Image acquisition method, device, system and equipment based on total station and medium

Abstract

The invention discloses an image acquisition method, device, system and equipment based on a total station and a medium, the total station is provided with a distance measuring sensor capable of measuring the distance and a focusing motor capable of adjusting the focal length of a lens, and the method comprises the following steps: calling the distance measuring sensor to determine the position distance of a measured object; determining a focal length to be adjusted according to the position distance; controlling the focusing motor to focus a camera of the total station based on the focal length to be adjusted; and calling the focused camera to carry out image acquisition on the measured object. Focusing processing can be automatically carried out through the focusing motor, errors caused by manual focusing can be reduced, deviation between the adjusted focal length and the actually needed focal length is avoided, the image collection precision is improved, and then the measurement precision of the total station is improved.

Description

Background Art

[0002] Total station, or total station type electronic distance meter, is a high-tech measuring instrument integrating optics, machinery and electricity. It is a surveying and mapping instrument system integrating horizontal angle, vertical angle, distance and height difference measurement functions. If the data terminal collected by the total station type speed measuring instrument in the field is connected with 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] In order to accurately measure the various data of the target object, the focus of the target object needs to be adjusted before measurement, and the measurement process can be carried out after the focus is completed. The commonly used focusing method at present is: the image acquisition device (camera) performs automatic focusing, and the technicians perform manual focusing based on the user's detection needs on the basis of automatic focusing, and then collect images or pictures according to the adjusted focal length, and measure according to the collected images or pictures.

[0004] However, the commonly used methods currently have the following technical problems: manual focusing by technicians is prone to human errors, and the adjusted focal length may deviate from the actual required focal length, causing the captured image or picture to be blurred or out of focus, which in turn leads to errors in subsequent measurements and reduces the measurement accuracy. Summary of the invention

[0005] The present invention provides an image acquisition method, device, system, equipment and medium based on a total station, and the method can solve the technical problem of measurement errors caused by deviation in focus control in the prior art.

[0006] A first aspect of an embodiment of the present invention provides an image acquisition method based on a total station, wherein the total station is provided with a distance measuring sensor capable of measuring distance and a focus motor capable of adjusting the focal length of a lens, and the method comprises:

[0007] After calling the distance measuring sensor to determine the position distance of the measuring object, the focal length to be adjusted is determined according to the position distance;

[0008] Controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted;

[0009] The focused camera is called to capture images of the measurement object.

[0010] In combination with the first aspect, in one implementation, the total station is provided with an objective lens and a focusing lens connected to each other, and the focusing lens is connected to a focusing motor and a camera respectively;

[0011] The step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted includes:

[0012] Determining a rotational position of a motor based on the focal length to be adjusted;

[0013] generating AB phase control signals of the motor according to the rotation position;

[0014] The AB phase control signal is used to control the focus motor to rotate, so that the focus motor drives the objective lens and the focus lens to rotate to achieve the focal length to be adjusted.

[0015] In combination with the first aspect, in one implementation, after the step of controlling the focus motor to perform focus processing on the camera of the total station based on the focal length to be adjusted, the method further includes:

[0016] Determine whether a positioning signal is received, wherein the positioning signal is a signal sent by a positioning sensor of the total station, and the positioning sensor is arranged in the rotation direction of the focusing motor;

[0017] If the positioning signal is received, it is determined that the focusing process is completed;

[0018] If the positioning signal is not received, it is determined that the focusing process is not completed.

[0019] A second aspect of an embodiment of the present invention provides an image acquisition device based on a total station, wherein the total station is provided with a distance measuring sensor capable of measuring distance and a focus motor capable of adjusting the focal length of a lens, and the device comprises:

[0020] A focal length determination module, configured to determine the focal length to be adjusted according to the position distance after calling the distance measuring sensor to determine the position distance of the measuring object;

[0021] A focusing processing module, used for controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted;

[0022] The image acquisition module is used to call the focused camera to acquire images of the measured object.

