Space coordinate measuring device and space coordinate measuring method

Abstract

The invention relates to the technical field of positioning, in particular to a space coordinate measuring device and a space coordinate measuring method. The space coordinate measuring device comprises a shell assembly and a laser assembly, a main control module, a communication module and a measuring module are arranged in the shell assembly, and the measuring module is used for providing world coordinates, course information and pitching information of the space coordinate measuring device; the communication module is used for receiving calibration coordinate information transmitted from the outside, the laser assembly is used for obtaining the relative distance between a to-be-measured point and the space coordinate measuring device, and the main control module obtains the initial world coordinate of the to-be-measured point based on the world coordinate, course information, pitching information and the relative distance of the space coordinate measuring device. The master control module receives the calibration coordinate information, and the initial world coordinates are calibrated in the master control module based on the calibration coordinate information to obtain the actual world coordinates of the point to be measured. The problem that the operation of measuring the world coordinate of a to-be-measured point in an area with a complex environment is complex is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning, in particular to a spatial coordinate measuring device and a spatial coordinate measuring method. BACKGROUND

[0002] The existing spatial positioning method mainly includes GPS, laser ranging, ultrasonic ranging and other technologies. Although the GPS positioning has a wide coverage, it is easy to be affected by signal shielding in complex environments (such as transformer substations, indoors or high-rise dense areas), and the positioning accuracy is significantly reduced. In addition, if the accurate world coordinates of a certain to-be-measured point are to be obtained, the existing method usually needs manual operation and multiple calibrations by using different measuring instruments, which is low in efficiency and difficult to meet the real-time positioning demand in dynamic environment. Therefore, there is an urgent need for a spatial position measuring technology with high precision, anti-interference and adaptability to complex environments to realize real-time accurate positioning of dynamic targets. SUMMARY

[0003] In order to solve the problem of complex operation of measuring the world coordinates of a to-be-measured point in a complex environment according to the prior art, the present application provides a spatial coordinate measuring device and a spatial coordinate measuring method.

[0004] In order to solve the above technical problems, the present application provides the following technical scheme: a spatial coordinate measuring device for measuring the actual world coordinates of a to-be-measured point, the spatial coordinate measuring device comprising a shell assembly, and a laser assembly arranged on the shell assembly and connected with the shell assembly, a main control module, a communication module and a measuring module being arranged in the shell assembly, the main control module being electrically connected with the communication module, the measuring module and the laser module, the measuring module being used to provide the world coordinates, heading information and pitch information of the spatial coordinate measuring device; the communication module being used to receive the calibration coordinate information transmitted by the outside world, the laser assembly being used to emit laser towards the to-be-measured point and receive the returned laser to obtain the relative distance from the to-be-measured point to the spatial coordinate measuring device, the main control module being used to obtain the initial world coordinates of the to-be-measured point based on the world coordinates, heading information, pitch information and relative distance of the spatial coordinate measuring device, the main control module receiving the calibration coordinate information, and the actual world coordinates of the to-be-measured point being obtained by calibrating the initial world coordinates in the main control module based on the calibration coordinate information.

[0005] Preferably, a first cavity is arranged in the shell assembly, a second cavity is formed in a partial area of the first cavity and communicates with the first cavity, a master control module and a communication module are arranged in the first cavity and electrically connected, and a measurement module is arranged in the second cavity and electrically connected with the master control module; the measurement module comprises a first positioning module and a second positioning module, the first positioning module and the second positioning module are arranged at opposite ends of the second cavity respectively and are electrically connected with the master control module, and a first preset distance is left between the first positioning module and the second positioning module; the first positioning module is used for acquiring a first spatial position, the second positioning module is used for acquiring a second spatial position, and the measurement module acquires world coordinates, heading information and first pitch information of the spatial coordinate measurement device through the first spatial position and the second spatial position; and the master control module acquires initial world coordinates through the world coordinates, the heading information, the first pitch information and the relative distance of the spatial coordinate measurement device.

[0006] Preferably, the measurement module further comprises a first angle measuring instrument, the first angle measuring instrument is arranged between the first positioning module and the second positioning module and is electrically connected with the master control module, the first angle measuring instrument is used for providing second pitch information, the measurement module acquires world coordinates and heading information of the spatial coordinate measurement device through the first spatial position and the second spatial position, and the master control module acquires initial world coordinates through the world coordinates, the heading information, the second pitch information and the relative distance of the spatial coordinate measurement device.

[0007] Preferably, the measurement module comprises a positioning module and a second angle measuring instrument arranged in the shell assembly, the positioning module and the second angle measuring instrument are electrically connected with the master control module, a second preset distance is left between the first positioning module and the second positioning module, the second angle measuring instrument is used for providing heading information and third pitch information, the positioning module is used for providing world coordinates of the spatial coordinate measurement device, and the master control module acquires initial world coordinates through the world coordinates, the heading information, the third pitch information and the relative distance of the spatial coordinate measurement device.

[0008] Preferably, an included angle is formed between an axial direction of the second cavity and a light emitting direction of the laser assembly, and the included angle is 0°-90°.

[0009] Preferably, the spatial coordinate measuring device further comprises a display module, the display module comprising a display screen and a button module, the display screen being arranged at one end of the housing assembly close to the laser assembly, the housing assembly extending to form a holding portion corresponding to the display screen, the button module being arranged on the holding portion and electrically connected with the main control module; when the actual world coordinate of the to-be-measured point is obtained, the display screen photographs and displays the actual world coordinate of the to-be-measured point.

[0010] Preferably, the spatial coordinate measuring device further comprises a power module, a charging port and an alarm module arranged in the housing assembly, one end of the charging port being exposed outside the housing assembly and the other end being electrically connected with the power module, the power module being electrically connected with the communication module, the main control module and the alarm module respectively.

