Measurement angle regulation and control method, device, system and equipment of total station and medium

Abstract

The invention discloses a method, a device, a system, equipment and a medium for regulating and controlling the measurement angle of a total station, and the method comprises the following steps: obtaining a twisting turn value which is the number of turns of a manual wheel twisted by a user in unit time; judging whether the twisting turn value is smaller than a preset turn value or not; and if the twisting turn value is smaller than a preset turn value, calculating a motor control speed according to the twisting turn value and the preset turn value, and controlling a motor of the total station to rotate according to the motor control speed, so that the total station reaches a target angle of a user. According to the invention, the motor is controlled according to the number of turns of the manual wheel twisted by the user, the actual demand of the user can be met, and the actual adjustment angle is matched with the angle of the manual wheel twisted by the user, so that the rotation error caused by workpiece wear is reduced, the adjustment accuracy is improved, and the subsequent measurement precision is improved.

Description

Background Art

[0002] Total station, or total station type electronic tachometer, refers to a device that can automatically display necessary observation data such as slant distance, zenith distance (vertical angle), horizontal angle, etc., once observed at the measuring station, and obtain horizontal distance, height difference and point coordinates almost at the same time. If the data terminal collected by the total station type tachometer in the field is connected to a computer and a plotter through a transmission interface, and equipped with data processing software and drawing software, the automation of mapping can be realized. It can be widely used in precision engineering measurement or deformation monitoring fields such as large-scale buildings on the ground and underground tunnel construction.

[0003] During the measurement and monitoring process, it is necessary to constantly adjust the measurement angle and collect different observation data from different measurement angles to meet the measurement needs. In order to meet different measurement angles, the commonly used method is to set a manual wheel on the total station, and the user adjusts the measurement angle by adjusting the manual wheel, and then measures data according to the adjusted angle.

[0004] However, the commonly used method has the following technical problems: when the manual wheel is twisted for a long time to adjust the measuring angle, each workpiece will be worn, resulting in a deviation between the twisting angle of the manual wheel and the actual required angle, affecting the accuracy of subsequent measurements. Summary of the invention

[0005] The present invention provides a method, device, system, equipment and medium for controlling the measurement angle of a total station, and the method can solve the technical problems of deviation and low control accuracy in the prior art.

[0006] A first aspect of an embodiment of the present invention provides a method for controlling a measurement angle of a total station, the method comprising:

[0007] Obtaining a twisting circle value, where the twisting circle value is the number of circles the user twists the manual wheel in a unit time;

[0008] Determine whether the twisting circle value is less than a preset circle value;

[0009] If the twisting circle value is less than the preset circle value, the motor control speed is calculated according to the twisting circle value and the preset circle value, so as to control the motor rotation of the total station according to the motor control speed so that the total station reaches the user's target angle.

[0010] The present invention can obtain the twisting circle value of the manual wheel twisted by the user in a unit time; if the twisting circle value is less than the preset circle value, the motor control speed is calculated according to the twisting circle value and the preset circle value, so as to control the motor rotation of the total station according to the motor control speed, so that the total station reaches the user's target angle. The present invention controls the motor according to the number of circles of the manual wheel twisted by the user, which can meet the actual needs of the user, so that the actual adjustment angle matches the angle of the manual wheel twisted by the user, so as to reduce the rotation error caused by workpiece wear, thereby improving the adjustment accuracy, so as to improve the accuracy of subsequent measurements.

[0011] In combination with the first aspect, in one implementation, the calculating the motor control speed according to the twisting circle value and the preset circle value includes:

[0012] Calculating the control time interval of the motor using the twisting circle value and the preset circle value;

[0013] The motor control speed is calculated using the control time interval.

[0014] In combination with the first aspect, in one implementation, the step of calculating the control time interval of the motor by using the twisting circle value and the preset circle value includes:

[0015] The following formula is used to calculate the motor control time interval:

[0016] T = (FLAG-C)*A;

[0017] Among them, T is the control time interval, FLAG is the preset circle value, C is the twist circle value, and A is the calculation coefficient.

[0018] In combination with the first aspect, in one implementation, calculating the motor control speed by using the control time interval includes:

[0019] Adjusting the AB phase time interval of the motor according to the control time interval;

[0020] The AB phase time interval is converted into a driving pulse duty cycle of the motor, and the motor control speed is determined using the driving pulse duty cycle.