[0023] In combination with the second aspect, in one implementation, the total station is provided with an objective lens and a focusing lens connected to each other, and the focusing lens is connected to a focusing motor and a camera respectively;

[0024] The step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted includes:

[0025] Determining a rotational position of a motor based on the focal length to be adjusted;

[0026] generating AB phase control signals of the motor according to the rotation position;

[0027] The AB phase control signal is used to control the focus motor to rotate, so that the focus motor drives the objective lens and the focus lens to rotate to achieve the focal length to be adjusted.

[0028] In conjunction with the second aspect, in one implementation, the device further includes:

[0029] A signal receiving module, used for determining whether a positioning signal is received after the step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted, wherein the positioning signal is a signal sent by a positioning sensor of the total station, and the positioning sensor is arranged in the rotation direction of the focusing motor;

[0030] A completion module, used to determine that the focusing process has been completed if a positioning signal is received;

[0031] The unfinished module is used to determine that the focusing process is unfinished if the positioning signal is not received.

[0032] A third aspect of the embodiments of the present invention provides an image acquisition system based on a total station, the system comprising: a total station body and a control module, the control module being communicatively connected to the total station body, the control module being applicable to the image acquisition method based on the total station as described above;

[0033] The total station body is provided with a distance sensor and a focus motor, wherein the distance sensor is used to determine the position distance of the measurement object, and the focus motor is used to adjust the focal length of the camera lens;

[0034] The control module is used to determine the focal length to be adjusted according to the distance of the acquisition position of the ranging sensor, control the focus motor to focus the camera based on the focal length to be adjusted, and call the focused camera to collect images of the measured object.

[0035] In combination with the third aspect, in one implementation, the total station body is further provided with a motor frame and a positioning sensor, the motor frame is provided with a transmission shaft, the transmission shaft is provided with a slider, the slider is provided with a shield, and the positioning sensor is connected to the control module;

[0036] The focusing motor is arranged on the side of the motor frame, and drives the slider to move back and forth through the transmission shaft. The positioning sensor is arranged on the side of the transmission shaft. When the focusing motor drives the slider to move on the transmission shaft so that the obstruction of the slider blocks the positioning sensor, the positioning sensor sends a positioning signal to the control module to notify the control module that the focusing process has been completed.

[0037] Compared with the prior art, the present invention provides an image acquisition method, device, system, equipment and medium based on a total station, and its beneficial effects are: the present invention can determine the position distance of the measured object through a distance measuring sensor, and then determine the focal length to be adjusted according to the position distance; then control the focusing motor to focus the camera of the total station based on the focal length to be adjusted; finally, call the focused camera to capture the image of the measured object. By automatically focusing the focus motor, the error of manual focusing can be reduced, and the deviation between the adjusted focal length and the actual required focal length can be avoided, so as to improve the accuracy of image acquisition, and then improve the measurement accuracy of the total station. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flowchart of an image acquisition method based on a total station provided by an embodiment of the present invention;

[0039] Figure 2 is a control principle diagram of a focus motor provided by an embodiment of the present invention;

[0040] Figure 3 is an operation flow chart of stepper motor adjustment provided by one embodiment of the present invention;

[0041] Figure 4 It is a structural schematic diagram of an image acquisition device based on a total station provided by an embodiment of the present invention;

[0042] Figure 5 It is a structural schematic diagram of an image acquisition system based on a total station provided by an embodiment of the present invention;

[0043] Figure 6 is a top view of a total station body provided by an embodiment of the present invention;

[0044] Figure 7 It is a front view of a total station body provided by an embodiment of the present invention;

[0045] Figure 8 is a rear view of a total station body provided by an embodiment of the present invention;

[0046] Fig. 9 It is a left side view of a total station body provided by one embodiment of the present invention;

[0047] Fig.10 It is a right side view of a total station body provided by one embodiment of the present invention;

[0048] Fig.11 This is a view of a total station body provided by an embodiment of the present invention;

[0049] Fig.12 is a dissected diagram of a total station body provided by an embodiment of the present invention;

[0050] Fig.13 is a front view of a motor frame provided by an embodiment of the present invention;

[0051] Fig.14 is a rear view of a motor frame provided by an embodiment of the present invention;

[0052] Fig.15 is a side view of a motor frame provided by an embodiment of the present invention;

[0053] Fig.16 is a bottom view of a motor frame provided by an embodiment of the present invention;

[0054] Fig.17 is a top view of a motor frame provided by an embodiment of the present invention;

[0055] Fig.18 It is an axial view of a motor frame provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] 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.