[0011] Preferably, the spatial coordinate measuring device further comprises a mounting member, the mounting member comprising a connecting portion and a bearing portion, one end of the connecting portion being arranged in the second cavity along the axial direction of the second cavity, the bearing portion being arranged at opposite ends of the connecting portion, and the first positioning module and the second positioning module being arranged on the bearing portion.

[0012] The present application provides another technical solution to solve the above technical problems: a spatial coordinate measuring method applied to the spatial coordinate measuring device, the method comprising the following steps: adjusting the spatial coordinate measuring device and aligning the laser assembly to the to-be-measured point; obtaining the relative distance between the spatial coordinate measuring device and the to-be-measured point based on the laser assembly emitting laser; obtaining the world coordinate, heading information and pitch information of the spatial coordinate measuring device based on the measuring module; receiving the calibration coordinate information transmitted by the outside world based on the communication module; obtaining the initial world coordinate based on the world coordinate, heading information, pitch information and relative distance of the spatial coordinate measuring device by the main control module; and obtaining the actual world coordinate of the to-be-measured point based on the calibration of the initial world coordinate based on the calibration coordinate information.

[0013] Preferably, obtaining the world coordinate, heading information and pitch information of the spatial coordinate measuring device comprises: The measurement module is a first positioning module and a second positioning module, the first spatial position is obtained based on the first positioning module, the second spatial position is obtained based on the second positioning module, and the world coordinates, the heading information and the first pitch information of the spatial coordinate measurement device are obtained through the first spatial position and the second spatial position; or, the measurement module is a first positioning module, a second positioning module and a first angle measuring instrument, the first spatial position is obtained based on the first positioning module, the second spatial position is obtained based on the second positioning module, the second pitch information is obtained by the first angle measuring instrument, and the world coordinates and the heading information of the spatial coordinate measurement device are obtained through the first spatial position and the second spatial position; or, the measurement module is a positioning module and a first angle measuring instrument, the heading information and the third pitch information are obtained by the first angle measuring instrument, and the world coordinates of the spatial coordinate measurement device are obtained by the positioning module.

[0014] Compared with the prior art, the spatial coordinate measurement device and the spatial coordinate measurement method provided by the application have the following beneficial effects: 1. A spatial coordinate measurement device is provided in the embodiment of the application, which is used for measuring the actual world coordinates of a to-be-measured point. The spatial coordinate measurement device comprises a shell assembly, a laser assembly arranged on and connected with the shell assembly, a main control module, a communication module and a measurement module arranged in the shell assembly, the main control module is electrically connected with the communication module, the measurement module and the laser module, the measurement module is used for providing the world coordinates, the heading information and the pitch information of the spatial coordinate measurement device, the communication module is used for receiving the calibration coordinate information transmitted by the outside world, the laser assembly is used for emitting laser towards the to-be-measured point and receiving the returned laser to obtain the relative distance from the to-be-measured point to the spatial coordinate measurement device, the main control module obtains the initial world coordinates of the to-be-measured point based on the world coordinates, the heading information, the pitch information and the relative distance of the spatial coordinate measurement device, the main control module receives the calibration coordinate information, and the actual world coordinates of the to-be-measured point are obtained after the initial world coordinates are calibrated based on the calibration coordinate information in the main control module. In the embodiment, the world coordinates of the to-be-measured point can be obtained based on a multi-module integrated device through the cooperative action of the laser assembly, the main control module, the communication module and the measurement module, the operation is simple, the communication module receives the calibration coordinate information transmitted by the outside world, so that the spatial coordinate measurement device has a certain anti-interference performance, and can be used in a complex dynamic environment to realize real-time and accurate positioning of a dynamic target.

[0015] 2. The embodiment of the application also provides a spatial coordinate measurement system, which has the same beneficial effects as the spatial coordinate measurement device described above, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0018] Figure 2a This is a partial structural schematic diagram of the spatial coordinate measuring device provided in the first embodiment of the present invention. Figure 1 .

[0019] Figure 2b This is a partial structural schematic diagram of the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the laser mirror of the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0021] Figure 4a This is a schematic diagram of an embodiment of a measurement module in the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0022] Figure 4b This is a schematic diagram of another implementation of the measurement module in the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0023] Figure 4c This is a schematic diagram of the structure of another measurement module in the spatial coordinate measuring device provided in the first embodiment of the present invention. Figure 1 .

[0024] Figure 4d This is a second schematic diagram of the structure of another measurement module in the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0025] Figure 5a This is a schematic diagram showing that the angle between the light output direction of the laser component and the axial direction of the second cavity in the spatial coordinate measuring device provided in the first embodiment of the present invention is 0°.

[0026] Figure 5b This is a schematic diagram showing that the angle between the light output direction of the laser component and the axial direction of the second cavity in the spatial coordinate measuring device provided in the first embodiment of the present invention is 90°.

[0027] Figure 6 This is a partial structural schematic diagram of the spatial coordinate measuring device provided in the first embodiment of the present invention. Figure 3 .

[0028] Figure 7 This is a partial structural schematic diagram of the spatial coordinate measuring device provided in the first embodiment of the present invention.

[0029] Figure 8 This is a schematic diagram of the spatial coordinates of the spatial coordinate measuring device provided in the first embodiment of the present invention when detecting the point to be measured.

[0030] Figure 9 This is a flowchart illustrating the spatial coordinate measurement method provided in the second embodiment of the present invention.