[0021] In combination with the first aspect, in one implementation, the method further includes:

[0022] If the twisting circle value is greater than the preset circle value, the motor of the total station is controlled to rotate according to the preset control speed so that the total station reaches the user's target angle.

[0023] A second aspect of an embodiment of the present invention provides a measurement angle control device for a total station, the device comprising:

[0024] An acquisition module, used to acquire a twisting circle value, where the twisting circle value is the number of circles that the user twists the manual wheel in a unit time;

[0025] A judging module, used to judge whether the twisting circle value is less than a preset circle value;

[0026] The first control module is used to calculate the motor control speed according to the twisting circle value and the preset circle value if the twisting circle value is less than the preset circle value, so as to control the motor rotation of the total station according to the motor control speed so that the total station reaches the user's target angle.

[0027] In conjunction with the second aspect, in one implementation, the calculating the motor control speed according to the twisting circle value and the preset circle value includes:

[0028] Calculating the control time interval of the motor using the twisting circle value and the preset circle value;

[0029] The motor control speed is calculated using the control time interval.

[0030] In combination with the second aspect, in one implementation, the step of calculating the control time interval of the motor by using the twisting circle value and the preset circle value includes:

[0031] The following formula is used to calculate the motor control time interval:

[0032] T = (FLAG-C)*A;

[0033] Among them, T is the control time interval, FLAG is the preset circle value, C is the twist circle value, and A is the calculation coefficient.

[0034] In conjunction with the second aspect, in one implementation, calculating the motor control speed using the control time interval includes:

[0035] Adjusting the AB phase time interval of the motor according to the control time interval;

[0036] The AB phase time interval is converted into a driving pulse duty cycle of the motor, and the motor control speed is determined using the driving pulse duty cycle.

[0037] In conjunction with the second aspect, in one implementation, the device further includes:

[0038] The second control module is used to control the motor rotation of the total station according to a preset control speed if the twisting circle value is greater than the preset circle value, so that the total station reaches the user's target angle.

[0039] A third aspect of the embodiments of the present invention provides a total station measurement angle control system, the system comprising: a total station body and a motor main control module, the motor main control module is communicatively connected with a motor of the total station body, the motor main control module is the total station measurement angle control method as described above;

[0040] The motor main control module is used to calculate the motor control speed according to the number of turns of the manual wheel twisted by the user in a unit time, so as to control the motor rotation of the total station body according to the motor control speed so that the total station body reaches the user's target angle.

[0041] In conjunction with the third aspect, in one implementation, the total station body is provided with a horizontal motor, a vertical motor, a horizontal hand wheel and a vertical hand wheel;

[0042] The motor main control module is connected to the horizontal motor, the vertical motor, the horizontal hand wheel and the vertical hand wheel respectively.

[0043] Compared with the prior art, the embodiment of the present invention provides a total station measurement angle control method, device, system, equipment and medium, and its beneficial effect is: the present invention can obtain the twisting circle value of the user twisting the manual wheel in a unit time; if the twisting circle value is less than the preset circle value, the motor control speed is calculated according to the twisting circle value and the preset circle value, so as to control the motor rotation of the total station according to the motor control speed, so that the total station reaches the user's target angle. The present invention controls the motor according to the number of circles the user twists the manual wheel, which can meet the actual needs of the user, so that the actual adjustment angle matches the angle of the user twisting the manual wheel, so as to reduce the rotation error caused by workpiece wear, thereby improving the adjustment accuracy, so as to improve the accuracy of subsequent measurements. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a flow chart of a method for controlling the measurement angle of a total station provided by an embodiment of the present invention;

[0045] Figure 2 is a control principle diagram of a motor provided by an embodiment of the present invention;

[0046] Figure 3 is a waveform diagram of an A-phase signal and a B-phase signal provided by an embodiment of the present invention;

[0047] Figure 4 is a signal waveform diagram of forward and reverse rotation of a motor provided by an embodiment of the present invention;

[0048] Figure 5 It is an operation flow chart of a measurement angle control method of a total station provided by an embodiment of the present invention;

[0049] Figure 6It is a structural schematic diagram of a measurement angle control device of a total station provided by an embodiment of the present invention;

[0050] Figure 7 It is a structural schematic diagram of a measurement angle control system of a total station provided by an embodiment of the present invention;

[0051] Figure 8 is a structural diagram of a motor main control module provided by an embodiment of the present invention;

