A laser turntable camera

Abstract

The application belongs to the technical field of three-dimensional reconstruction, and particularly relates to a laser rotary table camera. After starting, a background system of a laser camera master control circuit is started. The master control circuit starts a lens module and a laser range finder by sending a start signal to the lens module and the laser range finder. A user sends a shooting instruction to the master control circuit through a user terminal. The master control circuit controls the lens module and the laser range finder to execute a shooting action according to the shooting instruction. Image signals sent by the lens module, laser signals sent by the laser range finder and illumination signals output by a photosensitive sensor are received. Then, the background of the master control circuit generates panoramic image signals by an algorithm and outputs the panoramic image signals to a screen board. It can be seen that the background system of the laser camera can be quickly started, panoramic image signals are output in combination with collected laser signals and plane image signals, so that a three-dimensional model can be directly generated according to the panoramic image signals in the future, and the measurement accuracy of the laser camera is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of three-dimensional reconstruction, and particularly relates to a laser turntable camera. BACKGROUND

[0002] Three-dimensional reconstruction refers to establishing a mathematical model suitable for computer representation and processing of a three-dimensional object, and is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, and is also a key technology for establishing a virtual reality expressing an objective world in a computer. In the prior art, a laser camera is used to acquire laser information, and a three-dimensional model is reconstructed according to the laser information. However, the measurement accuracy of the existing laser camera is low. SUMMARY

[0003] The main purpose of the application is to provide a laser turntable camera, which aims to solve the problem of low measurement accuracy of the existing laser camera.

[0004] The first aspect of the embodiment of the application provides a laser turntable camera, which comprises:

[0005] A main control circuit configured to send a start signal to a lens module and a laser range finder in response to a power-on signal, receive a shooting command, control the lens module and the laser range finder to perform a shooting action, receive a planar image signal sent by the lens module, receive a laser signal sent by the laser range finder, receive an illumination signal output by a photosensitive sensor, and output a panoramic image signal to a screen board;

[0006] The lens module is connected with the main control circuit and configured to collect a planar image signal and output the planar image signal to the main control circuit;

[0007] The laser range finder is connected with the main control circuit and configured to collect a laser signal and output the laser signal to the main control circuit;

[0008] The photosensitive sensor is connected with the main control circuit and used to collect an illumination signal and send the illumination signal to the main control circuit;

[0009] The screen board is connected with the main control circuit and used to receive a panoramic image signal output by the main control circuit and display the panoramic image signal.

[0010] In an optional implementation of the first aspect, the main control circuit comprises a power supply circuit, a screen connection circuit, a lens module connection circuit, a photosensitive sensor connection, a communication circuit, a first control circuit, a range finder connection circuit and the first control circuit;

[0011] The power supply circuit is configured to supply power to the screen connection circuit, the lens module connection circuit, the photosensitive sensor connection, the communication circuit, the first control circuit, the range finder connection circuit and the first control circuit, respectively.

[0012] The first control circuit is configured to receive a power-on signal, send a start signal to the module connection circuit and the range finder connection circuit, receive a shooting instruction sent by the communication circuit, send a control signal to the lens module connection circuit and the range finder connection circuit respectively, receive a planar image signal sent by the lens module connection, receive a laser signal sent by the range finder connection circuit, and output a panoramic image signal to the screen connection circuit.

[0013] The lens module connection circuit is connected with the lens module and the first control circuit respectively, and is configured to send a start signal to the lens module, send a control signal to the lens module, and receive a planar image signal sent by the lens module and output to the first control circuit.

[0014] The range finder connection circuit is connected with the laser range finder and the first control circuit respectively, and is configured to send a start signal to the laser range finder, send a control signal to the laser range finder, and receive a laser signal sent by the laser range finder and output to the first control circuit.

[0015] The communication circuit is connected with the user terminal and the first control circuit respectively, and is configured to receive a shooting instruction sent by the user terminal and output the shooting instruction to the first control circuit.

[0016] The photosensitive sensor connection circuit is connected with the photosensitive sensor and the first control circuit respectively, and is configured to receive a light signal sent by the photosensitive sensor and output the light signal to the first control circuit.

[0017] The screen connection circuit is connected with the screen board and the first control circuit respectively, and is configured to receive a panoramic image signal sent by the first control circuit and output the panoramic image signal to the screen board.

[0018] In an optional implementation of the first aspect, the master control circuit further comprises a gyroscope circuit.

[0019] The gyroscope circuit is connected with the gyroscope and the first control circuit respectively, and is configured to collect an IMU signal of the gyroscope and output the IMU signal to the first control circuit.

[0020] In an optional implementation of the first aspect, the master control circuit further comprises a GPS circuit.

[0021] The GPS circuit is connected with the first control circuit, and is configured to output a GPS signal to the first control circuit.

[0022] In an optional implementation of the first aspect, the main control circuit further comprises a second control circuit and a bottom motor circuit;

[0023] The second control circuit is connected with the first control circuit and the bottom motor circuit respectively, and is configured to receive the motor control instruction sent by the first control circuit, send a motor rotation command to the bottom motor circuit, and instruct the bottom motor circuit to control the motor to perform a rotation action.

[0024] The bottom motor circuit is connected with the second control circuit and the motor respectively, and is configured to receive the motor rotation command sent by the second control circuit, and control the motor to perform a rotation action.

[0025] In an optional implementation of the first aspect, the photosensitive sensor connection circuit comprises a first photosensitive sensor connection circuit and a second photosensitive sensor connection circuit;

[0026] The first photosensitive sensor connection circuit is connected with the photosensitive sensor and the second photosensitive sensor connection circuit respectively, and the second photosensitive sensor connection circuit is connected with the first photosensitive sensor connection circuit and the first control circuit respectively.

[0027] In an optional implementation of the first aspect, the range finder connection circuit comprises a switch control circuit, a first switch connection circuit, a second switch connection circuit, a third switch connection circuit, a fourth switch connection circuit, a signal conversion circuit, a first range finder connection circuit, a second range finder connection circuit, and a third range finder connection circuit;

[0028] The switch control circuit is connected with the first switch connection circuit, the second switch connection circuit, the third switch connection circuit, and the fourth switch connection circuit respectively;

[0029] The fourth switch is connected with the signal conversion circuit;

[0030] The signal conversion circuit is connected with the first control circuit;

[0031] The first switch connection circuit is connected with the first range finder connection circuit, the second switch connection circuit is connected with the second range finder connection circuit, and the second switch connection circuit is connected with the first range finder connection circuit;

[0032] The first range finder connection circuit, the second range finder connection circuit, and the third range finder connection circuit are connected with the laser range finder respectively.

