A distance measurement structure for determining the distance between two objects and a measurement method based on the structure

Abstract

The invention discloses a distance measurement structure for measuring the distance between two objects and a measurement method based on the structure. The structure comprises two measured objects, two laser rangefinders of the same type, three GNSS receiving antennas, a set of wireless data transceiver modules, and two GNSS receivers. A laser rangefinder, a GNSS receiving antenna, and a GNSS receiver are arranged at object 1, a laser rangefinder, a GNSS antenna, and a GNSS receiver are arranged at object 2, another GNSS antenna is arranged at a distance of about 2 to 3 meters from object 2, the GNSS receivers respectively contain the above-mentioned wireless data transceiver modules, the GNSS receivers receive navigation satellite signals through the three GNSS antennas and the wireless data transceiver modules to achieve connection, and the distance measurement device and the measurement method based on the device of the invention have the advantages of simple composition, easy to carry, install, promote and apply, long working distance, safe and reliable distance measurement results, etc., and are particularly suitable for real-time distance measurement in railway shunting and coupling operations.

Description

Technical Field

[0001] The present invention relates to the technical field of distance measurement between two objects, and in particular to a distance measurement structure for determining the distance between two objects and a measurement method based on the structure. Background Art

[0002] In many daily production applications, in order to avoid the occurrence of production safety accidents, it is necessary to accurately calculate the total length of multiple line segments between two objects in real time.

[0003] The commonly used distance measurement methods at present basically calculate the length of a straight line between two objects formed by a line segment in real time. These distance measurement instruments and supporting methods include laser rangefinders and supporting methods, microwave rangefinders and supporting methods, etc. Among them, the laser rangefinder and supporting methods require that there is no obstruction between the two moving objects, the laser rangefinder always shines on the other object, and the laser can be reflected back to the emission point along the original path. Microwave rangefinders and supporting methods are easily reflected by ground obstructions, resulting in reduced distance measurement accuracy.

[0004] Laser rangefinders and supporting methods, microwave rangefinders and supporting methods, satellite navigation receivers and supporting technologies cannot calculate the total length of multiple line segments between two objects in real time. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the above-mentioned distance measurement method, the present invention provides a distance measurement structure for measuring the distance between two objects and a measurement method based on the structure in order to meet the needs of practical use. The distance measurement device using the structure has the advantages of being easy to carry and install, having a long working distance, having high distance measurement accuracy, and being easy to promote and apply.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned measurement purpose, the present invention provides the following technical solutions: a distance measurement structure for measuring the distance between two objects, comprising two measured objects, two laser rangefinders of the same model, three GNSS receiving antennas, a set of wireless data transceiver modules, and two GNSS receivers, characterized in that: a laser rangefinder, a GNSS receiving antenna and a GNSS receiver are arranged at object 1, a laser rangefinder, a GNSS antenna and a GNSS receiver are arranged at object 2, another GNSS antenna is arranged at a distance of about 2 to 3 meters from object 2, the GNSS receivers respectively contain the above-mentioned wireless data transceiver modules, and the GNSS receivers receive navigation satellite signals through the three GNSS antennas and the internal wireless data transceiver modules to achieve connection.

[0009] The laser rangefinder at object 1 is installed opposite to the laser rangefinder at object B, and the laser rangefinder at the object measures the distance d between the objects. 12 , the laser rangefinder at the object measures the distance d from the object to object 1 21 , the three GNSS antennas form two satellite orientation baseline vectors, namely the GNSS antenna of object 1 and the GNSS antenna of object (2) form a baseline vector The two GNSS antennas of object 1 form a baseline vector

[0010] The laser rangefinder has the following parameter requirements: measurement accuracy: ≤5cm; operating distance: ≥150m; power supply voltage: 5±0.5v.

[0011] The three GNSS receiving antennas are antennas capable of receiving GPS L1 / BDS B1 signals.

[0012] The wireless data transceiver module has an operating distance of ≥1500m, a configurable data transmission serial baud rate, and a power supply voltage of 3.3±0.3v.

[0013] Two GNSS receivers, with a power supply voltage of 5±0.5v, the GNSS receiver on the moving object (1) has the functions of receiving data through a wireless data receiving module, RTK positioning, and distance calculation; the GNSS receiver on the stationary object (2) has the functions of receiving satellite data and sending data through a wireless data sending module.