[0057] Total station, or total station type electronic distance meter, is a high-tech measuring instrument integrating optics, machinery and electricity. It is a surveying and mapping instrument system integrating horizontal angle, vertical angle, distance and height difference measurement functions. If the data terminal collected by the total station type speed measuring instrument in the field is connected with 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.

[0058] In order to accurately measure the various data of the target object, the focus of the target object needs to be adjusted before measurement, and the measurement process can be carried out after the focus is completed. The commonly used focusing method at present is: the image acquisition device (camera) performs automatic focusing, and the technicians perform manual focusing based on the user's detection needs on the basis of automatic focusing, and then collect images or pictures according to the adjusted focal length, and measure according to the collected images or pictures.

[0059] However, the commonly used methods currently have the following technical problems: manual focusing by technicians is prone to human errors, and the adjusted focal length may deviate from the actual required focal length, causing the captured image or picture to be blurred or out of focus, which in turn leads to errors in subsequent measurements and reduces the measurement accuracy.

[0060] In order to solve the above problems, an image acquisition method, device, system, equipment and medium based on a total station provided in an embodiment of the present application will be introduced and explained in detail through the following specific embodiments.

[0061] Reference Figure 1 , shows a flow chart of an image acquisition method based on a total station provided by an embodiment of the present invention.

[0062] In one embodiment, the method is applicable to a control module, which can be connected to a total station for communication. The control module can be used to control the total station to adjust the focal length, collect images and videos, and call the total station to measure different data.

[0063] In order to improve the adjustment accuracy of the focal length, in one embodiment, the total station is provided with a distance sensor capable of measuring the distance and a focus motor capable of adjusting the focal length of the lens. The distance sensor can be used to detect the distance between the measured object and the total station. The focus motor is used to adjust the focal length of the lens of the total station, and the focus motor can be a conventional stepping motor.

[0064] Wherein, as an example, the image acquisition method based on the total station may include:

[0065] S11, after calling the distance measuring sensor to determine the position distance of the measuring object, determine the focal length to be adjusted according to the position distance.

[0066] In one embodiment, the control module may call a distance measuring sensor to detect the distance between the measurement object corresponding to the current measurement task and the total station to obtain the position distance of the measurement object.

[0067] In one operation mode, the distance measuring sensor may be an infrared sensor, which may send infrared rays to the measured object, and then determine the distance between the measured object and the total station based on the infrared rays reflected by the measured object to obtain the position distance.

[0068] After the position distance is determined, the focal length captured by the camera can be converted into the focal length to be adjusted.

[0069] S12: Control the focusing motor to focus the camera of the total station based on the focal length to be adjusted.

[0070] After determining the focal length to be adjusted, in order to reduce the error of manual focusing, the present embodiment is provided with a focusing motor that can adjust the focal length of the lens. The focusing motor can be controlled to rotate so that the focusing motor can drive the camera lens to rotate, and then the focal length of the camera lens can be adjusted by rotating the lens.

[0071] Through automatic adjustment, no human operation is required, which can avoid the introduction of human errors, thereby reducing the deviation between the adjusted focal length and the actual required focal length, thereby improving the accuracy of the images or pictures taken by the total station, avoiding subsequent measurement errors, and thus improving the measurement accuracy.

[0072] In an optional embodiment, the total station is provided with an objective lens and a focusing lens connected to each other, the objective lens and the focusing lens are arranged on a camera, and a focusing motor is respectively connected to the objective lens and the focusing lens.

