TWI431251B - Distance measuring equipment and measuring method thereof - Google Patents
Distance measuring equipment and measuring method thereof Download PDFInfo
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- TWI431251B TWI431251B TW100116184A TW100116184A TWI431251B TW I431251 B TWI431251 B TW I431251B TW 100116184 A TW100116184 A TW 100116184A TW 100116184 A TW100116184 A TW 100116184A TW I431251 B TWI431251 B TW I431251B
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Description
本案與測量距離的技術有關，特別是有關於一種測距儀及測量兩目標物間距的方法。This case is related to the technique of measuring distance, in particular, a range finder and a method of measuring the distance between two targets.
測距儀的技術，常用的技術有無線電波與雷射兩種。其中使用無線電波，是在甲地發射脈衝信號；當乙地接收甲地的脈衝信號，會發射另一脈衝信號給甲地；當甲地接收乙地的脈衝信號，便能從發射與接收的時間差，計算出甲乙兩地的距離。另外使用雷射的技術，則是將脈衝信號改為雷射，也是利用發射與接收的時間差計算距離。The technology of the range finder is commonly used in both radio waves and lasers. Where radio waves are used, the pulse signal is transmitted in the ground; when the ground receives the pulse signal of the ground, another pulse signal is transmitted to the ground; when the ground receives the pulse signal of the ground, it can be transmitted and received. Time difference, calculate the distance between the two places. In addition, the technology of using lasers is to change the pulse signal to laser, and also to calculate the distance by using the time difference between transmission and reception.
然而現今的測距儀，皆只能用來測量距離。也就是說，即使知道自身的位置與目標物的距離，或是知道目標物的位置與自身的距離，卻無法將此距離轉成座標表示。不僅無法知道目標物與自身的相對位置，也無法正確判斷絕對位置。However, today's range finder can only be used to measure distance. That is to say, even if you know the distance between your own position and the target, or know the distance between the position of the target and itself, you cannot convert this distance into a coordinate representation. Not only is it impossible to know the relative position of the target and itself, but also the absolute position cannot be correctly determined.
況且，目前的測距儀若要測量兩目標物之間的距離，必須要站在一個目標物的位置，去測量另一目標物的距離。並無法在第三地直接測量兩目標物的間距。Moreover, if the current range finder is to measure the distance between two targets, it must stand at the position of one target to measure the distance of the other target. It is not possible to directly measure the distance between the two targets in the third place.
本發明之一技術態樣在於提供一種測距儀，能夠取得目標物的三維座標，還能取得兩個三維座標的間距，而得到兩個目標物之間的距離。One aspect of the present invention provides a range finder capable of obtaining a three-dimensional coordinate of a target object and also obtaining a distance between two three-dimensional coordinates to obtain a distance between two objects.
根據本發明一實施方式，一種測距儀包含一測距單元、一定位單元、一指北針、一照準儀以及一計算單元。其中測距單元用以測量與一目標物之間的直線距離。定位單元用以取得一基準座標。指北針用以取得目標物的方向。照準儀用以測量與目標物之間的垂直角度。計算單元分別與測距單元、定位單元、指北針及照準儀連接，用以取得目標物相對於基準座標的三維座標。According to an embodiment of the invention, a range finder includes a ranging unit, a positioning unit, a north arrow, a aligning instrument, and a computing unit. The ranging unit is used to measure a linear distance from a target. The positioning unit is used to obtain a reference coordinate. The direction in which the north arrow is used to obtain the target. The illuminator is used to measure the vertical angle with the target. The calculation unit is respectively connected with the distance measuring unit, the positioning unit, the north arrow and the sighting device to obtain the three-dimensional coordinate of the target object with respect to the reference coordinate.
根據本發明另一實施方式，一種使用前述測距儀測量兩目標物間距的方法，包含下列步驟。設定一基準座標。根據一第一目標物相對於基準座標的距離、方向及垂直角度，取得第一目標物相對於基準座標的三維座標。根據一第二目標物相對於基準座標的距離、方向及垂直角度，取得第二目標物相對於基準座標的三維座標。計算第一目標物與第二目標物的三維座標的間距。According to another embodiment of the present invention, a method of measuring the distance between two targets using the aforementioned range finder includes the following steps. Set a datum coordinate. Obtaining a three-dimensional coordinate of the first target relative to the reference coordinate according to a distance, a direction, and a vertical angle of the first target relative to the reference coordinate. The three-dimensional coordinates of the second target relative to the reference coordinate are obtained according to the distance, direction and vertical angle of the second target relative to the reference coordinate. A spacing of the three-dimensional coordinates of the first target and the second target is calculated.
