Anti-vibration pose compensation support and vision measurement equipment

Abstract

The invention discloses an anti-vibration pose compensation support and vision measurement equipment, and relates to the technical field of structure monitoring equipment, the anti-vibration pose compensation support comprises a supporting structure, a motion pose measurement mechanism and a motion compensation mechanism, the supporting structure comprises a base and an outer ring frame, an inner ring frame is arranged in the outer ring frame, and a workbench is arranged in the inner ring frame; the moving posture measuring mechanism detects the position change of the base; a first driving assembly of the motion compensation mechanism drives the outer ring frame to move, a second driving assembly drives the inner ring frame to move, and a third driving assembly drives the workbench to move. Kinematics parameters of the supporting structure are collected in real time through the motion posture measuring mechanism, six-degree-of-freedom posture adjustment is achieved through the motion compensation mechanism, posture deviation of the supporting structure is adjusted, environment disturbance is dynamically compensated, it is ensured that the posture of the vision measuring instrument is constant, disturbance influences of factors such as wind loads and environment vibration on the vision measuring instrument are avoided, and the measurement accuracy is improved. The problem that the measurement precision of the vision measurement instrument is reduced due to vibration in a complex environment is solved.

Description

Technical Field

[0001] This application relates to the field of structural monitoring equipment technology, and in particular to a vibration-damping posture compensation support and a visual measurement device. Background Technology

[0002] In the field of civil engineering, accurate measurement of structural deformation is a core element in assessing structural safety performance and understanding the structural working condition. For in-service structures, long-term loads, environmental effects, and material aging can easily lead to component damage and a decline in safety performance, resulting in structural system failure. Therefore, real-time monitoring is necessary for reliability assessment. For important structures under construction, such as bridges, buildings, and foundation pit supports, safety accidents caused by improper construction control are frequent, and national and local regulations mandate the implementation of construction monitoring. Among these, displacement of large structures is a key indicator for health monitoring, while deformation analysis of small components relies on refined measurements of displacement or strain fields.

[0003] Traditional contact measurement methods, such as strain gauges, displacement gauges, and fiber Bragg grating sensors, have significant limitations. They are not only complex to prepare for, cumbersome to operate, and susceptible to environmental interference, but also rely heavily on point or line measurements in conventional engineering deployments, failing to cover deformation data across the entire field and thus unable to meet the demands for real-time, dynamic, and high-precision engineering monitoring.

[0004] Non-contact measurement methods based on computer vision have become an important technological direction in current engineering measurement due to their advantages such as full-field coverage and high precision. This method achieves two-dimensional deformation field measurement by comparing images of the target before and after deformation, and further completes three-dimensional deformation field measurement of the target by acquiring images of the target from two different perspectives.

[0005] However, computer vision measurement technology faces significant challenges in uncontrollable environments such as outdoors. Environmental disturbances, such as wind and ground vibrations, can cause slight vibrations or pose shifts in the support of the camera, directly affecting the camera's position and attitude parameters, and consequently causing deviations in the image acquisition perspective. Without real-time rigid motion compensation or reference image updates, this rigid motion will be misinterpreted as structural deformation, thus introducing systematic errors.

[0006] Although visual measurement can achieve high accuracy in controlled indoor environments, camera pose instability caused by environmental disturbances in uncontrolled outdoor scenarios restricts the large-scale, low-cost application of visual measurement technology in engineering projects.

[0007] Therefore, developing a dedicated support that can compensate for environmental disturbances and maintain camera pose stability is of great scientific research value and engineering practical significance for improving the accuracy and reliability of visual measurement technology in complex environments. Summary of the Invention

[0008] Based on this, a vibration-damping posture compensation support and a visual measurement device are provided to solve the problem that existing visual measurement instruments are affected by spatial posture changes caused by environmental vibration loads, thus affecting the measurement accuracy.

[0009] Therefore, in a first aspect, embodiments of this application provide a vibration-damping posture compensation support, comprising:

[0010] The support structure includes a base and an outer ring frame movably disposed on the base. An inner ring frame is movably disposed within the outer ring frame, and a worktable is movably disposed within the inner ring frame. The worktable is used to place a vision measuring instrument.