[0073] In specific operation, the focusing motor can rotate, and during the rotation process, the objective lens and the focusing lens can be driven to rotate, so that the focal length of the camera can be adjusted by rotating the objective lens and the focusing lens.

[0074] Wherein, as an example, the controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted may include the following sub-steps:

[0075] S121, determining a rotation position of a motor based on the focal length to be adjusted.

[0076] S122, generating AB phase control signals of the motor according to the rotation position.

[0077] S123, using the AB phase control signal to control the focus motor to rotate, so that the focus motor drives the objective lens and the focusing lens to rotate to achieve the focal length to be adjusted.

[0078] In one embodiment, the rotation position of the motor may be determined according to the focal length to be adjusted, wherein the rotation position may be a target position of the focus motor.

[0079] In one operation mode, since the objective lens and the focusing lens are cylindrical devices, each rotation angle corresponds to a focal length. For example, the objective lens and the focusing lens can rotate 360 ​​degrees, and each rotation angle corresponds to a focal length. After obtaining the focal length to be adjusted, the angle of the objective lens and the focusing lens to be adjusted can be determined, and the angle of the current focal length of the objective lens and the focusing lens can be determined. Then, according to the difference between the two angles, the direction to be turned and the rotation position can be determined locally, that is, the position corresponding to the required angle.

[0080] Then, the corresponding AB phase control signal can be generated according to the rotation angle. Specifically, the adjustment angle can be determined according to the difference between the two angles, so that the rotation amplitude can be determined, and the corresponding AB phase control signal can be generated according to the rotation amplitude.

[0081] Reference Figure 2 , shows a control principle diagram of a focus motor provided by an embodiment of the present invention. In one embodiment, the control of the focus motor can accurately determine the passing angle by different power-on 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.

[0082] Depend on Figure 2 It can be seen that the magnet in the middle of the focus motor will reach the specified position according to the AB phase energization condition. Therefore, it is only necessary to energize the AB phase to make the magnet reach the required position.

[0083] 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 and its adjustment amplitude can be controlled by simply adjusting the interval time of the AB phases.

[0084] During the focusing process, since the focusing motor has already established its physical coordinate system in advance, the focusing motor can know its current position. After knowing the target position to be adjusted, it can directly rotate to reach the target position.

[0085] S13, calling the focused camera to collect images of the measurement object.

[0086] After adjustment, the shooting focal length of the camera can fit the actual distance of the measured object. At this time, the focused camera can be controlled to capture images or videos of the measured object, and then different data measurements can be performed based on the captured images or videos.

[0087] In one of the embodiments, in order to accurately determine whether the focusing process is completed, after the step of controlling the focusing motor to perform focusing process on the camera of the total station based on the focal length to be adjusted, the method may include the following steps:

[0088] S21, determining whether a positioning signal is received, wherein the positioning signal is a signal sent by a positioning sensor of the total station, and the positioning sensor is arranged in the rotation direction of the focusing motor.

[0089] S22: If the positioning signal is received, it is determined that the focusing process is completed.

[0090] S23: If no positioning signal is received, it is determined that the focusing process is not completed.

[0091] In one operation mode, a positioning sensor may be positioned in the rotation direction of the focus motor, and the positioning sensor may be used to detect whether the focus motor rotates to a corresponding position, and then a positioning signal may be generated according to the rotation position of the focus motor.

[0092] If the focusing motor rotates to the position corresponding to the focal length to be adjusted, the positioning sensor can generate a positioning signal. If the control module receives the positioning signal of the positioning sensor, it can be determined that the focusing motor has completed the focusing process. Conversely, if the control module does not receive the positioning signal, it can be determined that the focusing process is not completed.

[0093] Reference Figure 3 , shows an operational flow chart of stepper motor adjustment provided by an embodiment of the present invention.

[0094] Specifically, the detection operation of the focus motor (ie, stepping motor) may include the following steps:

[0095] The first step is to determine whether the location data is received. Specifically, it can be determined whether the location distance of the measured object is received. If the location distance of the measured object is received, the location data is obtained; otherwise, no location data is obtained.

