A multifunctional binocular laser detection system

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By introducing a multi-functional binocular laser detection system into the laser detector, using laser sensors and angle sensors to calculate the distance between any two points in the space, and integrating verticality and angle detection, the problem of difficulty in measuring spatial distance in the existing technology is solved. Achieve high-precision and low-cost detection results.

CN114019524BActive Publication Date: 2024-12-31LONGXIN CONSTR GRP

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Patent Information

Application Number: CN202111443497.0
Authority / Receiving Office: CN · China
Patent Type: Patents(China)
Current Assignee / Owner
Filing Date: 2021-11-30
Publication Date: 2024-12-31
Estimated Expiration: 2041-11-30

AI Technical Summary

Technical Problem

Existing laser detectors are difficult to measure the distance between any two points in the space, and there are problems such as large system computing, high cost, integration, and difficulty in miniaturization, so they cannot effectively detect the size of suspended objects or complex geometric shapes.

Method used

Design a multi-functional binocular laser detection system, including a controller, at least two laser sensors, angle sensors and power supply modules, measure distances through laser sensors and angle sensors, and calculate the distance between any two points in the space. It also integrates the verticality and angle detection function between adjacent two sides.

Benefits of technology

It realizes low-cost and high-precision spatial distance measurement, expands the measurement range, improves detection accuracy and stability, and transmits data through Bluetooth, which has low power consumption and real-time performance, and has portability and high compatibility.

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Abstract

The present invention proposes a multifunctional binocular laser detection system, which is arranged inside a laser detection instrument, and includes a controller and at least two laser sensors, an angle sensor and a power module connected to the controller; the laser sensor is used to measure the distance from the laser emission point to the projection point in space; the angle sensor is used to measure the angle between the light beams emitted by the two laser sensors; the power module is used to provide electrical energy to the controller, the laser sensor and the angle sensor; the controller is used to obtain the distance between any two projection points in space according to the distance from the two laser emission points to the projection point in space, and the angle between the light beams emitted by the two laser sensors. The present invention provides a detection system with low cost and high precision, which can conveniently measure the distance between any two points in space and integrate the verticality and the angle detection function of two adjacent surfaces.

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Description

Technical Field

[0001] The invention relates to the technical field of laser detection, and in particular to a multifunctional binocular laser detection system. Background Art

[0002] Length measurement is one of the most basic items in conventional measurement, and is also one of the most common items in daily life and industrial production. Length measurement is closely related to the development of the national economy, and is especially widely used in intelligent construction, advanced manufacturing, and national defense science and technology industries, and plays an important role in measurement and testing institutions.

[0003] With the development of science and technology, especially the integration of integrated circuits, signal processing technology, semiconductor chips and other fields, the use of laser detection technology for length measurement has become the norm, and laser detectors have come into being. Using traditional rulers for detection is not only time-consuming and laborious, but also due to the limitation of ruler length, when conducting long-distance detection, the accumulation of segmented measurements may cause data distortion. Laser detectors break through the limitations of traditional rulers and play their unique advantages in all aspects. With the development and optimization of laser detectors, the scope of use of laser detectors has become wider and wider, especially in terrain surveying, traffic positioning, automobile safety distance detection, machinery industry and construction.

[0004] According to research and analysis, although the laser detectors on the current market have the advantages of small size, low cost, fast detection and high accuracy, they need to rely on a fixed point when measuring and project the laser onto the object. The distance obtained is the distance from the laser source to the object. It belongs to the detection within the plane and cannot break through the limitations brought by space. If it encounters a suspended object, such as measuring the distance between two lights hanging in the air, measuring the size of a window, and measuring the length and width of prefabricated components in the yard, it cannot be used. In addition, there are also some detection instruments on the market, such as total stations, which can measure the distance between any two points in space, but these instruments are composed of camera systems, the system has a very large amount of calculation, and the performance requirements of the computing unit are very high, which makes it difficult to integrate, miniaturize and portability of such instruments, and the cost of the instruments is very high.