[0031] Explanation of reference numerals in the attached diagram: 100. Spatial coordinate measuring device; 1. Housing assembly; 2. Laser assembly; 3. Main control module; 4. Communication module; 5. Measurement module; 6. Display module; 7. Power supply module; 8. Charging port; 9. Alarm module; 10. Mounting components; 11. First cavity; 12. Second cavity; 13. Grip part; 21. Laser housing; 22. Laser output end; 23. Laser receiver end; 50. Positioning module; 51. First positioning module; 52. Second positioning module; 53. First angle measuring instrument; 54. Second angle measuring instrument; 61. Display screen; 62. Button module; 101. Connecting part; 102. Bearing part; a. The light emission direction of the laser component; b. The axial direction of the second cavity. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] In the embodiments provided by this invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0034] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Those skilled in the art should also recognize that the embodiments described in the specification are optional embodiments, and the actions and modules involved are not necessarily essential to the invention.

[0035] In various embodiments of the present invention, it should be understood that the sequence number of each process does not necessarily imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0036] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It is particularly important to note that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0037] Existing spatial positioning methods mainly include technologies such as GPS, laser ranging, and ultrasonic ranging. While GPS positioning has a wide coverage area, its accuracy is significantly reduced due to signal blockage in complex environments (such as substations, indoor spaces, or densely populated high-rise areas). Furthermore, obtaining precise world coordinates for a given point typically requires manual operation and multiple calibrations using different measuring instruments, resulting in low efficiency and difficulty in meeting real-time positioning needs in dynamic environments. Therefore, there is an urgent need for a high-precision, interference-resistant spatial position measurement technology that can adapt to complex environments to achieve real-time, accurate positioning of dynamic targets.

[0038] To solve the above technical problems, please gather... Figure 1 , Figure 2a and Figure 2bThe first embodiment of the present invention provides a spatial coordinate measuring device 100 for measuring the actual world coordinates of a point to be measured. The spatial coordinate measuring device 100 includes a housing assembly 1 and a laser assembly 2 disposed on and connected to the housing assembly 1. The housing assembly 1 is provided with a main control module 3, a communication module 4 and a measurement module 5. The main control module 3 is electrically connected to the communication module 4, the measurement module 5 and the laser module 2 respectively. The measurement module 5 is used to provide the world coordinates, heading information and pitch information of the spatial coordinate measuring device 100. The communication module 4 is used to receive calibration coordinate information transmitted from the outside. The laser component 2 is used to emit a laser towards the point to be measured and receive the returned laser to obtain the relative distance between the point to be measured and the spatial coordinate measuring device 100. The main control module 3 obtains the initial world coordinates of the point to be measured based on the world coordinates, heading information, pitch information and relative distance of the spatial coordinate measuring device 100. The main control module 3 receives the calibration coordinate information. The initial world coordinates are calibrated in the main control module 3 based on the calibration coordinate information to obtain the actual world coordinates of the point to be measured.

[0039] Understandably and specifically, the spatial coordinate measuring device 100 in this embodiment can adjust its angle by hand, by fixing it with a bracket, or by remote control of a motor when calibrating the position of a point to be measured, adapting to different environments with many obstructions and scattered point distribution. Specifically, this embodiment uses a multi-module fusion approach to measure the world coordinates of the point to be measured. When the user needs to calibrate the position of a certain point to be measured, they only need to aim the laser component 2 at the point to be measured. The laser component 2 emits a laser beam, which strikes the point to be measured and returns to the laser component 2. The time t for receiving the laser beam can be obtained, and the relative distance d between the point to be measured and the spatial coordinate measuring device 100 can be obtained by multiplying the speed of light by the time t / 2. The main function of the measuring device is to obtain the world coordinates, heading information, and pitch information of the spatial coordinate measuring device 100.

[0040] It should be noted that the position of the user-held spatial coordinate measuring device 100 can be considered a temporary fixed measurement point. The world coordinates of the spatial coordinate measuring device 100 are also the world coordinates of the measurement point. Heading information refers to the horizontal orientation angle of the spatial coordinate measuring device 100 relative to the reference direction, a key parameter describing the orientation and attitude of an object in a two-dimensional plane. In navigation and positioning systems, the heading angle is usually defined as the angle between the object's forward direction and geographic north, with clockwise being positive, and a range of 0° to 360°. This parameter, together with the pitch and roll angles, constitutes a complete attitude description of the object in three-dimensional space. Pitch information refers to the vertical orientation angle of the spatial coordinate measuring device 100 relative to the reference direction, i.e., the pitch angle. When obtaining the spatial position of the point to be measured, it is not necessary to obtain the roll angle of the spatial coordinate measuring device 100; only the world coordinates, heading information, and pitch information of the spatial coordinate measuring device 100 are needed to determine the attitude of the housing assembly 1 when the spatial coordinate measuring device 100 is aligned with the point to be measured. Please refer to [further details needed]. Figure 8 Assuming the spatial coordinate measuring device 100 is positioned at O ​​(0, 0, 0) in the preset spatial coordinate system (xyz), and the heading information is: the spatial coordinate measuring device 100 is aligned with the point to be measured a in the positive direction of the y-axis, and the pitch information is: the spatial coordinate measuring device 100 is aligned with the point to be measured a in the direction of y=z, and the relative distance measured by the laser component 2 to the point to be measured a is 2... The main control module 3 obtains the initial world coordinates (0, 2, 2) of the target point a using the world coordinates, heading information, pitch information, and relative distance from the spatial coordinate measuring device 100. At this point, the spatial position of the target point has been obtained through the measurement point. However, to obtain the world coordinates of the target point, the location of the measurement point is also needed. This requires the use of calibration coordinate information transmitted from an external reference station. It should be noted that the reference station can be a local fixed base station or a network base station transmitting via a 4G network. When the coordinate position of the positioning reference station is known, that is, when the positioning reference station calculates the error between its own observations and the known coordinate position, and provides this information to the main control module 3 to eliminate the initial world coordinate error measured by the measurement module 5, thereby obtaining the calibrated actual world coordinates of the target point.