[0011] A motion posture measuring mechanism, mounted on the base, is used to detect changes in the position of the base; and

[0012] The motion compensation mechanism includes a first drive component, a second drive component, and a third drive component. The first drive component is used to drive the movement of the outer ring frame, the second drive component is used to drive the movement of the inner ring frame, and the third drive component is used to drive the movement of the worktable.

[0013] The first driving component has a first moving end and a first rotating end, and the first rotating end rotates about the moving direction of the first moving end;

[0014] The second driving component has a second moving end and a second rotating end, the second rotating end rotating about the moving direction of the second moving end;

[0015] The third driving component has a third moving end and a third rotating end, and the third rotating end rotates about the moving direction of the third moving end.

[0016] The movement directions of the first mobile terminal, the second mobile terminal, and the third mobile terminal are initially orthogonal to each other.

[0017] In one embodiment, a control mechanism is further provided on the base. The control mechanism is electrically connected to the motion posture measuring mechanism and the motion compensation mechanism. The control mechanism is used to receive signals from the motion posture measuring mechanism and to control the movement of the motion compensation mechanism.

[0018] In one embodiment, the control mechanism includes an embedded computing control module, which is used to control the movement of the motion compensation mechanism;

[0019] The embedded computing control module is electrically connected to an inertial measurement data fusion module and a remote communication module. The inertial measurement data fusion module is used to fuse and calculate the signals of the motion attitude measurement mechanism to obtain the attitude angle and position offset of the base.

[0020] The remote communication module is used to transmit the reference pose of the base to the embedded computing and control module.

[0021] In one embodiment, the control mechanism further includes an over-limit alarm device, which includes at least one of a warning light and a buzzer. When the motion posture measuring mechanism detects that the cumulative displacement or cumulative angular displacement of any axis of the base exceeds a preset threshold, the over-limit alarm device is used for audible and visual alarm.

[0022] In one embodiment, the base includes a base plate and a housing disposed on the base plate, wherein the base plate and the housing form a receiving cavity;

[0023] The outer ring frame, the inner ring frame, and the worktable are disposed on the top of the outer shell, and the motion attitude measuring mechanism is disposed inside the receiving cavity.

[0024] In one embodiment, a receiving hole is provided through the top of the outer casing, and the receiving hole communicates with the receiving cavity;

[0025] An outer ring support plate is fixedly provided at the bottom of the outer ring frame. The outer ring support plate and the outer ring frame form a groove. The inner ring frame and the worktable are disposed in the groove. The outer ring support plate is disposed in the receiving hole. The first driving component is disposed in the receiving cavity and is used to drive the movement of the outer ring support plate.

[0026] In one embodiment, the base plate has a plurality of mounting positions evenly spaced around its periphery, the mounting positions being used to mount and fix the base plate.

[0027] In one embodiment, the surface of the workbench is provided with an anti-slip mat.

[0028] In one embodiment, the motion attitude measurement mechanism includes at least one of a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a magnetometer.

[0029] Secondly, embodiments of this application provide a visual measurement device, including a visual measuring instrument and the vibration-damping posture compensation support described in the first aspect. A mounting component is provided on the workbench, and the mounting component is used for detachable connection with the visual measuring instrument.

[0030] Beneficial effects

[0031] According to the vibration-damping posture compensation support and visual measurement equipment provided in the embodiments of this application, the influence of environmental vibration on the posture of the visual measurement instrument is effectively reduced by the dynamic adjustment of the six-degree-of-freedom motion compensation mechanism, ensuring the stability of the external parameters of the visual measurement instrument during each image acquisition, and significantly improving the accuracy and reliability of visual measurement in complex environments. Attached Figure Description

[0032] Figure 1 This diagram shows the overall structure of a vibration-damping posture compensation support provided in an embodiment of this application.

[0033] Figure 2 This illustration shows a structural diagram of a vibration-damping posture compensation support used to represent a workbench, as provided in an embodiment of this application.