[0033] In an optional implementation of the first aspect, the gyroscope circuit includes a first gyroscope circuit and a second gyroscope circuit.

[0034] The first gyroscope circuit is connected with the gyroscope and the second gyroscope circuit respectively.

[0035] The second gyroscope circuit is connected with the second gyroscope circuit and the first control circuit respectively.

[0036] In an optional implementation of the first aspect, the second control circuit includes a voltage conversion circuit and a control unit circuit.

[0037] The voltage conversion circuit converts the received direct current voltage into alternating current voltage and then outputs to the control unit circuit.

[0038] The control unit circuit receives the alternating current voltage input by the voltage conversion circuit, receives the motor control instruction sent by the first control circuit, sends the motor rotation command to the bottom motor circuit, and instructs the bottom motor circuit to control the motor to perform the rotation action.

[0039] In an optional implementation of the first aspect, the master control circuit further includes a memory circuit.

[0040] The memory circuit is connected with the first control circuit and is configured to receive and cache the panoramic image signal sent by the first control circuit.

[0041] Compared with the prior art, the embodiment of the present application has the beneficial effects that:

[0042] In the embodiment of the present application, after starting, the background system of the laser camera master control circuit is started, the master control circuit starts the lens module and the laser range finder by sending a start signal to the lens module and the laser range finder, the user sends a shooting instruction to the master control circuit through the user terminal, the master control circuit controls the lens module and the laser range finder to perform the shooting action according to the shooting instruction, receives the image signal sent by the lens module, receives the laser signal sent by the laser range finder, and receives the light signal output by the photosensitive sensor, and then the background of the master control circuit generates a panoramic image signal by algorithm and outputs the panoramic image signal to the screen board to instruct the screen board to display the panoramic image signal to the user. It can be seen that the embodiment of the present application can quickly start the background system of the laser camera, output the panoramic image signal combined with the collected laser signal and planar image signal, so as to generate a three-dimensional model directly according to the panoramic image signal subsequently, and improve the measurement accuracy of the laser camera. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 The structure schematic diagram of the laser turntable camera provided by the embodiment of the present application is shown in the figure.

[0044] Figure 2 The structural schematic diagram of the master control circuit provided for the embodiment of the present application is shown in FIG. 1;

[0045] Figure 3 The specific structural schematic diagram of the first photosensitive sensor connection circuit provided for the embodiment of the present application is shown in FIG. 2;

[0046] Figure 4 The specific structural schematic diagram of the second photosensitive sensor connection circuit provided for the embodiment of the present application is shown in FIG. 3;

[0047] Figure 5 The specific structural schematic diagram of the lens module connection circuit provided for the embodiment of the present application is shown in FIG. 4;

[0048] Figure 6 The specific circuit structural schematic diagram of the switch control circuit provided for the embodiment of the present application is shown in FIG. 5;

[0049] Figure 7 The specific circuit structural schematic diagram of the first switch connection circuit provided for the embodiment of the present application is shown in FIG. 6;

[0050] Figure 8 The specific circuit structural schematic diagram of the second switch connection circuit provided for the embodiment of the present application is shown in FIG. 7;

[0051] Figure 9 The specific circuit structural schematic diagram of the third switch connection circuit provided for the embodiment of the present application is shown in FIG. 8;

[0052] Figure 10 The specific circuit structural schematic diagram of the fourth switch connection circuit provided for the embodiment of the present application is shown in FIG. 9;

[0053] Figure 11 The specific structural schematic diagram of the signal conversion circuit provided for the embodiment of the present application is shown in FIG. 10;

[0054] Figure 12 The specific structural schematic diagram of the first range finder connection circuit provided for the embodiment of the present application is shown in FIG. 11;

[0055] Figure 13 The specific structural schematic diagram of the second range finder connection circuit provided for the embodiment of the present application is shown in FIG. 12;

[0056] Figure 14 The specific structural schematic diagram of the third range finder connection circuit provided for the embodiment of the present application is shown in FIG. 13;

[0057] Figure 15 The specific structural schematic diagram of the first gyroscope circuit provided for the embodiment of the present application is shown in FIG. 14;

[0058] Figure 16 The specific structural schematic diagram of the second gyroscope circuit provided for the embodiment of the present application is shown in FIG. 15;

[0059] Figure 17 A schematic diagram of the specific flow of the GPS circuit provided in the embodiments of this application;

[0060] Figure 18 This is a schematic diagram of the specific structure of the screen connection circuit provided in the embodiments of this application;

[0061] Figure 19 This is a schematic diagram of the specific structure of the voltage conversion circuit provided in the embodiments of this application;

[0062] Figure 20 This is a schematic diagram of the specific circuit structure of the control unit circuit provided in the embodiments of this application;

[0063] Figure 21 A schematic diagram of the specific structure of the bottom motor circuit provided in the embodiment of this application. Detailed Implementation

[0064] To make the technical problems, technical solutions, and beneficial effects to be solved by 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 are not intended to limit the scope of this application.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0066] The embodiments of this application are described below with reference to specific implementation methods.

[0067] Figure 1 A schematic diagram of the structure of a laser turntable camera according to a preferred embodiment of this application is shown. For ease of explanation, only the parts relevant to this embodiment are shown, and are described in detail below:

[0068] A laser turntable camera includes a main control circuit 10, a lens module 20, a photosensor 30, a laser rangefinder 40, and a screen panel 50. The main control circuit is configured to, in response to a power-on signal, send a start signal to the lens module and the laser rangefinder; receive a shooting command, control the lens module and the laser rangefinder to perform shooting actions, receive image signals sent by the lens module, receive laser signals sent by the laser rangefinder, receive illumination signals output by the photosensor, and output image signals to the screen panel. The lens module, connected to the main control circuit, is configured to acquire planar image signals and output planar image signals to the main control circuit. The laser rangefinder, connected to the main control circuit, is configured to acquire laser signals and output laser signals to the main control circuit. The photosensor, connected to the main control circuit, is used to acquire illumination signals and send illumination signals to the main control circuit. The screen panel, connected to the main control circuit, is used to receive panoramic image signals output by the main control circuit and display the panoramic image signals.

[0069] For example, the main control circuit can be a circuit composed of an RK3584 quad-core FPGA chip and peripheral circuits; the lens module can be composed of an Ambarella 283 lens module; the photosensitive sensor can be composed of four-way photosensitive elements of a ring camera; the laser rangefinder can be a Livox Mid-70 laser rangefinder; and the screen board can be a Y6-144023 1.44-inch screen from Yuxiang Industry.

