A real-time distance measuring device, system and method for high-level leveling

Abstract

The present invention discloses a real-time distance measurement device, system and method for high-level leveling, which belongs to the field of horizontal distance measurement. In view of the problems existing in the prior art such as large front and rear sight distance error of the leveling instrument, long time of the distance measuring instrument, high power consumption, etc., the present invention provides a real-time distance measurement device, system and method for high-level leveling, the device includes an upper shell and a lower shell, a circuit board is arranged in the upper shell and the lower shell, an antenna is installed on the circuit board, and the circuit board also includes a human-machine module, a control module, a sensor module, a monitoring module and a power supply module. When the device is measuring distance, the antenna with the best signal is calculated through an antenna switching algorithm to avoid a long distance measurement time when the signal of a single antenna is not good, so as to achieve a more accurate and quick distance measurement result, while reducing the power consumption of the device, and the installation is convenient, and it can be installed on the leveling instrument to move together.

Description

Technical Field

[0001] The present invention relates to the field of horizontal distance measurement, and more specifically, to a real-time distance measurement device, system and method for high-level level measurement. Background Art

[0002] Leveling is one of the basic methods to determine the elevation of engineering ground points, and is also a highly accurate and commonly used method in elevation measurement. Leveling provides basic data for construction layout, equipment installation, deformation monitoring, analysis and prediction. Leveling is one of the most important tasks in the process of national territory boundary survey, engineering topographic mapping, geological survey, engineering construction, completion acceptance and building deformation monitoring.

[0003] In order to achieve high-precision leveling, currently we can only rely on high-precision electronic levels to perform elevation transfer measurements step by step along the engineering route. The measurement distance of a project may be as long as thousands of kilometers, and the measurement often requires crossing mountains and rivers. Moreover, high-level leveling requires round-trip measurement, which makes the actual leveling route generally reach 2 to 3 times the length of the designed route, which is a huge workload and low work efficiency.

[0004] In leveling measurement, the horizontal distance between the front and rear sight ruler surfaces and the vertical axis of the level is called the front and rear sight distance. The sight axis and the level tube axis of the level are two lines in space. The angle formed by the projection on the vertical plane is called the i angle. When the front and rear sight distances are not equal, the front and rear sight i angles will also be unequal, resulting in unequal front and rear sight readings. The resulting error is called the level i angle error.

[0005] In order to ensure the accuracy of leveling, the front and rear sight distances need to be kept equal during measurement in order to eliminate the influence of the level i angle error factor on the measurement accuracy. Therefore, ensuring the front and rear sight distances are equal and reducing the influence of the instrument i angle error on the height difference observation are key technical requirements to ensure the measurement accuracy. At present, the commonly used distance measurement methods include the upper and lower wire reading method, the distance measurement method with the help of the electronic level built-in distance meter, the distance measurement method with a ruler, the distance measurement method with a measuring wheel vehicle, and the handheld distance meter method. However, these traditional distance measurement methods have their own shortcomings, which makes the measurement efficiency relatively low. Therefore, a method of fast and real-time measurement of the front and rear sight distance is developed, so that the surveyor can complete the distance measurement task while moving the station, and the front and rear sight distances are equal and completed at one time, so that the leveling measurement is as easy and smooth as walking at ordinary times, and breaking through the bottleneck of the traditional distance measurement method has important academic significance and engineering application value.

[0006] The Chinese patent application, application number CN201721259677.2, published on April 3, 2018, discloses a real-time wireless distance measurement device, including a level and a forward-looking level and a rear-looking level that are both matched with the level, a forward-looking prism is installed on the forward-looking level, and a rear-looking prism is installed on the rear-looking level, and a wireless distance meter for wirelessly detecting the orientation and distance of the forward-looking prism and the rear-looking prism is installed at the top center of the level, and the wireless distance meter includes a main processor and a memory and a timer connected to the main processor, and the output end of the main processor is connected to a radar transmitter for wirelessly transmitting electromagnetic wave signals to the forward-looking prism and the rear-looking prism, and the input end of the main processor is connected to a receiving antenna, a filter, a signal amplifier and a demodulator connected in sequence. The disadvantage is that the radar transmitter used cannot switch antennas, and when the signal of a single antenna is not good, the distance measurement time used is long and the power consumption is high. Summary of the invention

[0007] 1. Technical issues to be solved

[0008] In view of the problems existing in the prior art such as large front and rear sight distance errors of level measurement, long time of distance measuring instruments, high power consumption, etc., the present invention provides a real-time distance measuring device, system and method for high-level level measurement. The antenna switching algorithm is used to switch the antenna with the best signal in real time to achieve more accurate and quick distance measurement results, while reducing the power consumption of the device. The device is easy to install and can be installed on the level to move together.

[0009] 2. Technical solution

[0010] The purpose of the present invention is achieved through the following technical solutions.

[0011] A real-time distance measuring device for high-level level measurement comprises an outer shell, wherein the outer shell comprises an upper shell and a lower shell, wherein the upper part of the upper shell is a horizontal plane, the lowest height of the front side surface of the upper shell is lower than the lowest height of the rear side surface of the upper shell, a first inclined surface is arranged between the upper plane of the upper shell and the front side surface, a second inclined surface is arranged between the left and right side surfaces of the upper shell and the front side surface, a square through hole is arranged on the upper part of the upper shell, a circle of isolation layer is arranged in the square through hole, a screen window is arranged on the upper part of the isolation layer, a groove is arranged on one side of the screen window, a key matches the groove, the highest height of the front side surface of the lower shell is lower than the highest height of the rear side surface of the lower shell, an inclined surface is arranged between the left and right side surfaces of the lower shell and the front side surface, studs I are arranged at the corners of the lower shell, the studs I located at the front side of the lower shell are at the same height as the front side surface, screw holes are arranged at the corners of the upper shell accordingly, and the upper shell and the lower shell are locked and connected with the screw holes through the studs I.