[0034] Figure 3 This diagram shows the internal structure of the cavity in a vibration-damping posture compensation support according to an embodiment of this application.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Support structure; 11. Base plate; 111. Mounting position; 12. Outer shell; 121. External power supply interface; 13. Outer ring frame; 14. Inner ring frame; 15. Workbench; 16. Outer ring support plate; 17. Mounting component; 2. Motion posture measurement mechanism; 3. Control mechanism; 31. Display controller; 32. Embedded computing control module; 33. Remote communication module; 34. Over-limit alarm device; 341. Warning light; 342. Buzzer; 4. Motion compensation mechanism; 41. First group of drive components; 411. First moving end; 412. First rotating end; 42. Second group of drive components; 421. Second moving end; 422. Second rotating end; 43. Third group of drive components; 431. Third moving end; 432. Third rotating end. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0039] The structures, proportions, sizes, etc., illustrated in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0040] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "lateral," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] Currently, visual measurement equipment generally uses universal brackets or fixed structures to rigidly connect directly to the ground, building structures, and other foundations. While these solutions are simple and inexpensive, they have significant drawbacks: firstly, the stability and reliability of the brackets themselves are difficult to guarantee, making them prone to loosening or deformation; secondly, rigid connections cannot effectively buffer external environmental disturbances. In complex construction scenarios or long-term outdoor monitoring environments, disturbances such as wind loads, ground vibrations, and mechanical impacts will be directly transmitted to the measuring equipment, causing its orientation to shift and generating slight vibrations, thus reducing the accuracy of single measurements. As the monitoring cycle extends, errors accumulate, ultimately severely affecting the control accuracy of construction quality and the accuracy of structural health assessments.

[0042] like Figures 1-3 As shown, this embodiment provides a vibration-damping posture compensation support, including a support structure 1, a motion posture measurement mechanism 2, and a motion compensation mechanism 4. The support structure 1 provides support force and provides assembly positions for other components. The motion posture measurement mechanism 2 collects real-time position changes of the support structure 1, while the motion compensation mechanism 4 dynamically corrects these position changes, thereby ensuring the constant posture of the vision measuring instrument located on the support structure 1.

[0043] Specifically, the support structure 1 includes a base and an outer ring frame 13 movably mounted on the base. An inner ring frame 14 is movably mounted within the outer ring frame 13, and a worktable 15 is movably mounted within the inner ring frame 14. The worktable 15 is used to place a vision measuring instrument. By movably mounting the outer ring frame 13 on the base, movably mounting the inner ring frame 14 within the outer ring frame 13, and movably mounting the worktable 15 within the inner ring frame 14, a three-layer nested, relatively movable structure is formed. This allows the worktable 15 to have three degrees of freedom in adjusting its posture in space, thus providing a structural basis for subsequent pose compensation.

[0044] It should be noted that, depending on the application scenario and usage requirements, a visual measuring instrument can be a camera, imager, thermal imager, or scanner, etc.

[0045] The motion attitude measurement mechanism 2 is mounted on the base and is used to detect changes in the position of the base. The base of the support structure 1 serves as the reference component of the entire support, and its positional changes directly reflect the impact of external vibrations or environmental disturbances on the support. Therefore, by detecting changes in the displacement or angle of the base, the input signal of external disturbances can be accurately obtained, providing data for subsequent compensation control.

[0046] The motion compensation mechanism 4 includes a first drive assembly, a second drive assembly, and a third drive assembly. The first drive assembly is used to drive the movement of the outer ring frame 13. The first drive assembly has a first moving end 411 and a first rotating end 412. The first rotating end 412 rotates around the moving direction of the first moving end 411. This makes the movement of the outer ring frame 13 include not only translation but also rotation around the translation direction, thereby realizing dynamic compensation for the disturbance of the base in a certain direction.

[0047] The second drive assembly is used to drive the movement of the inner ring frame 14. The second drive assembly has a second moving end 421 and a second rotating end 422, and the second rotating end 422 rotates about the moving direction of the second moving end 421. The third drive assembly is used to drive the movement of the worktable 15. The third drive assembly has a third moving end 431 and a third rotating end 432, and the third rotating end 432 rotates about the moving direction of the third moving end 431. Similarly, the structural design of the second and third drive assemblies enables the inner ring frame 14 and the worktable 15 to also have the ability of combined translation and rotation, thereby realizing omnidirectional compensation in a three-degree-of-freedom space.

[0048] Furthermore, the movement direction of the first moving end 411 is perpendicular to the movement direction of the second moving end 421, and the movement direction of the second moving end 421 is perpendicular to the movement direction of the third moving end 431. Thus, the motion axes of the first driving component, the second driving component, and the third driving component constitute a base coordinate system, enabling pose adjustment of the worktable 15 in any direction in three-dimensional space. This effectively compensates for vibration interference from any direction, significantly improving the stability and measurement accuracy of the vision measuring instrument.