第1圖繪示本發明一實施方式之測距儀的功能方塊圖。如圖所示，測距儀包含一測距單元100、一定位單元200、一指北針300、一照準儀400以及一計算單元500。其中測距單元100用以測量與一目標物之間的直線距離。定位單元200用以取得一基準座標。指北針300用以取得目標物的方向。照準儀400用以測量與目標物之間的垂直角度。計算單元500分別與測距單元100、定位單元200、指北針300及照準儀400連接，用以取得目標物相對於基準座標的三維座標。FIG. 1 is a functional block diagram of a range finder according to an embodiment of the present invention. As shown, the range finder includes a ranging unit 100, a positioning unit 200, a north arrow 300, a sighting instrument 400, and a computing unit 500. The ranging unit 100 is configured to measure a linear distance from a target. The positioning unit 200 is configured to obtain a reference coordinate. The north arrow 300 is used to obtain the direction of the target. The illuminator 400 is used to measure the vertical angle with the target. The calculating unit 500 is connected to the ranging unit 100, the positioning unit 200, the north arrow 300 and the collimator 400, respectively, for obtaining a three-dimensional coordinate of the target object with respect to the reference coordinate.
第2圖繪示第1圖之測距儀實施測量的側視圖。第3圖繪示第2圖之測距儀實施測量的俯視圖。詳細地說，要測量一目標物600與使用者700自身的相對位置時，是利用定位單元200取得使用者700自身的位置，定義為基準座標，此實施例中，基準座標定義為(0,0,0)。由測距儀取得與目標物600的間距，此實施例中，間距定義為103。由指北針300取得目標物600的方向，此實施例中，以北方為0度，由逆時針方向起算，目標物600的方向定義為225度。由照準儀400取得與目標物600之間的垂直角度，此實施例中，垂直角度定義為45度。Fig. 2 is a side view showing the measurement performed by the range finder of Fig. 1. Fig. 3 is a plan view showing the measurement performed by the range finder of Fig. 2. In detail, when the relative position of a target 600 and the user 700 itself is measured, the position of the user 700 itself is obtained by the positioning unit 200, and is defined as a reference coordinate. In this embodiment, the reference coordinate is defined as (0, 0,0). The distance from the target 600 is obtained by the range finder. In this embodiment, the pitch is defined as 10 3. The direction of the target 600 is obtained by the north arrow 300. In this embodiment, the direction of the target 600 is defined as 225 degrees from 0 to 90 in the north and from the counterclockwise direction. The vertical angle with the object 600 is obtained by the sighting instrument 400. In this embodiment, the vertical angle is defined as 45 degrees.
取得上述數據後，計算單元500能利用基準座標與方向，定義出使用者700本身與目標物600的相對方向，還能根據相對方向將間距與垂直角度分析為三維座標(10,-10,10)。可知藉由本案測距儀，能計算出目標物600與使用者700自身的相對位置，也就是目標物600相對於基準座標的三維座標。After obtaining the above data, the calculation unit 500 can define the relative direction of the user 700 itself and the target 600 by using the reference coordinates and the direction, and can also analyze the pitch and the vertical angle into three-dimensional coordinates according to the relative direction (10, -10, 10). ). It can be seen that by the range finder of the present case, the relative position of the target 600 and the user 700 itself, that is, the three-dimensional coordinates of the target 600 with respect to the reference coordinate can be calculated.
