CN202453010U - Remote sensing and remote measuring handheld set - Google Patents
Remote sensing and remote measuring handheld set Download PDFInfo
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- CN202453010U CN202453010U CN2012200266571U CN201220026657U CN202453010U CN 202453010 U CN202453010 U CN 202453010U CN 2012200266571 U CN2012200266571 U CN 2012200266571U CN 201220026657 U CN201220026657 U CN 201220026657U CN 202453010 U CN202453010 U CN 202453010U
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Abstract
The utility model discloses a remote sensing and remote measuring handheld set. The remote sensing and remote measuring handheld set comprises a circuit board which is arranged in a shell, a circuit board plugging connector and an image acquisition system which is arranged outside the shell, wherein the circuit board is formed by welding unit modules and comprises a high-speed processing unit, and a three-dimensional attitude sensing module, a laser ranging module, a display module, a global positioning system (GPS) module, a GPS antenna, a communication module, an image receiving module, a power management module and a multi-channel interface, which are connected with the high-speed processing unit; the power management module is connected with power input ends of other modules; the circuit board plugging connector is in plugging connection with the circuit board; and the image acquisition system comprises the multi-channel interface which is arranged on an image receiving module, and an optical lens and an infrared/low-light level night vision device, which are connected with the multi-channel interface. The remote sensing and remote measuring handheld set is multi-system, integrated, convenient to carry and operate, high in efficiency, multifunctional, high in accuracy, high in reliability and low in cost.
Description
Technical field
The utility model relates to a kind of remote sensing remote measurement hand-held set, is mainly used in the ground remote sensing remote measuring type equipment of functions such as global location, attitude measurement, laser ranging, long-focus optics/low-light/photographic IR shooting, broadband wireless communications.
Background technology
Have only three types of Related products in the market: the simple function instrument, be used for night vision observation multi-functional infrared thermal imaging instrument, be used for the device integration system that the road photogrammetric data is gathered.
Simple function instrument: like stadimeter, video camera, camera, the camera lens of turning back, telescope, infrared viewer, low-light visualizer, orientator, 3 d pose appearance, inertial navigator, communication facilities etc.There is function singleness in these equipment; Can only accomplish a certain or several kinds of particular functionality; If want to realize high-touch feature (like the obtaining synchronously of object coordinates and image, photogrammetric etc.); Just can only purchase multiple instrument and carry out equipment integration, cause the waste of high cost and human and material resources, financial resources, cost performance is low; Realize that high-touch feature needs integrated multiple simple function instrument, the middle use of in fact can't working in the open air.
Multi-functional infrared thermal imaging instrument: thermal infrared imager is a kind of detection of a target infrared emanation and the equipment that converts thereof into real time video image; Owing to be the passive infrared emanation of accepting target self; Therefore no matter be that daytime or night all can operate as normal; Do not receive all-environment influences such as light, rain, snow, mist, cigarette, this makes it become the ideal tools of observation under total darkness environment, adverse weather condition.Along with expanding economy, the lifting of the degree of awareness, thermal infrared imager has obtained widespread use in traffic, police with civil areas such as law enforcement, fire-fighting, medical treatment, building, preventive maintenances; But the equipment of this type exists the real-time positioning error greater than meter level; Desirable course error value when having no magnetic interference fully is more than or equal to 0.5 ° (when the distance between hand-held set and object is 3000 meters, causing the object coordinates error greater than 53 meters), so precision is low; Do not possess communication function, can not collaborative work; Can not in the environment of magnetic interference is arranged, work: a. can not carry out attitude measurement in the environment of magnetic interference is arranged: the hand-held thermal infrared imager adopts electronic compass to carry out attitude measurement; There is little magnetic interference, the mistake that the course measured value of electronic compass will take place self can not perception, can not assess, can not correct; B. can not in the environment of magnetic interference is arranged, carry out object coordinates measures: the course error value of the electronic compass that causes because of magnetic interference causes object coordinates measured value error greatly to unacceptable stage; Be not suitable for measurement, be applicable to purposes such as observation, evidence obtaining: can only under the prerequisite of no accuracy requirement, be applicable to public security, anti-smuggling, fire-fighting, law enforcement and department of customs.Can not accomplish the task of accuracy requirement.
