determine the angle adjusted by the distance measuring unit 16 according to the rotation angle of the second dial 152. The relationship between the rotation angle of the second wheel 152 and the angle adjusted by the distance measuring unit 16 can be calibrated and stored through pre-testing, and the rotation angle of the second wheel 152 can be detected by an angle sensor. In other embodiments, the second angle indicator can also be provided near the second dial 152, and there is no limitation here. In addition, the second dial 152 can also be referred to as an angle dial.

It is understandable that the angle adjusted by the distance measuring unit 16 can be calculated from the value read from the second angle indicator (that is, the rotation angle of the second dial 152) through different calibration methods. In one embodiment, the value read by the second angle indicator is directly used as the angle adjusted by the ranging unit 16. In another embodiment, the value read by the first angle indicator is subtracted from 90 degrees (or other angles) as The angle adjusted by the ranging unit 16. There is no specific limitation here.

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 is installed at the front of the housing 10, and the second ranging unit 164 Installed at the bottom of the housing 10. In this way, by installing the ranging unit 16 in multiple directions of the housing 10, the measurement terminal 100 can perform ranging in multiple directions.

Specifically, please refer to FIGS. 1 to 5. In this embodiment, the two ranging units 16 are the first ranging unit 162 and the second ranging unit 164 respectively. The first distance measuring unit 162 can be installed at the front of the housing 10, so as to measure the distance directly or diagonally forward of the housing 10; the second distance measuring unit 164 can be installed at the bottom of the housing 10, so that The distance measurement is performed directly below or diagonally below the body 10. In other embodiments, the distance measuring unit 16 may also be installed on the side of the housing 10 to measure the left or right position of the housing 10. There are no specific restrictions here. In this way, the measuring terminal 100 performs distance measurement on the marker 50 in different orientations, and can perform distance measurement by controlling the distance measurement unit 16 that is closest to the orientation of the marker 50, thereby efficiently and accurately achieving distance measurement.

In addition, in the embodiment of the present application, the second adjusting component 15 is connected to the first ranging unit 162, and the orientation of the first ranging unit 162 can be adjusted by rotating the second dial 152, such as the transmission port of the first ranging unit 162. Towards. In other embodiments, the second adjusting component 15 can be connected to the second ranging unit 164, or the second adjusting component 15 can be connected to the first ranging unit 162 and the second ranging unit 164, and the second adjusting component 15 includes two The second dial 152 is used to adjust the orientation of the first ranging unit 162 and the second ranging unit 164 respectively.

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

Specifically, referring to FIG. 4, FIG. 6 and FIG. 7, the first distance L1 is the distance between the marker 50 obliquely forward (inclined upward) of the measuring terminal 100 and the launch port of the first ranging unit 162, and the first distance L1 It can be measured by the first ranging unit 162, and the distance between the transmitting and receiving position of the first ranging unit 162 and the rotation axis of the second dial 152 is L2, that is to say, the length of the first ranging unit 162 is L2 , Then, the distance between the rotation axis of the second dial 152 and the marker 50 is L=L1+L2 (please refer to FIG. 6). The offset angle in the horizontal direction is the inclination angle when the first distance measuring unit 162 has to face the marker 50 obliquely forward. The relative position of the first ranging unit 162 and the preset direction P and the preset relative position of the positioning unit 14 and the first ranging unit 162 can be used to compensate the coordinate position of the marker 50. The processor 11 can be based on the position of the positioning unit 14, the relative position of the first ranging unit 162 and the preset direction P, the preset relative position of the positioning unit 14 and the first ranging unit 162, and the relative position of the first ranging unit 162 The offset angle in the vertical direction and the first distance L1 are analyzed and processed to obtain the position of the marker 50 located in front of the measurement terminal 100. In this embodiment, because the second dial 152 adjusts the orientation of the first distance measuring unit 162, the reference of the rotation axis of the second dial 152 is used to calculate the relative position of the phase center of the first antenna 142. , And the relative position of the marker 50. When calculating the distance between the marker 50 and the measuring terminal 100, L2 needs to be compensated to the first distance L1 measured by the first distance measuring unit 162. And L2 is the preset value. In other embodiments, the rotation axis of the second dial 152 may not be used as a reference, but the transmitting and receiving positions of the first ranging unit 162 may be used as a reference, or other positions of the measuring terminal 100 may be used as a reference. The conversion from the position of the positioning unit 142 to the reference position in the body coordinates, and then the conversion from the reference position to the position of the marker 50. There are no specific restrictions here.

More specifically, the front may be straight forward and diagonally forward. In the embodiment of the present application, when measuring the position of the marker 50 obliquely in front of the measuring terminal 100, the user can place the measuring terminal 100 horizontally, and the phase of the first antenna 142 can be obtained from the transmission and reception of the first antenna 142. The centimeter-level precision position of the center, that is, the position of the positioning unit 14, is represented by (X, Y, Z).

When the measuring terminal 100 is in a horizontal state, the second dial 152 connected to the first ranging unit 162 can be rotated to adjust the orientation of the first ranging unit 162 so that the transmitting port of the first ranging unit 162 Aim at the obliquely forward marker 50. At this time, please refer to Fig. 6 to obtain the angle of the second dial 152 connected to the first distance measuring unit 162 along the vertical direction AA as ∠H1, which is taken as the angle ∠H1 The offset angle of the first ranging unit 162 with respect to the horizontal direction. Please refer to FIG. 7, the relative position of the first ranging unit 162 to the preset direction P is an angle ∠H2, that is, the offset angle of the first ranging unit 162 with respect to the preset direction P. The angle ∠H2 can be measured by the angle measuring unit 18.

When the measuring terminal 100 is placed horizontally, the distance between the launch port of the first ranging unit 162 and the marker 50 is L1, and the length of the first ranging unit 162 is L2, which is the length of the first ranging unit 162. The distance L2 between the transmitting port and the receiving position to the rotation axis of the second dial 152. Then, the distance between the rotation axis of the second dial 152 and the marker 50 is L=L1+L2. The distance L2 is a preset amount of the measuring terminal 100.

In the fixed body coordinate system of the measuring terminal 100, the first distance measuring unit 162 can measure the first distance L1 between the marker 50 located in front of the measuring terminal 100 and the measuring terminal 100, because the first distance measuring unit 162 is relative to the horizontal The offset angle of the direction ∠H1, the relative position of the first ranging unit 162 and the preset direction P is angle ∠H2, according to the trigonometric function relationship, the relative position of the marker 50 and the first ranging unit 162 can be obtained as (L3 , L4, L5), where L5=L*Sin(H1)=(L1+L2)*Sin(H1), L3=L*Sin(H2)=(L1+L2)*Sin(H2), L4= L*Cos(H2). The preset relative position of the positioning unit 14 and the first ranging unit 162 is a preset value of the measuring terminal 100. Specifically, in FIG. 6, the preset relative position of the positioning unit 14 and the first ranging unit 162 may be The position of the positioning unit 14 is compensated to the position of the first ranging unit 162 in the body coordinate system. Therefore, in the body coordinate system, according to the position of the phase center of the first antenna 142 to the position of the rotation axis of the second wheel 152, the coordinate position of the rotation axis of the second wheel 152 can be obtained as (X _{body offset} , Y _{body offset} _Shift , Z _{body shift} ), which serves as the position of the first ranging unit 162.

Through the coordinate position of the first ranging unit 162 (X _{body offset} , Y _{body offset} , Z _{body offset} ), and the relative position of the marker 50 and the first ranging unit 162 are (L3, L4, L5), Compensation is performed in the XYZ direction, so that the position of the marker 50 (X _landmark , Y _landmark , Z _landmark ) located in front of the measuring terminal 100 can be calculated.

In summary, combining ∠H1, ∠H2 and the first distance L1, since the phase center position of the first antenna 142 is converted into the position of the first ranging unit 162 in the body coordinate system, it is converted into the measurement terminal 100 The location of the front marker 50 (X _landmark , Y _landmark , Z _landmark ).