更進一步地說，當要計算目標物600的絕對位置時，定位單元200只要能取得絕對位置，利用前述操作的敘述，便能獲得目標物600的絕對位置。因此定位單元200能使用全球定位系統(Global Positioning System,GPS)，以便取得絕對位置。例如前述基準座標為(0,0,0)的情況下，目標物600的三維座標為(10,-10,10)；當基準座標以GPS定位絕對座標為(100,100,100)，目標物600的絕對座標便為(110,90,110)。Furthermore, when the absolute position of the target 600 is to be calculated, the positioning unit 200 can obtain the absolute position of the target 600 by using the description of the foregoing operation as long as the absolute position can be obtained. Therefore, the positioning unit 200 can use a Global Positioning System (GPS) in order to obtain an absolute position. For example, in the case where the aforementioned reference coordinates are (0, 0, 0), the three-dimensional coordinates of the target 600 are (10, -10, 10); when the reference coordinates are GPS-located absolute coordinates (100, 100, 100), the absolute value of the target 600 is The coordinates are (110, 90, 110).
參照第1圖，計算單元500包含一記憶區塊510，用以儲存至少二三維座標。第4圖繪示本發明一實施方式之測量二目標物610、620間距的步驟流程圖。依照下述步驟，能直接測量二目標物610、620之間的距離。設定一基準座標。根據一第一目標物610相對於基準座標的距離、方向及垂直角度，取得第一目標物610相對於基準座標的三維座標。根據一第二目標物620相對於基準座標的距離、方向及垂直角度，取得第二目標物620相對於基準座標的三維座標。計算第一目標物610與第二目標物620的三維座標的間距。Referring to Figure 1, computing unit 500 includes a memory block 510 for storing at least two three-dimensional coordinates. FIG. 4 is a flow chart showing the steps of measuring the distance between the two targets 610 and 620 according to an embodiment of the present invention. According to the following steps, the distance between the two targets 610, 620 can be directly measured. Set a datum coordinate. The three-dimensional coordinates of the first target 610 relative to the reference coordinate are obtained according to the distance, direction and vertical angle of a first target 610 with respect to the reference coordinate. The three-dimensional coordinates of the second target 620 relative to the reference coordinate are obtained according to the distance, direction and vertical angle of a second target 620 with respect to the reference coordinate. The pitch of the three-dimensional coordinates of the first target 610 and the second target 620 is calculated.
第5圖繪示第1圖之測距儀實施另一測量的側視圖。第6圖繪示第5圖之測距儀實施另一測量的俯視圖。將使用者700站的位置設定為基準座標(0,0,0)，便能取得第一目標物610與第二目標物620分別相對於基準座標的三維座標。其中第一目標物610與前述目標物600的三維座標相同，為(10,-10,10)。由測距單元100取得第二目標物620與使用者700的間距，此實施例中，間距定義為106。由指北針300取得第二目標物620的方向，此實施例中，第二目標物620的方向定義約為63.435度。由照準儀400取得使用者700與第二目標物620之間的垂直角度，此實施例中，垂直角度定義約為26.565度。可得第二目標物620的三維座標定義為(-20,10,10)。如此便能利用二三維座標的差值(-30,20,0)取得二目標物610、620的間距1013。Figure 5 is a side elevational view showing another measurement performed by the range finder of Figure 1. Figure 6 is a plan view showing another measurement performed by the range finder of Figure 5. By setting the position of the user 700 station as the reference coordinate (0, 0, 0), the three-dimensional coordinates of the first target 610 and the second target 620 with respect to the reference coordinates, respectively, can be obtained. The first target 610 is the same as the three-dimensional coordinates of the target 600, and is (10, -10, 10). The distance between the second target 620 and the user 700 is obtained by the ranging unit 100. In this embodiment, the pitch is defined as 10 6. The direction of the second target 620 is obtained by the north compass 300. In this embodiment, the direction of the second target 620 is defined to be about 63.435 degrees. The vertical angle between the user 700 and the second target 620 is obtained by the illuminator 400. In this embodiment, the vertical angle is defined to be approximately 26.565 degrees. The three-dimensional coordinates of the second target 620 are defined as (-20, 10, 10). In this way, the difference between the two three-dimensional coordinates (-30, 20, 0) can be used to obtain the distance between the two targets 610 and 620. 13.