[0070] Understandably, after powering on, the main control circuit's background system loads. The main control circuit activates the lens module and laser rangefinder by sending start signals. The user sends a shooting command to the main control circuit via their user terminal. The main control circuit then controls the lens module and laser rangefinder to perform the shooting action based on the command, receiving image signals from the lens module, laser signals from the laser rangefinder, and illumination signals from the photosensor. The background system of the main control circuit then generates a panoramic image signal using an algorithm and outputs it to the screen panel, instructing the screen panel to display the panoramic image signal to the user. Therefore, this application can quickly activate the laser camera's background system, combining the acquired laser signals and planar image signals to output a panoramic image signal, allowing for the subsequent direct generation of a 3D model based on the panoramic image signal, thus improving the measurement accuracy of the laser camera.

[0071] In one alternative implementation, such as Figure 2The diagram shown illustrates the specific structure of the main control circuit. The main control circuit includes a power supply circuit 100, a first control circuit 101, a second control circuit 102, a bottom motor circuit 103, a lens module connection circuit 104, a photosensor connection circuit 105, a rangefinder connection circuit 106, a GPS circuit 107, a screen connection circuit 108, a communication circuit 109, and a gyroscope circuit 110. The power supply circuit is configured to supply power to the first control circuit, the second control circuit, the bottom motor circuit, the lens module connection circuit, the photosensor connection circuit, the rangefinder connection circuit, the GPS circuit, the screen connection circuit, the communication circuit, and the gyroscope circuit. The first control circuit is configured to receive a power-on signal, send a start signal to the module connection circuit and the rangefinder connection circuit, receive a shooting command from the communication circuit, send control signals to the lens module connection circuit and the rangefinder connection circuit, receive a planar image signal from the lens module connection circuit, and receive a signal from the rangefinder connection circuit. The laser signal is sent to the screen connection circuit, which outputs a panoramic image signal. The lens module connection circuit is connected to both the lens module and the first control circuit. It is configured to send a start signal to the lens module, send a control signal to the lens module, receive the planar image signal sent by the lens module, and output it to the first control circuit. The rangefinder connection circuit is connected to both the laser rangefinder and the first control circuit. It is configured to send a start signal to the laser rangefinder, send a control signal to the laser rangefinder, receive the laser signal sent by the laser rangefinder, and output it to the first control circuit. The communication circuit is connected to the user terminal via... The system includes: a first control circuit and a bottom motor circuit; a photosensitive sensor connection circuit connected to both the photosensitive sensor and the first control circuit; a screen connection circuit connected to both the screen panel and the first control circuit; a gyroscope circuit connected to both the gyroscope and the first control circuit; a GPS circuit connected to the first control circuit; a second control circuit connected to both the first control circuit and the bottom motor circuit; a bottom motor circuit connected to both the first control circuit and the bottom motor circuit; and a bottom motor circuit connected to both the second control circuit and the motor.

[0072] In one optional implementation, the power supply circuit is a circuit composed of a TPS70933 chip, an MP9928 chip, and an MP8759 chip. It should be noted that the power supply circuit can provide DC voltages of 3.3V, 5V, and 12V to the RTC, respectively.

[0073] In one alternative implementation, the first control circuit consists of an FPGA chip and peripheral circuits.

[0074] Understandably, the first control circuit is the core circuit of the main control circuit, responsible for processing the collected signals and outputting panoramic image signals to the screen panel.

[0075] In one optional embodiment, the photosensitive sensor connection circuit includes a first photosensitive sensor connection circuit and a second photosensitive sensor connection circuit, wherein the first photosensitive sensor connection circuit is connected to both the photosensitive sensor and the second photosensitive sensor connection circuit, and the second photosensitive sensor connection circuit is connected to both the first photosensitive sensor connection circuit and the first control circuit.

[0076] In specific applications, such as Figure 3The diagram shown is a schematic diagram of the specific structure of the first photosensitive sensor connection circuit provided in the embodiment of this application. The first photosensitive sensor connection circuit includes an external relay J8, a voltage input terminal VCC_3.3V, an output terminal TSC_SCL0, an output terminal TSC_SDA0, an output terminal TSC_SCL1, an output terminal TSC_SDA1, an output terminal TSC_SCL2, an output terminal TSC_SDA2, an output terminal TSC_SCL3, and an output terminal TSC_SDA3. The J8 external relay has one end connected to a photosensitive sensor, and the other end has pins 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10. Pin 1 of the J8 external relay is connected to one end of the output terminal TSC_SCL0, pin 2 is connected to one end of the output terminal TSC_SDA0, pin 3 is connected to one end of the output terminal TSC_SCL1, pin 4 of the J4 external relay is connected to one end of the output terminal TSC_SDA1, pin 5 is connected to one end of the output terminal TSC_SCL2, and pin 6 is connected to one end of the output terminal TSC_SDA2. The connections are as follows: pin 7 of the external relay J4 is connected to one end of the output terminal TSC_SCL3; pin 8 of the external relay J4 is connected to one end of the output terminal TSC_SDAS; pin 9 of the external relay J4 is connected to the voltage input terminal VCC_3.3V; pin 10 of the external relay J4 is grounded; and the other ends of the output terminals TSC_SCL0, TSC_SDA0, TSC_SCL1, TSC_SDA1, TSC_SCL2, TSC_SDA2, TSC_SCL3, and TSC_SDA3 are respectively connected to the second photosensitive sensor connection circuit.

[0077] In specific applications, such as Figure 4The diagram shown is a schematic representation of the specific structure of the second photosensitive sensor provided in this application embodiment. The second photosensitive sensor connection circuit includes an integrated circuit board U20, input terminals TSC_SCL0, TSC_SDA0, TSC_SCL1, TSC_SDA1, TSC_SCL2, TSC_SDA2, TSC_SCL3, TSC_SDA3, voltage input terminal VCC_3.3V, output terminals I2C2_SDA_MO and I2C3_SCL_MO. Specifically, the REST pin of the integrated circuit board is connected to the voltage input terminal VCC_3.3V; the SD0 pin of integrated circuit board U20 is connected to one end of the input terminal TSC_SDA0; ​​the SC0 pin of integrated circuit board U20 is connected to one end of the input terminal TSC_SCL0; the SD1 pin of integrated circuit board U20 is connected to one end of the input terminal TSC_SDA1; the SC1 pin of integrated circuit board U20 is connected to one end of the input terminal TSC_SCL1; the GND pin of integrated circuit board U20 is grounded; the SD2 pin of integrated circuit board U20 is connected to one end of the input terminal TSC_SDA2; the SC3 pin of integrated circuit board U20 is connected to one end of the input terminal TSC_SCL3; and the SD3 pin of integrated circuit board U20 is connected to the input terminal TSC_SDA3. One end of the integrated circuit board U20 is connected to the SDA pin and one end of the output terminal I2C2_SDA_MO. The SCL pin of the integrated circuit board U20 is connected to one end of the output terminal I2C3_SCL_MO. The other ends of the output terminals TSC_SCL0, TSC_SDA0, TSC_SCL1, TSC_SDA1, TSC_SCL2, TSC_SDA2, TSC_SCL3, and TSC_SDA3 are respectively connected to the first sensor connection circuit. The other ends of the output terminals I2C2_SDA_MO and I2C2_SDA_MO are respectively connected to the first control circuit.