[0041] It should be understood that in this embodiment, through the synergistic effect of the laser component 2, the main control module 3, the communication module 4 and the measurement module 5, the world coordinates of the point to be measured can be obtained based on a multi-module fusion device. The operation is simple, and the communication module 4 receives calibration coordinate information transmitted from the outside, which gives it a certain degree of anti-interference capability. It can be used in complex dynamic environments to achieve real-time and accurate positioning of dynamic targets.

[0042] Further, please refer to Figure 3The laser assembly 2 includes a laser housing 21, and a laser output end 22 and a laser receiver end 23 disposed on the same side of the housing. The laser housing 21 is connected to the housing assembly 1. There is a distance between the laser output end 22 and the laser receiver end 23, and both are disposed inside the laser housing 21 and exposed through the laser housing 21. During distance measurement, the laser output end 22 is aligned with the point to be measured and emits a laser beam. The laser beam is reflected after hitting the point to be measured along the emission direction. The reflected light is received by the laser receiver end 23 to complete the distance measurement.

[0043] Furthermore, in this embodiment, the laser component 2 is connected to the housing component 1, specifically, it can be a fixed connection or a detachable connection, so that the laser component 2 can be easily installed onto the housing component 1 during the actual positioning process.

[0044] In one implementation method, please combine Figure 2a and Figure 4a The housing assembly 1 contains a first cavity 11, and a portion of the first cavity 11 extends to form a second cavity 12 that communicates with the first cavity 11. The first cavity 11 contains a main control module 3 and a communication module 4 that are electrically connected. The second cavity 12 contains a measurement module 5 that is electrically connected to the main control module 3. The measurement module 5 includes a first positioning module 51 and a second positioning module 52, which are respectively located at opposite ends of the second cavity 12 and are both electrically connected to the main control module 3. A first preset distance is maintained between the first positioning module 51 and the second positioning module 52. The first positioning module 51 is used to acquire a first spatial position, and the second positioning module 52 is used to acquire a second spatial position. The measurement module 5 acquires the world coordinates, heading information, and first pitch information of the spatial coordinate measuring device 100 using the first and second spatial positions. The main control module 3 acquires the initial world coordinates using the world coordinates, heading information, first pitch information, and relative distance of the spatial coordinate measuring device 100.

[0045] Understandably, the housing in this embodiment adopts a dual-cavity layout. The first cavity 11 houses the main control module 3 and the communication module 4, while the second cavity 12 independently houses the measurement module 5, maximizing the use of space within the housing assembly 1. Furthermore, the presence of the second cavity 12 provides ample space for the measurement module 5. In this embodiment, the first positioning module 51 and the second positioning module 52 are locators based on RTK technology. The first positioning module 51 and the second positioning module 52 are located at opposite ends of the second cavity 12. The second cavity 12 provides a first preset distance between the first positioning module 51 and the second positioning module 52, allowing direct calculation of the device's heading and pitch information through world coordinate difference between the two modules, eliminating the need for angle sensors and simplifying the process. Additionally, a larger first preset distance results in more accurate heading and pitch information calculated directly by the two modules. However, an excessively large first preset distance would increase the length of the second cavity 12. Therefore, it is sufficient to ensure that the length of the second cavity 12 is not less than 40 centimeters.

[0046] For example, in this embodiment, the world coordinates of the spatial coordinate measuring device 100 can be the coordinates of any point within the spatial coordinate measuring device 100. It should be noted that the positional relationship between these coordinates and the laser component 2, the first positioning module 51, and the second positioning module 52 is known. For example, the world coordinates are the midpoint between the positions of the two positioning modules 50. Assuming the coordinates of the first positioning module 51 are (x1, y1, z1) and the coordinates of the second positioning module 52 are (x2, y2, z2), then the midpoint coordinates are ((x1+x2) / 2, (y1+y2) / 2, (z1+z2) / 2). Further, heading information: obtained by acquiring the heading angle of the spatial coordinate measuring device 100. The heading angle refers to the orientation of the device on the horizontal plane, usually the angle of true north. The planar coordinates (x-axis and y-axis) of the two modules are needed, ignoring altitude. For example, the vector (dx, dy) pointing from the first module to the second module is used, and then the angle is calculated using the arctangent function. Heading is typically defined as 0 degrees north and increases clockwise. Therefore, it may be necessary to adjust the coordinate axes, for example, pointing the y-axis north and the x-axis east. The calculated angle θ = arctan(dx, dy) is then converted to a range of 0-360 degrees. If dy is positive, θ is the angle with north; if dy is negative, it may need to be adjusted by adding 180 or 360 degrees. Pitch angle involves the altitude difference. The altitude difference dz between the two modules is divided by their horizontal distance L. The first pitch angle φ = arctan(dz / L). Here, L is the horizontal distance, not the diagonal distance. In the example, if the two modules are at the same altitude, the pitch angle is 0; if one is higher than the other, the angle is positive or negative, indicating that the device is tilted up or down. For example, the first module is at (0,0,0), and the second module is at (0.1, 0.1, 0.05), in meters. The midpoint coordinates are (0.05, 0.05, 0.025). The vector difference is (0.1, 0.1, 0.05), and the horizontal distance L ≈ 0.1414 meters. The heading angle θ = arctan(0.1, 0.1) = 45 degrees, pointing northeast. The pitch angle φ = arctan(0.05 / 0.1414) ≈ 19.5 degrees. Furthermore, assuming that the relative distance of laser component 2 has been measured at this time, and the positional relationship between the world coordinates of laser component 2 and spatial coordinate measuring device 100 is known, the main control module 3 can obtain the initial world coordinates through the world coordinates of spatial coordinate measuring device 100, heading information, first pitch information, and relative distance.