[0005] Therefore, providing an instrument that can conveniently measure the distance between any two points in space, and the instrument also has the advantages of low cost, high precision and functional integration is a problem that needs to be solved in the prior art. Summary of the invention

[0006] In view of the above problems, the present invention provides a detection system with low cost and high precision, which can conveniently measure the distance between any two points in space and integrate the verticality and the angle detection functions of two adjacent surfaces.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a multifunctional binocular laser detection system, which is arranged inside a laser detection instrument, and includes a controller and at least two laser sensors, an angle sensor and a power module connected to the controller; the laser sensor is used to measure the distance from a laser emission point to a projection point in space; the angle sensor is used to measure the angle between the light beams emitted by the two laser sensors; the power module is used to provide electrical energy to the controller, the laser sensor and the angle sensor; the controller is used to obtain the distance between any two projection points in space according to the distance from the two laser emission points to the projection point in space, and the angle between the light beams emitted by the two laser sensors.

[0008] As a preferred solution, the distance calculation formula between any two projection points in the space is as follows:

[0009]

[0010] In the above formula, l a is the distance from the intersection of the two emitted light beams to the projection point a, l b is the distance from the intersection of the two emitted light beams to the projection point b, and α is the angle between the two emitted light beams.

[0011] As a preferred solution, the minimum system of the controller includes chip U8, and a clock circuit, reset circuit, SWD debugging programming interface, BOOT setting module and filtering circuit connected thereto. The clock circuit includes an 8MHZ high-speed external clock and a 32.768kHZ low-speed external clock, which are used to generate a clock signal to drive chip U8. The reset circuit is used to restore chip U8 to an initial state. The SWD debugging programming interface is used to connect a test tool to test chip U8. The BOOT setting module is used to set the BOOT pin to a high level or a low level to determine the starting area for executing the program. The filtering circuit is composed of multiple tantalum capacitors and ceramic capacitors connected in parallel, which are used to filter noise signals.

[0012] As a preferred solution, the power module includes a power supply switching circuit, which includes a diode D7, a resistor R37 and a MOS tube Q6. The positive electrode of the diode D7, one end of the resistor R37 and the G electrode of the MOS tube Q6 are all connected to the Vusb end of the USB power supply, the negative electrode of the diode D7 is connected to the VCC pin of the chip U8, the other end of the resistor R37 is grounded, the D electrode of the MOS tube Q6 is connected to the second end of the battery interface, and the first end of the battery interface is grounded, and the S electrode of the MOS tube Q6 is connected to the VCC pin of the chip U8.

[0013] As a preferred embodiment, the power module also includes a charging detection circuit, which includes a chip U9, a capacitor C52, a resistor R28, a resistor R26, a resistor R25, a diode D4, a resistor R27, a resistor R30 and a MOS tube Q5. The VCC pin of the chip U9 is connected to the Vusb end of the USB power supply, and the Vusb end of the USB power supply is connected in series with the capacitor C52 and then grounded. The GND pin of the chip U9 is grounded, and its PROG pin is connected in series with the resistor R28 and then grounded. The CHRG pin of the chip U9 is connected to the PA4 pin of the chip U8, and the resistor R26, the resistor R25 and the diode D4 are connected in parallel between the two. The BAT pin of the chip U9 is respectively connected to the Vbat pin of the battery and one end of the resistor R27, the other end of the resistor R27 is connected in series with the resistor R30 and the MOS tube Q5, and a low-pass filter circuit is connected between the resistor R27 and the resistor R30. The G pole of the MOS tube Q5 is connected to the PA1 pin of the chip U8, and its S pole is grounded.