[0012] Furthermore, a display screen is provided at the lower part of the isolation layer of the upper shell, and a circuit board is provided below the display screen.

[0013] Furthermore, an indicator light is provided on the upper part of the upper shell, a light guide column is connected to the lower part of the indicator light, a groove is provided on the display screen on one side of the indicator light, the light guide column is connected to the circuit board through the groove, and a groove is opened in the display screen to allow the light guide column to pass through, thereby ensuring that the indicator light and the screen window are as close as possible, making the device space more compact.

[0014] Furthermore, the circuit board has a protrusion on one side corresponding to the button, a glue column is arranged on the protrusion, a circular through hole is arranged in the groove of the upper shell, the glue column passes through the circular through hole and is connected with the button. The protrusion is arranged on the circuit board to place the glue column, instead of expanding the overall side area of ​​the circuit board, so that the circuit board can be placed in the lower shell without being blocked by the stud I on the non-inclined side of the lower shell, thereby making full use of the internal space of the device.

[0015] Furthermore, a bevel is provided between the left and right sides and the front side of the circuit board, and an antenna is provided on the bevel. The inclination angle of the antenna is consistent with the bevel. The antenna and the bevel of the circuit board match the second bevel of the upper shell, that is, the bevel of the circuit board is parallel to the second bevel, so that when the upper shell is locked with the lower shell, the second bevel just matches the bevel of the circuit board, so that the upper shell just covers the top of the antenna, ensuring that the volume of the device is reduced while making full use of the internal space.

[0016] A real-time distance measurement system for high-level level measurement, including a human-machine module, a control module, a sensor module, a monitoring module and a power supply module.

[0017] The monitoring module includes a transceiver unit, the monitoring module is connected to the control module, the monitoring module transmits the monitoring results to the control module, and the control module processes the monitoring results and transmits them to the human-machine module;

[0018] The human-machine module includes a display screen, a Bluetooth device, a sound device and a button. The human-machine module receives the monitoring results transmitted by the control module, feeds back the monitoring results to the user, and transmits control instructions to the control module;

[0019] The sensing module includes a vibration sensor, and the sensing module transmits vibration data to the control module;

[0020] The control module includes a central processing unit, a memory and an antenna control unit. The control module receives information from the monitoring module, the human-machine module and the sensor module, and feeds it back to the above modules after processing;

[0021] The power supply module includes a power supply, and the power supply module is connected to the monitoring module, the human-machine module, the sensor module and the control module to provide power for the above modules.

[0022] Furthermore, the transceiver unit of the monitoring module is connected to the central processing unit of the control module. The transceiver unit is used to exchange pulse signals and signal reception and transmission time information. The central processing unit calculates preliminary distance data. As a unique design to resist multipath and improve measurement stability, the transceiver unit completes the signal reception and transmission through a balun transformer, a transmitting power amplifier unit PA, a receiving power amplifier unit LNA, multiple switching switches, and other control logic.

[0023] Furthermore, the display screen, Bluetooth device, sound device and buttons of the human-machine module are all connected to the central processor of the control module. The display screen receives the output information of the central processor, including forward and rearward vision distances, wireless signal quality, measurement status and power level information; the Bluetooth device is also connected to an external mobile device. The Bluetooth device is used for data exchange between the central processor and the external mobile device. The mobile device transmits device parameters to the central processor through the Bluetooth device, such as radio parameters, measurement speed, measurement algorithm selection, ID number, group number and other parameters. The central processor stores the processed results in the memory, and the central processor sends the results to the mobile device through the Bluetooth device. The measurement data is uploaded in real time, and the user can interact with the device remotely through the mobile device through the Bluetooth device; the sound device is used to make sounds, and the sound device reminds the user of the current device status through sound, so that the user does not need to pay attention to the display screen all the time when measuring distance. The sound device reminds the user of the current status through different modes, so the user can at least obtain early warning, equipment status and other information from the sound device. In addition, in field applications, the decibel volume, frequency and number of beeps of the sound device can be adjusted to suit the current user's work and habits through the mobile device; the central processing unit receives instructions transmitted by buttons, including button instructions such as turning on and off the machine, turning pages of the display screen, and checking the status of the display screen.

[0024] Furthermore, the vibration sensor of the sensing module is connected to the central controller of the control module to collect vibration data in real time and calculate the judgment result through the central processing unit. It determines whether it is in a working state through tiny vibrations, and performs intelligent power-saving processing on the non-measurement time and rest time, so that the entire system can maintain a low average power consumption level.

[0025] Furthermore, the central processing unit of the control module is connected to the antenna control unit. The antenna control unit includes an antenna switch and several antennas for switching the RF antenna. The antenna control unit monitors each measurement channel and performs optimization analysis on the propagation path of each channel. According to the analysis results, the antenna is switched flexibly and efficiently so that the device can obtain the optimal measurement path. The central processing unit controls the antenna switch and switches to the corresponding RF channel according to the optimal channel obtained by the antenna control unit.

[0026] Furthermore, the power supply of the power supply module is designed with a multi-level voltage, which can provide multiple voltages for each unit component of the system, so that each unit component can be driven using a corresponding voltage.