In addition, when the measuring terminal 100 itself is tilted, the first dial 132 can be rotated so that the first antenna 142 always stays upright. In this way, in the case of calculating the coordinates of the marker 50, the angle measurement unit 18 can measure The obtained angle and the first angle mark of the first dial 132 are compensated accordingly.

The position acquired by the positioning unit 14 is referenced in the preset direction P, such as the coordinates of true north. When the distance measuring unit 16 is offset from the preset direction P, the offset must be compensated to the positioning unit 14 Get the location.

In this embodiment, the marker 50 may be a landmark marker 50 that can be reached and reflected by the laser 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 reflection plate needs to be arranged at the marker 50 to increase the reflection intensity of the laser light. The marker 50 may be the top of a building or the like. There are no specific restrictions here.

In some embodiments, the offset angle of the first ranging unit 162 relative to the horizontal direction is obtained according to the measurement data of the angle measurement unit 18; or,

The measuring terminal 100 further includes a second adjustment component 15 connected to the second distance measuring unit 164 for adjusting the orientation of the second distance measuring unit 164, and the offset angle is adjusted according to the second adjustment component 15 The amount of change in the direction of the direction of the distance measuring unit 164 is determined; or,

The positioning unit 14 includes a first antenna 142, and the measurement terminal 100 also includes a first adjustment component 13 connected to the first antenna 142. The offset angle is determined by the amount of change in orientation generated when the first adjustment component 13 adjusts the orientation of the first antenna 142. .

In this way, the offset angle can be obtained in a variety of ways, so that the measurement terminal 100 has flexibility.

Specifically, referring to FIGS. 6 and 7, the offset angle of the first ranging unit 162 relative to the horizontal direction can be that the angle measurement unit 18, the second ranging unit 164, or the first antenna 142 can be used to obtain the corresponding angle. .

In one embodiment, the offset angle of the first distance measuring unit 162 relative 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 relatively fixed to the housing 10. The angle measuring unit 18 is electrically connected to the processor 11. Through the angle measuring unit 18, the offset angle of the housing 10 with respect to the horizontal direction can be measured, and the position of the housing 10 and the first distance measuring unit 162 can be relatively fixed. The offset angle of the first ranging unit 162 relative to 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 change in orientation of the first ranging unit 162. The second adjusting component 15 can be used to adjust the orientation of the first ranging unit 162 so that the orientation of the emission port of the first ranging unit 164 is aligned with the marker 50. Wherein, the amount of change in the orientation of the first distance measuring unit 162 may be the amount of change in the second angle indicator generated by rotating the second dial 152. Therefore, in the process of adjusting the orientation of the first ranging unit 162, by adjusting the second dial 152, the amount of change in the orientation of the transmitting port of the first ranging unit 162 can be obtained, thereby determining that the first ranging unit 162 is relative to the horizontal The offset angle of the direction. In addition, the second angle identification information of the second dial 152 can be manually input or detected by an angle sensor.

In yet another embodiment, the offset angle can also be measured by the change in the orientation of the first antenna 142. In the case where the transmitting port of the first ranging unit 162 is directly facing the marker 50 obliquely forward by facing the measuring terminal 100 as a whole, the first antenna 142 will be tilted to have an offset angle from the vertical direction. At this time, the orientation of the first antenna 142 can be adjusted by the first adjustment component 13. Specifically, the first adjustment component 13 is connected to the first antenna 142, and the first adjustment component 13 can be used to adjust the orientation of the first antenna 142, so that The direction of the first antenna 142 is upright and receives accurate satellite signals. The amount of change in the orientation of the first antenna 142 can be understood as the offset angle of the measuring terminal 100 when it faces upward, that is, the offset angle of the transmitting port of the first ranging unit 162 with respect to the horizontal direction. The amount of change in the orientation of the first antenna 142 may be the amount of change in the first angle mark generated by rotating the first dial 132. Therefore, in the process of adjusting the orientation of the first antenna 142, by adjusting the first dial 152, the amount of change in orientation of the first antenna 142 can be obtained, thereby determining the offset angle of the first ranging unit 16 with respect to the horizontal direction. . In addition, the first angle identification information of the first dial 132 can be manually input or detected by an angle sensor. In this way, the offset angle can be obtained in a variety of ways.

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

Specifically, referring to FIGS. 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 distance measuring unit 164, that is, The second distance L6 is the distance to be measured by the measuring terminal 100 to measure the marker 50 below. The offset angle in the vertical direction is the inclination angle when the second distance measuring unit 162 is to directly face the marker 50 below. The relative position of the second ranging unit 164 and the preset direction and the preset relative position 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 can be based on the position of the positioning unit 14, the relative position of the second ranging unit 164 and the preset direction, the preset relative position of the positioning unit 14 and the second ranging unit 164, and the second ranging unit 164 relative to the vertical direction. The deviation angle of the direction and the second distance L6 are analyzed and processed to obtain the position of the marker 50 located under the measurement terminal 100.

It should be noted that the bottom can include directly below and diagonally below. In the embodiment of the present application, the description will be made by taking the right below as an example. Referring to FIG. 8, when measuring the position of the marker 50 directly below the measuring terminal 100, firstly, the first antenna 142 of the positioning unit 14 is used to obtain the centimeter-level precise position of the phase center of the first antenna 142, and also It is the position (X, Y, Z) of the positioning unit 14; secondly, since the marker 50 is located directly below the measuring terminal 100, when the measuring terminal 100 is placed horizontally, the launch port of the second ranging unit 164 is vertically downward , The orientation of the second ranging unit 164 can be directly aligned with the marker 50 directly below without adjustment, that is, the second ranging unit 164 has no offset along the vertical direction AA, or the offset angle is zero degrees (under the measurement diagonally When the marker 50, there is a non-zero offset angle). The relative position of the second ranging unit 164 to the preset direction is angle ∠H2 (not shown), that is, the offset angle of the second ranging unit 164 with respect to the preset direction. The angle ∠H2 can be measured by the angle measuring unit 18.

In the fixed body coordinate system of the measuring terminal 100, specifically, in FIG. 8, the preset relative position of the positioning unit 14 and the second ranging unit 164 can be converted to the position of the positioning unit 14 in the body coordinate system. The location of the second ranging unit 164. Therefore, in the body coordinate system, according to the position of the phase center of the first antenna 142 to the position of the transmitting port of the second ranging unit 164, the coordinate position of the transmitting port of the second ranging unit 164 can be obtained as (X _{body offset} , Y _{Body offset} , Z _{body offset} ), which is used as the position of the second ranging unit 164.

The coordinate position of the second ranging unit 164 (X- _{body offset} , Y- _{body offset} , Z- _{body offset} ) and the second distance L6 are used to compensate in the Z direction, so that the position directly below the measuring terminal 100 can be calculated The position of the marker 50 (X _landmark , Y _landmark , Z _landmark )=(X _{body offset} , Y _{body offset} , Z _{body offset-} L6).

It can be understood that when 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-mentioned implementation of measuring the marker 50 located in front of the measuring terminal 100. Similarly, in order to avoid redundancy, I will not explain them one by one here.

In some embodiments, the offset angle is obtained based on the measurement data of the angle measurement unit 18; or,

The measuring terminal 100 also includes a second adjustment component 15 connected to the first ranging unit 162 for adjusting the orientation of the first ranging unit 162, and the offset angle is adjusted according to the second adjustment component 15 The direction change amount generated when the direction of the ranging unit 162 is determined is determined; or,

The positioning unit 14 includes a first antenna 142, and the measurement terminal 100 also includes a first adjustment component 13 connected to the first antenna 142. The offset angle is determined by the amount of change in orientation generated when the first adjustment component 13 adjusts the orientation of the first antenna 142. . In this way, the offset angle can be obtained in a variety of ways, so that the measurement terminal 100 has flexibility.

Specifically, referring to FIG. 6, the offset angle of the first ranging unit 162 relative to the horizontal direction may be such that the angle measurement unit 18, the second ranging unit 164, and the first antenna 142 can be used to obtain the corresponding angle.