[0078] In one alternative implementation, such as Figure 5The diagram shown is a schematic of the specific structure of the lens module connection circuit provided in the embodiment of this application. The lens module connection circuit includes an external relay J4, a voltage input terminal VCC_5V, an input terminal H22_GPIOAO, an input terminal H22_GPIOD7, an output terminal LAN1_AP, an output terminal LAN1_AN, an output terminal LAN1_CP, an output terminal LAN1_CN, an output terminal LAN1_BP, an output terminal LAN1_BN, an output terminal LAN1_DP, and an output terminal LAN1_DN. The J4 external relay has one end connected to the lens module and the other end equipped with pins 1-40. Pin 2 of the J4 external relay is connected to one end of the output terminal LAN1_AP, pin 3 is connected to one end of the output terminal LAN1_AN, pin 5 is connected to one end of the output terminal LAN1_CP, pin 6 is connected to one end of the output terminal LAN1_CN, pin 11 is connected to one end of the input terminal H22_GPIOAO, pin 12 is connected to one end of the input terminal H22_GPIOD7, pins 19, 20, 39, and 40 are connected to the voltage input terminal VCC_5V, and pin 23 is connected to the output terminal... One end of LAN1_BP is connected, pin 24 of external relay J4 is connected to one end of output terminal LAN1_BN, pin 25 of external relay J4 is connected to one end of output terminal LAN1_DP, pin 26 of external relay J4 is connected to one end of output terminal LAN1_DN, and the other ends of input terminal H22_GPIOAO, input terminal H22_GPIOD7, output terminal LAN1_AP, output terminal LAN1_AN, output terminal LAN1_CP, output terminal LAN1_CN, output terminal LAN1_BP, output terminal LAN1_BN, output terminal LAN1_DP, and output terminal LAN1_DN are respectively connected to the first control circuit.

[0079] As can be seen, the first main control circuit inputs a start signal to the external relay through input terminals H22_GPIOAO and H22_GPIOD7. The external relay outputs the start signal to the lens module. After the lens module inputs the planar image signal to the external relay J4, the external relay JA outputs the planar image signal to the first main control circuit through output terminals LAN1_AP, LAN1_AN, LAN1_CP, LAN1_CN, LAN1_BP, LAN1_BN, LAN1_DP, and LAN1_DN.

[0080] In one optional implementation, the communication circuit includes a Wi-Fi function circuit and an Ethernet function circuit. Specifically, the Wi-Fi function circuit can be a circuit composed of an RTL8811 Wi-Fi module and an AP6256 Wi-Fi module, and the Ethernet function circuit can be a circuit composed of an RTL8811 PHY chip.

[0081] In one optional embodiment, the rangefinder connection circuit includes a switch control circuit, a first switch connection circuit, a second switch connection circuit, a third switch connection circuit, a fourth switch connection circuit, a signal conversion circuit, a first rangefinder connection circuit, a second rangefinder connection circuit, and a third rangefinder connection circuit. The switch control circuit is connected to the first switch connection circuit, the second switch connection circuit, the third switch connection circuit, and the fourth switch connection circuit, respectively. The fourth switch is connected to the signal conversion circuit. The signal conversion circuit is connected to the first control circuit. The first switch connection circuit is connected to the first rangefinder connection circuit, the second switch connection circuit is connected to the second rangefinder connection circuit, and the second switch connection circuit is connected to the first rangefinder connection circuit. The first rangefinder connection circuit, the second rangefinder connection circuit, and the third rangefinder connection circuit are each connected to a laser rangefinder.

[0082] In specific applications, such as Figure 6The diagram shown is a schematic of the specific circuit structure of the switch control circuit provided in this embodiment of the application. The switch control circuit includes an integrated circuit board U25, input terminal rd1_n, output terminal rd1_p, input terminal td1_n, output terminal td1_p, input terminal rd2_n, output terminal rd2_p, input terminal td2_n, output terminal td2_p, input terminal rd3_n, output terminal rd3_p, input terminal td3_n, output terminal td3_p, input terminal rd4_n, output terminal rd4_p, input terminal td4_n, and output terminal td4_p. The integrated circuit board U25 is provided with pins RXIP1, RXIN1, TXON1, TXOP1, and RX... Pins IP2, RXIN2, TXON2, TXOP2, RXIP3, RXIN3, TXON3, TXOP3, RXIP4, RXIN4, TXON4, and TXOP4 are connected to the following pins on integrated circuit board U25: pin RXIP1 is connected to one end of the output terminal rd1_p; pin RXIN1 is connected to one end of the input terminal td1_n; pin TXON1 is connected to one end of the input terminal td1_n; pin TXOP1 is connected to one end of the output terminal td1_p; and pin RXIP2 is connected to the output terminal rd2. One end of _p is connected; pin RXIN2 of integrated circuit board U25 is connected to one end of input terminal td2_n; pin TXON2 of integrated circuit board U25 is connected to one end of input terminal td2_n; pin TXOP2 of integrated circuit board U25 is connected to one end of output terminal td2_p; pin RXIP3 of integrated circuit board U25 is connected to one end of output terminal rd3_p; pin RXIN3 of integrated circuit board U25 is connected to one end of input terminal td3_n; pin TXON3 of integrated circuit board U25 is connected to one end of input terminal td3_n; pin TXOP3 of integrated circuit board U25 is connected to one end of output terminal td3_p; pin RXIP3 of integrated circuit board U25 is connected to one end of output terminal td3_p; pin RXIP3 of integrated circuit board U25 is connected to one end of output terminal rd3_p; pin RXIP3 of integrated circuit board U25 is connected to one end of input terminal td3_n; pin TXOP ... 4. Connect one end of the output terminal rd4_p. Connect pin RXIN4 of integrated circuit board U25 to one end of the input terminal td4_n. Connect pin TXON4 of integrated circuit board U25 to one end of the input terminal td4_n. Connect pin TXOP4 of integrated circuit board U25 to one end of the output terminal td4_p. Connect the other ends of input terminal rd1_n, output terminal rd1_p, input terminal td1_n, and output terminal td1_p to the first switch connection circuit respectively. Connect the other ends of input terminal rd2_n, output terminal rd2_p, input terminal td2_n, and output terminal td2_p to the second switch connection circuit respectively.The other ends of input terminal rd3_n, output terminal rd3_p, input terminal td3_n, and output terminal td3_p are respectively connected to the third switch connection circuit. The other ends of input terminal rd4_n, output terminal rd4_p, input terminal td4_n, and output terminal td4_p are respectively connected to the fourth switch connection circuit.