[0027] A real-time distance measurement method for high-level leveling, comprising the following steps:

[0028] S100, the UWB transceiver unit selects any antenna to transmit a pulse signal for distance measurement and records the signal data;

[0029] S200, in the subsequent N seconds, N seconds is a monitoring interval, which is an adjustable parameter and is used to divide the measurement work into several time slices, switch any unused antenna to perform measurement, and record signal data;

[0030] S300, repeating step S200 until all antennas are measured;

[0031] S400, through algorithm analysis, the antenna corresponding to the best channel is obtained, the best channel is the channel with the best pulse signal calculated by the algorithm, and the measurement times and credibility of the channel are increased, and the measurement times of unreliable channels are reduced. The unreliable channels are, the analysis continues in the background, and judgment and switching are performed within N seconds;

[0032] S500, repeat steps S200 to S500 until the measurement is completed.

[0033] Furthermore, the signal data includes the signal strength, pulse delay time and measurement distance of each channel, which are used to calculate the best channel.

[0034] Furthermore, the analysis algorithm for the best channel in step S400 includes the following steps:

[0035] S401, within the time slice N seconds described in step S200, continuously monitor the current antenna signal data f 1 , f 2 , f 3 , where f 1 is the signal strength r, f 2 is the signal quantity of the pulse delay time ε, f 3 To measure the signal at distance d, each antenna is measured i times;

[0036] S402: For the parameters in step S401, calculate f 1 、f 2 、f 3 True effective value RMS:

[0037]

[0038] Where i is the number of measurements, l is the actual effective number, and r i , ε i d i are the signal strength, pulse delay time, and measurement distance of the ith measurement, respectively, and p r (t i ), p ε (t i ), p d (t i ) are the approximation polynomials of signal strength, pulse delay time and measurement distance respectively;

[0039] S403, calculate f 1 The process of calculating the true effective value RMS is as follows:

[0040] By 1 The collected data is r i , the corresponding time is t i , i is the number of measurements in step S402, and r is obtained i The approximation polynomial of :

[0041]

[0042] where a k are polynomial coefficients, k is the number of polynomial terms;

[0043] Set up the overdetermined equation:

[0044]

[0045] According to the overdetermined equation, we can get:

[0046]

[0047] Where A is the design matrix, L is the vector of measured data, and X is the vector of unknowns;

[0048] Perform matrix operations on the above matrices A, L, and X:

[0049] X=(A T A) -1 A T L

[0050] Get the polynomial coefficient a k The optimal valuation of p r (t i ) value, according to p r (t i ) to calculate the value of f 1 The true effective value f 1(rms) :

[0051]

[0052] S404, according to the method of step S403, f is obtained in sequence 1(rms) 、f 2(rms) 、f 3(rms) , according to f 1(rms) 、f 2(rms) 、f 3(rms) Calculate the weighted result F as the credibility parameter of the channel:

[0053]

[0054] where λ j is a weight function of different types of optimization objectives, and j is the type of signal data monitored in step S401;

[0055] S405 , compare the channels of all current antennas, select the channel with the smallest weighted result F as the optimal channel, and perform antenna switching at the initial time of each time slice.

[0056] Furthermore, the ranging method also includes a system module time synchronization method, comprising the following steps:

[0057] S601, all modules in the system broadcast their own time data to other modules through the central processor, the time data includes the start time of the module and the device serial number, the device adopts a time-sharing working mode, and the start time of different modules is different;

[0058] S602, the module receives time data from other modules, sorts the time data, calculates the relative time difference between each module and itself, and further obtains integrated time data, which includes the relative time difference and the device serial number;

[0059] S603, each module transmits the integrated time data to the central processor, and the central processor matches the current working module with the integrated time data, and starts the next working module after the time difference ends according to the time difference in the integrated time data;

[0060] S604. Repeat steps S601 to S603 until the measurement is completed.

[0061] 3. Beneficial effects

[0062] Compared with the prior art, the advantages of the present invention are:

[0063] (1) The present invention is a real-time distance measurement device, system and method for high-level leveling measurement, which can feed back the distance data of the front and rear sight distances in the leveling measurement to the operating personnel in real time, so that the emcee and the front sight operating personnel can quickly find the appropriate position, greatly reducing the workload of the measuring personnel to repeatedly adjust the distance, so that the measuring personnel can complete the distance measurement task while moving, and achieve the goal of completing the front and rear sight distances at one time. The prior art generally adopts the method of increasing the number of measurements and increasing the power consumption to increase the amount of data and improve the data stability, but this method will greatly reduce the endurance and increase the air signal congestion; the antenna switching algorithm of the present invention uses only one antenna to work in each period, and can obtain signals of different paths and frequencies for the algorithm to analyze the best antenna. Without increasing the number of measurements, it can reliably detect the high-reliability propagation path, optimize the measurement results, and achieve the effect of reducing the measurement time and power consumption. The device of the present invention can set a warning distance. When the device detects that the front and rear sight distances are close to being equal, the buzzer of the device will alarm until the front and rear sight distances are consistent or within the tolerance range, and then stop the alarm.

[0064] (2) The present invention realizes the time synchronization of the system modules through the system module time synchronization method, which is used to reduce the power consumption of the system modules. The TIM timer in the central processor is used to synchronize the modules in the system at the microsecond to millisecond level, thereby reducing the idle waiting time. If the time synchronization is not realized, then when the device is working, the monitoring module needs to monitor whether there is a signal in the air all the time, and all modules in the system need to work continuously. After the system module time synchronization is realized, all modules know when data is received, so the modules can enter sleep mode at other times and wake up before the expected receiving time arrives, thereby saving more than 90% of the power of the device.