[0052] Fig. 9 It is a schematic diagram of the connection structure between the motor and the encoder of the total station provided by one embodiment of the present invention;

[0053] Fig.10 The figure is a schematic diagram of the combined structure of a motor and a code disk of a total station provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Total station, or total station type electronic tachometer, refers to a device that can automatically display necessary observation data such as slant distance, zenith distance (vertical angle), horizontal angle, etc., once observed at the measuring station, and obtain horizontal distance, height difference and point coordinates almost at the same time. If the data terminal collected by the total station type tachometer in the field is connected to a computer and a plotter through a transmission interface, and equipped with data processing software and drawing software, the automation of mapping can be realized. It can be widely used in precision engineering measurement or deformation monitoring fields such as large-scale buildings on the ground and underground tunnel construction.

[0056] During the measurement and monitoring process, it is necessary to constantly adjust the measurement angle and collect different observation data from different measurement angles to meet the measurement needs. In order to meet different measurement angles, the commonly used method is to set a manual wheel on the total station, and the user adjusts the measurement angle by adjusting the manual wheel, and then measures data according to the adjusted angle.

[0057] However, the commonly used method has the following technical problems: when the manual wheel is twisted for a long time to adjust the measuring angle, each workpiece will be worn, resulting in a deviation between the twisting angle of the manual wheel and the actual required angle, affecting the accuracy of subsequent measurements.

[0058] In order to solve the above problems, a measurement angle control method, device, system, equipment and medium of a total station provided in an embodiment of the present application will be introduced and explained in detail through the following specific embodiments.

[0059] Reference Figure 1 , shows a flow chart of a measurement angle control method of a total station provided by an embodiment of the present invention.

[0060] In one embodiment, the measurement angle control method of the total station is applicable to a motor main control module, which may be a control chip or a control module provided in the total station.

[0061] Wherein, as an example, the measurement angle control method of the total station may include:

[0062] S11. Obtain a twisting circle value, where the twisting circle value is the number of circles the user twists the manual wheel in a unit time.

[0063] In one embodiment, the total station may be provided with one or more manual wheels. Similarly, the total station may be provided with a plurality of different motors, each of which may be connected to a code disc module at a different angle or position.

[0064] The user can twist different manual wheels to control the corresponding motors to drive the encoder modules at different positions to rotate until the target angle is reached, and then perform measurement processing at the target angle.

[0065] In order to accurately control according to the angle at which the user twists the manual wheel, the number of circles the user twists the manual wheel may be determined.

[0066] In order to further reduce the error and avoid adjusting the angle due to the user's accidental touch, the number of circles the user twists the manual wheel in a unit time can be obtained. If the user twists the manual wheel for more than the unit time, it can be ignored.

[0067] Optionally, the unit time may be one minute or 20 seconds. For example, if the user twists the manual wheel 10 times within 20 seconds, the twisting circle value is 10.

[0068] S12, determining whether the twisting circle value is less than a preset circle value.

[0069] After obtaining the twisting circle value, you can check whether the twisting circle value is less than the preset circle value.

[0070] The preset circle value may be a circle value pre-set by the user, and can be subsequently adjusted according to the circle value of the manual wheel twisted by the user.

[0071] For example, if the twist circle value is less than the preset circle value, it means that the twist circle number is small, the adjustment angle is small, and fine adjustment can be performed. Similarly, if the twist circle value is greater than the preset circle value, it means that the adjustment angle is large, and fast or uniform adjustment can be performed.

[0072] S13. If the twisting circle value is less than the preset circle value, the motor control speed is calculated according to the twisting circle value and the preset circle value, so as to control the motor rotation of the total station according to the motor control speed so that the total station reaches the user's target angle.

[0073] In one embodiment, if the twisting circle value is less than the preset circle value, it means that the number of circles the user twisted the manual wheel is relatively small, and the angle that the user needs to adjust is small, and fine adjustment can be performed. Fine adjustment requires slowly adjusting the angle, and the adjustment can be performed slowly. In order to reduce the adjustment speed, the motor control speed can be calculated according to the twisting circle value and the preset circle value, and then the motor of the total station is controlled according to the motor control speed. The motor drives the code disk module of the total station, so that the total station reaches the user's target angle for subsequent measurements.