[0014] As a preferred solution, the power module also includes a 5V voltage-stabilized output circuit and a 3.3V voltage-stabilized output circuit. The 5V voltage-stabilized output circuit includes a chip U11, an inductor L2, a capacitor C57, a capacitor C58, a capacitor C59 and a capacitor C60. The LX pin of the chip U11 is connected to the VCC pin of the chip U8 through the inductor L2, and its VBAT pin is connected to the VCC pin of the chip U8. The capacitor C59 and the capacitor C60 are connected in parallel, and one end is connected to the VCC pin of the chip U8, and the other end is grounded. The capacitor C57 is connected to the VCC pin of the chip U8, and the other end is grounded. 7 and capacitor C58 are connected in parallel, one end of which is connected to the VOUT pin of chip U11 and the other end is grounded, and the GND pin of chip U11 is grounded; the 3.3V regulated voltage output circuit includes chip U10, capacitor C53, capacitor C54, capacitor C55 and capacitor C56, one end of capacitor C53 and capacitor C54 are connected to the IN pin of chip U10 and the other end is grounded, one end of capacitor C55 and capacitor C56 are connected to the OUT pin of chip U10 and the other end is grounded, and the GND pin of chip U10 is grounded.

[0015] As a preferred solution, it also includes a verticality module connected to the controller, and the verticality module is used to measure the inclination angle of the laser detection instrument in the horizontal and vertical directions.

[0016] As a preferred solution, the angle sensor is also used to measure the angle between two adjacent surfaces of an object.

[0017] As a preferred solution, it also includes a Bluetooth module, a keyboard module and a display module connected to the controller. The Bluetooth module is used to transmit data to other devices via the Bluetooth wireless communication protocol. The keyboard module is used to realize the system's power on and off, selection of working mode, selection of working mode and control of single measurement. The display module is used to display the system's control information and measurement data.

[0018] Compared with the prior art, the beneficial effects of the present invention include: measuring the distance from the laser emission point to the projection point in space by a laser sensor, measuring the angle between the light beams emitted by two laser sensors by an angle sensor, and realizing non-contact measurement of the distance between any two points in space, with a wide measurement range and high accuracy. The use of components such as a 32-bit processor, a laser measurement sensor with a measurement error of 1mm, and an angle sensor with a 15-bit digital output ensures the high precision and stability of the measurement of various physical quantities in this system. The power module consists of a power supply switching circuit, a charging detection circuit, a 5V voltage-stabilized output circuit, and a 3.3V voltage-stabilized output circuit, realizing dual power supply of USB power supply and battery, safe charging, and high reliability. The use of Bluetooth to transmit data to mobile phones, computers and other devices has the advantages of low power consumption and real-time performance, as well as good compatibility. The present invention provides a detection system with low cost and high accuracy, which can conveniently measure the distance between any two points in space and integrate the verticality and the angle detection function of adjacent two surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The disclosure of the present invention is described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the accompanying drawings, the same reference numerals are used to refer to the same components. Among them:

[0020] Figure 1 A schematic diagram of the structure of a multifunctional binocular laser detection system according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of distance measurement between any two points in space according to an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the circuit structure of a minimum controller system according to an embodiment of the present invention;

[0023] Figure 4 It is a structural schematic diagram of a power supply switching circuit according to an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of the structure of a charging detection circuit according to an embodiment of the present invention;

[0025] Figure 6It is a structural schematic diagram of a 5V voltage-stabilized output circuit and a 3.3V voltage-stabilized output circuit according to an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the structure of a USB interface and a program download circuit according to an embodiment of the present invention;

[0027] Figure 8 Schematic diagram of the circuit structure of the angle sensor according to an embodiment of the present invention;

[0028] Fig. 9 Schematic diagram of the circuit structure of the verticality module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as the whole of the present invention or as a limitation or restriction to the technical solution of the present invention.

[0030] According to one embodiment of the present invention, Figure 1 Shown. A multifunctional binocular laser detection system is arranged inside a laser detection instrument, including a controller and at least two laser sensors, an angle sensor and a power module connected to the controller; the laser sensor is used to measure the distance from the laser emission point to the projection point in space; the angle sensor is used to measure the angle between the light beams emitted by the two laser sensors. The angle sensor is also used to measure the angle between two adjacent sides of an object, that is, the edge of the left arm of the instrument is placed close to one side of the object, and the edge of the right arm of the instrument is placed close to an adjacent side of the object, and the angle sensor automatically detects the angle between the two adjacent sides of the object. The power module is used to provide electrical energy to the controller, the laser sensor and the angle sensor; the controller is used to obtain the distance between any two projection points in space based on the distance from the two laser emission points to the projection point in space, and the angle between the light beams emitted by the two laser sensors.