[0047] It should be noted that the first positioning module 51 and the second positioning module 52 in this embodiment employ RTK positioning technology. Real-Time Kinematic (RTK) is a high-precision positioning technology based on satellite navigation systems (such as GPS and BeiDou), which improves positioning accuracy from the conventional meter level to the centimeter level through differential correction methods. Its core principle is to achieve real-time error correction through the collaborative work of a base station and a rover station. For example, a base station is set up around the substation; the world coordinates of the base station and the rover station can be accurately obtained through the collaborative action of the base station, the rover station, and satellite signals. It should be understood that the first positioning module 51 and the second positioning module 52 in this embodiment can obtain their world coordinates by receiving satellite signals.

[0048] In one possible implementation, please combine Figure 2a and Figure 4b The measurement module 5 also includes a first angle measuring instrument 53, which is disposed between the first positioning module 51 and the second positioning module 52, and is electrically connected to the main control module 3. The first angle measuring instrument 53 is used to provide second pitch information. The measurement module 5 obtains the world coordinates and heading information of the spatial coordinate measuring device 100 through the first spatial position and the second spatial position. The main control module 3 obtains the initial world coordinates through the world coordinates, heading information, second pitch information and relative distance of the spatial coordinate measuring device 100.

[0049] Understandably, in this embodiment, the first positioning module 51 and the second positioning module 52 employ RTK positioning technology. RTK positioning technology suffers from insufficient measurement accuracy in terms of altitude difference. Therefore, to further improve the positioning accuracy in the altitude direction, this embodiment uses two positioning modules 50 plus an angle measuring instrument to locate the point to be measured. The first positioning module 51 and the second positioning module 52 only acquire the world coordinates and heading information of the spatial coordinate measuring device 100, i.e., the heading angle, while the first angle measuring instrument 53 acquires the second pitch information, i.e., the pitch angle.

[0050] For example, in this embodiment, the world coordinates of the spatial coordinate measuring device 100 can be the coordinates of any point within the spatial coordinate measuring device 100. It should be noted that the positional relationship between these coordinates and the laser component 2, the first positioning module 51, the second positioning module 52, and the first angle measuring instrument 53 is known. For example, the world coordinates are the midpoint between the positions of the two positioning modules 50. Assuming the coordinates of the first positioning module 51 are (x1, y1, z1) and the coordinates of the second positioning module 52 are (x2, y2, z2), then the midpoint coordinates are ((x1+x2) / 2, (y1+y2) / 2, (z1+z2) / 2). Heading information: calculated through the horizontal projection vector: θ=arctan(x2−x1,y2−y1). Pitch information: the second pitch angle ϕ2 is directly measured by the first angle measuring instrument 53. Further, the main control module 3 obtains the initial world coordinates through the world coordinates, heading information, second pitch information, and relative distance of the spatial coordinate measuring device 100.

[0051] In one possible implementation, please combine Figure 2a , Figure 4c and Figure 4d The measurement module 5 includes a positioning module 50 and a second angle measuring instrument 54 disposed within the housing assembly 1. Specifically, the measurement module 5 includes a positioning module 50 and a second angle measuring instrument 54 disposed within the second cavity 12. Both the positioning module 50 and the second angle measuring instrument 54 are electrically connected to the main control module 3. A second preset distance is maintained between the first positioning module 51 and the second positioning module 52. The first angle measuring instrument 53 is used to provide heading information and third pitch information, and the positioning module 50 is used to provide the world coordinates of the spatial coordinate measuring device 100. The main control module 3 obtains the initial world coordinates through the world coordinates, heading information, third pitch information, and relative distance of the spatial coordinate measuring device 100.

[0052] Understandably, in this embodiment, the second angle measuring instrument 54 can directly measure both the pitch angle and the heading angle. Unlike the first angle measuring instrument 53, which can only measure the pitch angle, the first angle measuring instrument 53 has a lower cost and can be implemented using a general gyroscope, making it simple and direct. The second angle measuring instrument 54, however, requires an integrated heading angle measurement module, which is relatively more expensive. Specifically, in this embodiment, the world coordinates of the spatial coordinate measuring device 100 can be the coordinates of any point within the spatial coordinate measuring device 100. It should be noted that the positional relationship between these coordinates and the laser component 2, the positioning module 50, and the second angle measuring instrument 54 is known. For example, assuming the coordinates of the positioning module 50 are (x0, y0, z0), they can be directly output as the world coordinates of the spatial coordinate measuring device 100. Heading information: The heading angle θ is directly output by the second angle measuring instrument 54. Pitch information: The third pitch angle ϕ3 is directly output by the second angle measuring instrument 54. Furthermore, the main control module 3 obtains the initial world coordinates through the world coordinates, heading information, third pitch information, and relative distance from the spatial coordinate measuring device 100. It should be noted that, as... Figure 4c As shown, the positioning module 50 can be located at one end of the second cavity 12 near the laser assembly 2. Figure 4d As shown, the positioning module 50 can be located at the end of the second cavity 12 away from the laser component 2.

[0053] Furthermore, please combine Figure 5a and Figure 5b The axial direction b of the second cavity forms an angle with the light emission direction a of the laser component, and the angle is 0° to 90°. It should be understood that the axial direction b of the second cavity in this embodiment determines the setting position of the positioning module 50 in the second cavity 12.