[0049] It is known that the moving direction of the first moving end 411, the moving direction of the second moving end 421, and the moving direction of the third moving end 431 can be arbitrarily selected. That is to say, the moving directions of the outer ring frame 13, the inner ring frame 14, and the worktable 15 can be arbitrarily selected.

[0050] Therefore, by collecting motion information through the motion posture measurement mechanism 2 in the support, calculating the six degrees of freedom displacement and posture change through the preset algorithm, and performing posture compensation on the support structure 1 through the motion compensation mechanism 4, the external parameters of the vision measuring instrument are the same at each image acquisition time, thereby correcting the jitter of the vision measuring instrument.

[0051] In actual assembly, the first rotating end 412 can be mounted on the first moving end 411, and the outer ring frame 13 can be mounted on the first rotating end 412; alternatively, the first moving end 411 can be mounted on the first rotating end 412, and the outer ring frame 13 can be mounted on the first moving end 411. This achieves the movement and rotation of the outer ring frame 13. Similarly, the arrangement of the second moving end 421 and the second rotating end 422, as well as the arrangement of the third moving end 431 and the third rotating end 432, can also be the same as described above.

[0052] Of course, the first moving end 411, the second moving end 421 and the third moving end 431 can be driven to move by means such as cylinders, hydraulic cylinders, electric push rods, gear transmission or screw transmission; the first rotating end 412, the second rotating end 422 and the third rotating end 432 can be driven to rotate by means such as motors or rotating cylinders. This embodiment does not limit this, so as to drive the movement of the outer ring frame 13, the inner ring frame 14 and the worktable 15, thereby realizing dynamic position compensation of the vision measuring instrument located on the worktable 15.

[0053] In this embodiment, the first driving assembly drives the movement of the outer ring frame 13, with the first moving end 411 reciprocating along the height direction and the first rotating end 412 rotating about the height direction as an axis. The second driving assembly drives the movement of the inner ring frame 14, with the second moving end 421 reciprocating along a first horizontal direction and the second rotating end 422 rotating about the first horizontal direction as an axis. The third driving assembly drives the movement of the worktable 15, with the third moving end 431 reciprocating along a second horizontal direction and the third rotating end 432 rotating about the second horizontal direction as an axis. The second horizontal direction is perpendicular to the first horizontal direction, and the first horizontal direction is perpendicular to the height direction.

[0054] Furthermore, the second moving end 421 and the second rotating end 422 are respectively connected to the opposite sides of the inner ring frame 14 in the first horizontal direction, and the third moving end 431 and the third rotating end 432 are respectively connected to the opposite sides of the worktable 15 in the second horizontal direction. This ensures that the rotation axis and moving axis of the inner ring frame 14 coincide, and the rotation axis and moving axis of the worktable 15 coincide. In addition, it can enhance the overall stability and reliability of the device.

[0055] In some embodiments, the motion attitude measurement mechanism 2 includes at least one of a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass, and a magnetometer. These sensors can measure angular velocity, linear acceleration, heading angle, and magnetic field direction respectively, thereby comprehensively sensing the motion state of the base; through multi-sensor fusion technology, the accuracy of attitude estimation can be further improved, especially in complex electromagnetic environments or high dynamic conditions, while maintaining stable measurement performance.

[0056] As an example, the motion attitude measurement mechanism 2 in this embodiment uses a nine-axis attitude sensor, which integrates multiple sensors into one unit, resulting in high precision and high reliability.

[0057] like Figures 1-3 As shown, in some embodiments, the base includes a base plate 11 and a housing 12 disposed on the base plate 11, with the base plate 11 and the housing 12 forming a receiving cavity; the outer ring frame 13, the inner ring frame 14, and the worktable 15 are disposed on the top of the housing 12, and the motion posture measuring mechanism 2 is disposed within the receiving cavity. The receiving cavity accommodates precision components such as the motion posture measuring mechanism 2, thereby preventing interference from external dust, moisture, or mechanical impacts, and improving the system's environmental adaptability and reliability; simultaneously, the outer ring frame 13, the inner ring frame 14, and the worktable 15 being disposed on the top of the housing 12 facilitates the installation and adjustment of the vision measuring instrument, improving the operability and maintenance convenience of the support.