[0031] In the embodiment of the present invention, the system further comprises a Bluetooth module connected to the controller, a keyboard module and a display module. The Bluetooth module is used to transmit data to other devices via the Bluetooth wireless communication protocol. The keyboard module is used to realize the system's power on and off, the selection of the working mode, the selection of the working method and the control of a single measurement. Specifically, the keyboard module is provided with four buttons, which respectively realize the system's power on and off, the selection of the working mode, the selection of the working method and the control of a single measurement. The display module is used to display the system's control information and measurement data, and the display module is a TFT liquid crystal screen.

[0032] See also Figure 2, is a schematic diagram of distance measurement between any two points in space according to an embodiment of the present invention. In the figure, L1 is the distance measured by the laser sensor a, L2 is the length of the left arm of the instrument, α is the angle value measured by the angle sensor module, that is, the angle between the two emitted light beams, and d is the distance between the extension line of the laser beam emitted by the laser sensor and the right margin.

[0033]

[0034] Therefore, in the triangle formed by the left arm of the instrument, the right arm of the instrument and the length to be measured, the total length on the left is:

[0035] l a =l1+l2+l3

[0036] Similarly, the total length measured by the laser sensor b on the right is l b Therefore, according to the law of cosines, the distance L between any two projection points in space is calculated as follows:

[0037]

[0038] In the above formula, l a is the distance from the intersection of the two emitted light beams to the projection point a, l b is the distance from the intersection of the two emitted light beams to the projection point b, and α is the angle between the two emitted light beams.

[0039] See also Figure 3 The minimum system of the above controller includes chip U8, and a clock circuit, reset circuit, SWD debugging programming interface, BOOT setting module and filtering circuit connected thereto. The clock circuit includes an 8MHZ high-speed external clock and a 32.768kHZ low-speed external clock, which are used to generate a clock signal to drive chip U8. The reset circuit is used to restore chip U8 to the starting state. The SWD debugging programming interface is used to connect the test tool to test chip U8. The BOOT setting module is used to set the BOOT pin to a high level or a low level to determine the starting area of the execution program so that the system can be started in different ways. The filtering circuit is connected in parallel by multiple tantalum capacitors and porcelain capacitors, which are used to filter clutter signals and ensure the stability of the power supply voltage of chip U8. Specifically, the chip U8 uses an STM32 processor with an ARM architecture, model STM32F103RCT6, and the 32-bit processor ensures the high precision of the system.

[0040] In the embodiment of the present invention, there are two laser sensors, namely laser sensor a and laser sensor b, which can be specifically 635nm laser or Class II laser. Laser sensor a is connected to the PA9 and PA10 pins of chip U8, and laser sensor b is connected to the PA2 and PA3 pins of chip U8.

[0041] See also Figure 4 The power module includes a power supply switching circuit, which includes a diode D7, a resistor R37 and a MOS tube Q6. The positive electrode of the diode D7, one end of the resistor R37 and the G electrode of the MOS tube Q6 are all connected to the Vusb end of the USB power supply, the negative electrode of the diode D7 is connected to the VCC pin of the chip U8, the other end of the resistor R37 is grounded, the D electrode of the MOS tube Q6 is connected to the second end of the battery interface, and the first end of the battery interface is grounded, and the S electrode of the MOS tube Q6 is connected to the VCC pin of the chip U8.