[0096] In the second step, after receiving the position data, the stepper motor can be controlled to rotate, including forward rotation (ie forward) or reverse rotation (ie backward).

[0097] The third step is to determine whether the stepper motor rotates to the position corresponding to the position data.

[0098] Step 4: If yes, the focusing process is completed; otherwise, the focusing process is not complete.

[0099] In this embodiment, the embodiment of the present invention provides an image acquisition method based on a total station, and its beneficial effect is that: the present invention can determine the position distance of the measured object through a distance measuring sensor, and then determine the focal length to be adjusted according to the position distance; then control the focus motor to focus the camera of the total station based on the focal length to be adjusted; finally, call the focused camera to collect images of the measured object. By automatically focusing the focus motor, the error of manual focusing can be reduced, and the deviation between the adjusted focal length and the actual required focal length can be avoided, so as to improve the accuracy of image acquisition, and then improve the measurement accuracy of the total station.

[0100] The embodiment of the present invention also provides an image acquisition device based on a total station, see Figure 4 , shows a schematic structural diagram of an image acquisition device based on a total station provided by an embodiment of the present invention.

[0101] The total station is provided with a distance measuring sensor capable of measuring distance and a focus motor capable of adjusting the focal length of a lens, wherein, as an example, the image acquisition device based on the total station may include:

[0102] A focal length determination module 401 is used to determine the focal length to be adjusted according to the position distance after calling the distance measuring sensor to determine the position distance of the measuring object;

[0103] A focus processing module 402 is used to control the focus motor to perform focus processing on the camera of the total station based on the focal length to be adjusted;

[0104] The image acquisition module 403 is used to call the focused camera to acquire images of the measurement object.

[0105] Optionally, the total station is provided with an objective lens and a focusing lens connected to each other, and the focusing lens is connected to a focusing motor and a camera respectively;

[0106] The step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted includes:

[0107] Determining a rotational position of a motor based on the focal length to be adjusted;

[0108] generating AB phase control signals of the motor according to the rotation position;

[0109] The AB phase control signal is used to control the focus motor to rotate, so that the focus motor drives the objective lens and the focus lens to rotate to achieve the focal length to be adjusted.

[0110] Optionally, the device further comprises:

[0111] A signal receiving module, used for determining whether a positioning signal is received after the step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted, wherein the positioning signal is a signal sent by a positioning sensor of the total station, and the positioning sensor is arranged in the rotation direction of the focusing motor;

[0112] A completion module, used to determine that the focusing process has been completed if a positioning signal is received;

[0113] The unfinished module is used to determine that the focusing process is unfinished if the positioning signal is not received.

[0114] The embodiment of the present invention also provides an image acquisition system based on a total station, see Figure 5 , shows a structural schematic diagram of an image acquisition system based on a total station provided by an embodiment of the present invention.

[0115] Wherein, as an example, the image acquisition system based on the total station may include: a total station body 1 and a control module 2, the control module is communicatively connected with the total station body, and the control module is applicable to the image acquisition method based on the total station as described in the above embodiment;

[0116] The total station body 1 is provided with a distance sensor and a focus motor 11, wherein the distance sensor is used to determine the position distance of the measurement object, and the focus motor 11 is used to adjust the focal length of the camera lens;

[0117] The control module is used to determine the focal length to be adjusted according to the distance collected by the ranging sensor, control the focus motor 11 to focus the camera based on the focal length to be adjusted, and call the focused camera to collect images of the measured object.

[0118] Among them, the control module 2 can be a motor drive control chip.

[0119] Reference Figure 6-12 , respectively showing a top view of the total station body provided by an embodiment of the present invention, a front view of the total station body provided by an embodiment of the present invention, a rear view of the total station body provided by an embodiment of the present invention, a left view of the total station body provided by an embodiment of the present invention, a right view of the total station body provided by an embodiment of the present invention, a view of the total station body provided by an embodiment of the present invention and a sectional view of the total station body provided by an embodiment of the present invention.

