Measuring apparatus and method of controlling the same

Abstract

The application provides a measuring device and a control method thereof. The measuring device comprises a base, a rotating bin, a holder, a first temperature sensor, a second temperature sensor and a control unit. The rotating bin is provided with a laser sensing module and / or an image sensing module. The holder is provided with a first motor and a second motor. The first motor drives the holder and the rotating bin to rotate in a first direction. The second motor drives a second rotating shaft to drive the rotating bin to rotate in a second direction. The first temperature sensor is arranged in the holder and obtains a first temperature parameter of the position. The second temperature sensor is arranged in the rotating bin and obtains a second temperature parameter of the position. The control unit controls the first motor to work based on a first control instruction obtained at least according to the first temperature parameter, and / or controls the second motor to work based on a second control instruction obtained at least according to the second temperature parameter, so that the rotating bin rotates to make the laser sensing module and / or the image sensing module face a set target region.

Description

Technical Field

[0001] This application relates to the field of measurement technology, specifically to a measuring device and its control method. Background Technology

[0002] Measurement equipment with laser emission function is a type of measurement equipment that can be applied to the construction and use processes of engineering projects such as buildings, bridges, urban rail transit, and tunnels. This type of measurement equipment can use lasers to determine the distance to a target object and measure the displacement of the target object.

[0003] Depending on the location of the target area being measured, the orientation of the measuring equipment needs to be adjusted accordingly. However, due to changes in environmental conditions such as temperature, the various parts of the measuring equipment are prone to slight deformation, which can cause the rotation of the measuring equipment to fail to meet the accuracy requirements, thus leading to a decrease in positioning accuracy. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a measuring device and its control method to solve the problem that in existing measuring devices, due to changes in environmental conditions such as temperature, various parts of the measuring device are prone to slight deformation, which causes the rotation of the measuring device to fail to meet the accuracy requirements, thereby resulting in a decrease in positioning accuracy.

[0005] The first aspect of this application provides a measuring device, comprising:

[0006] Base;

[0007] A rotating chamber, wherein a laser sensing module and / or an image sensing module are provided on the rotating chamber, the laser sensing module is configured to emit a laser towards a target area and acquire the distance between the target area and the laser sensing module, and the image sensing module is configured to acquire image information of the target area;

[0008] A gimbal is configured to be rotatably mounted on a base via a first rotating shaft, and a rotating housing is configured to be rotatably mounted on the gimbal via a second rotating shaft. The gimbal contains a first motor and a second motor. The first motor is configured to drive the gimbal and the rotating housing to rotate in a first direction; the second motor is configured to drive the second rotating shaft to rotate the rotating housing in a second direction.

[0009] A first temperature sensor is disposed inside the gimbal and configured to acquire a first temperature parameter at its location.

[0010] A second temperature sensor is disposed inside the rotating chamber and configured to acquire a second temperature parameter at its location.

[0011] A control unit is configured to control the first motor to operate based on a first control command obtained at least according to the first temperature parameter, and / or to control the second motor to operate based on a second control command obtained at least according to the second temperature parameter, so as to rotate the rotating chamber to orient the laser sensing module and / or the image sensing module toward a set target area.

[0012] In one embodiment of this application, the first motor and the second motor are stepper motors;

[0013] The first control command includes a first step pulse count, which is configured to be obtained based at least on the first temperature parameter and the target angle of rotation along the first direction;

[0014] The second control command includes a second step pulse count, which is configured to be acquired based at least on the second temperature parameter and the target angle of rotation along the second direction.

[0015] In one embodiment of this application, the gimbal includes a first mounting arm, a connecting portion, and a second mounting arm, with a mounting position formed between the first mounting arm and the second mounting arm, and the rotating housing is rotatably disposed within the mounting position;

[0016] At least two of the first temperature sensors are provided, and they are located at least in the first mounting arm and the second mounting arm.

[0017] In one embodiment of this application, an attitude sensor is provided inside the gimbal, and the attitude sensor is configured to acquire the attitude change of the gimbal during rotation along a first direction;

[0018] The control unit is configured to correct the first control command by using the attitude change obtained from the attitude sensor during the process of controlling the first motor to drive the gimbal and rotating pod to rotate along the first direction.