[0042] When the USB power source Vusb is not connected, the G pole of the MOS tube Q6 is grounded, so the MOS tube Q6 is fully turned on, and the lithium battery Vbat terminal provides the system with voltage VCC through the MOS tube Q6. When the USB power source Vusb is connected, the diode D7 is turned on, the G pole and S pole of the MOS tube Q6 are subjected to forward voltage, the MOS tube Q6 is in a non-conducting state, and its internal diode is also in a reverse cut-off state. At this time, the USB power source Vusb provides the system with voltage VCC through the diode D7. Specifically, the model of the MOS tube Q6 is CJ3401, and the model of the diode D7 is B5817W.

[0043] See also Figure 5 The power module also includes a charging detection circuit, which includes a chip U9, a capacitor C52, a resistor R28, a resistor R26, a resistor R25, a diode D4, a resistor R27, a resistor R30 and a MOS tube Q5. The VCC pin of the chip U9 is connected to the Vusb end of the USB power supply, and the Vusb end of the USB power supply is connected in series with the capacitor C52 and then grounded. The GND pin of the chip U9 is grounded, and its PROG pin is connected in series with the resistor R28 and then grounded. The CHRG pin of the chip U9 is connected to the PA4 pin of the chip U8, and the resistor R26, the resistor R25 and the diode D4 are connected in parallel between the two. The BAT pin of the chip U9 is respectively connected to the Vbat pin of the battery and one end of the resistor R27. The other end of the resistor R27 is connected in series with the resistor R30 and the MOS tube Q5, and a low-pass filter circuit is connected between the resistor R27 and the resistor R30. The G pole of the MOS tube Q5 is connected to the PA1 pin of the chip U8, and its S pole is grounded.

[0044] When the USB power source Vusb is connected, the Vbat end of the lithium battery is charged, and the diode D4 is lit as a charging indicator. When the lithium battery is fully charged, the diode D4 automatically goes out. In addition, the detection of the remaining power of the lithium battery in this system is to detect the lithium battery voltage, and then find the relationship table between the voltage and the remaining power to obtain the remaining power of the lithium battery. In the figure, the two resistors R27 and R30 are connected in series to divide the voltage and pass the lithium battery voltage to the controller through the CELL_VOL pin. The controller converts the voltage signal into a digital quantity through an AD converter, and then converts the voltage into the remaining power by looking up the table and displays it on the display. Moreover, the resistor R1 and the capacitor C3 in the figure form a low-pass filter circuit, so that the voltage signal collected by the controller is more accurate. Specifically, the model of chip U9 is ME4054.

[0045] See also Figure 6 The power module also includes a 5V regulated output circuit and a 3.3V regulated output circuit. The 5V regulated output circuit includes a chip U11, an inductor L2, a capacitor C57, a capacitor C58, a capacitor C59 and a capacitor C60. The LX pin of the chip U11 is connected to the VCC pin of the chip U8 through the inductor L2, and its VBAT pin is connected to the VCC pin of the chip U8. The capacitor C59 and the capacitor C60 are connected in parallel, and one end is connected to the VCC pin of the chip U8, and the other end is grounded. The capacitors C57 and After being connected in parallel, one end of capacitor C58 is connected to the VOUT pin of chip U11, and the other end is grounded. The GND pin of chip U11 is also grounded. The 3.3V voltage regulated output circuit includes chip U10, capacitor C53, capacitor C54, capacitor C55 and capacitor C56. One end of capacitor C53 and capacitor C54 are connected to the IN pin of chip U10, and the other end is grounded. One end of capacitor C55 and capacitor C56 are connected to the OUT pin of chip U10, and the other end is grounded. The GND pin of chip U10 is also grounded.

[0046] Figure 6 The VCC in the middle is connected to the stable voltage from the USB power supply or lithium battery. The stable voltage VCC is converted into a stable +5V voltage through the chip U11 to power the loads such as the angle sensor module. The +5V voltage is converted into a stable +3.3V voltage output through the chip U10. The +3.3V voltage is mainly used to power the loads such as the controller, display, laser detection sensor and verticality module. Specifically, the model of the chip U11 is ME2107, and the model of the chip U10 is AMS1117-3.3.