In one embodiment, the offset angle may also be measured by the change in orientation of the first ranging unit 164. The second adjusting component 15 can be used to adjust the orientation of the first ranging unit 162 so that the orientation of the laser emitting port of the first ranging unit 162 is aligned with the marker 50. Wherein, the amount of change in the orientation of the first distance measuring unit 162 may be the amount of change in the second angle indicator generated by rotating the second dial 152. Therefore, in the process of adjusting the orientation of the first ranging unit 162, by adjusting the second dial 152, the amount of change in the orientation of the laser emitting port of the first ranging unit 162 can be obtained, so as to determine that the first ranging unit 162 is relative to The offset angle in the horizontal direction. In addition, the second angle identification information of the second dial 152 can be manually input or detected by an angle sensor.

In yet another embodiment, the offset angle can also be measured by the change in the orientation of the first antenna 142. In the case where the transmitting port of the first ranging unit 162 is directly facing the marker 50 obliquely below by facing the measuring terminal 100 as a whole, the first antenna 142 will be tilted with an offset angle from the vertical direction. At this time, the orientation of the first antenna 142 can be adjusted by the first adjustment component 13. Specifically, the first adjustment component 13 is connected to the first antenna 142, and the first adjustment component 13 can be used to adjust the orientation of the first antenna 142, so that The direction of the first antenna 142 is upright and receives accurate satellite signals. The amount of change in the orientation of the first antenna 142 can be understood as the offset angle of the measuring terminal 100 when it faces upward, that is, the offset angle of the transmitting port of the first ranging unit 162 with respect to the horizontal direction. The amount of change in the orientation of the first antenna 142 may be the amount of change in the first angle mark generated by rotating the first dial 132. Therefore, in the process of adjusting the orientation of the first antenna 142, by adjusting the first dial 152, the amount of change in orientation of the first antenna 142 can be obtained, thereby determining the offset angle of the first ranging unit 16 relative to the horizontal direction. . In addition, the first angle identification information of the first dial 132 can be manually input or detected by an angle sensor. In this way, 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 functions to be realized by the angle measuring unit 18 can be realized by a variety of different devices.

Specifically, referring to FIGS. 1 to 5, the angle measuring unit 18 may be provided at the housing 10. The angle measurement unit 18 may include an inertial measurement unit, a compass, or an inertial measurement unit and a compass. The inertial measurement unit may include an IMU module (Inertial Measurement Unit), and the IMU may be a device for measuring 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 can be used to directly measure the offset angle of the first ranging unit 16 relative to the horizontal direction. Due to the development of hardware, chip, and algorithm technology, the size and cost of the IMU have been reduced and reduced, making it possible for the IMU to be mounted on the measurement terminal 100 and the remote control of the drone. In addition, through the compass, the offset angle of the measuring terminal 100 from the preset direction can be obtained.

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

Specifically, referring to FIGS. 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 embodiment of the present application, the first antenna 142 is the main antenna, and the second antenna 184 is the secondary antenna. The first antenna 142 can be used to obtain the position of the positioning unit 14, and the second antenna 184 and the first antenna 142 form a directional baseline angle H2, thereby obtaining the relative position of the ranging unit 16 to the preset direction.

Please refer to Figures 9 to 13, from the horizontal direction, the entire device of the measuring terminal 100 is rigidly connected, that is, when the overall orientation of the measuring terminal 100 is changed, the orientation of the ranging unit 16 will also change, for example, The orientation of the launch port from the unit 16 will also change.

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 that the measurement terminal 100 and the ranging unit 16 have no offset or the offset is zero relative to the preset direction, there may be no need to compensate for the position deviation of the positioning unit 14 caused by the offset.

Please refer to FIG. 9, a directional baseline K1 is formed between the second antenna 184 and the first antenna 142. When the measuring terminal 100 is configured, the directional baseline K1 is parallel to or coincides with the preset direction P when the measuring terminal 100 does not shift. Please refer to Figure 12, when the measurement terminal 100 is offset relative to the preset direction P in the horizontal plane, the orientation baseline K1 also offsets, the offset angle is ∠H2, the offset angle ∠H2 can also be used as a measurement The offset angle of the terminal 100 relative to the preset direction. Since the measuring terminal 100 is in a rigid connection state, the relative position of the distance measuring unit 16 and the preset direction P is correspondingly offset, and this offset needs to be compensated for the position of the positioning unit 14.

In the case where the entire measurement terminal 100 is in the diagonally upward state, the transmitting port of the first ranging unit 162 is diagonally upward, and the transmitting port of the second ranging unit 164 is diagonally to the left. The first antenna 142 can be connected to the first dial 132, and by adjusting the first dial 132, the first antenna 142 can be vertically upward. The first dial 132 is provided with a pointer and a scale. When the measuring terminal 100 is placed horizontally, the pointer of the first dial 132 can point to 0 scale. When the measuring terminal 100 is placed obliquely upward, in order to ensure that the first antenna 142 is vertically upward, the pointer of the first dial 132 can be rotated. At this time, the angle of rotation of the pointer of the first dial 132 can be the measurement terminal The angle formed by 100 and the preset direction.

When the measuring terminal 100 is at an offset angle from the preset direction (here, the preset direction is true north) in the horizontal direction, the angle measurement unit 18 can obtain the distance between the first antenna 142 and the second antenna 184 Then, the relative position of the distance measuring unit 16 and the preset direction is obtained, that is, the angle between the measuring device and the preset direction is obtained.

It should be noted that the setting of the second antenna 184 can replace the inertial measurement unit and the guide of the angle measurement unit 18 to address the problem of the orientation of the measurement terminal 100.

The specific measurement process of the measurement unit measuring the marker 50 located obliquely in front of the measurement unit will be taken as an example for description.

In the embodiment of the present application, please refer to FIG. 14, in order to align the marker 50 obliquely in front of the measuring terminal 100, the measuring terminal 100 is aligned with the marker 50 obliquely upward, so that the emission port of the first ranging unit 162 is aligned obliquely. Marker 50 on the front. At this time, in order to ensure that the satellite signal strength can be received, by adjusting the first dial 132, the first antenna 142 is vertically upward, and the angle of the pointer of the first dial 132 is obtained. At this time, the angle ∠H1 can be The angle relative to the horizontal direction ∠H1 can be directly used as the offset angle of the first ranging unit 162 relative to the horizontal direction. From the positioning of the first antenna 142, the centimeter-level accurate position of the phase center of the first antenna 142 can be obtained, that is, the position of the positioning unit 14, denoted by (X, Y, Z).

12, through the orientation of the first antenna 142 and the second antenna 184, the relative position of the first ranging unit 162 and the preset direction P can be obtained, that is, the deviation of the first ranging unit 162 relative to the preset direction P The shift angle is ∠H2, which is the directional baseline angle ∠H2.

Next, the first distance L1 is calculated. The first distance L1 is the distance between the marker 50 obliquely in front of the measuring terminal 100 (inclined upward) and the launch port of the first measuring unit 162. The first distance L1 can be measured by the first distance measuring unit 162, that is, the first distance L1 can be measured by the first distance measuring unit 162. A distance L1 is the distance measured by the measuring terminal 100 to measure the marker 50 obliquely forward. Due to the offset angle of the first ranging unit 162 relative to the horizontal direction ∠H1, the relative position of the first ranging unit 162 to the preset direction P is angle ∠H2, the marker 50 and the measuring terminal can be obtained according to the trigonometric function relationship The relative position of 100 is (L3, L4, L5), where L5=L1*Sin(H1), L3=L1*Sin(H2), L4=L1*Cos(H2).

Secondly, in the body coordinate system, according to the position of the phase center of the first antenna 142, converted to the position of the transmitting port of the first ranging unit 162, the coordinate position of the transmitting port of the first ranging unit 162 can be obtained as (X _{body offset} , The Y _{body is offset} , the Z _{body is offset} ), which is used as the position of the first ranging unit 162.