Be used for the device integration system that the road photogrammetric data is gathered: road photogrammetric data acquisition system in the market is device integration system.Abroad: all there are the road photogrammetric data acquisition system based on the equipment integration technology in the U.S., Canada, all states in Northern Europe, Australia, Japan; Domestic: by unit consolidations such as Wuhan University, Wuhan Li De company exploitations " the LD2000 series based on the 3S integrated technology moves road survey system (road photogrammetric data acquisition system); Road photogrammetric data acquisition system both domestic and external has identical principle of work, system architecture, method of work and working result: its hardware characteristics is equipment integration.It links together position measurement apparatus (GPS), attitude measurement and location compensation equipment (INS or dead reckoning system), video equipment (CCD system), carried-on-vehicle computer system equipment; Be installed on the automobile; Among the advancing of vehicle, gather the spatial position data and the attribute data of road and road both sides atural object,, bridge (tunnel) height wide, traffic sign, road equipment etc. like: the position coordinates of road axis or sideline position coordinates, target atural object, road (track).Data sync storage is in carried-on-vehicle computer system; It is integrated that software features is based on the 3S of GPS, RS, GIS, data, and the data that field data acquisition is returned are carried out post editing and handled, and form various useful thematic data achievements, like map of navigation electronic or the like.Its distinguishing feature is: a. independently surveys drawing formation system.Need not by any base map, can independently accomplish road network figure and measure.On work flow, formed photogrammetric closed-loop control, high-precision spatial data obtains with the stereopsis that comprises rich properties information simultaneously, and field operation closely is connected with interior industry, has avoided the personal error under the manual type; B. the outcome data of outdoor scene three-dimensional visualization.It gathers road and the peripheral geographical spatial data of road fast with planar mode, and its outcome data is that the outdoor scene of taking continuously can measure image; C. with defend sheet/boat sheet seamless link, form the new generation GIS of " day ground integrated "; But; Still have following problem: (1) can't conduct a field operation; Working range is limited to road: the sensor and the equipment that move road survey system (road photogrammetric data acquisition system) and be advanced persons such as GPS (GPS), CCD (video system), INS (inertial navigation system or dead reckoning system), carried-on-vehicle computer systems are assemblied on the automobile; This just means that it only can be used for the photogrammetric of road, can't carry out the photogrammetric of field environment; (2) mobile, all inconvenience of operation of system itself: each equipment volume of forming system is big, weight is big, connects with cable between each equipment.System loosely organized must be fixed on the large-scale carrier such as automobile many people's operations; (3) function singleness, work efficiency are lower: can only on road, carry out the location shooting measurement data acquisition and not possess data-transformation facility, the conventional operation mode that this field data collection, interior industry are handled afterwards causes that repeated field operation work is inevitable and consuming time, consumption wealth, consumption power; (4) cost an arm and a leg: all components that moves the road survey system all is outsourcing; The expensive price of these high-end devices makes that the cost of " moving the road survey system " is high; The price that home products LD2000 series moves road survey system (road photogrammetric data acquisition system) is 3,000,000 a yuans/cover, and external product is more expensive.
Summary of the invention
The purpose of the utility model is to deficiency of the prior art, a kind of multi-systems integration is provided, carries easy to operate, high-efficiency multi-function, high precision, high reliability, the hand-held set of remote sensing remote measurement cheaply.
For accomplishing above-mentioned purpose, the technical scheme that the utility model adopts is: remote sensing remote measurement hand-held set comprises: be installed in circuit board, the circuit board plug connector in the casing and be installed in the outer image capturing system of casing and form; Said circuit board is welded to form by each unit module; Comprise the high speed processing unit, and the 3 d pose sensing module that is attached thereto, laser ranging module, GPS module, gps antenna, communication module, image receiver module, display module, power management module, multichannel interface; Said power management module connects the power input of above-mentioned other modules; Said circuit board plug connector is plugged on the circuit board; Said image capturing system comprises multichannel interface and the optical lens that is connected with the multichannel interface and the infrared/low-light level night vision device that is installed on the image receiver module.