[0083] For example, such as Figure 7 The diagram shown is a schematic of the specific circuit structure of the first switch connection circuit provided in this application embodiment. The first switch connection circuit includes an integrated circuit board XER1, an input terminal td1_n, an output terminal td1_p, an input terminal rd1_n, an output terminal rd1_p, an input terminal TX1_N, an output terminal TX1_P, an input terminal RX1_N, and an output terminal RX1_P. The integrated circuit board XER1 has pins 1-16. Pin 1 of the integrated circuit board XER1 is connected to one end of the input terminal td1_p, pin 3 of the integrated circuit board XER1 is connected to one end of the input terminal td1_n, pin 6 of the integrated circuit board XER1 is connected to one end of the output terminal rd1_p, pin 8 of the integrated circuit board XER1 is connected to one end of the input terminal rd1_n, pin 16 of the integrated circuit board XER1 is connected to one end of the output terminal TX1_P, and pin 14 of the integrated circuit board XER1 is connected to one end of the input terminal TX1_N. Pin 11 of integrated circuit board XER1 is connected to one end of output terminal RX1_P, and pin 9 of integrated circuit board XER1 is connected to one end of input terminal RX1_N. The other ends of input terminal rd1_n, output terminal rd1_p, input terminal td1_n, and output terminal td1_p are respectively connected to the switch control circuit. The other ends of input terminal TX1_N, output terminal TX1_P, input terminal RX1_N, and output terminal RX1_P are respectively connected to the first rangefinder connection circuit.

[0084] For example, such as Figure 8The diagram shown is a schematic of the specific circuit structure of the second switch connection circuit provided in this embodiment of the application. The second switch connection circuit includes an integrated circuit board XER2, an input terminal td2_n, an output terminal td2_p, an input terminal rd2_n, an output terminal rd2_p, an input terminal TX2_N, an output terminal TX2_P, an input terminal RX2_N, and an output terminal RX2_P. The integrated circuit board XER2 has pins 1-16. Pin 1 of the integrated circuit board XER2 is connected to one end of the input terminal td2_p, pin 3 of the integrated circuit board XER2 is connected to one end of the input terminal td2_n, pin 6 of the integrated circuit board XER2 is connected to one end of the output terminal rd2_p, pin 8 of the integrated circuit board XER2 is connected to one end of the input terminal rd2_n, pin 16 of the integrated circuit board XER2 is connected to one end of the output terminal TX2_P, and pin 14 of the integrated circuit board XER2 is connected to one end of the input terminal TX2_N. Pin 11 of integrated circuit board XER2 is connected to one end of output terminal RX2_P, and pin 9 of integrated circuit board XER2 is connected to one end of input terminal RX2_N. The other ends of input terminal rd2_n, output terminal rd2_p, input terminal td2_n, and output terminal td2_p are respectively connected to the switch control circuit. The other ends of input terminal TX2_N, output terminal TX2_P, input terminal RX2_N, and output terminal RX2_P are respectively connected to the first rangefinder connection circuit.

[0085] For example, such as Figure 9The diagram shown is a schematic of the specific circuit structure of the third switch connection circuit provided in this application embodiment. The third switch connection circuit includes an integrated circuit board XER3, an input terminal td3_n, an output terminal td3_p, an input terminal rd3_n, an output terminal rd3_p, an input terminal TX3_N, an output terminal TX3_P, an input terminal RX3_N, and an output terminal RX3_P. The integrated circuit board XER3 has pins 1-16. Pin 16 of the integrated circuit board XER3 is connected to one end of the output terminal td3_p; pin 14 of the integrated circuit board XER3 is connected to one end of the input terminal td3_n; pin 11 of the integrated circuit board XER3 is connected to one end of the output terminal rd3_p; pin 9 of the integrated circuit board XER3 is connected to the input terminal rd3_n; pin 1 of the integrated circuit board XER3 is connected to the output terminal TX3_P; and pin 3 of the integrated circuit board XER3 is connected to the input terminal TX3_N. Pin 6 of integrated circuit board XER3 is connected to the output terminal RX3_P, and pin 8 of integrated circuit board XER3 is connected to the input terminal RX3_N. The other ends of input terminal td3_n, output terminal td3_p, input terminal rd3_n, and output terminal rd3_p are respectively connected to the switch control circuit. The other ends of input terminal TX3_N, output terminal TX3_P, input terminal RX3_N, and output terminal RX3_P are respectively connected to the second rangefinder connection circuit.

[0086] For example, such as Figure 10The diagram shown is a schematic of the specific circuit structure of the fourth switch connection circuit provided in this application embodiment. The first switch connection circuit includes an integrated circuit board XER4, an input terminal td4_n, an output terminal td4_p, an input terminal rd4_n, an output terminal rd4_p, an input terminal TX4_N, an output terminal TX4_P, an input terminal RX4_N, and an output terminal RX4_P. The integrated circuit board XER4 has pins 1-16. Pin 1 of the integrated circuit board XER4 is connected to one end of the input terminal td4_p, pin 3 of the integrated circuit board XER4 is connected to one end of the input terminal td4_n, pin 6 of the integrated circuit board XER4 is connected to one end of the output terminal rd4_p, pin 8 of the integrated circuit board XER4 is connected to one end of the input terminal rd4_n, pin 16 of the integrated circuit board XER4 is connected to one end of the output terminal TX4_P, and pin 14 of the integrated circuit board XER4 is connected to one end of the input terminal TX4_N. The connections are as follows: pin 11 of integrated circuit board XER4 is connected to one end of output terminal RX4_P; pin 9 of integrated circuit board XER4 is connected to one end of input terminal RX4_N; the other ends of input terminal rd4_n, output terminal rd4_p, input terminal td4_n, and output terminal td4_p are respectively connected to the switch control circuit; and the other ends of input terminal TX4_N, output terminal TX4_P, input terminal RX4_N, and output terminal RX4_P are respectively connected to the signal conversion circuit.