Finally, through the coordinate position of the first ranging unit 162 (X _{body offset} , Y _{body offset} , Z _{body offset} ), and the relative position of the marker 50 and the measuring terminal 100 as (L3, L4, L5), proceed Compensation in the XYZ direction, so that the position of the marker 50 (X _landmark , Y _landmark , Z _landmark ) located diagonally in front of the measuring terminal 100 can be calculated.

In summary, combined with ∠H1, ∠H2 and the first distance L1, the phase center position of the first antenna 142 is converted into the position of the transmitting port of the first ranging unit 162 in the body coordinate system, and then converted into the measurement The location of the landmark 50 in front of the terminal 100 (X _landmark , Y _landmark , Z _landmark ).

In the following, the specific measurement process of the measurement unit measuring the marker 50 directly below it will be described as another example.

Please refer to FIG. 15. First, since the marker 50 is located directly under the measuring terminal 100, the measuring terminal 100 can be placed horizontally without tilting, and the first antenna 142 is vertically upward. Through the first antenna 142 of the positioning unit 14, the centimeter-level precise position of the phase center of the first antenna 142 is obtained, that is, the position (X, Y, Z) of the positioning unit 14; secondly, since the marker 50 is located at the measuring terminal 100 Directly below, when the measuring terminal 100 is placed horizontally, the launching port of the second ranging unit 164 is vertically downward, and the orientation of the second ranging unit 164 can be directly aligned with the marker 50 directly below without adjustment, that is, the second The distance measuring unit 164 has no offset along the vertical direction AA, or the offset angle is zero degrees (when measuring the marker 50 obliquely below, there is an offset angle that is not zero). Since the first antenna 142 and the second antenna 184 are commonly connected to the driving circuit board 144, the baseline calculation is performed by the driving circuit board 144 to obtain the horizontal angle between the second antenna 184 and the first antenna 142, that is, the second ranging unit 164 The relative position to the preset direction is angle ∠H2.

Again, in the body coordinate system, in FIG. 15, the preset relative position of the positioning unit 14 and the second ranging unit 164 can be converted to the second ranging unit 164 in the body coordinate system. The location of the mouth. Therefore, in the body coordinate system, according to the position of the phase center of the first antenna 142 to the position of the transmitting port of the second ranging unit 164, the coordinate position of the transmitting port of the second ranging unit 164 can be obtained as (X _{body offset} , Y _{Body offset} , Z _{body offset} ), which is used as the position of the second ranging unit 164.

Finally, the coordinate position of the second ranging unit 164 (X _{body offset} , Y _{body offset} , Z _{body offset} ) and the second distance L6 are used to compensate in the Z direction, so that it can be calculated that it is located at the front of the measuring terminal 100. The position of the marker 50 below (X _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. In this way, the relative position of the distance measuring unit 16 and the preset direction P can be easily obtained.

Specifically, referring to FIG. 10, FIG. 11, and FIG. 12, the 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 measuring 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 and the second antenna The phase center of 184 and the second ranging unit 164 are located on the same axis, that is, the second ranging unit 164 is located on the extension line of the directional baseline K1 between the first antenna 142 and the second antenna 184. In this way, the The resulting conversion workload, efficiency can be improved. It can be understood that in other embodiments, the ranging unit 16 may also be located on the phase center of the first antenna 142, and the phase center of the second antenna 184 may not be on the same axis. That is, the ranging unit 16 may also be located between the first antenna 142 and the first antenna 142. The directional baseline K1 between the two antennas 184 is outside the extension line.

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

Specifically, referring to FIG. 9, generally, the measurement 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 measurement terminal 100 with respect to the preset direction P. In one embodiment, when the housing 10 of the measuring terminal 100 has an axisymmetric structure, the axis of symmetry may be the main axis K2 of the measuring terminal 100. In FIG. 9, when the measurement terminal 100 is not offset with respect to the preset direction P, the main axis K2 is parallel to the preset direction P. The axis K3 is parallel to the main axis K2.

12, when the measurement terminal 100 is offset relative to the preset direction P in the horizontal plane, the offset between the axis K3 and the main axis K2 is equal, passing between the first antenna 142 and the second antenna 184 The directional baseline angle H2 can be directly used as the relative position of the second ranging unit 164 to the preset direction P and the relative position of the measuring terminal 100 to the preset direction P, without further conversion, and the calculation efficiency can be improved.

In some embodiments, the preset direction P is a true north direction or a true east direction. In this way, it is convenient to calculate related data. Specifically, the true north direction or the true east direction may be a commonly used reference position of the positioning unit 16, and the true north direction or the true east direction is used as the preset direction P, which can reduce unnecessary calculation amount and improve calculation efficiency. In this embodiment, the preset direction P is the true north direction. In other embodiments, the preset direction P may also be other directions, which is not specifically limited here.

In some embodiments, the measuring terminal 100 further includes a level measuring instrument 20, and the level measuring instrument 20 is provided in the housing 10 and used to display the horizontal state of the measuring terminal 100. In this way, when the measuring terminal 100 needs to be placed in a horizontal state, the level measuring instrument 20 can determine whether the measuring terminal 100 is in a horizontal state.

Specifically, referring to FIG. 1, in this embodiment, the level measuring instrument 20 may be a horizontal bubble meter. By observing the state of the horizontal bubble flow, it is determined whether the measuring terminal 100 is in a horizontal state. In an example, when the transmitter port of the ranging unit 16 needs to be aligned with the marker 50 below, the measuring terminal 100 needs to be placed in a horizontal state. In this way, the level measuring instrument 20 can determine whether the measuring terminal 100 is in a horizontal state. In this way, the accuracy of the ranging of the measuring terminal 100 can be further ensured. In addition, the shape of the horizontal bubble meter is circular. It can also be rectangular or other shapes. The level measuring instrument 20 may also be a bar level instrument, a plastic level instrument, a glass level instrument, an electronic level instrument, a combined image level instrument, a frame level instrument, or others.

In some embodiments, the measurement terminal 100 further includes a touch display screen 40, and the touch display screen 40 is provided on the housing 10 for displaying the horizontal state of the measurement terminal 100. In this way, the touch screen 40 can display the level state of the level measuring instrument 20.

Specifically, the touch screen 40 is installed outside the housing 10, and the touch screen 40 is provided with a display interface. The display interface may be provided with multiple touch buttons with different functions, such as a display horizontal state button, a main switch button, a button to turn on the first ranging unit 162, a button to control a mobile platform, and so on. The type of the button can be a virtual button or a touch button, and there is no specific limitation here. In an example, by touching the display interface of the display screen 40, when the user needs to keep the measuring terminal 100 in a horizontal position, the display interface can be used to determine whether the measuring terminal 100 is in a horizontal state at this time. In addition, the touch screen 40 can also be used to record location information marked by the user.

In some embodiments, the measuring terminal 100 further includes a bracket 60, the bracket 60 is connected to the housing 10, and the touch screen 40 is installed on the bracket 60. In this way, through the connection of the bracket 60, the position space where the housing 10 can be installed is widened, so that the touch screen 40 can be installed in a position that is convenient for the user to operate.

Specifically, referring to FIGS. 1 to 3, the bracket 60 of the measuring terminal 100 can be connected to the housing 10. In this embodiment, the bracket 60 is connected to the top of the housing 10. The bracket 60 can be used to install the touch display screen 40, and the touch screen 40 is fixedly installed on the measuring terminal 100 by being installed on the bracket 60. In this way, the touch screen 40 is installed at the top of the housing 10, which is convenient for the user to operate the touch screen 40 and view related information. Preferably, the touch screen 40 and the bracket 60 can be detachably connected, and the bracket 60 and the housing 10 can be detachably connected. In addition, the bracket 60 can also be used to install mobile terminals, such as mobile phones, tablets, smart wearable devices, and other mobile terminals that operate APPs.

In some embodiments, the measuring terminal 100 is provided with a first working mode and a second working mode;

In the first working mode, the processor 11 is used to save the position of the marker 50 as data in a preset format, so that the data in the preset format can be imported into the mapping software.