[0019] In one embodiment of this application, the attitude sensor includes a tilt sensor and / or a gyroscope sensor; the tilt sensor is configured to acquire the relative tilt angle of the position relative to three reference axes, and the gyroscope sensor is configured to acquire the angular change of the position relative to the three reference axes to acquire the relative tilt angle of the position relative to the three reference axes.

[0020] In one embodiment of this application, an angle sensor is provided inside the gimbal, and the angle sensor is configured to cooperate with the second rotating shaft to obtain the angle change during the rotation of the rotating chamber along the second direction;

[0021] The control unit is configured to correct the second control command by using the angle change obtained from the angle sensor during the process of controlling the second motor to drive the rotating chamber to rotate in the second direction.

[0022] In one embodiment of this application, a communication unit is further included, which is configured to communicate with a monitoring device to send a signal including the first temperature parameter and the second temperature parameter to the monitoring device, and to receive the first control command and the second control command.

[0023] According to a second aspect of this application, a method for controlling a measuring device is provided, the measuring device comprising:

[0024] Base;

[0025] A rotating chamber, wherein a laser sensing module and / or an image sensing module are provided on the rotating chamber, the laser sensing module is configured to emit a laser towards a target area and acquire the distance between the target area and the laser sensing module, and the image sensing module is configured to acquire image information of the target area;

[0026] A gimbal is configured to be rotatably mounted on a base via a first rotating shaft, and a rotating housing is configured to be rotatably mounted on the gimbal via a second rotating shaft. The gimbal contains a first motor and a second motor. The first motor is configured to drive the gimbal and the rotating housing to rotate in a first direction; the second motor is configured to drive the second rotating shaft to rotate the rotating housing in a second direction.

[0027] A first temperature sensor is disposed inside the gimbal and configured to acquire a first temperature parameter at its location.

[0028] A second temperature sensor is disposed inside the rotating chamber and configured to acquire a second temperature parameter at its location.

[0029] The control method for the measuring device includes:

[0030] At least a first control command derived from the first temperature parameter, and / or at least a second control command derived from the second temperature parameter;

[0031] The first motor is controlled to operate based on the first control command, and / or the second motor is controlled to operate based on the second control command, so that the rotating chamber rotates to make the laser sensing module and / or image sensing module face the set target area.

[0032] In one embodiment of this application, the first motor and the second motor are stepper motors; the first control command includes a first stepping pulse count, and the second control command includes a second stepping pulse count;

[0033] The steps of obtaining a first control command based at least on the first temperature parameter and / or a second control command based at least on the second temperature parameter include:

[0034] A first control command, including a first step pulse number, is obtained based at least on the first temperature parameter and the target angle of rotation along the first direction, and / or a second control command, including a second step pulse number, is obtained based at least on the second temperature parameter and the target angle of rotation along the second direction.

[0035] In one embodiment of this application, an attitude sensor is provided inside the gimbal, and the attitude sensor is configured to acquire the attitude change of the gimbal during rotation along a first direction;

[0036] The control method for the measuring device further includes:

[0037] During the process of controlling the first motor to drive the gimbal and rotating housing to rotate in the first direction, the attitude change obtained by the attitude sensor is used to correct the first control command.

[0038] 11. The control method of the measuring device according to claim 8, characterized in that an angle sensor is provided inside the gimbal, and the angle sensor is configured to cooperate with the second rotating shaft to obtain the angle change of the rotating chamber during the rotation along the second direction;

[0039] The control method for the measuring device further includes:

[0040] During the process of controlling the second motor to drive the rotating chamber to rotate in the second direction, the second control command is corrected by using the angle change obtained from the angle sensor.

[0041] Compared to existing measuring devices, the first control command for controlling the operation of the first motor in this embodiment is derived at least from a first temperature parameter, and the second control command for controlling the operation of the second motor is derived at least from a second temperature parameter. This effectively considers the influence of the temperature of the gimbal and rotating housing on the rotation process of the first and second motors, thereby effectively improving the rotation accuracy of the gimbal and rotating housing and ensuring that the laser sensing module and / or image sensing module can effectively locate the required target area. According to actual measurements, compared to existing measuring devices, the positioning accuracy of the measuring device in this embodiment can be improved from the tens of arcseconds level to the arcsecond level, greatly improving the positioning accuracy. Attached Figure Description

[0042] Figure 1 A schematic diagram of the overall structure of the measuring device of this application is shown.