[0054] For example, please combine Figure 2a and Figure 5aIf the axial direction b of the second cavity forms a 0° angle with the light output direction a of the laser component, the spatial coordinate measuring device 100 will have a pistol-like shape, and the line connecting the two positioning modules will be parallel to the light output direction a. When the axial direction of the second cavity 12 is parallel to the laser output direction, the line connecting the measuring modules 5, such as the first positioning module 51 and the second positioning module 52, will be completely aligned with the laser direction. In this case, the heading angle and pitch angle generated by differential calculation directly correspond to the actual direction of the laser beam, and no coordinate transformation is required during the calculation process. For example, when the user aims at the point to be measured, the laser direction is the line connecting the first positioning module 51 and the second positioning module 52. The main control module 3 can directly fuse the heading angle, pitch angle, and laser ranging value to calculate the initial world coordinates, eliminating the transformation error caused by coordinate system misalignment. For example, in complex environments, when the user needs to quickly measure points at different heights. With a 0° angle layout, it can be ensured that when the equipment is held horizontally, the pitch angle of the laser beam and the measurement module 5 are completely synchronized. Even if the equipment is slightly tilted, such as to avoid obstructions, the angle data will still strictly match the laser direction, avoiding the problem of additional calibration required due to the offset of the module axis in traditional solutions.

[0055] For example, please combine Figure 2a and Figure 5b If the axial direction b of the second cavity forms a 90° angle with the light output direction a of the laser component, that is, the axial direction of the second cavity 12 is perpendicular to the laser output direction, then the spatial coordinate measuring device 100 is shaped like a short-barreled pistol. When the user holds the spatial coordinate measuring device 100, the second cavity 12 extends horizontally. At this time, the center of gravity of the spatial coordinate measuring device 100 will be closer to the point where the user's wrist is holding it. The user can aim at high / low targets while maintaining a natural angle, reducing fatigue during long-term operation; at the same time, the horizontal arrangement of the measuring module 5 maximizes the use of the housing width. In addition, in complex environments, users often need to hold the device against a fixed object to suppress hand tremors. With a 90° angle layout, the wide surface of the second cavity 12 can serve as a stable fulcrum to fit against a wall or steel beam, which is better than the situation where the device needs to be held suspended in the air with a 0° angle layout. Furthermore, the 90° angle design avoids the laser component 2 and the measuring module 5 from being stacked in the long axis direction, shortening the overall length of the device and improving portability. Meanwhile, the measurement module 5 is located far from the laser emitter to reduce electromagnetic interference from the high-frequency signals of the laser circuit to the positioning module 50.

[0056] Furthermore, please combine Figure 2a , Figure 4a and Figure 6The spatial coordinate measuring device 100 also includes a display module 6, which includes a display screen 61 and a button module 62. The display screen 61 is located at one end of the housing assembly 1 near the laser assembly 2. The housing assembly 1 extends to form a grip portion 13 corresponding to the display screen 61. The button module 62 is located on the grip portion 13 and is electrically connected to the main control module 3. When the actual world coordinates of the point to be measured are obtained, the display screen 61 takes a picture of the point to be measured and displays the actual world coordinates of the point to be measured.

[0057] Understandably, in this embodiment, the display screen 61 is located at the end of the housing assembly 1 near the laser assembly 2, used to capture the measured point in real time and overlay its actual world coordinates. The grip portion 13, similar to a camera grip, conforms to ergonomic design, allowing the user to hold the spatial coordinate measuring device 100 with one hand and press the button module 62 to trigger the shooting process. It should be understood that existing spatial coordinate measurements rely on external devices to synchronously display coordinates and point information, leading to two major drawbacks: first, users need to record the coordinates and then manually compare them to the on-site location, which can easily cause point confusion in complex environments, such as densely packed equipment areas in substations; second, frequent equipment switching during operation increases operational steps, especially posing safety risks in scenarios such as high altitudes and confined spaces. In this embodiment, after the laser assembly 2 is aligned with the measured point and the coordinate calculation is completed, the display screen 61 immediately calls the built-in camera to capture the target's real-world image, while the main control module 3 renders the calculated actual world coordinates onto the screen in real time as an overlay layer. Furthermore, the coordinate measuring device of this embodiment can be held with one hand in all extreme scenarios, such as high-altitude operations. This makes the application scenarios of coordinate measuring devices more extensive.

[0058] Furthermore, please combine Figure 2a and Figure 6 and Figure 7The spatial coordinate measuring device 100 also includes a power module 7, a charging port 8, and an alarm module 9 disposed within the housing assembly 1. One end of the charging port 8 is exposed through the housing assembly 1, and the other end is electrically connected to the power module 7. The power module 7 is electrically connected to the communication module, the main control module 3, and the alarm module 9. Understandably, the power module 7 provides power to the communication module, the main control module 3, and the alarm module 9. The charging port 8 is exposed within the housing and connected to the power module 7 for rapid power replenishment. The alarm module 9 is electrically linked to the power module 7, monitoring the power status in real time and triggering an alarm. Furthermore, the power module 7 can employ a distributed power supply architecture to prioritize different modules. For example, high priority: main control module 3 and communication module 4, ensuring data continuity and transmission, prioritizing data transmission stability. Medium priority: measurement module 5 and laser assembly 2, maintaining basic positioning functionality; even if the display module 6 does not display the world coordinates of the measured point, the data after each measurement will be retained in the main control module 3. Low priority: display screen 61 and alarm module 9. The display screen 61 and alarm module 9 will only start working when the power module 7 confirms that the power level is higher than a certain threshold. In this embodiment, the world coordinates of the point to be measured can be located, and the integrated alarm module 9 can set some special alarm scenarios. For example, in some substation areas, if the measurement personnel are detected to be too far away from the point to be measured during positioning, an alarm will be issued to warn the measurement personnel to stay away from the danger zone.

[0059] Further, please refer to Figure 7 The spatial coordinate measuring device 100 also includes a mounting component 10, which includes a connecting part 101 and a bearing part 102. One end of the connecting part 101 is disposed in the second cavity 12 along the axial direction b of the second cavity, and the bearing parts 102 are disposed at opposite ends of the connecting part 101. The first positioning module 51 and the second positioning module 52 are disposed on the bearing parts 102.