[0087] For example, such as Figure 11The diagram shown is a schematic representation of the specific structure of the signal conversion circuit provided in this embodiment of the application. The signal conversion circuit includes an integrated circuit board AX88772A, input terminal TX4_N, output terminal TX4_P, input terminal RX4_N, output terminal RX4_P, input terminal USB_XIN12M, and output terminal USB_XOUT12M. The integrated circuit board AX88772A has pins RXIN, RXIP, TXON, TXOP, XTL12P, and XTL12N. Pin RXIN of the integrated circuit board AX88772A is connected to one end of the input terminal RX4_N; pin RXIP of the integrated circuit board AX88772A is connected to one end of the input terminal RX4_P; pin TXON of the integrated circuit board AX88772A is connected to one end of the input terminal TX4_N; and pin TXOP of the integrated circuit board AX88772A is connected to the output terminal RX4_P. The XTL12P pin of the AX88772A circuit board is connected to one end of the input terminal USB_XIN12M, and the XTL12N pin of the AX88772A circuit board is connected to the output terminal USB_XOUT12M. The other ends of the input terminal TX4_N, the output terminal TX4_P, the input terminal RX4_N, and the output terminal RX4_P are respectively connected to the fourth switch connection circuit. The other ends of the input terminal USB_XIN12M and the output terminal USB_XOUT12M are respectively connected to the first control circuit.

[0088] For example, such as Figure 12 The diagram shows a schematic of the specific structure of the first rangefinder connection circuit provided in this application embodiment. The first rangefinder connection circuit includes an external relay J25, an input terminal TX1_N, an output terminal TX1_P, an input terminal RX1_N, and an output terminal RX1_P. One end of the external relay J25 is connected to the laser rangefinder. The other end of the external relay J25 has pins 12, 13, 15, and 16. Pin 12 of the external relay J25 is connected to one end of the output terminal TX1_P, pin 13 is connected to one end of the input terminal TX1_N, pin 15 is connected to RX1_P, and pin 16 is connected to the output terminal RX1_N. The other ends of the input terminal TX1_N, the output terminal TX1_P, the input terminal RX1_N, and the output terminal RX1_P are respectively connected to the first switch connection circuit.

[0089] For example, such as Figure 13The diagram shows a schematic of the second rangefinder connection circuit provided in this embodiment of the application. The second rangefinder connection circuit includes an external relay J24, an input terminal TX2_N, an output terminal TX2_P, an input terminal RX2_N, and an output terminal RX2_P. One end of the external relay J24 is connected to the laser rangefinder. The other end of the external relay J24 has pins 12, 13, 15, and 16. Pin 12 of the external relay J24 is connected to one end of the output terminal TX2_P, pin 13 is connected to one end of the input terminal TX2_N, pin 15 is connected to RX2_P, and pin 16 is connected to the output terminal RX2_N. The other ends of the input terminal TX2_N, the output terminal TX2_P, the input terminal RX2_N, and the output terminal RX2_P are respectively connected to the second switch connection circuit.

[0090] For example, such as Figure 14 The diagram shows a schematic of the specific structure of the third rangefinder connection circuit provided in this application embodiment. The first rangefinder connection circuit includes an external relay J23, an input terminal TX3_N, an output terminal TX3_P, an input terminal RX3_N, and an output terminal RX3_P. One end of the external relay J23 is connected to the laser rangefinder. The other end of the external relay J23 has pins 12, 13, 15, and 16. Pin 12 of the external relay J23 is connected to one end of the output terminal TX3_P, pin 13 is connected to one end of the input terminal TX3_N, pin 15 is connected to RX3_P, and pin 16 is connected to the output terminal RX3_N. The other ends of the input terminal TX3_N, the output terminal TX3_P, the input terminal RX3_N, and the output terminal RX3_P are respectively connected to the third switch connection circuit.

[0091] It is understood that, in the embodiments of this application, the first control circuit, through the fourth switch connection circuit and the switch control circuit, and the laser rangefinder, through the switch control circuit, the first switch connection circuit, the second switch connection circuit, the third switch connection circuit, the first rangefinder connection circuit, the second rangefinder connection circuit, and the third rangefinder connection circuit, enable the first control circuit and the laser rangefinder to exchange USB signals and Ethernet signals, thereby realizing the main control circuit controlling the laser rangefinder to collect laser signals.

[0092] In one optional embodiment, the gyroscope circuit includes a first gyroscope circuit and a second gyroscope circuit. The first gyroscope circuit is connected to both the gyroscope and the second gyroscope circuit, and the second gyroscope circuit is connected to both the first gyroscope and the first control circuit.

[0093] Specifically, such as Figure 15 The diagram shown is a schematic representation of the specific structure of the first gyroscope circuit provided in this embodiment of the application. The first gyroscope circuit includes an integrated circuit board U21, input terminals ICM20948_SYNC and ICM20948_TNT, output terminals IMU_SDO, IMU_SDI, IMU_SCLK, and IMU_NCS. The integrated circuit board U21 has pins INT1, FSYNC, SDO, SDI, SCLK, and NCS. Pin INT1 of the integrated circuit board U21 is connected to one end of the input terminal ICM20948_TNT; pin FSYNC of the integrated circuit board U21 is connected to the input terminal ICM20948_SYNC; pin SDO of the integrated circuit board U21 is connected to one end of the output terminal IMU_SDO; and pin SDI of the integrated circuit board U21 is connected to the output terminal IMU_SDI. Connect the SCLK pin of integrated circuit board U21 to the output terminal IMU_SCLK, connect the NCS pin of integrated circuit board U21 to the output terminal IMU_NCS, connect the other end of the input terminal ICM20948_SYNC to the gyroscope, connect the other end of the input terminal ICM20948_TNT to the gyroscope, and connect the other ends of the output terminals IMU_SDO, IMU_SDI, IMU_SCLK, and IMU_NCS to the second gyroscope circuit respectively.

[0094] For example, such as Figure 16The diagram shown is a schematic diagram of the specific structure of the second gyroscope circuit provided in the embodiment of this application. The second gyroscope circuit includes an integrated circuit board U21, input terminals IMU_SDO, IMU_SDI, IMU_SCLK, IMU_NCS, output terminals IMUSPIOISO, IMUSPIOMISI, IMUSPIOCS, and IMUSPIOCLK. The integrated circuit board U21 has pins A1, A2, A3, A4, B1, B2, B3, and B4. Pin A1 is connected to one end of the input terminal IMU_SDO; pin A2 is connected to one end of the input terminal IMU_SDI; pin A3 is connected to one end of the input terminal IMU_SCLK; pin A4 is connected to one end of the input terminal IMU_NCS; pin B1 is connected to one end of the output terminal IMU_PIOMISO; and pin B2 is connected to the output terminal IMU_NCS. One end of the IMUSPIOMISI terminal is connected to the integrated circuit board U21. Pin B3 is connected to one end of the output terminal IMUSPIOCS. Pin B4 of the integrated circuit board U21 is connected to one end of the output terminal IMUSPIOCLK. The other ends of the input terminals IMU_SDO, IMU_SDI, IMU_SCLK, and IMU_NCS are respectively connected to the first gyroscope circuit. The output terminals IMUSPIOMISI, IMUSPIOCS, and IMUSPIOCLK are respectively connected to the first control circuit.