[0014] A measuring method based on the above-mentioned distance measurement structure for determining the distance between two objects is characterized by comprising the following steps:

[0015] 1) First, install equipment on two objects respectively: a laser rangefinder, a GNSS receiving antenna and a GNSS receiver are set at object 1, the object is set with a laser rangefinder, a GNSS antenna and a GNSS receiver, and another GNSS antenna is set at a distance of about 2 to 3 meters from the object. The GNSS receivers respectively contain the above-mentioned wireless data transceiver module. The laser rangefinder at object 1 and the laser rangefinder at object B are installed opposite to each other. The two GNSS receivers receive navigation satellite signals through three GNSS antennas and the wireless data transceiver module to achieve connection; the three GNSS antennas constitute two satellite orientation baseline vectors, namely, the GNSS antenna of object 1 and the GNSS antenna of object 2 constitute a baseline vector The two GNSS antennas of object 2 form a baseline vector

[0016] 2) Object 1 structure and A parallel straight line l1 passes through object 2 and coincides with The two devices observe the navigation satellite signals at the same time. The GNSS receiver of object 2 observes the satellite signals through two GNSS antennas and measures the distance d from object 2 to object 1 through the laser rangefinder. 21 , the satellite observation data and distance d are transmitted through the wireless data transmission module 21 The GNSS receiver of object 1 observes the satellite signal through the GNSS antenna placed on object 1, and measures the distance d from object 1 to object 2 through the laser rangefinder. 12 , receive the satellite observation signal and distance d sent by object 2 through the wireless data receiving module 21 The GNSS receiver of object 1 uses satellite navigation RTK (Real Time Kinematic) technology to calculate the baseline vector The straight-line distance L between objects 1 and 2. Given the angle β between the oblique line (2) and l2 between the parallel lines l1 and l2, the total length of the three line segments (1), (2), and (3) between object 1 and object 2 can be obtained in real time with an accuracy of decimeter level (one standard deviation).

[0017] The geometric center point of the GNSS antenna at the location of object 2 is taken as the origin O to establish the local east-north-up (O-ENU) coordinate system. The following calculations are all completed in this coordinate system. The two GNSS antennas of object 2 form the baseline Straight line l2 and Coincident, straight line l1 is parallel to straight line l2 and passes through the geometric center of the GNSS antenna at the location of object 1; L is the length of the straight line from object 1 to object 2; d is the length of the perpendicular line between straight lines l1 and l2; d l is the length of the line segment between the projection point A of object 1 on line l2 and object 2; d s is the length of the oblique line segment between straight lines l1 and l2; β is d s The angle with l2 needs to be given in advance and taken as a constant.

[0018] a) The GNSS receiver at object 1 uses the local observation data and the observation data at object 2 received by the wireless receiving module, and uses satellite navigation RTK technology to calculate the baseline vector in the O-ENU coordinate system. The direction of the vector is from the GNSS antenna at object 2 to the GNSS antenna at object 1. The direction of the vector is from the GNSS antenna away from object 2 to the GNSS antenna of object 2; calculate the baseline Length

[0019] b) Two laser rangefinders directly give the measured distance value d 12 ,d 21 ;

[0020] c) By d 12 ,d 21 , calculate the straight-line distance L from object 1 to object 2. The calculation method is: if |d 12 -d 21 |≤0.1m, then otherwise,

[0021] d) Calculate the baseline vector true north angle of Clockwise direction is positive;

[0022] e) Calculate the baseline vector true north angle of Clockwise direction is positive;

[0023] f) By baseline vector The true north azimuth of The angle α in the horizontal plane in the O-ENU coordinate system is 12 -α 23 |;

[0024] g) Calculate the length of the perpendicular segment between the GNSS antenna of object 1 and its projection point A on the straight line l1, d = L × sinα;

[0025] h) Calculate the length d of the straight line from point A to the GNSS antenna at object 2 l =L×cosα;

[0026] i) Using d and β, calculate the length d of the diagonal line between l1 and l2 s ,

[0027] j) Utilize d s , L and β, calculate the three line segments between objects 1 and 2 ( Figure 2 The total length d of the three solid line segments (1), (2), and (3) total_12 ,

[0028] The calculation accuracy of the total length of three line segments can reach the decimeter level (one standard deviation).

[0029] (III) Beneficial effects

[0030] Compared with the prior art, it has the following beneficial effects:

[0031] Compared with the prior art, it has the following beneficial effects:

[0032] The distance measuring device of the present invention has the advantages of simple composition, easy carrying, installation and popularization, long working distance, safe and reliable distance measuring result, etc., and is convenient for calculating the distance between two objects.

[0033] It is also an application that uses satellite navigation reception technology (Real Time Kinematic-RTK), which can calculate the length of a straight line between two objects formed by a line segment in real time. Compared with laser ranging and microwave ranging, this measuring instrument and supporting method have the advantages of simple operation, long range and high accuracy.