In the second working mode, the processor 11 is configured to use the position of the marker 50 to form a boundary area, and send the boundary area to the mobile platform, so that the mobile platform moves according to the boundary area. In this way, different working modes enhance the functionality of the measuring terminal 100.

Specifically, the measuring terminal 100 may have two working modes, namely a first working mode and a second working mode. The first working mode can be used for the calibration of UAV surveying and mapping maps. The first working mode may be a control point mode. In the first working mode, the processor 11 saves the position data of the marker 50 and converts the position data of the marker 50 into data in a preset format. The mapping software can directly recognize the data in the preset format, so that the preset format can be directly recognized. The formatted data is imported into the mapping software, so that the measurement terminal 100 can store the geographic information of the landmark 50 at different locations. In addition, the preset format may be a data format suitable for mapping software.

The second working mode can be used to use the boundary area to make the mobile platform move according to the boundary area. The second working mode can be a boundary point mode. In an example, in the second working mode, the measuring terminal 100 can be used to measure the distribution of cell intersections, and the number of measured cell junctions may be four, namely junction 1, junction 2, junction 3, and junction 4. intersection. Firstly, the measuring terminal 100 in the second working mode can respectively locate the four intersections in sequence, and its marker 50 can be the manhole cover in the intersection; secondly, after completing the fixed-point work, the processor 11 can locate the four intersections. It can enclose a boundary area (for example, a rectangular boundary area). When the processor 11 subsequently moves the mobile platform, the processor 11 can control the movement of the mobile platform according to the boundary area, for example, control the space range defined by the mobile platform in the boundary area. Move in or out. In this way, with the cooperation of different working modes, the functionality of the measuring terminal 100 is greatly expanded.

In some embodiments, the processor 11 is further configured to control the measuring terminal 100 to be in the first working mode or the second working mode according to the input instruction. In this way, it is convenient for the user to select the working mode of the measuring terminal 100.

Specifically, the measurement terminal 100 may include an input component, and the user may input a control instruction through the input component. In one embodiment, the input component includes a touch screen 40, and the user can input instructions through the touch screen 40. Specifically, the display interface of the touch screen 40 is operated so that the user can input a mode selection instruction, and the processor 11 selects the working mode of the measuring terminal 100 according to the mode selection instruction, thereby controlling the measuring terminal 100 to be in the first working mode Or in the second working mode. In other embodiments, the input instruction may also be voice information, which is not specifically limited here. In this way, it is convenient for the user to select the working mode of the measuring terminal 100.

In some embodiments, the measurement terminal 100 is a remote control for controlling a mobile platform. In this way, the remote control integrates a position measurement function, which greatly facilitates the user's use. Specifically, the measurement terminal 100 may be a remote control of a mobile platform, and the measurement terminal 100 further includes a remote control antenna 30. The number of the remote control antenna 30 can be two, which can realize the function of single-transmit and double-receive, and can improve the communication stability between the remote control and the mobile platform. By controlling the touch screen 40 of the measuring terminal 100 or other manipulation devices (such as physical joysticks, physical buttons, touch pads), and inputting specific control instructions, the remote control antenna 30 can send data information to the mobile platform, thereby realizing For the control of the mobile platform, the mobile platform can perform functions such as taking pictures of the marker 50, and the mobile platform can feed back the acquired data information to the measurement terminal 100 through the remote control antenna 30. The measurement terminal 100 and the mobile platform may be connected in a wireless manner, and the wireless manner may be implemented through WIFI, Bluetooth, infrared, wireless mobile communication (such as 4G, 5G, etc.). There are no specific restrictions here. Mobile platforms include but are not limited to drones, robots, mobile vehicles, etc.

In addition, the embodiment of the present application also provides a remote control, which is used for a mobile platform, the remote control includes a remote control main body, and the remote control main body is provided with a manipulation device for the user to input remote control instructions, and the remote control further includes:

Positioning unit 14, distance measuring unit 16, and angle measuring unit 18;

At least part of the positioning unit 14 is rotatably disposed on the main body of the remote control;

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

The angle measuring unit 18 is arranged inside or on the surface of the remote control main body, and is relatively fixed to the remote control main body.

The above remote controller collects the required data by setting the positioning unit 14, the distance measuring unit 16, and the angle measuring unit 18. The data can be subsequently processed to obtain the position of the marker 50, which can realize relatively simple and easy-to-use surveying and mapping , Especially suitable for short-distance surveying and mapping operations.

The housing 10 of the measuring terminal 100 in any of the above embodiments can be used as the housing of the main body of the remote controller. Manipulating devices include, but are not limited to, physical joysticks (dual joysticks or single joysticks), physical buttons, touch pads, touch screens, etc. The processor 11 of the remote controller may be located in the main body of the remote controller, and the processor 11 of the remote controller may include the processor 11 of the measuring terminal 100 of any of the above embodiments.

It should be noted that the above explanations on the implementation and beneficial effects of the measuring terminal 100 are also applicable to the remote controller of this embodiment, and in order to avoid redundancy, it will not be detailed here.

In some embodiments, the positioning unit 14 includes a first antenna 142 rotatably disposed on the main body of the remote controller, and the positioning unit 14 is used to obtain the position of the phase center of the first antenna 142 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 remote controller further includes a first adjustment component 13 connected to the first antenna 142, and the first adjustment component 13 is used to adjust 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 adjustment component 13, it can be accurately ensured that the first antenna 142 can maintain the vertical upward direction in most scenarios, and stably receive the signals of the complete satellite constellation.

In some embodiments, the first adjustment component 13 includes a first dial 132 provided on the surface of the main body of the remote control. In this way, the setting of the first dial 132 can accurately adjust the orientation of the first antenna 142 to ensure that the orientation of the first antenna 142 is vertically upward, thereby making the adjustment of the orientation of the measuring terminal 100 more convenient and accurate.

In some embodiments, the positioning unit 14 further includes a driving circuit board 144 located in the main body of the remote controller, and the driving circuit board 144 is connected to the first antenna 142. In this way, the driving circuit board 144 can be used to calculate the relevant data in the positioning unit 14 and to control the reception and transmission of the first antenna 142.

In some embodiments, the first antenna is installed 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 helps to leave a certain space for the installation of other components of the housing 10, and facilitates the flexible installation of other components of the measuring terminal 100.

In some embodiments, the distance measurement unit 16 includes at least two distance measurement units 16, and the at least two distance measurement units 16 are respectively installed on different sides of the remote controller main body. In this way, the ranging of the marker 50 in different orientations can be realized, so that the versatility of the measuring terminal 100 is further enhanced.

In some embodiments, the remote control further includes a second adjustment component 15, and the second adjustment component 15 is connected to at least one of the distance measurement units 16 for adjusting the orientation of the distance measurement unit 16 connected to the second adjustment component 15. In this way, precise adjustment of the orientation of the ranging unit 16 can be achieved, so that the measuring terminal 100 can stably measure the range of the marker 50 in different orientations.

In some embodiments, the second adjustment assembly 15 includes a second dial 152 provided on the surface of the main body of the remote control. In this way, by adjusting the second dial 152, the orientation of the distance measuring unit 16 can be precisely adjusted.

In some embodiments, an angle mark is provided on the second adjustment component 15. In this way, the user can more accurately grasp the adjustment scale during the process of adjusting the orientation of the distance measuring unit 16 by the second adjusting component 15, thereby improving the accuracy of adjustment of the second adjusting component 15 so that the user can quickly and conveniently adjust the distance measurement. The orientation of unit 16.

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 is installed at the front of the remote control body, and the second ranging unit 164 Installed at the bottom of the remote control body. In this way, by installing the ranging unit 16 in multiple directions of the housing 10, the measurement terminal 100 can perform ranging in multiple directions.

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

The second distance measuring unit 164 is used to measure the second distance between the marker 50 under the remote control and the remote control.