[0065] (3) The present invention reduces the volume of the device and makes the device more convenient to hold by providing a first inclined surface between the upper plane of the upper shell and the front side surface, and providing a second inclined surface between the left and right sides of the upper shell and the front side surface. At the same time, the inclined edges of the antenna and the circuit board match the second inclined surface of the upper shell to avoid the antenna being blocked by the stud II. The internal space is fully utilized while ensuring that the volume of the device is reduced, thereby enhancing the portability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a schematic diagram of the external structure of the device of the present invention;

[0067] Figure 2 It is a schematic diagram of the internal structure of the device of the present invention;

[0068] Figure 3 It is a schematic diagram of the internal structure of the device of the present invention;

[0069] Figure 4 A top view of the device of the present invention;

[0070] Figure 5 It is a left side view of the device of the present invention;

[0071] Figure 6 The rear view of the device of the present invention

[0072] Figure 7 It is a schematic diagram of the system module of the present invention;

[0073] Figure 8 is a schematic diagram of a display area of ​​the present invention;

[0074] Fig. 9 It is a schematic diagram of the monitoring module of the present invention;

[0075] Fig.10 is a schematic diagram of a control module of the present invention;

[0076] Fig.11 It is a schematic diagram of a power supply module of the present invention;

[0077] Fig.12 This is a flow chart of the system ranging of the present invention.

[0078] Explanation of the numbers: 1. Upper shell; 2. Lower shell; 3. Circuit board; 11. Screen window; 12. Button; 13. Indicator light; 14. Groove; 15. Circular through hole; 16. Light guide column; 17. Square through hole; 18. First inclined plane; 19. Second inclined plane; 21. Stud I; 22. Stud II; 23. Battery; 24. Reinforcement rib; 25. Charging port; 26. Limiting piece; 31. Antenna; 32. Display screen; 33. Rubber column. DETAILED DESCRIPTION

[0079] Pulse radar often uses the TOF (Time of Flight) ranging method, which is a ranging method that calculates the flight time of a signal in the air. In general, measuring device A sends a pulse measurement signal at Tas, and device B receives it at Tbr. After a certain period of time, device B sends a response signal at Tbs, and device A finally receives the response signal at Tar. Then the time from sending to receiving of device A is t roundA for:

[0080] t roundA =Tar-Tas

[0081] The time t from device B receiving to sending replyB for:

[0082] t replyB =Tbs-Tbr

[0083] The total flight time T of the signal is:

[0084] T=troundA -t replyB

[0085] The flight time T corresponds to a flight distance which is the sum of the outbound and return trips, so it can be concluded that the one-way signal flight time is 2 / T. Considering that the signal propagation speed is the speed of light F, the actual measured distance is D=2F / T.

[0086] The present invention uses a bidirectional TOF ranging method, that is, a bilateral bidirectional ranging method based on SDS-TWR, which combines the two TOF processes mentioned above. The first TOF is initiated by device A, and the second TOF is initiated by device B. The final data is collected on one side, A or B. This measurement method can offset the temperature drift of each onboard crystal oscillator. Generally speaking, the measurement error is caused by two reasons: multipath and crystal drift. The advantage of bidirectional TOF technology is that from a technical principle, it can compensate for the inconsistent direction and degree of crystal oscillator offset of different nodes caused by changes in temperature and other conditions, resulting in large measurement deviation changes. Assume that the two measuring devices measured by this system are numbered A and B. Under environmental changes, their resistance temperature coefficient is ppm / ℃, that is, the change in resistance value caused by unit temperature. ppm (Part Per Million) means parts per million. The crystal drift here is -10ppm / ℃ and +10ppm / ℃, with a total deviation of 20ppm / ℃. According to the bidirectional TOF calculation formula, the measured distance t p for:

[0087] Assume that the signal propagation time is t p =30 nanoseconds (ns), t reply Both are 1 millisecond (ms), t reply It can be precisely controlled to the nanosecond level by the built-in clock circuit. The time t p =30×10 -9 Seconds is 30 nanoseconds. If we do not use bidirectional TOF and only do one-way flight time calculation, the time used is t p =31.00003ns, which shows that the bidirectional TOF can offset the crystal oscillator drift in the calculation and eliminate the influence of the crystal oscillator error.

[0088] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0089] Example 1

[0090] like Figures 1 to 6As shown, a real-time distance measuring device for high-level leveling measurement includes a shell, the shell includes an upper shell 1 and a lower shell 2, the upper part of the upper shell 1 is a horizontal plane, the lowest height of the front side of the upper shell 1 is lower than the lowest height of the rear side of the upper shell 1, a first inclined surface 18 is arranged between the upper plane of the upper shell 1 and the front side, a second inclined surface 19 is arranged between the left and right sides of the upper shell 1 and the front side, a square through hole 17 is arranged on the upper part of the upper shell 1, a circle of isolation layer is arranged in the square through hole 17, and a screen window 11 is arranged on the upper part of the isolation layer. The screen window 11 in this embodiment uses a glass window. A display screen 32 is provided at the lower part of the isolation layer, a groove 14 is provided at one side of the screen window 11, and the button 12 matches the groove 14. The button 12 in this embodiment uses a rubber button 12. An indicator light 13 is also provided at the upper part of the upper shell 1, and a light guide column 16 is connected to the lower part of the indicator light 13. The display screen 32 is provided with a groove 14 on one side of the indicator light 13, and the light guide column 16 is connected to the circuit board 3 through the groove 14. The groove 14 is opened in the display screen 32 to allow the light guide column 16 to pass through, ensuring that the indicator light 13 and the screen window 11 are as close as possible, making the device space more compact.

[0091] In this embodiment, the highest height of the front side of the lower shell 2 is lower than the highest height of the rear side of the lower shell 2. An inclined surface is provided between the left and right sides and the front side of the lower shell 2. A total of four studs Ⅰ21 are provided at the corners of the lower shell 2, which are respectively located at the four corners of the lower shell 2. The studs Ⅰ21 of the lower shell 2 located at the front side are at the same height as the front side. The corners of the upper shell 1 are correspondingly provided with screw holes, and the upper shell 1 and the lower shell 2 are locked and connected with the screw holes through the studs Ⅰ21. The lower shell 2 is also provided with a charging port 25. The charging port 25 is set at the same height as the circuit board 3, so that the charging port 25 can charge the device. The outside of the charging port 25 is covered with a rubber part to prevent dust from accumulating at the charging port 25. A number of reinforcing ribs 24 are also provided on the rear side of the lower shell 2, which increase the rigidity and strength of the product without increasing the cross-sectional area of ​​the product, and at the same time play an anti-slip role.