[0034] Based on the structure, a variety of distance measurement methods can be realized, and the total length between two objects composed of multiple line segments can be calculated relatively accurately in real time, overcoming the defect that the existing distance measurement equipment and methods cannot calculate the total length of multiple line segments in real time. Due to the influence of the β angle value error, its calculation accuracy can reach the decimeter level (one standard deviation), which can fully meet the actual needs and is particularly suitable for real-time distance measurement in railway shunting and coupling operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A distance measuring structure for measuring the distance between two objects according to the present invention;

[0036] Figure 2 A schematic diagram of a distance measurement structure for measuring the distance between two objects according to the present invention;

[0037] Figure 3 It is a schematic diagram of the calculation process of the present invention;

[0038] Figure 4 The present invention is applied to the installation schematic diagram of railway coupling operation on a train. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] See also Figure 1-4 A distance measurement structure for measuring the distance between two objects includes two measured objects 1 and object 2, two laser rangefinders of the same model, three GNSS receiving antennas, a set of wireless data transceiver modules, and two GNSS receivers. A laser rangefinder 11, a GNSS receiving antenna 21, and a GNSS receiver 41 are arranged at object 1, a laser rangefinder 12, a GNSS antenna 22, and a GNSS receiver 42 are arranged at object 2, and another GNSS antenna 23 is arranged at a distance of about 2 to 3 meters from object 2. The two GNSS receivers respectively contain the above-mentioned wireless data transceiver modules, and the two GNSS receivers receive navigation satellite signals through the three GNSS antennas and the wireless data transceiver modules to achieve connection.

[0043] The laser rangefinder 11 at the object 1 is installed opposite to the laser rangefinder 12 at the object B. The laser rangefinder 11 at the object 1 measures the distance d from the object 1 to the object 2. 12 , the laser rangefinder at object 2 measures the distance d from object 2 to object 1 21 , the three GNSS antennas form two satellite orientation baseline vectors, namely the GNSS antenna of object (1) and the GNSS antenna of object (2) form a baseline vector The two GNSS antennas of object (2) form a baseline vector

[0044] The laser rangefinder has the following parameter requirements: measurement accuracy: ≤5cm; operating distance: ≥150m; power supply voltage: 5±0.5v.

[0045] The three GNSS receiving antennas are antennas capable of receiving GPS L1 / BDS B1 signals.

[0046] The wireless data transceiver module has an operating distance of ≥1500m, a configurable data transmission serial baud rate, and a power supply voltage of 3.3±0.3v.

[0047] Two GNSS receivers, with a power supply voltage of 5±0.5V, the GNSS receiver on the moving object (1) has the functions of receiving data through a wireless data receiving module, RTK positioning, and distance calculation; the GNSS receiver on the stationary object (2) has the functions of receiving satellite data and sending data through a wireless data sending module.

[0048] A measuring method based on the above-mentioned distance measurement structure for determining the distance between two objects is characterized by comprising the following steps:

[0049] 1) First, equipment is installed on two objects respectively: a laser rangefinder 11, a GNSS receiving antenna 21 and a GNSS receiver 41 are set at object 1, a laser rangefinder 12, a GNSS antenna 22 and a GNSS receiver 42 are set at object 2, and another GNSS antenna 23 is set at a distance of about 2 to 3 meters from object 2. The two GNSS receivers respectively contain the above-mentioned wireless data transceiver module. The laser rangefinder 11 at object (1) and the laser rangefinder 12 at object B are installed opposite to each other. The two GNSS receivers receive navigation satellite signals through three GNSS antennas and the wireless data transceiver module to achieve connection; the three GNSS antennas constitute two satellite orientation baseline vectors, namely, the GNSS antenna of object 1 and the GNSS antenna of object 2 constitute a baseline vector The two GNSS antennas of object 2 form a baseline vector

[0050] 2) Object 1 structure and A parallel straight line l1 passes through object 2 and coincides with The two devices observe the navigation satellite signals simultaneously. The GNSS receiver of object 2 observes the satellite signals through two GNSS antennas and measures the distance d from object 2 to object 1 through the laser rangefinder. 21 , the satellite observation data and distance d are transmitted through the wireless data transmission module 21The GNSS receiver of object 1 observes the satellite signal through the GNSS antenna placed on object 1, and measures the distance d from object 1 to object 2 through the laser rangefinder. 12 , receive the satellite observation signal and distance d sent by object 2 through the wireless data receiving module 21 The GNSS receiver of object 1 uses satellite navigation RTK (Real Time Kinematic) technology to calculate the baseline vector The straight-line distance L between objects (1, 2) can be obtained in real time by giving the angle β between the oblique line 2 and l2 between the parallel lines l1 and l2, with an accuracy of decimeter level (one standard deviation).