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

In some embodiments, the remote control further includes a level measuring instrument 20, and the leveling instrument is arranged on the main body of the remote control to display the level state of the remote control. In this way, when the measuring terminal 100 needs to be placed in a horizontal state, the level measuring instrument 20 can determine whether the measuring terminal 100 is in a horizontal state.

In some embodiments, the remote control further includes a touch screen 40, which is provided in the main body of the remote control, and is used to display the horizontal state of the remote control. In this way, the touch screen 40 can display the level state of the level measuring instrument 20.

In some embodiments, the remote control further includes a bracket 60, the bracket 60 is connected to the main body of the remote control, and the touch screen 40 is installed on the bracket 60. In this way, through the connection of the bracket 60, the position space where the housing 10 can be installed is widened, so that the touch screen 40 can be installed in a position that is convenient for the user to operate.

Please refer to FIG. 16, a measurement component 1000 according to an embodiment of the present application includes a mobile platform 200 and a measurement terminal 100 of any one of the foregoing embodiments, and the measurement terminal 100 communicates with the mobile platform 200 wirelessly.

In addition, a measurement component of an embodiment of the present application includes a mobile platform 200 and the remote controller of any one of the foregoing embodiments, and the remote controller communicates with the mobile platform 200 wirelessly.

The measurement component 1000 and the remote controller described above obtain the position of the marker 50 by setting the positioning unit 14, the ranging unit 16, and the angle measuring unit 18, and processing the data acquired by the positioning unit 14, the ranging unit 16 and the angle measuring unit 18 , This can realize relatively simple and easy-to-use surveying and mapping, especially suitable for short-distance surveying and mapping operations. In addition, through the control of the mobile platform 200, on the one hand, the operator can obtain the location of the surveying point without having to go to the surveying point; on the other hand, even if the terrain is not convenient for close-range surveying and mapping, the operator can perform surveying and mapping.

In the embodiment of FIG. 16, the mobile platform 200 is a drone. In other embodiments, the mobile platform may be a mobile car, a robot, or other mobile platforms.

1 and FIG. 17, a measurement method provided by the embodiment of the present application is used for a measurement terminal 100. The measurement terminal 100 includes a housing 10, a positioning unit 14, a distance measuring unit 16, and an angle measurement mounted on the housing 10. Unit 18, the measurement method includes:

In step S1, the position of the positioning unit 14 is obtained by the positioning unit 14, the distance between the marker 50 and the measuring terminal 100 is obtained by the distance measuring unit 16, and the relative position of the distance measuring unit 16 and the preset direction is obtained by 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 distance measuring unit 16 and the preset direction, and the preset relative position and distance of the positioning unit 14 and the distance measuring unit 16.

In the above measurement method, the position of the marker 50 is obtained by setting the positioning unit 14, the ranging unit 16 and the angle measuring unit 18, and processing the data acquired by the positioning unit 14, the ranging unit 16 and the angle measuring unit 18, so that the position of the marker 50 can be obtained. Relatively simple and easy-to-use surveying and mapping, especially suitable for short-distance surveying and mapping operations.

It should be noted that the foregoing explanations of the implementation and beneficial effects of the measurement terminal 100, the remote control, and the measurement component are also applicable to the measurement method of this embodiment. To avoid redundancy, it will not be detailed here.

In some embodiments, the positioning unit 14 includes the first antenna 142, and step 1 includes: obtaining the position of the phase center of the first antenna 142 through the positioning unit 14, and the position of the phase center of the first antenna 142 is used 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 component 13 connected to the first antenna 142,

The measurement method includes: adjusting the orientation of the first antenna 142 by the first adjusting component 13 so that the orientation of the first antenna 142 is vertically upward. In this way, through the operation of the first adjustment component 13, it can be accurately ensured that the first antenna 142 can be kept upright in most scenarios and stably receive the signal of the complete satellite.

In some embodiments, the first adjustment assembly includes a first dial 132 provided on the surface of the housing 10. In this way, the setting of the first dial 132 can accurately adjust the orientation of the first antenna 142 to ensure that the orientation of the first antenna 142 is vertically upward, thereby making the adjustment of the orientation of the measuring terminal 100 more convenient and accurate.

In some embodiments, the positioning unit 14 includes a driving circuit board 144 located in the housing 10, and the driving circuit board 144 is connected to the first antenna 142. In this way, the driving circuit board 144 can be used to calculate the relevant data in the positioning unit 14 and to control the reception and transmission of the first antenna 142.

In some embodiments, the measurement terminal 100 further includes a second adjustment component 15, which is connected to at least one of the distance measuring units 16, and the measurement method further includes: adjusting with the second adjustment component 15 through the second adjustment component 15 The orientation of the connected ranging unit 16. In this way, precise adjustment of the orientation of the ranging unit 16 can be achieved, so that the measuring terminal 100 can stably measure the range of the marker 50 in different orientations.

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

Obtaining the position of the marker 50 according to the position of the positioning unit 14, the relative position of the distance measuring unit 16 and the preset direction, the preset relative position and distance of the positioning unit 14 and the distance measuring unit 16, including: according to the position of the positioning unit 14, The relative position of the first ranging unit 162 and the preset direction, the preset relative position of the positioning unit 14 and the first ranging unit 162, the offset angle of the first ranging unit 162 with respect to the horizontal direction, and the first distance The position of the marker 50 in front of the terminal 100 is measured. In this way, by analyzing and processing the relevant position information, the position of the marker 50 located under the measuring terminal 100 can be obtained.

In some embodiments, the distance includes the second distance between the marker 50 located under the measuring terminal 100 and the measuring terminal 100 measured by the second ranging unit 164;

Obtaining the position of the marker 50 according to the position of the positioning unit 14, the relative position of the distance measuring unit 16 and the preset direction, the preset relative position and distance of the positioning unit 14 and the distance measuring unit 16, including: according to the position of the positioning unit 14, The relative position of the second ranging unit 164 and the preset direction, the preset relative position of the positioning unit 14 and the second ranging unit 164, the offset angle of the second ranging unit 164 with respect to the vertical direction, and the second distance The position of the marker 50 under the terminal 100 is measured. In this way, by analyzing and processing the relevant position information, the position of the marker 50 located under the measuring terminal 100 can be obtained.

In some embodiments, the aforementioned axis K3 is parallel to the main axis K2 of the measuring terminal 100. In this way, it can be so, through the directional baseline angle H2 between the second antenna 184 and the first antenna 142, the relative position of the ranging unit 16 and the preset direction P can be known without further conversion.

In some embodiments, the preset direction is a true north direction or a true east direction. In this way, the true north direction or the true east direction is the direction in which the user generally measures the marker 50.

In some embodiments, the measuring terminal 100 further includes a touch screen 40,

The measuring method further includes: displaying the horizontal state of the measuring terminal 100 through the touch display screen 40. In this way, the touch screen 40 can display the level state of the level measuring instrument 20.

In some embodiments, the measuring terminal 100 is provided with a first working mode and a second working mode,

The measurement method further includes: in the first working mode, saving the position of the marker 50 as data in a preset format so that the data in the preset format can be imported into the mapping software,

In the second working mode, the position of the marker 50 is used to form a border area and the border area is sent to the mobile platform to make the mobile platform move according to the border area. In this way, different working modes enhance the functionality of the measuring terminal 100.

In some embodiments, the measurement method further includes: controlling the measurement terminal 100 to be in the first working mode or the second working mode according to the input instruction. In this way, it is convenient for the user to select the working mode of the measuring terminal 100.

In some embodiments, the measurement terminal 100 is a remote control for controlling a mobile platform. In this way, the remote control integrates a position measurement function, which greatly facilitates the user's use.