[0095] Understandably, the gyroscope receives IMU signals through the output terminals IMU_SCLK and IMU_NCS of the first gyroscope circuit, and the first control circuit receives IMU signals through the output terminals IMUSPIOISO, IMUSPIOMISI, IMUSPIOCS, and IMUSPIOCLK of the second gyroscope circuit, thereby enabling the gyroscope to transmit the acquired IMU signals to the main control circuit.

[0096] In one alternative implementation, such as Figure 17The diagram shown is a detailed flowchart of the GPS circuit provided in this embodiment of the application. The GPS circuit includes an external relay J27, an integrated circuit board U43, an output terminal UART5_RX, and an output terminal UART5_TX. One end of the external relay J27 is connected to an external GPS system, and the other end has pins 1, 2, and 3. Pins 2 and 3 are grounded. Pin 1 is connected to pin RF of the integrated circuit board U43. Pin TXD of the integrated circuit board U43 is connected to one end of the output terminal UART5_RX, and pin RXD of the integrated circuit board U43 is connected to one end of the output terminal UART5_TX. The other ends of the output terminals UART5_RX and UART5_TX are respectively connected to the first control circuit.

[0097] Understandably, the GPS circuit can transmit GPS information from an external GPS system to the first control circuit.

[0098] In one alternative implementation, such as Figure 18 The diagram shows a schematic of the screen connection circuit provided in this embodiment. The screen connection circuit includes an external relay J19, input terminals MSPI2CLK, MSPI2MOSI, MSPI2CS1, GPIO3_A1, and an LED. One end of the external relay J19 is connected to the screen board, and the other end has pins A0, SDA, SCL, CS, and led. Pin A0 of the external relay J19 is connected to the input terminal GPIO3_A1; pin SDA of the external relay J19 is connected to the input terminal MSPI2MOSI; pin SCL of the external relay J19 is connected to the input terminal MSPI2CLK; pin CS of the external relay J19 is connected to the input terminal MSPI2CS1; and the led pin of the external relay J19 is connected to the LED. Input terminals MSPI2CLK, MSPI2MOSI, MSPI2CS1, and GPIO3_A1 are respectively connected to the first control circuit.

[0099] Understandably, the first control circuit outputs the panoramic image signal to the screen panel through the screen connection circuit.

[0100] In one optional embodiment, the second control circuit includes a voltage conversion circuit and a control unit circuit; the voltage conversion circuit converts the received DC voltage into AC voltage and outputs it to the control unit circuit; after receiving the AC voltage input from the voltage conversion circuit, the control unit circuit receives the motor control command sent by the first control circuit, sends a motor rotation command to the bottom motor circuit, and instructs the bottom motor circuit to control the motor to perform rotation.

[0101] In specific applications, such as Figure 19 The diagram shows a specific structural schematic of the voltage conversion circuit provided in this embodiment of the application. The voltage conversion circuit includes an integrated circuit board U19, an input terminal STM32RST, a voltage input terminal VCC_3.3V, and a voltage output terminal MUC3.3V. One end of the input terminal STM32RST is connected to the main control circuit, and the other end of the input terminal STM32RST is connected to the VBAT pin of the board U19. The voltage input terminal VCC_3.3V is connected to the VBRF+ pin of the board U19. One end of the voltage output terminal MUC3.3V is connected to the VBAT pin of the board U19, and the other end of the voltage output terminal MUC3.3V is connected to the control unit circuit.

[0102] Understandably, the first control circuit inputs a high level to the voltage conversion circuit through the input terminal STM32RST to enable the voltage conversion circuit, so that the voltage conversion circuit converts the DC voltage input at the voltage input terminal VCC_3.3V into AC voltage, and then outputs it to the control unit circuit through the voltage output terminal MUC3.3V.

[0103] For example, such as Figure 20The diagram shown is a schematic of the specific circuit structure of the control unit circuit provided in the embodiment of this application. The control unit circuit includes an integrated circuit board U38A, a voltage input terminal MCU3.3V, input terminals UART7_RX, UART7_TX, MOTOR_FIN, M_EN, MSPI2CS0, output terminals M_SPINCS, M_SPISCK, M_SPIMISO, M_SPIMOSI, MP1, STEP, DIR, and MP2. The integrated circuit board U38A has pins PF2-NRST, PA4, PA5, PA6, P7, PB4, PB5, PB7, PB9, PB10, PA15, PB4, PB5, PB7, PB9, PB10, and PB12. Pin PF2-NRST of the integrated circuit board U38A is connected to the MCU 3.3V voltage input terminal, and pin PA4 of the integrated circuit board U38A is connected to one end of the output terminal M_SPINCS. Pin PA5 of board U38A is connected to one end of the output terminal M_SPISCK; pin PA6 of integrated circuit board U38A is connected to one end of the output terminal M_SPIMISO; pin PA7 of integrated circuit board U38A is connected to one end of the output terminal M_SPIMOSI; pin PA9 of integrated circuit board U38A is connected to one end of the input terminal UART7_RX; pin PA10 of integrated circuit board U38A is connected to one end of the input terminal UART7_TX; pin PA15 of integrated circuit board U38A is connected to one end of the output terminal MP1; integrated circuit board U3... Pin PB4 of IC 8A is connected to one end of the STEP output terminal. Pin PB5 of IC board U38A is connected to one end of the DIR output terminal. Pin PB7 of IC board U38A is connected to one end of the MP2 output terminal. Pin PB9 of IC board U38A is connected to one end of the MOTOR_FIN input terminal. Pin PB10 of IC board U38A is connected to one end of the M_EN input terminal. The other end of the UART7_RX input terminal and the UART7_TX input terminal... The other end, the other end of input terminal MOTOR_FIN, the other end of input terminal M_EN, the other end of input terminal MSPI2CS0, and the other end of output terminal M_SPINCS are respectively connected to the first control circuit. The other ends of output terminals M_SPINCS, M_SPISCK, M_SPIMISO, M_SPIMOSI, MP1, STEP, DIR, and MP2 are respectively connected to the bottom motor circuit.