[0060] Understandably, if the positioning module 50 is directly mounted on the main control board or the cavity wall of the housing, the following potential problems may arise: for example, mechanical vibrations caused by equipment shaking or contact with supports during operation may be directly transmitted to the positioning module 50, reducing the stability of satellite signal processing; for example, the main control board may generate heat during continuous operation, and the heat may be conducted to the positioning module 50 under high temperature conditions, causing temperature drift errors. Therefore, a connecting part 101 is added as a "vibration buffer beam" to absorb the impact energy transmitted by the housing through the elastic deformation of the connecting part 101; the bearing part 102 is connected to the positioning module 50, which also facilitates the maintenance and replacement of the positioning module 50.

[0061] It should be noted that the calibration coordinate information in this embodiment is obtained by receiving signals transmitted from an external positioning reference station. If the coordinate position of the positioning reference station is known, the reference station can be used to calculate the error between its own observations and the known coordinates, and provide this error information to the main control module to eliminate the error in the coordinates measured by the positioning module 50. If the coordinate position of the positioning reference station is unknown, at the same time that the spatial coordinate measuring device 100 performs distance measurement, the operator can record the coordinates obtained by the reference station and use them as reference coordinates; subsequently, based on the difference between the reference station's own observations at each moment and the reference coordinates, the real-time positioning error is calculated, and then used to eliminate the error in the coordinates measured by the positioning module 50 at that moment.

[0062] It should be understood that the above scheme includes two implementation methods: one is to integrate network RTK technology into the positioning module 50, without the need for local base station to assist in error elimination. The principle is to use network base stations, such as 4G, to transmit error information to the user in order to correct the measurement error of the positioning module 50; the other is to set up a base station locally. The absolute coordinates of the base station may be unknown, but its position is fixed. At the time of ranging, its own coordinates are recorded as a reference. At this time, the relative positional relationship between the point to be measured and the base station is determined. Subsequently, the positioning error can be calculated by measuring the difference between the coordinates in real time and the reference coordinates, thereby realizing error elimination.

[0063] Please see Figure 9 The second embodiment of the present invention also provides a spatial coordinate measurement method, applied to the above-mentioned spatial coordinate measurement device, the method comprising the following steps: S1, Adjust the spatial coordinate measuring device and align the laser component with the point to be measured; S2, based on the laser emitted by the laser component, obtains the relative distance between the spatial coordinate measuring device and the point to be measured; S3, based on the measurement module, obtains the world coordinates, heading information and pitch information of the spatial coordinate measurement device; S4, receives calibration coordinate information transmitted from the outside world based on the communication module; S5, based on the world coordinates, heading information, pitch information and relative distance obtained by the main control module through the space coordinate measuring device; S6, the initial world coordinates are obtained by calibrating the calibration coordinate information to obtain the actual world coordinates of the point to be measured.

[0064] Understandably, in this embodiment, the measurement point can be handheld for measurement, achieving a single-step operation of "aiming and measuring". Furthermore, the measurement module outputs the device's world coordinates in real time. Heading information and pitch information are simultaneously captured by laser ranging, and by receiving calibration coordinate information in real time to eliminate positioning errors, the actual world coordinates of the point to be measured can be obtained. The operation is simple, the measurement speed is fast, and the accuracy is high.

[0065] Furthermore, obtaining the world coordinates, heading information, and pitch information of the spatial coordinate measuring device includes: The measurement module consists of a first positioning module and a second positioning module. The first spatial position is obtained based on the first positioning module, and the second spatial position is obtained based on the second positioning module. The world coordinates, heading information, and first pitch information of the spatial coordinate measuring device are obtained through the first spatial position and the second spatial position. Alternatively, the measurement module may consist of a first positioning module, a second positioning module, and a first angle measuring instrument. The first positioning module acquires a first spatial position, the second positioning module acquires a second spatial position, the first angle measuring instrument acquires second pitch information, and the world coordinates and heading information of the spatial coordinate measuring device are acquired through the first and second spatial positions. Alternatively, the measurement module may consist of a positioning module and a first angle measuring instrument. The first angle measuring instrument acquires heading information and third pitch information, while the positioning module acquires the world coordinates of the spatial coordinate measuring device.

[0066] It should be understood that the measurement module in this embodiment includes multiple measurement methods. Users can selectively use different modes to measure the point to be measured based on different usage costs: for example, two positioning modules, one positioning module plus an angle measuring instrument, or two positioning modules plus one angle measuring instrument. Specifically, Mode 1: world coordinates, heading angle, and first pitch angle are calculated solely through the spatial position difference between the first and second positioning modules. This mode has a lower cost and is suitable for scenarios where high accuracy in the vertical direction is not required. Mode 2: dual positioning modules provide world coordinates and heading angle, while the angle measuring instrument supplements the second pitch angle. This mode has a lower cost and provides high measurement accuracy in both the horizontal and vertical directions. Mode 3: a single positioning module outputs world coordinates, while the angle measuring instrument simultaneously provides the heading angle and third pitch angle. This mode has a higher cost but provides high measurement accuracy in both the horizontal and vertical directions.

[0067] The spatial coordinate measurement method provided in this embodiment of the invention has the same beneficial effects as the spatial coordinate measurement device described above, and will not be elaborated here.