[0043] Figure 2 A schematic diagram of the internal structure of the measuring device of this application is shown.

[0044] Figure 3 A schematic diagram of the overall logic of the measuring device of this application is shown.

[0045] Figure 4 A schematic diagram of the steps of the control method for the measuring device of this application is shown.

[0046] Figure 5 A schematic diagram of the steps of another control method for the measuring device of this application is shown.

[0047] Figure 6 A schematic diagram of the steps of another control method for the measuring device of this application is shown.

[0048] Figure 7 Another internal structure diagram of the measuring device of this application is shown.

[0049] Attached image labels:

[0050] 10. Rotating chamber; 11. Laser sensing module; 12. Image sensing module; 13. Second rotating shaft; 14. Second temperature sensor; 151. Second cooling unit; 152. Second heating unit; 20. Gimbal; 21. First motor; 22. Second motor; 23. First rotating shaft; 24. First temperature sensor; 25. Control unit; 261. First mounting arm; 262. Connecting part; 263. Second mounting arm; 271. Attitude sensor; 272. Angle sensor; 28. Communication unit; 291. First cooling unit; 292. First heating unit; 30. Base. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0053] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below. Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

[0054] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0055] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word “if” as used herein may be interpreted as “when”, “in response to a determination”, or “upper”, “lower”, “front”, “back”, “left”, “right”, etc., are used only to indicate the relative positional relationship between related parts, and not to limit the absolute position of these related parts. In this document, “equal”, “same”, etc., are not strict mathematical and / or geometric limitations, and also include errors that are understandable to those skilled in the art and permissible in manufacturing or use. Unless otherwise stated, numerical ranges in this document include not only the entire range within its two endpoints, but also several sub-ranges contained therein.

[0056] like Figures 1 to 3 As shown in the figure, this application embodiment provides a measuring device, which includes a base 30, a rotating chamber 10, a gimbal 20, a first temperature sensor 24, a second temperature sensor 14, and a control unit 25. The base 30 is used to fix the measuring device in the installation position.

[0057] The rotating chamber 10 is provided with a laser sensing module 11 and / or an image sensing module 12. That is, the rotating chamber 10 may be provided with only one of the laser sensing module 11 and the image sensing module 12, or it may be provided with both the laser sensing module 11 and the image sensing module 12.

[0058] The laser sensing module 11 is configured to emit a laser towards the target area and acquire the distance between the target area and the laser sensing module 11, and the image sensing module 12 is configured to acquire image information of the target area.

[0059] The gimbal 20 is configured to be rotatably mounted on the base 30 via a first rotating shaft 23, and the rotating housing 10 is configured to be rotatably mounted on the gimbal 20 via a second rotating shaft 13. The gimbal 20 is equipped with a first motor 21 and a second motor 22. The first motor 21 is configured to drive the gimbal 20 and the rotating housing 10 to rotate in a first direction; the second motor 22 is configured to drive the second rotating shaft 13 to drive the rotating housing 10 to rotate in a second direction.

[0060] In the operation of the measuring device in this embodiment, when it is necessary to adjust the orientation angle of the laser sensing module 11 and / or the image sensing module 12, the first motor 21 can drive the gimbal 20 and the rotating chamber 10 to rotate in the first direction, and the second motor 22 can drive the second rotating shaft 13 to drive the rotating chamber 10 to rotate in the second direction. In this way, the rotating chamber 10 can rotate in both the first and second directions, thereby effectively adjusting the angle of the rotating chamber 10, which in turn can adjust the orientation angle of the laser sensing module 11 and / or the image sensing module 12.

[0061] It is understandable that due to changes in environmental conditions such as temperature, the various parts of the measuring equipment are prone to slight deformation. When the first motor 21 can drive the gimbal 20 and the rotating chamber 10 to rotate in the first direction, and the second motor 22 can drive the second rotating shaft 13 to drive the rotating chamber 10 to rotate in the second direction, it is easy to fail to meet the set angle, resulting in inaccurate positioning of the target area.

[0062] Therefore, as Figure 3 As shown, in one embodiment of this application, a first temperature sensor 24 is disposed inside the gimbal 20 and configured to acquire a first temperature parameter at its location; a second temperature sensor 14 is disposed inside the rotating chamber 10 and configured to acquire a second temperature parameter at its location.