In this application, unless expressly stipulated and defined otherwise, the "on" or "under" of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them. Moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature. The “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

The following disclosure provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples, and are not intended to limit the application. In addition, the present application may repeat reference numerals and/or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples” etc. means to combine the embodiments The specific features, structures, materials, or characteristics described by the examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A measuring terminal, characterized in that it comprises:

A housing and a processor, a positioning unit, a distance measuring unit and an angle measuring unit installed in the housing, the processor is connected to the positioning unit, the distance measuring unit and the angle measuring unit;

The positioning unit is used to obtain the position of the positioning unit;

The distance measurement unit is used to obtain the distance between the marker and the measurement terminal;

The angle measuring unit is used to obtain the relative position of the distance measuring unit and a preset direction;

The processor is configured to obtain the position of the positioning unit, the relative position of the distance measuring unit and the preset direction, the preset relative position of the positioning unit and the distance measuring unit, and the distance. The location of the marker.
The measurement terminal according to claim 1, wherein the positioning unit comprises a first antenna, and the positioning unit is configured to obtain the position of the phase center of the first antenna as the position of the positioning unit.
The measurement terminal according to claim 2, wherein the measurement terminal further comprises a first adjustment component connected to the first antenna, and the first adjustment component is used to adjust the orientation of the first antenna to The direction of the first antenna is vertically upward.
The measurement terminal according to claim 3, wherein the first adjustment component comprises a first dial provided on the surface of the housing.
The measurement terminal according to claim 3, wherein a first angle mark is provided on the first adjustment component.
The measurement terminal according to claim 2, wherein the positioning unit comprises a driving circuit board located in the housing, and the driving circuit board is connected to the first antenna.
The measurement terminal according to claim 2, wherein the first antenna is installed on the top or side of the housing.
The measurement terminal according to claim 1, wherein the distance measurement unit comprises at least two distance measurement units, and the at least two distance measurement units are respectively installed on different sides of the housing.
The measurement terminal according to claim 8, wherein the measurement terminal further comprises a second adjustment component, and the second adjustment component is connected to at least one of the distance measurement units for adjustment and the second adjustment The orientation of the ranging unit to which the component is connected.
The measurement terminal according to claim 9, wherein the second adjustment component comprises a second dial provided on the surface of the housing.
The measurement terminal according to claim 8, wherein at least two of the ranging units include a first ranging unit and a second ranging unit, and the first ranging unit is installed in front of the housing. The second distance measuring unit is installed at the bottom of the housing.
The measurement terminal according to claim 11, wherein the distance comprises a first distance between a marker located in front of the measurement terminal and the measurement terminal measured by the first ranging unit;

The processor is specifically configured to use 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 acquire the position of the marker located in front of the measurement terminal.
The measurement terminal according to claim 12, wherein the offset angle is obtained according to measurement data of the angle measurement unit; or,

The measurement terminal further includes a second adjustment component connected to the first ranging unit and configured to adjust the orientation of the first ranging unit, and the offset angle is based on the first ranging unit. The direction change amount generated when the adjustment component adjusts the direction of the first ranging unit is determined; or,

The positioning unit includes a first antenna, the measurement terminal further includes a first adjustment component connected to the first antenna, and the offset angle is generated when the first adjustment component adjusts the orientation of the first antenna The amount of change in the direction is determined.
The measurement terminal according to claim 11, wherein the distance comprises a second distance between a marker located below the measurement terminal and the measurement terminal measured by the second distance measurement unit;

The processor is specifically configured to use 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 acquire the position of the marker located below the measurement terminal.
The measurement terminal according to claim 14, wherein the offset angle is obtained according to measurement data of the angle measurement unit; or,

The measurement terminal further includes a second adjustment component connected to the second ranging unit for adjusting the orientation of the second ranging unit, and the offset angle is based on the first distance measurement unit. 2. Determine the direction change amount generated when the adjustment component adjusts the direction of the second ranging unit; or,

The positioning unit includes a first antenna, the measurement terminal further includes a first adjustment component connected to the first antenna, and the offset angle is generated when the first adjustment component adjusts the orientation of the first antenna The amount of change in the direction is determined.
The measurement terminal according to claim 13 or 15, wherein a first angle indicator is provided on the first adjustment component, and a second angle indicator is provided on the second adjustment component.
The measurement terminal according to claim 1, wherein the angle measurement unit comprises at least one of an inertial measurement unit and a compass.
The measurement terminal according to claim 1, wherein the positioning unit comprises a first antenna, and the positioning unit is configured to obtain the position of the phase center of the first antenna as the position of the positioning unit, and The angle measurement unit includes a second antenna, and the angle measurement unit is configured to obtain a relative position of the distance measurement unit and the preset direction through a directional baseline angle between the second antenna and the first antenna.
The measurement terminal according to claim 18, wherein the phase center of the first antenna, the phase center of the second antenna, and the ranging unit are located on the same axis.
The measurement terminal according to claim 19, wherein the axis is parallel to the main axis of the measurement terminal.
The measurement terminal according to claim 1, wherein the preset direction is a true north direction or a true east direction.
The measuring terminal according to claim 1, wherein the measuring terminal further comprises a level measuring instrument, the level measuring instrument is provided in the housing and used for displaying the horizontal state of the measuring terminal.
The measurement terminal according to claim 1, wherein the measurement terminal further comprises a touch display screen, the touch display screen is provided on the housing and is used for displaying the horizontal state of the measurement terminal.
The measurement terminal according to claim 23, wherein the measurement terminal further comprises a bracket, the bracket is connected to the housing, and the touch display screen is installed on the bracket.
The measurement terminal according to claim 1, wherein the measurement terminal is provided with a first working mode and a second working mode;

In the first working mode, the processor is configured to save the position of the marker as data in a preset format, so that the data in the preset format can be imported into the mapping software,

In the second working mode, the processor is configured to use the position of the marker to form a border area, and send the border area to a mobile platform, so that the mobile platform moves according to the border area.
The measurement terminal according to claim 25, wherein the processor is further configured to control the measurement terminal to be in the first working mode or the second working mode according to an input instruction.
The measurement terminal according to claim 1, wherein the measurement terminal is a remote control for controlling a mobile platform.
A remote control for a mobile platform, the remote control includes a remote control main body, the remote control main body is provided with a manipulation device for a user to input remote control instructions, characterized in that the remote control further comprises:

Positioning unit, distance measuring unit and angle measuring unit;

At least part of the positioning unit is rotatably disposed on the remote control main body;

The distance measuring unit is arranged on the side of the remote control main body;

The angle measuring unit is arranged inside the remote control main body or on the surface of the remote control main body, and is relatively fixed to the remote control main body.
The remote control according to claim 28, wherein the positioning unit comprises a first antenna rotatably arranged on the main body of the remote control, and the positioning unit is used to obtain the phase center of the first antenna. The position is used as the position of the positioning unit.
The remote control according to claim 29, wherein the remote control further comprises a first adjustment component connected to the first antenna, and the first adjustment component is used to adjust the orientation of the first antenna to The direction of the first antenna is vertically upward.
The remote control according to claim 30, wherein the first adjustment component comprises a first dial provided on the surface of the main body of the remote control.
The remote control according to claim 30, wherein the first adjustment component is provided with a first angle mark.
The remote control according to claim 29, wherein the positioning unit further comprises a driving circuit board located in the main body of the remote control, and the driving circuit board is connected to the first antenna.
The remote control according to claim 29, wherein the first antenna is installed on the top or side of the main body of the remote control.
The remote control according to claim 28, wherein the distance measurement unit comprises at least two distance measurement units, and the at least two distance measurement units are respectively installed on different sides of the remote control body.
The remote control according to claim 35, wherein the remote control further comprises a second adjustment component, and the second adjustment component is connected to at least one of the distance measuring units for adjustment and the second adjustment The orientation of the ranging unit to which the component is connected.
The remote control according to claim 36, wherein the second adjustment component comprises a second dial provided on the surface of the main body of the remote control.
The remote control according to claim 36, wherein an angle mark is provided on the second adjustment component.
The remote control according to claim 35, wherein at least two of the distance measurement units comprise a first distance measurement unit and a second distance measurement unit, and the first distance measurement unit is installed on the main body of the remote control. In the front part, the second distance measuring unit is installed at the bottom of the remote controller main body.
The remote control according to claim 39, wherein the first distance measuring unit is used to measure a first distance between a marker located in front of the remote control and the remote control;