[0058] In some embodiments, a receiving hole is provided through the top of the outer shell 12, and the receiving hole communicates with the receiving cavity; an outer ring support plate 16 is fixedly provided at the bottom of the outer ring frame 13, and the outer ring support plate 16 and the outer ring frame 13 form a groove. The inner ring frame 14 and the worktable 15 are disposed in the groove, the outer ring support plate 16 is disposed in the receiving hole, and the first driving component is disposed in the receiving cavity and is used to drive the movement of the outer ring support plate 16. This achieves stable support for the outer ring frame 13 by the support structure 1, and also provides installation space for the inner ring frame 14 and the worktable 15, thereby reducing the volume and weight of the entire support and improving its integration and portability.

[0059] Furthermore, the first driving component is connected to the middle of the outer ring support plate 16, thereby ensuring the stability of driving the outer ring support plate 16 to move and rotate.

[0060] In addition, an external power supply interface 121 is provided on the outer casing 12. The DC power supply is connected to an external power source through the power supply interface to provide power to the electrical equipment in the first drive assembly, the second drive assembly and the third drive assembly.

[0061] Optionally, the base plate 11 has multiple mounting positions 111 evenly spaced around its periphery. These mounting positions 111 are used to securely mount the base plate 11. This allows the support to be firmly installed on the ground, platform, or other equipment using bolts, locating pins, dowels, or other fasteners, thereby preventing the introduction of additional vibration sources due to the support's own swaying and further improving the system's stability. In this embodiment, the mounting positions 111 are mounting holes for connection with four-corner bolts. The base plate 11 is fixedly mounted using these four-corner bolts, adapting to various rigid reference platforms and enabling quick and secure installation.

[0062] In some embodiments, the surface of the worktable 15 is provided with an anti-slip pad, which can be made of materials such as silicone or rubber, effectively increasing the friction between the vision measuring instrument and the worktable 15, preventing it from slipping or loosening during the compensation movement, thereby ensuring the positional stability and positioning accuracy of the vision measuring instrument.

[0063] like Figures 1-3As shown, in some embodiments, the vibration-damping posture compensation support further includes a control mechanism 3 disposed on the base. The control mechanism 3 is electrically connected to the motion posture measurement mechanism 2 and the motion compensation mechanism 4. The control mechanism 3 is used to receive signals from the motion posture measurement mechanism 2 and to control the movement of the motion compensation mechanism 4. This enables real-time reception of detection signals from the motion posture measurement mechanism 2 and control of the movement of the motion compensation mechanism 4 based on these signals, thereby achieving real-time response and active compensation to external disturbances and avoiding the shortcomings of traditional passive vibration isolation methods, such as delayed response and low compensation accuracy. Optionally, the control mechanism 3 is disposed within the receiving cavity.

[0064] Therefore, by using the motion posture measurement mechanism 2 to collect kinematic parameters such as acceleration and angular velocity of the support structure 1 in real time, the control mechanism 3 calculates the deviation between the real-time pose at the current image acquisition moment and the reference pose at the initial image acquisition moment, driving the three-dimensional motion compensation module to work collaboratively and dynamically adjust, realizing six-degree-of-freedom pose adjustment, dynamically compensating for environmental disturbances, ensuring that the pose of the vision measuring instrument is constant at each frame of image acquisition moment, avoiding the influence of wind load, environmental vibration and other factors on camera disturbances, solving the problem of decreased measurement accuracy of vision measuring instruments due to vibration in complex environments. This support structure is compact, has a wide range of applications, is easy to carry and use, and is suitable for fields such as structural health monitoring and construction monitoring in civil engineering.

[0065] In some embodiments, the control mechanism 3 includes an embedded computing control module 32, which controls the motion compensation mechanism 4. The embedded computing control module 32 is electrically connected to an inertial measurement data fusion module and a remote communication module 33. The inertial measurement data fusion module fuses and calculates the signals from the motion attitude measurement mechanism 2 to obtain the attitude angle and position offset of the base. The remote communication module 33 transmits the reference pose of the base to the embedded computing control module 32. The embedded computing control module 32 can fuse and calculate the multi-source signals (such as those from gyroscopes, accelerometers, and electronic compasses) output by the motion attitude measurement mechanism 2, thereby obtaining more accurate base attitude angles and position offsets, improving the accuracy and reliability of the compensation control.