Minimal processing unit is formed by CPU, Installed System Memory SDRAM, system flash Nand Flash in said high speed processing unit, and said high speed processing unit is selected the high speed CPU chip of embedded-type ARM kernel for use.
Said 3 d pose sensing module comprises module internal power circuit, micro controller unit, acceleration sensing unit, magnetic flux sensing cell; Wherein the module internal power circuit connects above-mentioned three unit, and micro controller unit connects acceleration sensing unit and magnetic flux sensing cell.
Remote sensing remote measurement hand-held set also comprises: memory interface unit, extended memory unit, voice call unit, more than Unit three all be connected with the high speed processing unit.
Said communication module comprises one or more combination of existing communication modes such as 2.5G, 3G, WIFI/ZigBee, bluetooth.
The remote sensing remote measurement hand-held set sorting technique of the utility model is: decide according to it that appearance principle, environment for use and purposes are different classifies; Can be divided into three types, every type all comprises two kinds of mode of operations: independent working mode (the separate unit hand-held set works alone), cooperative work mode (two or many hand-held set collaborative works); Above-mentioned any mode of operation local reference station all capable of using carries out GPS difference location, orientation.
Principle of work: with the embedded-type ARM kernel is central processing unit, on the basis of minimal processing unit, realizes real-time positioning through GPS module/antenna; Realize the collection of image scene through the image receiver module; Obtain roll in real time and face upward the data of bowing through the acceleration sensing unit; Carrying out short range (in the 1000M) communication through WIFI or ZigBee MANET supports the difference between hand-held set to locate with directed to obtain high-precision location data and course data; Realize the real-time range observation of (in 3000 meters) on the various range indexs through the laser ranging module; Through the hand-held set central processing unit gps data, 3 d pose data, laser ranging data are carried out Combined Treatment, obtain real-time object space three-dimensional coordinate; Realize the night vision observation in 300 meters distances through infrared/low-light level night vision device, distant surveillance and picked-up object image; Realize distant surveillance and absorb the object image and accomplish the conversion of light/electric signal and the conversion of digital/analog signal automatically through various optical lens; Through 2.5G or 3G public radio communication network and the long-range rear computer server that is connected of wired INTERNET, realize cloud computing with in industry out of trade integrated.
The beneficial effect of the utility model: it is multi-functional in a machine that set global location, laser ranging, remote optical/infrared/low illumination level photography, 3 d pose are measured, close shot/longshot measurements of round-the-clock whole day elephant, long-haul telemetry (containing obtaining synchronously of object space three-dimensional coordinate and facade image), GIS-Geographic Information System/Aero-Space remote sensing image application, communication network are integrated etc.; With singlely carry, one man operation's point-and-shoot hand-held set substitutes the system integration of plurality of devices, the above work of multi-functional, high efficiency completion; Replace cable with surface-mounted integrated circuit and connect, replace equipment, realize high reliability through the close physical structure with chip; The real-time positioning of decimeter grade precision, error amount are course attitude data, the high-precision object space three-dimensional coordinate detecting of 0.1 degree-0.001 degree; Do not receive the influence of magnetic interference, reliability is high, can in various strong magnetic interference environment, operate as normal also obtain the high-precision course attitude data that error amount is 0.1 degree-0.001 degree in real time; Integrated level is high, and production cost is low.
Description of drawings
Below in conjunction with accompanying drawing the utility model is further specified.
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model schematic block circuit diagram;
Fig. 3 is the utility model Principle of Communication figure.
Among the figure: 1, casing, 2, circuit board, 3, the circuit board plug connector, 4, image capturing system, 5, the high speed processing unit; 6,3 d pose sensing module, 7, display module, 8, the GPS module, 9, gps antenna, 10, communication module; 11, image receiver module, 12, power management module, 13, the multichannel interface, 14, optical fibre gyro or micromechanical gyro; 15, laser ranging module, 16, optical lens, 17, infrared/low-light level night vision device, 18, the LCD touch display screen; 19, display chip, 20, storage interface unit, 21, the extended memory unit, 22, the voice call unit; 61, module internal power circuit, 62, micro controller unit, 63, the acceleration sensing unit, 64, the magnetic flux sensing cell.