[0120] The total station body 1 may be provided with a housing 12 and a camera 13 , and the camera 13 may be arranged inside the housing 12 .

[0121] Reference Figure 13-18 , respectively showing a front view of a motor frame provided by an embodiment of the present invention, a rear view of a motor frame provided by an embodiment of the present invention, a side view of a motor frame provided by an embodiment of the present invention, a bottom view of a motor frame provided by an embodiment of the present invention, a top view of a motor frame provided by an embodiment of the present invention, and an axial view of a motor frame provided by an embodiment of the present invention.

[0122] The total station body is further provided with a motor frame 14 and a positioning sensor 15 . The motor frame 14 can be arranged in the housing 12 .

[0123] The motor frame 14 is provided with a transmission shaft 16, the transmission shaft 16 is provided with a slider 17, the slider 17 is provided with a shielding object 18, and the positioning sensor 15 is connected to the control module 2;

[0124] The focusing motor 11 is arranged on the side of the motor frame 14, and drives the slider 17 to move back and forth through the transmission shaft 16. The positioning sensor 15 is arranged on the side of the transmission shaft 16. When the focusing motor 11 drives the slider 17 to move on the transmission shaft 16, the covering object 18 of the slider 17 can cover the positioning sensor 15. When the positioning sensor 15 is blocked, it can send a positioning signal to the control module 2 to notify the control module 2 that the focusing process has been completed.

[0125] In one embodiment, the positioning sensor 15 may also be an infrared sensor, which is different from the infrared sensor for distance measurement.

[0126] When the shielding object 18 moves to the groove of the positioning sensor 15, it blocks the infrared rays of the positioning sensor 15, and the positioning sensor 15 can generate a positioning signal and send it to the control module 2, notifying the control module 2 that the focusing motor 11 has moved to this position and the focusing is completed.

[0127] The system of the present invention automatically focuses, and after the rotation signal is transmitted to the motor drive control chip, the rotation output drive of the focus motor is adjusted according to the rotation speed, thereby driving the focus motor to rotate.

[0128] The system of the present invention generates a digital signal according to the focusing requirement, generates a corresponding control instruction, and sends it to the control module through an interface. After receiving the control instruction, the control module will parse it to obtain specific control parameters. Then, according to the parsed control parameters, the focusing motor is driven to make corresponding rotation and adjustment.

[0129] The control module usually has a feedback mechanism, which monitors the operating status of the motor in real time through encoders, sensors and other devices, and then adjusts the control instructions based on the feedback information to achieve more precise focus control.

[0130] The digital signal of the encoder is transmitted to the motor driver chip as input; the motor driver chip is responsible for receiving the encoder signal of automatic focusing, and after processing the signal, it outputs the pulse width modulation signal to drive the focusing motor to run, and then outputs it to the focusing motor through the motor driver chip to drive it to run; the focusing motor is used to drive the instrument to rotate.

[0131] After adopting the system of the present invention, automatic focusing can be achieved, wherein the automatic focusing technology is usually based on object distance measurement or image detection method, which can quickly adapt to the measurement requirements of different distances, without manually adjusting the focal length, and greatly improves the measurement efficiency. The system actively emits light waves (such as infrared rays, ultrasonic waves) for distance measurement, and adjusts the lens focal length according to the distance measurement results. With the characteristics of high resolution, high sensitivity and real-time imaging of the imaging system, it can meet the needs of various complex measurement tasks. The subsequent total station can capture the target image through an image sensor such as CCD or CMOS, and transmit the image data to the processing unit for analysis and processing. The motor is controlled to rotate the focusing screw to achieve the automatic focusing function.

[0132] 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.

[0133] Furthermore, an embodiment of the present application also provides an electronic device, comprising: 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 image acquisition method based on the total station as described in the above embodiment is implemented.