[0074] The size of the angle adjusted by the user and the speed of the angle adjustment are determined according to the number of circles the user twists the manual wheel, and the motor is controlled according to the size of the angle and the adjustment speed that the user needs to adjust. On the one hand, it can meet the actual needs of the user. On the other hand, when the number of circles the user twists the manual wheel is small, the control speed is calculated according to the number of circles the user twists the manual wheel and is slowly controlled. This can reduce the rotation error caused by workpiece wear and make the actual adjustment angle match the angle twisted by the user, thereby improving the adjustment accuracy and improving the accuracy of subsequent measurements.

[0075] In order to calculate the motor control speed in combination with the twisting circle value and the preset circle value, as an example, the motor control speed is calculated according to the twisting circle value and the preset circle value, which may include the following sub-steps:

[0076] S131, calculating the control time interval of the motor using the twisting circle value and the preset circle value.

[0077] S132, calculating the motor control speed using the control time interval.

[0078] In one operation mode, the control time interval of the motor can be calculated using the twisting circle value and the preset circle value.

[0079] Wherein, as an example, the step of calculating the control time interval of the motor by using the twisting circle value and the preset circle value may include the following sub-steps:

[0080] S1311, using the following formula to calculate the control time interval of the motor:

[0081] T = (FLAG-C)*A;

[0082] Among them, T is the control time interval, FLAG is the preset circle value, C is the twist circle value, and A is the calculation coefficient.

[0083] It should be noted that A can be a calculation parameter set by the user according to actual needs, or can be a constant.

[0084] After calculating the control time interval, the motor control speed can be calculated according to the size of the control time interval. At the same time, the number of turns the user twists the manual wheel can be determined to obtain the angle value that needs to be adjusted, and then the ratio of the angle value to be adjusted and the control time interval is calculated to obtain the motor control speed. For example, the calculated control time interval is 10 milliseconds, and the angle value to be adjusted is 5 degrees. Then the motor control speed is 5 / 10 = 0.5 degrees per millisecond. The motor can be controlled to rotate at a speed of 0.5 degrees per millisecond, so that the total station can reach the angle value that the user needs to adjust.

[0085] In an optional embodiment, the calculating the motor control speed by using the regulation time interval may include the following sub-steps:

[0086] S1321. Adjust the AB phase time interval of the motor according to the control time interval.

[0087] S1322, converting the AB phase time interval into a driving pulse duty cycle of the motor, and using the driving pulse duty cycle to determine the motor control speed.

[0088] In specific operations, the AB phase time interval of the motor can be adjusted according to the control time interval. Then, the motor control algorithm can be used to calculate the driving pulse duty cycle of the driving motor according to the AB phase time interval, and the motor control speed can be determined according to the driving pulse duty cycle to control the speed of the motor rotation.

[0089] Reference Figure 2 , shows a control principle diagram of a motor provided by an embodiment of the present invention. In one embodiment, the motor is controlled by accurately determining the passing angle through different energization states of the AB phases. Figure 2 For example, one step is 90 degrees. Optionally, it can be adjusted to 18 steps per circle, 360 degrees per circle, and 20 degrees per step according to the time interval of the AB phase. When fine adjustment is required, it can be 360 ​​steps per circle, 360 degrees per circle, and 1 degree per step.

[0090] In addition, it should be noted that, since there is an interval between the switching of the AB phases of the motor, the speed of the motor can be controlled by simply adjusting the interval time of the AB phases.

[0091] In one operation mode, since the user may adjust the angle in a positive direction (clockwise adjustment) or in a negative direction (counterclockwise adjustment), in order to determine the user's adjustment direction, after calculating the motor control speed, the rotation direction of the manual wheel twisted by the user in a unit time can be obtained, and the adjustment direction is determined according to the rotation direction.

[0092] Assign the rising edge of motor phase A and phase B according to the adjustment direction, refer to Figure 3-4 , respectively showing the waveform diagrams of the A-phase signal and the B-phase signal provided in one embodiment of the present invention and the signal waveform diagrams of the forward and reverse rotation of the motor provided in one embodiment of the present invention.

[0093] The motor encoder of the total station uses orthogonal encoding to output rotation information. The orthogonal encoder, also known as the incremental encoder, processes data through the pulse output of two signal lines. One output pulse signal corresponds to one incremental displacement. Its signals include A-term pulse output, B-term pulse output, and Z-term zero-point pulse output. Figure 3 shown.