The second distance measuring unit is used to measure a second distance between a marker under the remote control and the remote control.
The remote control according to claim 28, wherein the angle measurement unit comprises at least one of an inertial measurement unit and a compass.
The remote control according to claim 28, wherein the positioning unit comprises a first antenna, and the positioning unit is used to obtain the position of the phase center of the first antenna as the position of the positioning unit, and The angle measuring unit includes a second antenna, and the angle measuring unit is configured to obtain a relative position of the ranging unit to a preset direction through a directional baseline angle between the second antenna and the first antenna.
The remote control according to claim 42, wherein the phase center of the first antenna, the phase center of the second antenna, and the ranging unit are located on the same axis.
The remote control according to claim 43, wherein the axis is parallel to the main axis of the measuring terminal.
The remote control according to claim 28, wherein the remote control further comprises a level measuring instrument, and the level placement instrument is arranged on the main body of the remote control and is used to display the level state of the remote control.
The remote control according to claim 28, wherein the remote control further comprises a touch screen, and the touch screen is provided on the main body of the remote control and is used to display the horizontal state of the remote control.
The remote control according to claim 46, wherein the remote control further comprises a bracket, the bracket is connected to the main body of the remote control, and the touch screen is installed on the bracket.
A measurement component, characterized by comprising a mobile platform and the measurement terminal according to any one of claims 1-27, and the measurement terminal wirelessly communicates with the mobile platform.
A measurement component, characterized by comprising a mobile platform and the remote control according to any one of claims 28-47, and the remote control wirelessly communicates with the mobile platform.
A measurement method for a measurement terminal, wherein the measurement terminal includes a housing and a positioning unit, a distance measurement unit, and an angle measurement unit installed on the housing, and the measurement method includes:

The position of the positioning unit is acquired by the positioning unit, the distance between the marker and the measuring terminal is acquired by the distance measuring unit, and the relative distance between the distance measuring unit and the preset direction is acquired by the angle measuring unit. Location;

The position of the marker is acquired according to the position of the positioning unit, the relative position of the distance measuring unit and the preset direction, the preset relative position of the positioning unit and the distance measuring unit, and the distance.
The measurement method according to claim 50, wherein the positioning unit comprises a first antenna, and obtaining the position of the positioning unit by the positioning unit comprises: obtaining the position of the first antenna by the positioning unit The position of the phase center, and the position of the phase center of the first antenna is used as the position of the positioning unit.
The measurement method according to claim 51, wherein the measurement terminal further comprises a first adjustment component connected to the first antenna,

The measurement method further includes: adjusting the orientation of the first antenna through the first adjustment component so that the orientation of the first antenna is vertically upward.
The measurement method according to claim 52, wherein the first adjustment component comprises a first dial provided on the surface of the housing.
The measurement method according to claim 52, wherein a first angle mark is provided on the first adjustment component.
The measurement method according to claim 51, wherein the positioning unit comprises a driving circuit board located in the housing, and the driving circuit board is connected to the first antenna.
The measurement method according to claim 51, wherein the first antenna is installed on the top or side of the housing.
The measurement method according to claim 50, wherein the distance measurement unit comprises at least two distance measurement units, and the at least two distance measurement units are respectively installed on different sides of the housing.
The measurement method according to claim 57, wherein the measurement terminal further comprises a second adjustment component, the second adjustment component is connected to at least one of the ranging units, and the measurement method further comprises: The second adjusting component adjusts the orientation of the distance measuring unit connected to the second adjusting component.
The measurement method according to claim 58, wherein the second adjustment assembly comprises a second dial provided on the surface of the housing.
The measurement method according to claim 57, wherein at least two of the distance measurement units include a first distance measurement unit and a second distance measurement unit, and the first distance measurement unit is installed in front of the housing. The second distance measuring unit is installed at the bottom of the housing.
The measurement method according to claim 60, wherein the distance comprises a first distance between a marker located in front of the measurement terminal and the measurement terminal measured by the first ranging unit;

The method of acquiring the marker according to the position of the positioning unit, the relative position of the distance measuring unit and the preset direction, the preset relative position of the positioning unit and the distance measuring unit, and the distance The position includes: 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 first The offset angle of a distance measuring unit relative to the horizontal direction and the first distance acquire the position of the marker located in front of the measurement terminal.
The measurement method according to claim 61, wherein the offset angle is obtained according to the measurement data of the angle measurement unit; or,

The measurement terminal further includes a second adjustment component connected to the first ranging unit and configured to adjust the orientation of the first ranging unit, and the offset angle is based on the first ranging unit. The direction change amount generated when the adjustment component adjusts the direction of the first ranging unit is determined; or,

The positioning unit includes a first antenna, the measurement terminal further includes a first adjustment component connected to the first antenna, and the offset angle is generated when the first adjustment component adjusts the orientation of the first antenna The amount of change in the direction is determined.
The measurement method according to claim 60, wherein the distance comprises a second distance between a marker located below the measurement terminal and the measurement terminal measured by the second distance measurement unit;

The method of acquiring the marker according to the position of the positioning unit, the relative position of the distance measuring unit and the preset direction, the preset relative position of the positioning unit and the distance measuring unit, and the distance The position includes: 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 first The offset angle of the second distance measuring unit relative to the vertical direction and the second distance acquire the position of the marker located below the measurement terminal.
The measurement method according to claim 63, wherein the offset angle is obtained according to the measurement data of the angle measurement unit; or,

The measurement terminal further includes a second adjustment component connected to the second ranging unit for adjusting the orientation of the second ranging unit, and the offset angle is based on the first distance measurement unit. 2. Determine the direction change amount generated when the adjustment component adjusts the direction of the second ranging unit; or,

The positioning unit includes a first antenna, the measurement terminal further includes a first adjustment component connected to the first antenna, and the offset angle is generated when the first adjustment component adjusts the orientation of the first antenna The amount of change in the direction is determined.
The measurement method according to claim 62 or 64, wherein a first angle mark is provided on the first adjustment component, and a second angle mark is provided on the second adjustment component.
The measurement method according to claim 50, wherein the angle measurement unit comprises at least one of an inertial measurement unit and a compass.
The measurement method according to claim 50, wherein the positioning unit comprises a first antenna, and the positioning unit is used to obtain the position of the phase center of the first antenna as the position of the positioning unit, and The angle measuring unit includes a second antenna, and the angle measuring unit is configured to obtain a relative position of the ranging unit to a preset direction through a directional baseline angle between the second antenna and the first antenna.
The measurement method according to claim 67, wherein the phase center of the first antenna, the phase center of the second antenna, and the ranging unit are located on the same axis.
The measurement method according to claim 68, wherein the axis is parallel to the main axis of the measurement terminal.
The measurement method according to claim 50, wherein the preset direction is a true north direction or a true east direction.
The measuring method according to claim 50, wherein the measuring terminal further comprises a level measuring instrument, the level measuring instrument is provided in the housing, and the measuring method further comprises:

The level state of the measuring terminal is displayed by the level measuring instrument.
The measurement method according to claim 50, wherein the measurement terminal further comprises a touch display screen,

The measurement method further includes: displaying the horizontal state of the measurement terminal through the touch display screen.
The measurement method according to claim 72, wherein the measurement terminal further comprises a bracket, the bracket is connected to the housing, and the touch display screen is installed on the bracket.
The measurement method according to claim 50, wherein the measurement terminal is provided with a first working mode and a second working mode,

The measurement method further includes: in the first working mode, saving the position of the marker as data in a preset format so that the data in the preset format can be imported into the mapping software,

In the second working mode, the position of the marker is used to form a border area and the border area is sent to a mobile platform to make the mobile platform move according to the border area.
The measurement method according to claim 74, wherein the measurement method further comprises:

Controlling the measuring terminal to be in the first working mode or the second working mode according to the input instruction.
The measurement method according to claim 50, wherein the measurement terminal is a remote control for controlling a mobile platform.