Embodiment
Like Fig. 1,2, shown in 3, remote sensing remote measurement hand-held set comprises: casing 1 and be installed in circuit board 2, the circuit board plug connector 3 in the casing 1 and be installed in casing 1 outer image capturing system 4 and form; Said circuit board 2 is welded to form by each unit module; Comprise high speed processing unit 5, and the 3 d pose sensing module 6 that is attached thereto, laser ranging module 15, display module 7, GPS module 8, gps antenna 9, communication module 10, image receiver module 11, power management module 12, multichannel interface 13; Said power management module 12 connects the power input of above-mentioned other modules; Said circuit board plug connector 3 is plugged on the circuit board 2; Said image capturing system 4 comprises the multichannel interface 13 that is installed on the image receiver module 11 and the optical lens that is connected with multichannel interface 13 16 and infrared/low-light level night vision device 17.
Minimal processing unit is formed by CPU, Installed System Memory SDRAM, system flash Nand Flash in said high speed processing unit 5, and said high speed processing unit 5 is selected the high speed CPU chip (0.4G-2G) of embedded-type ARM kernel for use.
Remote sensing remote measurement hand-held set also comprises: memory interface unit 20, extended memory unit 21, voice call unit 22, more than Unit three all be connected with high speed processing unit 5.
Said communication module 10 comprises one or more combination of existing communication modes such as 2.5G, 3G, WIFI/ZigBee, bluetooth.
Said 3 d pose sensing module 6 comprises module internal power circuit 61, micro controller unit 62, acceleration sensing unit 63, magnetic flux sensing cell 64; Wherein module internal power circuit 61 connects above-mentioned three unit, and micro controller unit 62 connects acceleration sensing unit 63 and magnetic flux sensing cell 64.
Said display module 7 comprises LCD touch display screen 18 and display chip 19, and display chip 19 is installed on the circuit board 2, and LCD touch display screen 18 is installed on the casing 1, and LCD touch display screen 18 and display chip 19 are connected through winding displacement.
Remote sensing remote measurement hand-held set is decided appearance principle, environment for use and purposes according to it and is divided into three types: A type, Type B and C type; Every type hand-held set all has two kinds of working methods: independent working mode, cooperative work mode; Wherein, A type and Type B hand-held set are applicable to static open-air photogrammetric, and C type hand-held set then is applicable to static open-air photogrammetric and dynamic road photogrammetric (placing on the automobile task of in moving, finishing the work) simultaneously
The A type
A type hand-held set adopts single GPS module 8, single gps antenna 9, and (volume＜=60*50*16mm, weight＜=110g), magnetic flux sensing cell 64, acceleration sensing unit 63 cooperate.
Under its independent working mode:
The magnetic flux sensing cell is measured the course: the course measuring error is less than 0.5 degree in the environment a little less than magnetic interference; When the scene existed ferromagnetism to disturb, (there were a large amount of magnetic interference factors in error, such as the reinforcing bar of buildings, automobile etc. with change of magnetic field strength in the city; Under the lowered in field environment, the metal mining site be one of magnetic interference source doughtily); Or utilize local reference station (like the Cors net) difference directed.
Roll, face upward the DATA REASONING of bowing: acceleration sensing unit 63 is measured rolls, is faced upward the data of bowing.
The GPS location: error is less than or equal to the GPS single-point location of 1.5M, or utilizes local reference station (like the Cors net) difference location to reach the decimeter grade precision.
GPS observing environment: can receive the gps satellite signal more than 4.
Under its cooperative work mode:
The GPS phase difference is measured the course: every A type hand-held set is through the continuous automatically real-time course data of sending the GPS information of self, the GPS information that other hand-held set of automatic reception is sent (transmitting-receiving synchronously) and calculating self in view of the above automatically of WIFI/ZigBee MANET.Measuring accuracy is relevant with distance (base length) between two hand-held sets: measuring error is 0.1 degree during 2 meters of base lengths, and measuring error is 0.01 degree during 20 meters of base lengths, and the rest may be inferred.Measuring error was 0.001 degree when base length was equal to or greater than 200 meters.Use GPS phase difference method to measure the influence that course angle does not receive magnetic interference, can be in various strong magnetic interference environment operate as normal, obtain high-precision course angle data.