[0092] Below the display screen 32 is the circuit board 3. In this embodiment, five screw holes are arranged on the circuit board 3, and the lower shell 2 is provided with four studs II22. Among them, two studs II22 close to the rear side of the lower shell 2 are closely attached to the studs I21, and the other two studs II22 are located on the front side of the lower shell 2, and are not closely attached to the studs I21 on the front side. The four screw holes at the four corners of the circuit board 3 are respectively connected to the four studs II22, and the other screw hole is used as a reserved hole for installing other components. The circuit board 3 has a protrusion on one side corresponding to the button 12, and a glue column 33 is arranged on the protrusion. A circular through hole 15 is arranged in the groove 14 of the upper shell 1, and the glue column 33 passes through the circular through hole 15 and is connected to the button 12. A protrusion is arranged on the circuit board 3 to place the glue column 33, instead of expanding the overall side area of ​​the circuit board 3, so that the circuit board 3 can be placed in the lower shell 2 without being blocked by the studs I21 on the non-inclined side of the lower shell 2. A bevel is provided between the left and right sides and the front side of the circuit board 3, and an antenna 31 is provided on the bevel. In this embodiment, two antennas 31 are provided. The antennas 31 are rectangular parallelepiped, respectively on the left and right bevels of the circuit board 3. The inclination angle of the antenna 31 is consistent with the bevel, that is, the wide side of the antenna 31 is parallel to the bevel, and the antenna 31 and the bevel of the circuit board 3 match the second bevel 19 of the upper shell 1, that is, the wide side of the antenna 31 and the bevel of the circuit board 3 are parallel to the second bevel 19, so that when the upper shell 1 is locked with the lower shell 2, the second bevel 19 just matches the bevel of the circuit board 3, so that the upper shell 1 just covers the top of the antenna 31, while ensuring that the volume of the device is reduced, and the internal space is fully utilized. The stud II 22 is at the same height as the lowest side of the lower shell 2, and the circuit board 3 is installed on the upper part of the stud II 22 through the screw hole. When the circuit board 3 is installed on the stud II 22, the circuit board 3 is higher than the front side of the lower shell 2, avoiding the antenna 31 being blocked by the stud II 22.

[0093] A battery 23 is arranged below the circuit board 3. The battery 23 is located at the bottom end of the lower shell 2. The battery 23 has the same height as the stud II 22. The lower shell 2 is also provided with a limiting plate 26. The battery 23 is fixed by the stud II 22 and the limiting plate 26. The stud II 22 not only fixes the circuit board 3 but also limits the battery 23. The battery 23 is locked between the circuit board 3 and the lower shell 2 through the screw holes of the stud II 22 and the circuit board 3. The circuit board 3 plays a role in fastening the battery 23 while being connected to the lower shell 2, thereby reducing the use of the fixing device and saving the internal space of the device.

[0094] like Figures 7 to 11 As shown, a real-time distance measurement system for high-level level measurement includes a human-machine module, a control module, a sensor module, a monitoring module and a power supply module.

[0095] The monitoring module includes a UWB transceiver unit and an antenna switcher. The monitoring module is connected to the control module. The monitoring module transmits the monitoring results to the control module. The control module processes the monitoring results and transmits them to the human-machine module. The UWB transceiver unit of the monitoring module is connected to the central processing unit of the control module through the SPI interface. The UWB transceiver unit is used to exchange pulse signals and signal transmission and reception time information. The UWB transceiver unit in this embodiment adopts the DG4065 module that supports the standard 802.15.4a system UWB signal and can work at 3.5~7Ghz. The antenna switcher is a SKY13373 switcher. The central processing unit calculates preliminary distance data. As a unique design to resist multipath and improve measurement stability, the UWB transceiver unit completes the signal transmission and reception work through a balun transformer, a transmitting power amplifier unit PA, a receiving power amplifier unit LNA, and a multiple switching switch; the antenna switcher is connected to the central processing unit and the antenna control unit of the control module. The antenna control unit of this embodiment uses 2 controller GPIO interfaces, 1 RF switch and 3 antennas. The antenna control unit analyzes and monitors each measurement channel and the optimal path, the transceiver status of the UWB transceiver unit, and flexibly and efficiently switches the antenna, so that the device can obtain the optimal measurement path. The central processing unit is used to control the antenna switch to switch to the corresponding RF channel according to the optimal channel obtained by the antenna control unit.