[0094] When rotating forward, signal line A outputs signals first, signal line B outputs signals later, and phase A leads phase B by 90 degrees. Similarly, when rotating reversely, signal line B outputs signals first, signal line A outputs signals later, and phase B leads phase A by 90 degrees. Figure 4 shown.

[0095] In one embodiment, the user may twist the manual wheel multiple times in a unit time, and a large angle adjustment is required. In order to quickly adjust the angle while reducing the error, the method may further include the following steps as an example:

[0096] S14. If the twisting circle value is greater than the preset circle value, the motor of the total station is controlled to rotate according to the preset control speed so that the total station reaches the user's target angle.

[0097] If the twist circle value is greater than the preset circle value, it means that the angle that the user needs to adjust is large, and fast or uniform speed regulation can be performed. In one operation mode, the motor of the total station can be controlled to rotate according to the preset control speed so that the total station reaches the user's target angle.

[0098] The preset control speed may be a fixed speed, for example, a speed of 5 degrees per millisecond to control the motor rotation of the total station.

[0099] Reference Figure 5 , shows an operation flow chart of a measurement angle control method of a total station provided by an embodiment of the present invention.

[0100] Specifically, the operation of the measurement angle control method of the total station may include the following steps:

[0101] The first step is to detect the number of revolutions of the manual wheel per unit time.

[0102] The second step is to determine whether the number of revolutions of the manual wheel per unit time is greater than a preset number of revolutions (flag).

[0103] In the third step, if the number of revolutions of the manual wheel per unit time is greater than the preset number of revolutions (flag), the constant speed mode can be entered, and the time interval for switching between the motor AB phases can be set to TIME=1.

[0104] The fourth step is that if the number of revolutions of the manual wheel per unit time is less than the preset number of revolutions (flag), the fine mode can be entered to calculate the time interval according to the number of revolutions of the manual wheel per unit time and the preset number of revolutions (flag), and the motor rotation is controlled according to the time interval.

[0105] In this embodiment, the embodiment of the present invention provides a method for controlling the measurement angle of a total station, and its beneficial effect is that: the present invention can obtain the twisting circle value of the user twisting the manual wheel in a unit time; if the twisting circle value is less than the preset circle value, the motor control speed is calculated according to the twisting circle value and the preset circle value, so as to control the motor rotation of the total station according to the motor control speed, so that the total station reaches the user's target angle. The present invention controls the motor according to the number of circles the user twists the manual wheel, which can meet the actual needs of the user, so that the actual adjustment angle matches the angle of the user twisting the manual wheel, so as to reduce the rotation error caused by workpiece wear, thereby improving the adjustment accuracy, so as to improve the accuracy of subsequent measurements.

[0106] The embodiment of the present invention also provides a measurement angle control device for a total station, see Figure 6 , shows a schematic structural diagram of a measurement angle control device of a total station provided by an embodiment of the present invention.

[0107] Wherein, as an example, the measurement angle control device of the total station may include:

[0108] An acquisition module 601 is used to acquire a twisting circle value, where the twisting circle value is the number of circles that the user twists the manual wheel in a unit time;

[0109] A judging module 602 is used to judge whether the twisting circle value is less than a preset circle value;

[0110] The first control module 603 is used to calculate the motor control speed according to the twisting circle value and the preset circle value if the twisting circle value is less than the preset circle value, so as to control the motor rotation of the total station according to the motor control speed so that the total station reaches the user's target angle.

[0111] Optionally, the calculating the motor control speed according to the twisting circle value and the preset circle value includes:

[0112] Calculating the control time interval of the motor using the twisting circle value and the preset circle value;

[0113] The motor control speed is calculated using the control time interval.

[0114] Optionally, the calculating the control time interval of the motor by using the twisting circle value and the preset circle value includes:

[0115] The following formula is used to calculate the motor control time interval:

[0116] T = (FLAG-C)*A;

[0117] Among them, T is the control time interval, FLAG is the preset circle value, C is the twist circle value, and A is the calculation coefficient.

[0118] Optionally, calculating the motor control speed by using the regulation time interval includes:

[0119] Adjusting the AB phase time interval of the motor according to the control time interval;

[0120] The AB phase time interval is converted into a driving pulse duty cycle of the motor, and the motor control speed is determined using the driving pulse duty cycle.