[0047] See also Figure 7The system also includes a USB interface and a program download circuit. When the system needs USB power supply or the lithium battery needs to be charged, the USB power supply is connected to the system from the USB interface of P21. In addition, when the program in the controller needs to be updated, the host computer connects to the controller through the USB interface of P21. At this time, the chip U12 is used to complete the function of USB to serial port protocol, realizing data communication between the USB interface of the host computer and the USART asynchronous serial port of the controller. Specifically, the model of the chip U12 is CH340C.

[0048] See also Figure 8 , is a schematic diagram of the circuit structure of the angle sensor of the embodiment of the present invention. The chip U8 of the angle sensor adopts a 15-bit absolute magnetic encoder based on the giant magnetoresistance principle, and its model is TLE5012. The 15-bit magnetic encoder ensures that the angle resolution of the system can reach 0.01 degrees, improving the accuracy and resolution of the system.

[0049] See also Fig. 9 The system also includes a verticality module connected to the controller, which is used to measure the inclination of the laser detection instrument in the horizontal and vertical directions, so that the system has the function of measuring two-dimensional verticality while detecting, enriching the function of the system from the aspect of verticality detection.

[0050] The controller reads the raw data of the acceleration and angular velocity sensor from chip U6 through the I2C interface. These raw data are combined with the embedded motion driver library of chip U6, and the dual-axis inclination of the instrument can be obtained through attitude fusion settlement. It also has a 3-axis MEMS accelerometer function. The chip U6 is a 9-axis motion processing sensor, and the specific model is MPU6050.

[0051] In summary, the beneficial effects of the present invention include: measuring the distance from the laser emission point to the projection point in space by a laser sensor, measuring the angle between the light beams emitted by two laser sensors by an angle sensor, and realizing non-contact measurement of the distance between any two points in space, with a wide measurement range and high accuracy. The use of components such as a 32-bit processor, a laser measurement sensor with a measurement error of 1mm, and an angle sensor with an output of 15-bit digital quantities ensures the high precision and stability of the measurement of each physical quantity of this system. The power module consists of a power supply switching circuit, a charging detection circuit, a 5V voltage-stabilized output circuit, and a 3.3V voltage-stabilized output circuit, realizing dual power supply of USB power supply and battery, safe charging, and high reliability. The use of Bluetooth to transmit data to mobile phones, computers and other devices has the advantages of low power consumption and real-time performance, as well as good compatibility. By integrating distance detection, verticality detection, and adjacent angle detection functions, one machine can be used for multiple purposes, broadening the use scenarios of the detection instrument.