[0134] 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 image acquisition method based on the total station as described in the above embodiment.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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 total station-based image acquisition method, characterized in that: The total station is provided with a distance measuring sensor capable of measuring distance and a focus motor capable of adjusting the focal length of a lens, and the method comprises: After calling the distance measuring sensor to determine the position distance of the measuring object, the focal length to be adjusted is determined according to the position distance; Controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted; The focused camera is called to capture images of the measurement object.

2. The image acquisition method based on total station according to claim 1, characterized in that: The total station is provided with an objective lens and a focusing lens connected to each other, and the focusing lens is connected to a focusing motor and a camera respectively; The step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted includes: Determining a rotational position of a motor based on the focal length to be adjusted; generating AB phase control signals of the motor according to the rotation position; The AB phase control signal is used to control the focus motor to rotate, so that the focus motor drives the objective lens and the focus lens to rotate to achieve the focal length to be adjusted.

3. The image acquisition method based on total station according to claim 1, characterized in that: After the step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted, the method further includes: Determine whether a positioning signal is received, wherein the positioning signal is a signal sent by a positioning sensor of the total station, and the positioning sensor is arranged in the rotation direction of the focusing motor; If the positioning signal is received, it is determined that the focusing process is completed; If the positioning signal is not received, it is determined that the focusing process is not completed.

4. An image acquisition device based on a total station, characterized in that: The total station is provided with a distance measuring sensor capable of measuring distance and a focus motor capable of adjusting the focal length of a lens, and the device comprises: A focal length determination module, configured to determine the focal length to be adjusted according to the position distance after calling the distance measuring sensor to determine the position distance of the measuring object; A focusing processing module, used for controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted; The image acquisition module is used to call the focused camera to acquire images of the measured object.

5. The image acquisition device based on the total station according to claim 4, characterized in that: The total station is provided with an objective lens and a focusing lens connected to each other, and the focusing lens is connected to a focusing motor and a camera respectively; The step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted includes: Determining a rotational position of a motor based on the focal length to be adjusted; generating AB phase control signals of the motor according to the rotation position; The AB phase control signal is used to control the focus motor to rotate, so that the focus motor drives the objective lens and the focus lens to rotate to achieve the focal length to be adjusted.

6. The image acquisition device based on total station according to claim 4, characterized in that: The device also includes: A signal receiving module, used for determining whether a positioning signal is received after the step of controlling the focusing motor to perform focusing processing on the camera of the total station based on the focal length to be adjusted, wherein the positioning signal is a signal sent by a positioning sensor of the total station, and the positioning sensor is arranged in the rotation direction of the focusing motor; A completion module, used to determine that the focusing process has been completed if a positioning signal is received; The unfinished module is used to determine that the focusing process is unfinished if the positioning signal is not received.

7. An image acquisition system based on a total station, characterized in that: The system comprises: a total station body and a control module, wherein the control module is in communication connection with the total station body, and the control module is applicable to the image acquisition method based on the total station according to any one of claims 1 to 3; The total station body is provided with a distance sensor and a focus motor, wherein the distance sensor is used to determine the position distance of the measurement object, and the focus motor is used to adjust the focal length of the camera lens; The control module is used to determine the focal length to be adjusted according to the distance of the acquisition position of the ranging sensor, control the focus motor to focus the camera based on the focal length to be adjusted, and call the focused camera to collect images of the measured object.

8. The image acquisition system based on total station according to claim 7, characterized in that: The total station body is also provided with a motor frame and a positioning sensor, the motor frame is provided with a transmission shaft, the transmission shaft is provided with a slider, the slider is provided with a shield, and the positioning sensor is connected to the control module; The focusing motor is arranged on the side of the motor frame, and drives the slider to move back and forth through the transmission shaft. The positioning sensor is arranged on the side of the transmission shaft. When the focusing motor drives the slider to move on the transmission shaft so that the obstruction of the slider blocks the positioning sensor, the positioning sensor sends a positioning signal to the control module to notify the control module that the focusing process has been completed.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the image acquisition method based on the total station as described in any one of claims 1 to 3 is implemented.

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 image acquisition method based on a total station as described in any one of claims 1 to 3.

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