[0121] Optionally, the device further comprises:

[0122] The second control module is used to control the motor rotation of the total station according to a preset control speed if the twisting circle value is greater than the preset circle value, so that the total station reaches the user's target angle.

[0123] The embodiment of the present invention also provides a measurement angle control system of a total station, see Figure 7 , shows a structural schematic diagram of a measurement angle control system of a total station provided by an embodiment of the present invention.

[0124] Wherein, as an example, the measurement angle control system of the total station may include: a total station body and a motor main control module, the motor main control module is communicatively connected with the motor of the total station body, and the motor main control module is the measurement angle control method of the total station described in the above embodiment;

[0125] The motor main control module is used to calculate the motor control speed according to the number of turns of the manual wheel twisted by the user in a unit time, so as to control the motor rotation of the total station body according to the motor control speed so that the total station body reaches the user's target angle.

[0126] Reference Figure 8 , showing a schematic diagram of the structure of the motor main control module provided by an embodiment of the present invention. In one embodiment, the total station body is provided with a horizontal motor, a vertical motor, a horizontal hand wheel and a vertical hand wheel;

[0127] The motor main control module is connected to the horizontal motor, the vertical motor, the horizontal hand wheel and the vertical hand wheel respectively.

[0128] The motor main control module may be a motor driver chip. Figure 8 The total station body may also be provided with a motor driver, a horizontal angle encoder and a vertical angle encoder.

[0129] Among them, the horizontal motor is connected to the horizontal angle code disk, the vertical motor is connected to the vertical angle code disk, the motor main control module is connected to the horizontal motor and the vertical motor through the motor driver, and the horizontal motor and the vertical motor are driven by the motor driver to enable the horizontal motor to adjust the angle of the horizontal angle code disk and the vertical motor to adjust the angle of the vertical angle code disk.

[0130] Reference Figure 9-10 , respectively showing a schematic diagram of the connection structure of the motor and the code disk of the total station body provided by an embodiment of the present invention and a schematic diagram of the combined structure of the motor and the code disk of the total station body provided by an embodiment of the present invention.

[0131] In actual operation, the total station body can provide a fixed bracket 2 for each motor 1, and the motor 1 is set on the corresponding fixed bracket 2; the fixed bracket 2 is provided with a piezoelectric ceramic ring 3, and the motor 1 can be contact-connected with the piezoelectric ceramic ring 3; a rotating horizontal axis 4 is provided in the middle of the piezoelectric ceramic ring 3, and is connected to the corresponding code disk 5 through the rotating horizontal axis 4.

[0132] In actual use, the main control module of the motor 1 controls the rotation of the motor 1 through the motor 1 driver, so that the motor 1 drives the piezoelectric ceramic ring 3 to rotate, and then the piezoelectric ceramic ring 3 drives the code disk to rotate through the rotating horizontal axis 4.

[0133] It should be noted that the traditional total station body uses a worm gear structure, and the motor drives the gear to rotate with a reduction ratio. The motor rotates 647.5 times to rotate the horizontal axis. In addition, the friction of the gear will also affect the rotation speed of the horizontal axis.

[0134] The motor of the present invention is an ultrasonic motor, which drives the piezoelectric ceramic ring to directly drive the shaft system to rotate. Figure 9-10 As shown, when the motor rotates one circle, the horizontal axis also rotates one circle directly without a reduction ratio, thereby greatly improving the rotation speed of the horizontal axis.

[0135] Assume that the motors rotate at the same angular velocity ω.

[0136] In the traditional way, the motor rotates 647.5 times and the horizontal axis rotates 1 time. Therefore, the angular velocity of the horizontal axis is as follows:

[0137]

[0138] After adopting the technical solution of the present invention, the motor rotates one circle and the horizontal axis also rotates one circle. Therefore, the angular velocity of the horizontal axis is expressed as follows:

[0139] ωnew horizontal axis = ω;

[0140] Calculate the ratio of the horizontal axis rotation speed in two ways:

[0141]

[0142] From the above formula, it can be concluded that when the motor rotates at the same angular velocity ω, after adopting the technical solution of the present invention, the rotation speed of the horizontal axis is 647.5 times that of the traditional method.