[0066] In addition, the remote communication module 33 enables the embedded computing control module 32 to receive reference pose information from an external system, thereby comparing the current pose of the vision measuring instrument with the ideal pose, further improving the accuracy of compensation; at the same time, the module also supports remote monitoring and parameter adjustment, which facilitates system integration and maintenance.

[0067] Specifically, after the vision measuring instrument starts up and completes its first image acquisition, the three-dimensional spatial pose at that moment can be set as the reference pose via the remote communication module 33. Subsequently, before each image acquisition, the motion posture measurement mechanism 2 collects motion parameters such as acceleration and angular velocity from the moment of the previous image acquisition to the current moment and transmits them to the control mechanism 3. A preset algorithm is used to calculate the displacement and angular deviations between the real-time pose and the reference pose. The control mechanism 3 generates control commands based on the deviations, driving the motion compensation mechanism 4 to perform corresponding translational or rotational movements. This ensures that the actual pose of the vision measuring instrument during each image acquisition is the same as the reference pose, guaranteeing the consistency of the vision measuring instrument's pose across multiple image acquisitions and avoiding measurement errors caused by disturbances from the external environment.

[0068] In summary, this support integrates attitude adjustment and closed-loop control functions. It establishes a reference posture and performs dynamic compensation through the remote communication module 33, which greatly reduces the frequency of manual inspections and the workload of on-site operations, significantly improves monitoring efficiency, and is suitable for engineering application scenarios.

[0069] Optionally, the control mechanism 3 further includes an over-limit alarm device 34, which includes at least one of a warning light 341 and a buzzer 342. When the motion attitude measuring mechanism 2 detects that the cumulative displacement or angular displacement of any axis of the base exceeds a preset threshold, the over-limit alarm device 34 provides an audible and visual alarm. When the motion attitude measuring mechanism 2 detects that the cumulative displacement or angular displacement of any axis exceeds the preset threshold, it indicates that the current vibration or disturbance has exceeded the system's compensation capability. At this time, the over-limit alarm device 34 prompts the operator to intervene promptly through an audible and visual alarm to prevent the visual measuring instrument from being damaged or failing due to excessive displacement. Furthermore, the over-limit alarm device 34 can also be electrically connected to the embedded computing control module 32 to send a locking signal, improving system security.

[0070] The warning light 341 can be a red LED light, a red-green dual-color LED light, or a red-yellow-green tri-color LED light, etc., to achieve a visual warning effect.

[0071] In some embodiments, the control mechanism 3 further includes a display controller 31, which is disposed on the housing 12. The display controller 31 is used to receive the attitude, deviation and alarm information output by the control mechanism 3 and convert them into visual images, which are displayed on the display interface of the housing 12 in real time for on-site monitoring and interaction by the operator.

[0072] In summary, the vibration-damping posture compensation support provided in this embodiment is operated as follows: First, the base is fixed on a stable bedrock, building, or ground outside the deformation zone, as close as possible to the measurement point. Then, the visual measuring instrument is installed on the workbench 15 and powered on, and its internal and external parameters are calibrated. Next, the image acquisition frequency of the visual measuring instrument is determined, and the motion compensation frequency of the base is set to match the image acquisition frequency of the visual measuring instrument. The visual measuring instrument acquires the first measurement image to determine the base's reference posture. Finally, the visual measuring instrument acquires images of the measurement point according to the preset frequency, and the base automatically performs six-degree-of-freedom posture compensation before each image acquisition.

[0073] like Figures 1-3 As shown, this embodiment provides a visual measurement device, including a visual measuring instrument and the anti-vibration posture compensation support provided in the above embodiment. The worktable 15 is provided with a mounting component 17, which is used to detachably connect to the visual measuring instrument.

[0074] The mounting component 17 includes components such as bolts, studs, locating pins, or threaded holes. Furthermore, to ensure the stability of the vision measuring instrument, the mounting component 17 is positioned at the center of the worktable 15.