[0051] The geometric center point of the GNSS antenna at the location of object 2 is taken as the origin O, and a local (O-ENU, east-north-up) coordinate system is established. All calculations are performed in this coordinate system. The two GNSS antennas of object (2) constitute the baseline. Straight line l2 and Coincident, straight line l1 is parallel to straight line l2 and passes through the geometric center of the GNSS antenna at the location of object 1; L is the length of the straight line from object 1 to object 2; d is the length of the perpendicular line between straight lines l1 and l2; d l is the length of the line segment between the projection point A of object 1 on line l2 and object 2; d s is the length of the oblique line segment between straight lines l1 and l2; β is d s The angle with l2 needs to be given in advance and taken as a constant;

[0052] k) The GNSS receiver at object 1 uses the local observation data and the observation data at object (2) received by the wireless receiving module, and uses satellite navigation RTK technology to calculate the baseline vector in the O-ENU coordinate system. The direction of the vector is from the GNSS antenna at object 2 to the GNSS antenna at object 1. The direction of the vector is from the GNSS antenna away from object 2 to the GNSS antenna of object 2; calculate the baseline Length

[0053] l) Two laser rangefinders directly give the measured distance value d 12 ,d 21 ;

[0054] m) By d 12 ,d 21, calculate the straight-line distance L from object 1 to object 2. The calculation method is: if |d 12 -d 21 |≤0.1m, then otherwise,

[0055] n) Calculate the baseline vector true north angle of Clockwise direction is positive;

[0056] o) Calculate the baseline vector true north angle of Clockwise direction is positive;

[0057] p) by the baseline vector The true north azimuth of The angle α in the horizontal plane in the O-ENU coordinate system is 12 -α 23 |;

[0058] q) Calculate the length of the perpendicular segment between the GNSS antenna of object 1 and its projection point A on the straight line l1, d = L × sinα;

[0059] r) Calculate the length d of the straight line from point A to the GNSS antenna at object 2 l =L×cosα;

[0060] s) Using d and β, calculate the length d of the diagonal line between l1 and l2 s ,

[0061] t) Use d s , L and β, calculate the three line segments between objects 1 and 2 ( Figure 2 The total length d of the three solid line segments (1), (2), and (3) total_12 ,

[0062] The calculation accuracy of the total length of three line segments can reach the decimeter level (one standard deviation).

[0063] The present invention is particularly suitable for real-time measurement of the actual railway track length (including the track change section) between two trains on two parallel railway tracks in railway shunting and coupling operations.

[0064] Railway track 1 and railway track 2 are parallel in a local area, and the length of the railway track from carriage 1 to carriage 2 (including the railway track change section) needs to be calculated in real time.

[0065] according to Figure 4In a schematic manner, a laser rangefinder, a GNSS antenna, a GNSS receiver and a wireless data receiving module are installed on one side of the top of carriage 1 (moving object 1). A laser rangefinder, two GNSS antennas, a GNSS receiver and a wireless data sending module are installed on the same side of the top of carriage 2 (stationary object 2).

[0066] Carriage 1 needs to move to the position of carriage 2 and connect with carriage 2 to form a train. During the movement of carriage 1, the actual length of the railway track between carriage 1 and carriage 2 needs to be known in real time. The current method used by the railway system is: personnel hang on the outside of the moving carriage 1 and estimate the distance manually. This distance measurement method has the disadvantages of great safety risks for personnel and inaccurate distance estimation.