另外，在測量第一目標物610與第二目標物620的間距時，前述是在相同基準座標的情況下測量。實際上，即使站在不同基準座標，也能測量二目標物610、620的間距。例如，在基準座標(0,0,0)取得第一目標物610的三維座標(10,-10,10)，在基準座標(10,10,10)取得第二目標物620的三維座標(-10,20,20)。計算第一目標物610與第二目標物620之間的距離時，將第一目標物610與第二目標物620的三維座標差值(-20,30,10)(第二目標物620的三維座標減第一目標物610的三維座標)，減去用第二目標物620的基準座標(10,10,10)減第一目標物610的基準座標(0,0,0)的座標差值(10,10,10)，便能得到第一目標物610與第二目標物620實際的間距。In addition, when measuring the pitch of the first target 610 and the second target 620, the foregoing is measured under the same reference coordinates. In fact, the spacing of the two targets 610, 620 can be measured even when standing at different reference coordinates. For example, the three-dimensional coordinates (10, -10, 10) of the first target 610 are obtained at the reference coordinates (0, 0, 0), and the three-dimensional coordinates of the second target 620 are obtained at the reference coordinates (10, 10, 10) ( -10,20,20). When calculating the distance between the first target 610 and the second target 620, the three-dimensional coordinate difference (-20, 30, 10) of the first target 610 and the second target 620 (the second target 620) The three-dimensional coordinates are reduced by the three-dimensional coordinates of the first object 610, minus the coordinate difference of the reference coordinate (0, 0, 10) of the second target 620 minus the reference coordinate (0, 0, 0) of the first target 610. With a value of (10, 10, 10), the actual distance between the first target 610 and the second target 620 can be obtained.
參照第1圖，測距儀另包含一開關800。開關800與計算單元500連接，用以控制計算單元500取得任意二三維座標的間距。換句話說，利用開關800能切換計算單元500只取得目標物600相對於基準座標的三維座標，或者於取得二目標物610、620的三維座標後，利用三維座標計算此二目標物610、620的間距。以便使用者700能依據使用需求進行功能的切換。Referring to Figure 1, the range finder further includes a switch 800. The switch 800 is coupled to the computing unit 500 for controlling the computing unit 500 to obtain the spacing of any two three-dimensional coordinates. In other words, the switch unit 800 can be used to switch the calculation unit 500 to obtain only the three-dimensional coordinates of the target object 600 relative to the reference coordinate, or to obtain the three-dimensional coordinates of the two objects 610 and 620, and calculate the two objects 610 and 620 by using the three-dimensional coordinates. Pitch. Therefore, the user 700 can switch the function according to the usage requirement.
100．．．測距單元100. . . Ranging unit
200．．．定位單元200. . . Positioning unit
300．．．指北針300. . . compass
400．．．照準儀400. . . Sighting instrument
500．．．計算單元500. . . Computing unit
510．．．記憶區塊510. . . Memory block
600．．．目標物600. . . Target
610．．．第一目標物610. . . First target
620．．．第二目標物620. . . Second target
700．．．使用者700. . . user
800．．．開關800. . . switch
第1圖繪示本發明一實施方式之測距儀的功能方塊圖。FIG. 1 is a functional block diagram of a range finder according to an embodiment of the present invention.
第2圖繪示第1圖之測距儀實施測量的側視圖。Fig. 2 is a side view showing the measurement performed by the range finder of Fig. 1.
第3圖繪示第2圖之測距儀實施測量的俯視圖。Fig. 3 is a plan view showing the measurement performed by the range finder of Fig. 2.
第4圖繪示本發明一實施方式之測量二目標物間距的步驟流程圖。FIG. 4 is a flow chart showing the steps of measuring the distance between two targets according to an embodiment of the present invention.
第5圖繪示第1圖之測距儀實施另一測量的側視圖。Figure 5 is a side elevational view showing another measurement performed by the range finder of Figure 1.
第6圖繪示第5圖之測距儀實施另一測量的俯視圖。Figure 6 is a plan view showing another measurement performed by the range finder of Figure 5.
100．．．測距單元100. . . Ranging unit
200．．．定位單元200. . . Positioning unit
300．．．指北針300. . . compass
400．．．照準儀400. . . Sighting instrument
500．．．計算單元500. . . Computing unit
510．．．記憶區塊510. . . Memory block
800．．．開關800. . . switch
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