[0075] In summary, the visual measuring instrument can be quickly assembled and disassembled through the mounting component 17, thereby improving the modularity of the equipment and the efficiency of on-site assembly. At the same time, since the support has active vibration damping and posture compensation capabilities, the visual measuring instrument can still maintain high-precision measurement in complex environments such as vehicle-mounted, ship-mounted, or industrial sites, significantly expanding its application range and adaptability.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A vibration-proof pose compensation support, comprising: a support structure (1) comprising a base and an outer ring frame (13) movably arranged on the base, an inner ring frame (14) movably arranged in the outer ring frame (13), and a workbench (15) movably arranged in the inner ring frame (14), the workbench (15) being used for placing a visual measuring instrument; a motion pose measuring mechanism (2) arranged on the base and used for detecting position changes of the base; a motion compensation mechanism (4) comprising a first driving assembly, a second driving assembly, and a third driving assembly, the first driving assembly being used for driving motion of the outer ring frame (13), the second driving assembly being used for driving motion of the inner ring frame (14), and the third driving assembly being used for driving motion of the workbench (15); the first driving assembly has a first moving end (411) and a first rotating end (412), the first rotating end (412) rotating around a moving direction of the first moving end (411); the second driving assembly has a second moving end (421) and a second rotating end (422), the second rotating end (422) rotating around a moving direction of the second moving end (421); the third driving assembly has a third moving end (431) and a third rotating end (432), the third rotating end (432) rotating around a moving direction of the third moving end (431); the moving direction of the first moving end (411), the moving direction of the second moving end (421), and the moving direction of the third moving end (431) are orthogonal to each other initially. The vibration-proof pose compensation support further comprises a control mechanism (3) arranged on the base, the control mechanism (3) being electrically connected with the motion pose measuring mechanism (2) and the motion compensation mechanism (4), the control mechanism (3) being used for receiving signals of the motion pose measuring mechanism (2) and controlling motion of the motion compensation mechanism (4).

2. The anti-vibration position-compensated mount of claim 1, wherein, The control mechanism (3) comprises an embedded operation control module (32), the embedded operation control module (32) being used for controlling motion of the motion compensation mechanism (4); 3. The anti-vibration position-compensated mount of claim 2, wherein, the embedded operation control module (32) is electrically connected with an inertial measurement data fusion module and a remote communication module (33), the inertial measurement data fusion module being used for fusion calculation of signals of the motion pose measuring mechanism (2) to obtain a pose angle and a position offset of the base; the remote communication module (33) being used for transmitting a reference pose of the base to the embedded operation control module (32). The control mechanism (3) further comprises an overrun alarm device (34), the overrun alarm device (34) comprising at least one of a warning light (341) and a buzzer (342), the overrun alarm device (34) being used for sound and light alarm when the motion pose measuring mechanism (2) detects that a cumulative offset of a moving displacement or a cumulative offset of an angle of any axis of the base exceeds a preset threshold.

4. The anti-vibration position-compensated mount of claim 3, wherein, ​ 5. The anti-vibration pose-compensated mount of claim 1, wherein, The base comprises a bottom plate (11) and a shell (12) arranged on the bottom plate (11), and a containing cavity is formed between the bottom plate (11) and the shell (12); The outer ring frame (13), the inner ring frame (14) and the workbench (15) are arranged on the top of the shell (12), and the motion posture measuring mechanism (2) is arranged in the containing cavity.

6. The anti-vibration position-compensated mount of claim 5, wherein, A containing hole is arranged on the top of the shell (12) and communicates with the containing cavity; The bottom of the outer ring frame (13) is fixedly provided with an outer ring support plate (16), the outer ring support plate (16) and the outer ring frame (13) form a recess, the inner ring frame (14) and the workbench (15) are arranged in the recess, the outer ring support plate (16) is arranged in the containing hole, the first driving assembly is arranged in the containing cavity, and the first driving assembly is used for driving the movement of the outer ring support plate (16).

7. The anti-vibration pose-compensated mount of claim 5, wherein, A plurality of mounting positions (111) are uniformly and spacedly arranged on the periphery of the bottom plate (11), and the mounting positions (111) are used for mounting and fixing the bottom plate (11).

8. Vibration isolation and pose compensation mount according to any of claims 1-7, characterized in that The surface of the workbench (15) is provided with an anti-skid pad.

9. Vibration isolation and pose compensation mount according to any of claims 1-7, characterized in that The motion posture measuring mechanism (2) comprises at least one of a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and a magnetometer.

10. A visual measuring device, characterized by The anti-vibration position compensation support comprises a visual measuring instrument and the anti-vibration position compensation support according to any one of claims 1-9, and the workbench (15) is provided with a mounting piece (17) which is used for detachably connecting with the visual measuring instrument.

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