[0067] The present invention can completely replace the traditional manual distance estimation method of the railway system, and can provide the actual railway track length between carriage 1 and carriage 2 in real time at a frequency of not less than 1 Hz. Due to the influence of the β angle value error, the calculation accuracy of the broken line length reaches the decimeter level (one standard deviation), eliminating the safety hazard of people falling off the train, improving the distance measurement accuracy, and reducing the labor intensity of personnel.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for measuring the distance between two carriages in a rail trailer operation, comprising two objects to be measured (1, 2), two laser rangefinders of the same type, three GNSS receiving antennas, a set of wireless data transceiver modules, and two GNSS receivers, characterized in that: A laser rangefinder (11), a GNSS receiving antenna (21) and a GNSS receiver (41) are arranged at the object (1); a laser rangefinder (12), a GNSS antenna (22) and a GNSS receiver (42) are arranged at the object (2); another GNSS antenna (23) is arranged at a distance of about 2 to 3 meters from the object (2); the GNSS receivers (41, 42) respectively contain the above-mentioned wireless data transceiver module; the GNSS receivers (41, 42) receive navigation satellite signals through three GNSS antennas and the wireless data transceiver module to achieve connection; the laser rangefinder (11) at the object (1) and the laser rangefinder (12) at the object B are installed opposite to each other; the laser rangefinder (11) at the object (1) measures the distance d from the object (1) to the object (2) 12 , the laser rangefinder at the object (2) measures the distance d from the object (2) to the object (1) 21 , the three GNSS antennas form two satellite orientation baseline vectors, namely, the GNSS antenna of object (1) and the GNSS antenna of object (2) form a baseline vector The two GNSS antennas of object (2) form a baseline vector Measurement methods include: Object (1) Structure and A parallel straight line l1 passes through object (2) and coincides with The two devices simultaneously observe the navigation satellite signals. The GNSS receiver of object (2) observes the satellite signals through two GNSS antennas and measures the distance d from object (2) to object (1) through a laser rangefinder. 21 , the satellite observation data and distance d are transmitted through the wireless data transmission module 21 The GNSS receiver of the object (1) observes the satellite signal through the GNSS antenna placed on the object (1) and measures the distance d from the object (1) to the object (2) through the laser rangefinder. 12 , receiving the satellite observation signal and the distance d sent by the object (2) through the wireless data receiving module 21 The GNSS receiver of object (1) uses satellite navigation RTK technology to calculate the baseline vector The straight-line distance L of the objects (1, 2) is obtained in real time after the angle β between the oblique line (2) and l2 between the parallel lines l1 and l2 is given; Specifically, the geometric center point of the GNSS antenna at the location of object (2) is taken as the origin O, and a local O-ENU coordinate system is established. All calculations are completed in this coordinate system. The two GNSS antennas of object (2) constitute the baseline Straight line l2 and coincident, straight line l1 is parallel to straight line l2 and passes through the geometric center of the GNSS antenna at the location of object (1); L is the length of the straight line from object 1 to object 2; d is the length of the perpendicular line between straight lines l1 and l2; d l is the length of the line segment between the projection point A of object 1 on line l2 and object (2); d s is the length of the oblique line segment between straight lines l1 and l2; β is d s The angle with l2 needs to be given in advance and taken as a constant; a) The GNSS receiver at object (1) uses the local observation data and the observation data at object (2) received by the wireless receiving module, and uses satellite navigation RTK technology to calculate the baseline vector in the O-ENU coordinate system. The direction of the vector is from the GNSS antenna at object 2 to the GNSS antenna at object 1. The direction of the vector is from the GNSS antenna away from object 2 to the GNSS antenna of object 2; calculate the baseline Length b) Two laser rangefinders directly give the measured distance value d 12 d 21 ; c) By d 12 d 21 , calculate the straight-line distance L from object 1 to object 2. The calculation method is: if |d 12 -d 21 |≤0.1m, then otherwise, d) Calculate the baseline vector true north angle of Clockwise direction is positive; e) Calculate the baseline vector true north angle of Clockwise direction is positive; f) By baseline vector The true north azimuth of The angle α in the horizontal plane in the O-ENU coordinate system is 12 -α 23 |; g) Calculate the length of the perpendicular segment between the GNSS antenna of object 1 and its projection point A on the line l1, d = L × sinα; h) Calculate the length d of the straight line from point A to the GNSS antenna at object 2 l =L×cosα; i) Using d and β, calculate the length d of the diagonal line between l1 and l2 s , Utilize d s d l and β, calculate the total length d of the three line segments between objects 1 and 2 total_12 , Used for real-time distance measurement from car one to car two in railway shunting and coupling operations.

2. A method for measuring the distance between two carriages in a rail trailer operation according to claim 1, characterized in that: The laser rangefinder has the following parameter requirements: measurement accuracy: ≤5cm; operating distance: ≥150m; power supply voltage: 5±0.5v.

3. A method for measuring the distance between two carriages in a rail trailer operation according to claim 1, characterized in that: The three GNSS receiving antennas are antennas capable of receiving GPS L1 / BDS B1 signals.

4. A method for measuring the distance between two carriages in a rail trailer operation according to claim 1, characterized in that: The wireless data transceiver module has an operating distance of ≥1500m, a configurable data transmission serial baud rate, and a power supply voltage of 3.3±0.3v.

5. A method for measuring the distance between two carriages in a rail trailer operation according to claim 1, characterized in that: Two GNSS receivers, with a power supply voltage of 5±0.5V, the GNSS receiver on the moving object (1) has the functions of receiving data through a wireless data receiving module, RTK positioning, and distance calculation; the GNSS receiver on the stationary object (2) has the functions of receiving satellite data and sending data through a wireless data sending module.

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