[0096] The human-machine module includes a display screen, a Bluetooth device, a sound device and a button. The human-machine module receives the monitoring results transmitted by the control module and feeds back the monitoring results to the user. The human-machine module transmits control instructions to the control module. The display screen, Bluetooth device, sound device and buttons of the human-machine module are connected to the central processor of the control module. The central processor is connected to the display screen through the SPI port. The display screen of this embodiment uses the SD1309 liquid crystal screen of the self-luminous OLED screen, which can achieve good visual effects under strong outdoor light. The display screen receives the output information of the central processor, including forward and rearward vision distances, wireless signal quality, measurement status and power and other information; the central processor is connected to the Bluetooth device through the RS232 port. The Bluetooth device here uses E104 Bluetooth. The Bluetooth device is connected to an external mobile device at the same time, thereby establishing communication with the mobile device. The mobile device transmits device parameters to the central processor through the Bluetooth device, such as radio parameters, measurement speed, measurement algorithm selection, ID number, group number and other parameters. The central processor stores the processed results in the memory, and the central processor sends them to the mobile device through the Bluetooth device. The mobile device uploads the measurement data in real time, and the user can remotely interact with the device through the mobile device through the Bluetooth device; the sound device is connected to the central processor to prompt the user of the current device status, so that the user does not need to pay attention to the display screen all the time when measuring the distance. The sound device in this embodiment uses an SMD9018 buzzer to remind the user of the current status through different modes. Therefore, the user can at least obtain early warning, equipment status and other information from the sound device. In addition, in field applications, the volume decibel number, ringing frequency and number of the sound device can be adjusted to meet the current user's work and habits through the mobile device; the central processor is connected to the button through the external interrupt GPIO interface, and the central processor receives the instructions transmitted by the button, including button instructions such as power on and off, display page turning, and viewing the display status. In this embodiment, the external interrupt port of the central processor is connected to at least two buttons, and the button function is realized through the external interrupt. One button is used to process power management functions such as one-key power on and long press power off, and the other button processes information retrieval and page turning functions. The functions of the two buttons can be further combined or separated as needed.

[0097] The sensing module includes a vibration sensor, which transmits vibration data to the control module. The MEMS vibration sensor in this embodiment uses the BMA150 vibration power-saving sensor, which is connected to the central controller of the control module through an I2C serial interface. It can collect vibration data in real time and calculate the judgment result through the central processing unit. The intermediate non-measurement time, rest time, etc. are all intelligently processed for power saving, so that the entire system can maintain a low average power consumption level.

[0098] The control module includes a central processing unit, a memory and an antenna control unit. The control module receives information from the monitoring module, the human-machine module and the sensor module, and feeds it back to the above modules after processing. The central processing unit here uses the STM32L431 high-speed and low-power processor. The central processing unit of the control module is connected to the antenna control unit. The antenna control unit includes a controller GPIO interface, an antenna switcher and several antennas. The antenna control unit monitors each measurement channel and performs optimization analysis on the propagation path of each channel. According to the analysis results, the antenna is switched flexibly and efficiently, so that the device can obtain the optimal measurement path. The central processing unit controls the antenna switcher and switches to the corresponding RF channel according to the optimal channel obtained by the antenna control unit.

[0099] The power supply module includes a power supply, which is connected to the monitoring module, the human-machine module, the sensor module and the control module to supply power to the above modules. The power supply module also includes LTC3558 charging management and FPF2313 multi-voltage management unit. The power supply in this embodiment is powered by a 3.7V lithium battery. The multi-voltage management unit provides multiple voltages such as 1.8V, 2.5V, 2.85V, and 5V for each unit component of the system, so that each unit component can be driven using the corresponding voltage. The 5V voltage uses a boost circuit to increase the signal transmission power of the device. The charging part supports a maximum charging current of 1A so that the user's power can be replenished in a very short idle time.

[0100] A real-time distance measurement method for high-level leveling, comprising the following steps:

[0101] S100, the UWB transceiver unit selects any antenna to transmit a pulse signal for distance measurement and records the signal data;

[0102] S200, in the subsequent N seconds, N seconds is the monitoring interval, which is an adjustable parameter, used to divide the measurement work into several time slices, switch any unused antenna to measure, and record signal data, the signal data includes the signal strength of each channel, pulse delay time and measurement distance, which is used to calculate the best channel. ;

[0103] S300, repeating step S200 until all antennas are measured;

[0104] S400, through algorithm analysis, the antenna corresponding to the best channel is obtained, the best channel is the channel with the best pulse signal calculated by the algorithm, and the measurement times and credibility of the channel are increased, and the measurement times of unreliable channels are reduced. The unreliable channels are, the analysis continues in the background, and judgment and switching are performed within N seconds;

[0105] S500, repeat steps S200 to S400 until the measurement is completed.

[0106] The analysis algorithm for the best channel in step S400 includes the following steps:

[0107] S401, within the time slice N seconds described in step S200, continuously monitor the current antenna signal data f 1 , f 2 , f 3 , where f 1 is the signal strength r, f 2 is the signal quantity of the pulse delay time ε, f 3 To measure the signal at distance d, each antenna is measured i times;

[0108] S402: For the parameters in step S401, calculate f 1 、f 2 、f 3 True effective value RMS:

[0109]

[0110] Where i is the number of measurements, l is the actual effective number, and r i , ε i d i are the signal strength, pulse delay time, and measurement distance of the ith measurement, respectively, and p r (t i ), p ε (t i ), p d (t i ) are the approximation polynomials of signal strength, pulse delay time and measurement distance respectively;

[0111] S403, calculate f 1 The process of calculating the true effective value RMS is as follows:

[0112] By 1 The collected data is r i , the corresponding time is t i , i is the number of measurements in step S402, and r is obtained i Since it is impossible to obtain a definite value in the fitting process of the measured data, the practical approximation polynomial is used to make the measured data after calculation infinitely close to the true value:

[0113]

[0114] where a k is the polynomial coefficient, k is the number of polynomial terms;

[0115] Set up the overdetermined equation:

[0116]

[0117] According to the overdetermined equation, we can get:

[0118]

[0119] Where A is the design matrix, L is the vector of measured data, and X is the vector of unknowns;

[0120] Matrix operations are performed on the above matrices A, L, and X. In this embodiment, low-order terms are taken, that is, n=1 or n=2:

[0121] X=(A T A) -1 A T L

[0122] Get the polynomial coefficient a k The optimal valuation of p r (t i ) value, according to p r (t i ) to calculate the value of f 1 The true effective value f 1(rms) :

[0123]

[0124] S404: According to the calculation method of step S403, r in the formula i Correspondingly replaced by ε i and d i , we can get f 2(rms) 、f 3(rms) , according to f 1(rms) 、f 2(rms) 、f 3(rms) Calculate the weighted result F as the credibility parameter of the channel:

[0125]

[0126] where λ j Weight functions for different types of optimization objectives, weight function λ j Using ordinary linear weighting, F i The smaller the channel is, the higher the channel credibility is. j is the type of signal data monitored in step S401. In this embodiment, 1 , 2 , 3 Set to 0.2, 0.30.5 respectively;

[0127] S405 , compare the channels of all current antennas, select the channel with the smallest weighted result F as the optimal channel, and perform antenna switching at the initial time of each time slice.