Roll, face upward the DATA REASONING of bowing: acceleration sensing unit 63 is measured rolls, is faced upward the data of bowing.
Under the support of WIFI/ZigBee MANET or local reference station, realize the GPS difference location of decimeter grade precision.GPS observing environment: can receive the gps satellite signal more than 4.
Type B
The Type B hand-held set adopts a GPS module 8 (or two GPS module 8), two gps antenna 9,63 cooperations of acceleration sensing unit that centre distance is 20cm.
Under its independent working mode:
The GPS phase difference is measured the course: under the situation that does not have WIFI, ZigBee MANET or local reference station to support; The Type B hand-held set can independently be accomplished the measurement of course angle data; Do not receive the influence of magnetic interference; Can be in various strong magnetic interference environment operate as normal, obtaining measuring error is the course angle data of 0.5-0.6 degree.
Roll, face upward the DATA REASONING of bowing: acceleration sensing unit 63 is measured rolls, is faced upward the data of bowing.
The GPS location: error is less than or equal to the GPS single-point location of 1.5M, or utilizes local reference station (like the Cors net) difference location to reach the decimeter grade precision.
GPS observing environment: can receive the gps satellite signal more than 4.
Under its cooperative work mode:
The GPS phase difference is measured the course: identical with the cooperative work mode of A type hand-held set.
Roll, face upward the DATA REASONING of bowing: acceleration sensing unit 63 is measured rolls, is faced upward the data of bowing.
GPS location: the GPS difference location of under the support of WIFI/ZigBee MANET, realizing the decimeter grade precision.
GPS observing environment: can receive the gps satellite signal more than 4.
The C type
Gps antenna that it is 20cm that C type hand-held set adopts an optical fibre gyro or micromechanical gyro 14, GPS module 8 (or two GPS module 8), two centre distance 9, an acceleration sensing unit 63 cooperate.
Under its independent working mode:
The course is measured: under the situation that does not have WIFI/ZigBee MANET and local reference station to support; C type hand-held set can independently be accomplished course angle and measure; Do not receive the influence of magnetic interference; Can be in various strong magnetic interference environment operate as normal, obtain two groups of course angle data simultaneously: (1) obtains measuring error is the course angle data based on the GPS phase difference about 0.5 degree; (2) obtain the course angle data that measuring error is less than or equal to 0.1 degree based on optical fibre gyro or micromechanical gyro.
Roll, face upward the DATA REASONING of bowing: acceleration sensing unit 63 is measured rolls, is faced upward the data of bowing
The GPS location: error is less than or equal to the GPS single-point location of 1.5M, or utilizes local reference station (like the Cors net) difference location to reach the decimeter grade precision.
GPS observing environment: can receive the gps satellite signal more than 4.
The micromechanical gyro assist location is decided appearance: with the gps signal that receives recently is benchmark; Record the angular velocity of hand-held set through micro-mechanical gyroscope; Calculate three-dimensional position, speed and the attitude of hand-held set through the high speed processing unit; Provide the location of short time to decide the appearance service when being in following state for hand-held set: in the indoor or subway of the urban district that gps signal is flooded by the influence of topography, buildings is intensive, no signal, when carrier is done the big motion of automobile, the gps signal mistake that possibly occur and can not satisfy and implement to require etc.When gps signal recovers just often, hand-held set automatically reverts to the work normality of deciding appearance with GPS and acceleration sensing chip co-located.
Under its cooperative work mode:
The GPS phase difference is measured the course: identical with the cooperative work mode of A type hand-held set.
Roll, face upward the DATA REASONING of bowing: acceleration sensing unit 63 is measured rolls, is faced upward the data of bowing.
GPS location: the GPS difference location of under the support of WIFI/ZigBee MANET, realizing the decimeter grade precision.
GPS observing environment: can receive the gps satellite signal more than 4.