[0068] The spatial coordinate measuring device and spatial coordinate measuring method disclosed in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention. Any modifications, equivalent substitutions and improvements made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A spatial coordinate measuring device for measuring the actual world coordinates of a point to be measured, characterized in that: The spatial coordinate measuring device includes a housing assembly and a laser assembly disposed on and connected to the housing assembly. The housing assembly contains a communication module and a measurement module. The housing assembly is equipped with a main control module, which is electrically connected to the communication module, the measurement module, and the laser module. The measurement module is used to provide the world coordinates, heading information, and pitch information of the spatial coordinate measuring device. The communication module is used to receive calibration coordinate information transmitted from the outside. The laser component is used to emit a laser towards the point to be measured and receive the returned laser to obtain the relative distance from the point to be measured to the spatial coordinate measuring device. The main control module obtains the initial world coordinates of the point to be measured based on the world coordinates, heading information, pitch information and relative distance of the spatial coordinate measuring device. The main control module receives the calibration coordinate information. The initial world coordinates are calibrated within the main control module based on the calibration coordinate information to obtain the actual world coordinates of the point to be measured.

2. The spatial coordinate measuring device as described in claim 1, characterized in that: The housing assembly contains a first cavity, and a portion of the first cavity extends to form a second cavity communicating with the first cavity. The first cavity contains a main control module and a communication module electrically connected to it, and the second cavity contains a measurement module electrically connected to the main control module. The measurement module includes a first positioning module and a second positioning module, which are respectively located at opposite ends of the second cavity and are both electrically connected to the main control module. A first preset distance is maintained between the first positioning module and the second positioning module. The first positioning module is used to obtain a first spatial position, the second positioning module is used to obtain a second spatial position, and the measurement module obtains the world coordinates, heading information and first pitch information of the spatial coordinate measuring device through the first spatial position and the second spatial position; The main control module obtains the initial world coordinates through the world coordinates, heading information, first pitch information, and relative distance of the spatial coordinate measuring device.

3. The spatial coordinate measuring device as described in claim 2, characterized in that: The measurement module further includes a first angle measuring instrument, which is disposed between the first positioning module and the second positioning module, and is electrically connected to the main control module. The first angle measuring instrument is used to provide second pitch information, and the measuring module obtains the world coordinates and heading information of the spatial coordinate measuring device through the first spatial position and the second spatial position; The main control module obtains the initial world coordinates through the world coordinates, heading information, second pitch information, and relative distance of the spatial coordinate measuring device.

4. The spatial coordinate measuring device as described in claim 1, characterized in that: The measurement module includes a positioning module and a second angle measuring instrument disposed within the housing assembly. Both the positioning module and the second angle measuring instrument are electrically connected to the main control module. A second preset distance is maintained between the first positioning module and the second positioning module. The second angle measuring instrument is used to provide heading information and third pitch information, and the positioning module is used to provide the world coordinates of the spatial coordinate measuring device; The main control module obtains the initial world coordinates through the world coordinates, heading information, third pitch information, and relative distance of the spatial coordinate measuring device.

5. The spatial coordinate measuring device as described in claim 1, characterized in that: The axial direction of the second cavity forms an angle with the light emission direction of the laser component, and the angle is 0° to 90°.

6. The spatial coordinate measuring device as described in claim 1, characterized in that: The spatial coordinate measuring device further includes a display module, which includes a display screen and a button module. The display screen is disposed at one end of the housing assembly near the laser assembly. The housing assembly extends to form a grip portion corresponding to the display screen. The button module is disposed on the grip portion and is electrically connected to the main control module. When the actual world coordinates of the point to be measured are obtained, the display screen takes a picture of the point to be measured and displays the actual world coordinates of the point to be measured.

7. The spatial coordinate measuring device as described in claim 6, characterized in that: The spatial coordinate measuring device also includes a power module, a charging port, and an alarm module disposed within the housing assembly. One end of the charging port extends through the housing assembly and is exposed outside, while the other end is electrically connected to the power module. The power module is electrically connected to the communication module, the main control module, and the alarm module, respectively.

8. The spatial coordinate measuring device as described in claim 7, characterized in that: The spatial coordinate measuring device further includes a mounting component, which includes a connecting part and a supporting part. One end of the connecting part is disposed in the second cavity along the axial direction of the second cavity, and the supporting part is disposed at opposite ends of the connecting part. The first positioning module and the second positioning module are disposed on the supporting part.

9. A spatial coordinate measurement method, applied to the spatial coordinate measurement device as described in any one of claims 1-8, characterized in that: The method includes the following steps: Adjust the spatial coordinate measuring device and align the laser assembly with the point to be measured; The relative distance between the spatial coordinate measuring device and the point to be measured is obtained by emitting laser light from the laser component. The world coordinates, heading information, and pitch information of the spatial coordinate measuring device are obtained based on the measurement module. Based on receiving calibration coordinate information transmitted from the outside world through the communication module; The main control module obtains the initial world coordinates based on the world coordinates, heading information, pitch information, and relative distance from the spatial coordinate measuring device. The initial world coordinates are calibrated based on the calibration coordinate information to obtain the actual world coordinates of the point to be measured.

10. The spatial coordinate measurement method as described in claim 9, characterized in that: Obtaining the world coordinates, heading information, and pitch information of the spatial coordinate measuring device includes: The measurement module consists of a first positioning module and a second positioning module. The first spatial position is obtained based on the first positioning module, and the second spatial position is obtained based on the second positioning module. The world coordinates, heading information, and first pitch information of the spatial coordinate measuring device are obtained through the first spatial position and the second spatial position. Alternatively, the measurement module may consist of a first positioning module, a second positioning module, and a first angle measuring instrument. The first positioning module is used to obtain a first spatial position, the second positioning module is used to obtain a second spatial position, the first angle measuring instrument is used to obtain second pitch information, and the world coordinates and heading information of the spatial coordinate measuring device are obtained through the first and second spatial positions. Alternatively, the measurement module may consist of a positioning module and a first angle measuring instrument. The first angle measuring instrument acquires heading information and third pitch information, while the positioning module acquires the world coordinates of the spatial coordinate measuring device.

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