[0143] The existing technology is difficult to meet the actual needs when a large amount of data needs to be acquired quickly. However, by adopting the technical solution of the present invention, the maximum speed of the motor can reach 1000mm / s, the motor radius is 30mm, and its maximum angular velocity is 1910.8° / s. At present, increasing the rotation speed to 360° / s can significantly shorten the scanning cycle and improve the measurement efficiency, especially when conducting large-area and multi-target measurements, the task can be completed faster. In emergency measurements or emergencies, the fast-rotating total station can quickly capture target information and provide timely data support for decision-making. Improve the measurement efficiency, real-time performance and stability of the total station to meet a wider range of and higher-demand measurement needs.

[0144] Those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0145] Furthermore, an embodiment of the present application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the measurement angle control method of the total station as described in the above embodiment is implemented.

[0146] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer-executable program, and the computer-executable program is used to enable a computer to execute the measurement angle control method of the total station as described in the above embodiment.

[0147] It should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. When an element such as a layer, region or substrate is referred to as being "on" or "above" another element, it can be directly on the other element, or there can also be an intermediate element. On the contrary, when an element is referred to as "directly on" or "above" another element, there is no intermediate element. It should also be understood that when an element is referred to as being "under" or "below" another element, it can be directly under or below the other element, or there can also be an intermediate element. On the contrary, when an element is referred to as being "directly under" or "below" another element, there is no intermediate element. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0148] Those skilled in the art will appreciate that the embodiments of the present application may also provide computer program products. Therefore, the present application may adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application may adopt the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program codes.

[0149] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), apparatuses, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0150] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0151] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0152] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the measurement angle of a total station, characterized in that: The method comprises: Obtaining a twisting circle value, where the twisting circle value is the number of circles the user twists the manual wheel in a unit time; Determine whether the twisting circle value is less than a preset circle value; If the twisting circle value is less than the preset circle value, the motor control speed is calculated according to the twisting circle value and the preset circle value, so as to control the motor rotation of the total station according to the motor control speed so that the total station reaches the user's target angle.

2. The measurement angle control method of the total station according to claim 1, characterized in that: The calculating the motor control speed according to the twisting circle value and the preset circle value includes: Calculating the control time interval of the motor using the twisting circle value and the preset circle value; The motor control speed is calculated using the control time interval.

3. The measurement angle control method of the total station according to claim 2, characterized in that: The method of calculating the control time interval of the motor by using the twisting circle value and the preset circle value includes: The following formula is used to calculate the motor control time interval: T = (FLAG-C)*A; Among them, T is the control time interval, FLAG is the preset circle value, C is the twist circle value, and A is the calculation coefficient.

4. The measurement angle control method of the total station according to claim 2, characterized in that: The calculating the motor control speed by using the control time interval includes: Adjusting the AB phase time interval of the motor according to the control time interval; The AB phase time interval is converted into a driving pulse duty cycle of the motor, and the motor control speed is determined using the driving pulse duty cycle.

5. The measurement angle control method of the total station according to claim 1, characterized in that: The method further comprises: If the twisting circle value is greater than the preset circle value, the motor of the total station is controlled to rotate according to the preset control speed so that the total station reaches the user's target angle.

6. A measurement angle control device for a total station, characterized in that: The device comprises: An acquisition module, used to acquire a twisting circle value, where the twisting circle value is the number of circles that the user twists the manual wheel in a unit time; A judging module, used to judge whether the twisting circle value is less than a preset circle value; The first control module is used to calculate the motor control speed according to the twisting circle value and the preset circle value if the twisting circle value is less than the preset circle value, so as to control the motor rotation of the total station according to the motor control speed so that the total station reaches the user's target angle.

7. A measurement angle control system for a total station, characterized in that: The system comprises: a total station body and a motor main control module, wherein the motor main control module is communicatively connected with a motor of the total station body, and the motor main control module is a measurement angle control method for a total station as described in any one of claims 1 to 5; The motor main control module is used to calculate the motor control speed according to the number of turns of the manual wheel twisted by the user in a unit time, so as to control the motor rotation of the total station body according to the motor control speed so that the total station body reaches the user's target angle.

8. The measurement angle control system of the total station according to claim 7, characterized in that: The total station body is provided with a horizontal motor, a vertical motor, a horizontal hand wheel and a vertical hand wheel; The motor main control module is connected to the horizontal motor, the vertical motor, the horizontal hand wheel and the vertical hand wheel respectively.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the measurement angle control method of the total station as described in any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer-executable program, and the computer-executable program is used to enable a computer to execute the measurement angle control method of the total station as described in any one of claims 1-5.

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