Claims (6)
1. remote sensing remote measurement hand-held set is characterized in that, comprising: be installed in circuit board (2), the circuit board plug connector (3) in the casing (1) and be installed in the outer image capturing system (4) of casing (1) and form; Said circuit board (2) is welded to form by each unit module; Comprise high speed processing unit (5), and the 3 d pose sensing module (6) that is attached thereto, laser ranging module (15), display module (7), GPS module (8), gps antenna (9), communication module (10), image receiver module (11), power management module (12), multichannel interface (13); Said power management module (12) connects the power input of above-mentioned other modules; Said circuit board plug connector (3) is plugged on the circuit board (2); Said image capturing system (4) comprises multichannel interface (13) and the optical lens (16) that is connected with multichannel interface (13) and the infrared/low-light level night vision device (17) that is installed on the image receiver module (11).
2. remote sensing remote measurement hand-held set according to claim 1; It is characterized in that: minimal processing unit is formed by CPU, Installed System Memory SDRAM, system flash Nand Flash in said high speed processing unit (5), and said high speed processing unit (5) is selected the high speed CPU chip of embedded-type ARM kernel for use.
3. remote sensing remote measurement hand-held set according to claim 1; It is characterized in that: remote sensing remote measurement hand-held set also comprises: memory interface unit (20), extended memory unit (21), voice call unit (22), more than Unit three all be connected with high speed processing unit (5).
4. remote sensing remote measurement hand-held set according to claim 1 is characterized in that: said communication module (10) comprises one or more combination of existing communication modes such as 2.5G, 3G, WIFI/ZigBee, bluetooth.
5. remote sensing remote measurement hand-held set according to claim 1; It is characterized in that: said 3 d pose sensing module (6) comprises module internal power circuit (61), micro controller unit (62), acceleration sensing unit (63), magnetic flux sensing cell (64); Wherein module internal power circuit (61) connects above-mentioned three unit, and micro controller unit (62) connects acceleration sensing unit (63) and magnetic flux sensing cell (64).
6. remote sensing remote measurement hand-held set according to claim 1; It is characterized in that: said display module (7) comprises LCD touch display screen (18) and display chip (19); Display chip (19) is installed on the circuit board (2); LCD touch display screen (18) is installed on the casing (1), and LCD touch display screen (18) is connected through winding displacement with display chip (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200266571U CN202453010U (en) | 2012-01-20 | 2012-01-20 | Remote sensing and remote measuring handheld set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200266571U CN202453010U (en) | 2012-01-20 | 2012-01-20 | Remote sensing and remote measuring handheld set |
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| Publication Number | Publication Date |
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| CN202453010U true CN202453010U (en) | 2012-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200266571U Expired - Lifetime CN202453010U (en) | 2012-01-20 | 2012-01-20 | Remote sensing and remote measuring handheld set |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103217188A (en) * | 2012-01-20 | 2013-07-24 | 许凯华 | Remote sensing and remote metering hand-held machine |
| CN104111103A (en) * | 2013-04-19 | 2014-10-22 | 山东省水利科学研究院 | Handheld intelligent laser measuring device for underground water levels |
| CN108732595A (en) * | 2018-04-12 | 2018-11-02 | 石家庄铁路职业技术学院 | A kind of RTK rover receiver of integrated inertial navigation and magnetometer |
| CN112055420A (en) * | 2020-09-10 | 2020-12-08 | 深圳鸿祥源科技有限公司 | Remote sensing test observation processing terminal based on 5G network communication connection |
-
2012
- 2012-01-20 CN CN2012200266571U patent/CN202453010U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103217188A (en) * | 2012-01-20 | 2013-07-24 | 许凯华 | Remote sensing and remote metering hand-held machine |
| CN104111103A (en) * | 2013-04-19 | 2014-10-22 | 山东省水利科学研究院 | Handheld intelligent laser measuring device for underground water levels |
| CN108732595A (en) * | 2018-04-12 | 2018-11-02 | 石家庄铁路职业技术学院 | A kind of RTK rover receiver of integrated inertial navigation and magnetometer |
| CN112055420A (en) * | 2020-09-10 | 2020-12-08 | 深圳鸿祥源科技有限公司 | Remote sensing test observation processing terminal based on 5G network communication connection |
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