[0104] For example, such as Figure 21 The diagram shown is a schematic diagram of the specific structure of the bottom motor circuit provided in the embodiment of this application. The bottom motor circuit includes an integrated circuit board TMC1, input terminals M_SPINCS, M_SPISCK, M_SPIMISO, M_SPIMOSI, MP1, STEP, DIR, MP2, motors M1A, M1A2, M1B1, and M1B2. The integrated circuit board TMC1 has the following pins: CSN_CFG3, SCK_CFG2, SDI_NAI_CFG1, SDO_NAO_CFGO, ENCN_DCO, ENCB_DCEN_CFG4, REFL_STEP, REFR_DIR, OA1, OA2, OB1, and OB2. Pin OA1 of the integrated circuit board TMC1 is connected to motor MA1; pin OA2 is connected to motor M1A2; pin OB1 is connected to motor M1B1; pin OB2 is connected to motor M1B2; pin CSN_CFG3 is connected to one end of the input terminal M_SPINCS; pin SCK_CFG2 is connected to one end of the input terminal M_SPISCK; and pin SDI_NAI_CFG1 is connected to the input terminal M_SPISCK. The pin _NAI_CFG1 is connected to one end of the input terminal M_SPIMISO. The pin SDO_NAO_CFGO of the integrated circuit board TMC1 is connected to one end of the input terminal M_SPIMISO. The pin ENCN_DCO of the integrated circuit board TMC1 is connected to one end of the input terminal MP1. The pin ENCB_DCEN_CFG4 of the integrated circuit board TMC1 is connected to one end of the input terminal MP2. The pin REFL_STEP of the integrated circuit board TMC1 is connected to one end of the input terminal STEP. The pin REFR_DIR of the integrated circuit board TMC1 is connected to one end of the input terminal DIR. The other ends of the input terminals M_SPINCS, M_SPISCK, M_SPIMISO, M_SPIMOSI, MP1, STEP, DIR, and MP2 are respectively connected to the control unit circuit.

[0105] It is understandable that the control unit circuit controls the motor through the bottom motor circuit.

[0106] In one alternative implementation, the memory circuitry is preferably a DDR4 memory circuitry and / or a FLASH memory circuitry.

[0107] In this embodiment, after power-on, the background system of the main control circuit begins loading. The main control circuit activates the lens module and laser rangefinder by sending a start signal to them. The user sends a shooting command to the main control circuit through the user terminal. The main control circuit controls the lens module and laser rangefinder to perform shooting actions according to the shooting command, receives image signals from the lens module, laser signals from the laser rangefinder, and illumination signals output by the photosensor. Then, the background system of the main control circuit generates a panoramic image signal through an algorithm and outputs the panoramic image signal to the screen panel to instruct the screen panel to display the panoramic image signal to the user. Therefore, this embodiment can quickly start the laser camera's background system, combine the acquired laser signals and planar image signals to output a panoramic image signal, so that a 3D model can be directly generated from the panoramic image signal, improving the measurement accuracy of the laser camera.

[0108] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0110] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A laser turret camera, characterized by, The application relates to a panoramic image shooting device, which comprises the following components: a main control circuit configured to send a starting signal to a lens module and a laser range finder in response to a starting signal; a lens module connected with the main control circuit and configured to collect a plane image signal and output the plane image signal to the main control circuit; a laser range finder connected with the main control circuit and configured to collect a laser signal and output the laser signal to the main control circuit; a photosensitive sensor connected with the main control circuit and used for collecting a light signal and sending the light signal to the main control circuit; a screen board connected with the main control circuit and used for receiving a panoramic image signal output by the main control circuit and displaying the panoramic image signal; the main control circuit comprises a power supply circuit, a screen connection circuit, a lens module connection circuit, a photosensitive sensor connection, a communication circuit, a first control circuit, a range finder connection circuit and a first control circuit; the power supply circuit is configured to supply power to the screen connection circuit, the lens module connection circuit, the photosensitive sensor connection, the communication circuit, the first control circuit, the range finder connection circuit and the first control circuit respectively; the first control circuit is configured to receive a starting signal, send a starting signal to the module connection circuit and the range finder connection circuit, receive a shooting instruction sent by the communication circuit, send a control signal to the lens module connection circuit and the range finder connection circuit respectively, receive a plane image signal sent by the lens module connection, receive a laser signal sent by the range finder connection circuit and output a panoramic image signal to the screen connection circuit; the lens module connection circuit is connected with the lens module and the first control circuit respectively and is configured to send a starting signal to the lens module, send a control signal to the lens module, receive a plane image signal sent by the lens module and output the plane image signal to the first control circuit; the range finder connection circuit is connected with the laser range finder and the first control circuit respectively and is configured to send a starting signal to the laser range finder, send a control signal to the laser range finder, receive a laser signal sent by the laser range finder and output the laser signal to the first control circuit; the communication circuit is connected with a user terminal and the first control circuit respectively and is configured to receive a shooting instruction sent by the user terminal and output the shooting instruction to the first control circuit; the photosensitive sensor connection circuit is connected with the photosensitive sensor and the first control circuit respectively and is configured to receive a light signal sent by the photosensitive sensor and output the light signal to the first control circuit. ​ The screen connection circuit is connected with the screen board and the first control circuit respectively, configured to receive the panoramic image signal sent by the first control circuit, and output the panoramic image signal to the screen board.

2. The laser turret camera of claim 1, wherein, The main control circuit further comprises a second control circuit and a bottom motor circuit. The second control circuit is connected with the first control circuit and the bottom motor circuit respectively, configured to receive the motor control instruction sent by the first control circuit, send the motor rotation command to the bottom motor circuit, and instruct the bottom motor circuit to control the motor to perform the rotation action.

3. The laser turret camera of claim 1, wherein, The main control circuit further comprises a gyroscope circuit. The gyroscope circuit is connected with the gyroscope and the first control circuit respectively, configured to collect the IMU signal of the gyroscope, and output the IMU signal to the first control circuit.

4. The laser turret camera of claim 1, wherein, The main control circuit further comprises a GPS circuit. The GPS circuit is connected with the first control circuit, configured to output the GPS signal to the first control circuit. The photosensitive sensor connection circuit comprises a first photosensitive sensor connection circuit and a second photosensitive sensor connection circuit. The first photosensitive sensor connection circuit is connected with the photosensitive sensor and the second photosensitive sensor connection circuit respectively, and the second photosensitive sensor connection circuit is connected with the first photosensitive sensor connection circuit and the first control circuit respectively.

5. The laser turret camera of claim 2, wherein, The gyroscope circuit comprises a first gyroscope circuit and a second gyroscope circuit; The first gyroscope circuit is connected with the gyroscope and the second gyroscope circuit respectively; The second gyroscope circuit is connected with the second gyroscope circuit and the first control circuit respectively.

6. The laser turret camera of claim 1, wherein, The master control circuit further comprises a memory circuit; The memory circuit is connected with the first control circuit and is configured to receive the panoramic image signal sent by the first control circuit and cache.

Images