[0052] The technical scope of the present invention is not limited to the contents in the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A multifunctional binocular laser ranging system, arranged inside a laser ranging instrument, characterized in that: It includes a controller and at least two laser sensors, an angle sensor and a power module connected to the controller; The laser sensor is used to measure the distance from the laser emission point to the projection point in space; The angle sensor is used to measure the angle between the light beams emitted by the two laser sensors; The power module is used to provide power to the controller, the laser sensor and the angle sensor; The controller is used to obtain the distance between any two projection points in space according to the distances from the two laser emission points to the projection point in space and the angle between the light beams emitted by the two laser sensors; The minimum system of the controller includes a chip U8, and a clock circuit, a reset circuit, a SWD debugging programming interface, a BOOT setting module and a filter circuit connected thereto. The model of the chip U8 is STM32F103RCT6. The clock circuit includes an 8MHZ high-speed external clock and a 32.768kHZ low-speed external clock, which are used to generate a clock signal to drive the chip U8. The reset circuit is used to restore the chip U8 to a starting state. The SWD debugging programming interface is used to connect a test tool to test the chip U8. The BOOT setting module is used to set the BOOT pin to a high level or a low level to determine the starting area of the execution program. The filter circuit is composed of a plurality of tantalum capacitors and a porcelain capacitor connected in parallel, which is used to filter clutter signals. The power supply module includes a power supply switching circuit, which includes a diode D7, a resistor R37 and a MOS tube Q6. The positive electrode of the diode D7, one end of the resistor R37 and the G electrode of the MOS tube Q6 are all connected to the Vusb end of the USB power supply, the negative electrode of the diode D7 is connected to the VCC pin of the chip U8, the other end of the resistor R37 is grounded, the D electrode of the MOS tube Q6 is connected to the second end of the battery interface, and the first end of the battery interface is grounded, and the S electrode of the MOS tube Q6 is connected to the VCC pin of the chip U8; The power module also includes a charging detection circuit, which includes a chip U9, a capacitor C52, a resistor R28, a resistor R26, a resistor R25, a diode D4, a resistor R27, a resistor R30 and a MOS tube Q5. The VCC pin of the chip U9 is connected to the Vusb end of the USB power supply, and the Vusb end of the USB power supply is connected in series with the capacitor C52 and then grounded. The GND pin of the chip U9 is grounded, and its PROG pin is connected in series with the resistor R28 and then grounded. The CHRG pin of the chip U9 is connected to the PA4 pin of the chip U8, and the resistor R26, the resistor R25 and the diode D4 are connected in parallel between the two. The chip The BAT pin of U9 is respectively connected to the Vbat pin of the battery and one end of the resistor R27, the other end of the resistor R27 is connected in series with the resistor R30 and the MOS tube Q5, and a low-pass filter circuit is connected between the resistor R27 and the resistor R30, the G pole of the MOS tube Q5 is connected to the PA1 pin of the chip U8, and its S pole is grounded; the resistor R27 and the resistor R30 are connected in series to divide the voltage and transmit the lithium battery voltage to the controller through the CELL_VOL pin, the controller converts the voltage signal into a digital quantity through an AD converter, and then obtains the remaining power of the lithium battery by looking up the relationship table between the voltage and the remaining power, and then displays the remaining power on the display.

2. The multifunctional binocular laser ranging system according to claim 1, characterized in that: The distance calculation formula between any two projection points in the space is as follows: ； In the above formula, is the distance from the intersection of the two emitted light beams to the projection point a, is the distance from the intersection of the two emitted light beams to the projection point b, is the angle between the two emitted light beams.

3. The multifunctional binocular laser ranging system according to claim 1, characterized in that: The power module also includes a 5V voltage-stabilized output circuit and a 3.3V voltage-stabilized output circuit. The 5V voltage-stabilized output circuit includes a chip U11, an inductor L2, a capacitor C57, a capacitor C58, a capacitor C59 and a capacitor C60. The LX pin of the chip U11 is connected to the VCC pin of the chip U8 through the inductor L2, and its VBAT pin is connected to the VCC pin of the chip U8. The capacitor C59 and the capacitor C60 are connected in parallel, and one end is connected to the VCC pin of the chip U8, and the other end is grounded. The capacitor C57 and the capacitor C58 are connected in parallel, and one end is connected to the VOUT pin of the chip U11, and the other end is grounded. The GND pin of the chip U11 is grounded. The 3.3V voltage-stabilized output circuit includes a chip U10, a capacitor C53, a capacitor C54, a capacitor C55 and a capacitor C56. One end of the capacitor C53 and the capacitor C54 are connected to the IN pin of the chip U10, and the other end is grounded. One end of the capacitor C55 and the capacitor C56 are connected to the OUT pin of the chip U10, and the other end is grounded. The GND pin of the chip U10 is grounded.

4. The multifunctional binocular laser ranging system according to claim 1, characterized in that: It also includes a verticality module connected to the controller, and the verticality module is used to measure the inclination angle of the laser distance measuring instrument in the horizontal and vertical directions.

5. The multifunctional binocular laser ranging system according to claim 1, characterized in that: It also includes a Bluetooth module, a keyboard module and a display module connected to the controller. The Bluetooth module is used to transmit data to other devices via the Bluetooth wireless communication protocol. The keyboard module is used to realize the system's power on and off, selection of working mode, selection of working method and control of single measurement. The display module is used to display the system's control information and measurement data.