[0128] The ranging method also includes a system module time synchronization method, which uses the TIM timer of the central processor to connect with the nanosecond-level radio frequency time to form a complete long-term information, including the following steps:

[0129] S601, all modules in the system broadcast their own time data to other modules through the central processor, the time data includes the start time of the module and the device serial number, the device adopts a time-sharing working mode, and the start time of different modules is different;

[0130] S602, the module receives time data from other modules, sorts the time data, calculates the relative time difference between each module and itself, and further obtains integrated time data, which includes the relative time difference and the device serial number;

[0131] S603, each module transmits the integrated time data to the central processor, and the central processor matches the current working module with the integrated time data, and starts the next working module after the time difference ends according to the time difference in the integrated time data;

[0132] S604. Repeat steps S601 to S603 until the measurement is completed.

[0133] like Fig.12 As shown, when used for distance measurement, two devices are required as the host and the slave respectively. The host transmits a signal every 250 milliseconds and monitors whether the slave has a response. If there is no response, it enters a sleep state until the preset sleep time is reached or it is manually awakened; if the host receives a response from the slave, the slave and the host measure the distance respectively and output it on the display screen. At the same time, the antenna is switched in real time according to the communication quality. When the measurement is completed, press and hold the power off button for more than 3 seconds to shut down, and if it is less than 3 seconds, it enters sleep.

[0134] The above schematically describes the invention and its implementation methods, which is not restrictive. Without departing from the spirit or basic features of the invention, the invention can be implemented in other specific forms. What is shown in the accompanying drawings is only one of the implementation methods of the invention. The actual structure is not limited to this, and any figure mark in the claims should not limit the claims involved. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the purpose of the invention, a structural method and an embodiment similar to the technical solution are designed without creativity, which should all fall within the scope of protection of this patent. In addition, the word "including" does not exclude other elements or steps, and the word "one" before the element does not exclude the inclusion of "multiple" elements. The multiple elements stated in the product claim can also be implemented by one element through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any specific order.

Claims

1. A real-time distance measuring device for high-level leveling, comprising a housing, Features: The shell comprises an upper shell (1) and a lower shell (2), the upper part of the upper shell (1) is a horizontal plane, a first inclined plane (18) is arranged between the upper plane of the upper shell (1) and the front side surface, a second inclined plane (19) is arranged between the left and right side surfaces of the upper shell (1) and the front side surface, a square through hole (17) is arranged on the upper part of the upper shell (1), a circle of isolation layer is arranged in the square through hole (17), a screen window (11) is arranged on the upper part of the isolation layer, a groove (14) is arranged on one side of the screen window (11), and the button (12) matches the groove (14), a stud I (21) is arranged at the corner of the lower shell (2), the stud I (21) located on the front side of the lower shell (2) is at the same height as the front side surface, screw holes are arranged at the corners of the upper shell (1), and the upper shell (1) and the lower shell (2) are locked and connected with the screw holes through the stud I (21); A real-time distance measurement method of a real-time distance measurement device comprises the following steps: S100, the transceiver unit selects any antenna to transmit a pulse signal to measure the distance and records the signal data; S200, in the subsequent N seconds, switch to any unused antenna for measurement and record signal data; S300, repeating step S200 until all antennas are measured; S400, analyzing all antennas through an algorithm, obtaining the antenna corresponding to the best channel, increasing the number of measurements and the reliability of the channel, reducing the number of measurements of unreliable channels, and making judgments and switching within N seconds; S500, repeating steps S200 to S400 until the measurement is completed; The signal data in step S100 includes the signal strength, pulse delay time and measurement distance of each channel; The analysis and switching of the best channel in step S400 includes the following steps: S401, within the time slice N seconds in step S200, continuously monitor the current antenna signal data f 1 , f 2 , f 3 , where f 1 is the signal strength r, f 2 is the signal quantity of the pulse delay time ε, f 3 To measure the signal at distance d, each antenna is measured i times; S402: For the parameters in step S401, calculate f 1 、f 2 、f 3 True effective value RMS: Where i is the number of measurements, l is the actual effective number, and r i , ε i ,d i are the signal strength, pulse delay time, and measurement distance of the ith measurement, respectively, and p r (t i ), p ε (t i ), p d (t i ) are the approximation polynomials of signal strength, pulse delay time and measurement distance respectively; S403, calculate f 1 The process of calculating the true effective value RMS is as follows: By 1 The collected data is r i , the corresponding time is t i , i is the number of measurements in step S402, and r is obtained i The approximation polynomial of : where a k are polynomial coefficients, k is the number of polynomial terms; Set up the overdetermined equation: According to the overdetermined equation, we can get: Where A is the design matrix, L is the vector of measured data, and X is the vector of unknowns; Perform matrix operations on the above matrices A, L, and X: X=(A T A) -1 A T L Get the polynomial coefficient a k The optimal valuation of p r (t i ) value, according to p r (t i ) to calculate the value of f 1 The true effective value f 1(rms) : S404, according to the method of step S403, f is obtained in sequence 1(rms) 、f 2(rms) 、f 3(rms) , according to f 1(rms) 、f 2(rms) 、f 3(rms) Calculate the weighted result F as the credibility parameter of the channel: where λ j is a weight function of different types of optimization objectives, and j is the type of signal data monitored in step S401; S405 , compare the channels of all current antennas, select the channel with the smallest weighted result F as the optimal channel, and perform antenna switching at the initial time of each time slice.

2. A real-time distance measuring device for high-level leveling according to claim 1, Features: A display screen (32) is provided at the lower part of the isolation layer of the upper shell (1), and a circuit board (3) is provided below the display screen (32).

3. A real-time distance measuring device for high-level leveling according to claim 2, Features: An indicator light (13) is also provided on the upper portion of the upper shell (1), a light guide column (16) is connected to the lower portion of the indicator light (13), a display screen (32) is provided with a groove on one side of the indicator light (13), and the light guide column (16) is connected to the circuit board via the groove.

4. A real-time distance measuring device for high-level leveling according to claim 3, Features: The circuit board (3) has a protruding portion on one side corresponding to the key (12), a rubber column (33) is arranged on the protruding portion, a circular through hole (15) is arranged in the groove (14) of the upper shell (1), and the rubber column (33) passes through the circular through hole (15) to be connected to the key (12).

5. A real-time distance measuring device for high-level leveling according to claim 4, Features: A bevel is provided between the left and right sides and the front side of the circuit board (3), an antenna (31) is provided on the bevel, and the antenna (31) and the bevel of the circuit board (3) match the second bevel (19) of the upper shell (1).

6. A real-time distance measurement system for high-level leveling based on claim 1, Features: The system includes a human-machine module, a control module, a sensor module, a monitoring module and a power supply module. The monitoring module includes a transceiver unit, the monitoring module is connected to the control module, the monitoring module transmits the monitoring results to the control module, and the control module processes the monitoring results and transmits them to the human-machine module; The human-machine module includes a display screen, a Bluetooth device, a sound device and a button. The human-machine module receives the monitoring results transmitted by the control module, feeds back the monitoring results to the user, and transmits control instructions to the control module; The sensing module includes a vibration sensor, and the sensing module transmits vibration data to the control module; The control module includes a central processing unit, a memory and an antenna control unit. The control module receives information from the monitoring module, the human-machine module and the sensor module, and feeds back the information to the above modules after processing. The antenna control unit is used to switch the measuring antenna. The power supply module includes a power supply, and the power supply module is connected to the monitoring module, the human-machine module, the sensor module and the control module to provide power for the above modules.

7. A real-time distance measurement method for high-level leveling based on claim 6, The following steps are involved: S100, the transceiver unit selects any antenna to transmit a pulse signal to measure the distance and records the signal data; S200, in the subsequent N seconds, switch to any unused antenna for measurement and record signal data; S300, repeating step S200 until all antennas are measured; S400, analyzing all antennas through an algorithm, obtaining the antenna corresponding to the best channel, increasing the number of measurements and the reliability of the channel, reducing the number of measurements of unreliable channels, and making judgments and switching within N seconds; S500, repeating steps S200 to S400 until the measurement is completed; The signal data in step S100 includes the signal strength, pulse delay time and measurement distance of each channel; The analysis and switching of the best channel in step S400 includes the following steps: S401, within the time slice N seconds described in step S200, continuously monitor the current antenna signal data f 1 , f 2 , f 3 , where f 1 is the signal strength r, f 2 is the signal quantity of the pulse delay time ε, f 3 To measure the signal at distance d, each antenna is measured i times; S402: For the parameters in step S401, calculate f 1 、f 2 、f 3 True effective value RMS: Where i is the number of measurements, l is the actual effective number, and r i , ε i ,d i are the signal strength, pulse delay time, and measurement distance of the ith measurement, respectively, and p r (t i ), p ε (t i ), p d (t i ) are the approximation polynomials of signal strength, pulse delay time and measurement distance respectively; S403, calculate f 1 The process of calculating the true effective value RMS is as follows: By 1 The collected data is r i , the corresponding time is t i , i is the number of measurements in step S402, and r is obtained i The approximation polynomial of : where a k is the polynomial coefficient, k is the number of polynomial terms; Set up the overdetermined equation: According to the overdetermined equation, we can get: Where A is the design matrix, L is the vector of measured data, and X is the vector of unknowns; Perform matrix operations on the above matrices A, L, and X: X=(A T A) -1 A T L Get the polynomial coefficient a k The optimal valuation of p r (t i ) value, according to p r (t i ) to calculate the value of f 1 The true effective value f 1(rms) : S404, according to the method of step S403, f is obtained in sequence 1(rms) 、f 2(rms) 、f 3(rms) , according to f 1(rms) 、f 2(rms) 、f 3(rms) Calculate the weighted result F as the credibility parameter of the channel: where λ j is a weight function of different types of optimization objectives, and j is the type of signal data monitored in step S401; S405 , compare the channels of all current antennas, select the channel with the smallest weighted result F as the optimal channel, and perform antenna switching at the initial time of each time slice.

8. A real-time distance measurement method for high-level leveling according to claim 7, Features: The ranging method also includes a system module time synchronization method, comprising the following steps: S601, all modules in the system broadcast their own time data to other modules through the central processor; S602, the module receives time data from other modules, sorts the time data, calculates the relative time difference between each module and itself, and further obtains integrated time data; S603, each module transmits the integrated time data to the central processor, and the central processor matches the current working module with the integrated time data, and starts the next working module after the time difference ends according to the time difference in the integrated time data; S604. Repeat steps S601 to S603 until the measurement is completed.

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