[0063] The control unit 25 is configured to control the first motor 21 to operate based on a first control command obtained at least according to a first temperature parameter, and / or control the second motor 22 to operate based on a second control command obtained at least according to a second temperature parameter, so that the rotating chamber 10 rotates to make the laser sensing module 11 and / or the image sensing module 12 face the set target area.

[0064] In the operation of the measuring device in this embodiment, the control unit 25 can control the first motor 21 to work based on a first control command obtained at least from the first temperature parameter, and control the second motor 22 to work based on a second control command obtained at least from the second temperature parameter, so that the rotating chamber 10 rotates to make the laser sensing module 11 and / or the image sensing module 12 face the set target area.

[0065] Compared to existing measuring devices, the first control command for controlling the operation of the first motor 21 in this embodiment is derived at least from the first temperature parameter, and the second control command for controlling the operation of the second motor 22 is derived at least from the second temperature parameter. This effectively considers the influence of the temperature of the gimbal 20 and the rotating chamber 10 on the rotation process of the first motor 21 and the second motor 22, thereby effectively improving the rotation accuracy of the gimbal 20 and the rotating chamber 10 and ensuring that the laser sensing module 11 and / or the image sensing module 12 can effectively locate the required target area. According to actual measurements, compared to existing measuring devices, the positioning accuracy of the measuring device in this embodiment can be improved from the tens of arcseconds level to the arcsecond level, which greatly improves the positioning accuracy.

[0066] It is understandable that, since the second motor 22 is located inside the gimbal 20, the second control command can be obtained simultaneously based on the first temperature parameter and the second temperature parameter, so as to further improve the rotation accuracy of the second motor 22.

[0067] Furthermore, in one embodiment of this application, the first motor 21 and the second motor 22 are stepper motors; the first control command includes a first stepping pulse count, which is configured to be obtained based at least on a first temperature parameter and a target angle of rotation along a first direction; the second control command includes a second stepping pulse count, which is configured to be obtained based at least on a second temperature parameter and a target angle of rotation along a second direction.

[0068] Understandably, each first step pulse can drive the first motor 21 to rotate by a corresponding unit step angle, and each second step pulse can drive the second motor 22 to rotate by a corresponding unit step angle. Therefore, when the first motor 21 needs to rotate to the target angle, the required number of first step pulses can be obtained based on the target angle and the first temperature parameter, ensuring that the first motor 21 can rotate to the target angle when it receives the first step pulse of the first step pulse number. Similarly, when the second motor 22 needs to rotate to the target angle, the required number of second step pulses can be obtained based on the target angle and the second temperature parameter, ensuring that the second motor 22 can rotate to the target angle when it receives the second step pulse of the second step pulse number.

[0069] Since the first motor 21 and the second motor 22 are stepper motors, the first stepping pulse count is obtained based at least on the first temperature parameter and the target angle of rotation along the first direction, and the second stepping pulse count is obtained based at least on the second temperature parameter and the target angle of rotation along the second direction. This can effectively improve the accuracy of the first stepping pulse count and the second stepping pulse count, thereby improving the positioning accuracy of the measuring device in this embodiment of the application.

[0070] Specifically, the control process of the first motor 21 and the second motor 22 can be electronically subdivided, thereby greatly reducing the rotation angle of the first motor 21 and the second motor 22 corresponding to each step pulse number. This enables precise control of the rotation process of the gimbal 20 and the rotating housing 10, further improving positioning accuracy. Furthermore, by electronically subdividing the control process of the first motor 21 and the second motor 22, the vibration generated by the first motor 21 and the second motor 22 during operation can also be effectively reduced.

[0071] like Figure 1 As shown, in one embodiment of this application, the gimbal 20 includes a first mounting arm 261, a connecting portion 262, and a second mounting arm 263. A mounting position is formed between the first mounting arm 261 and the second mounting arm 263, and the rotating chamber 10 is rotatably disposed within the mounting position. At least two first temperature sensors 24 are provided, and at least one is disposed within the first mounting arm 261 and the second mounting arm 263.

[0072] like Figure 1 As shown, in one embodiment of this application, the first mounting arm 261, the connecting part 262, and the second mounting arm 263 can be integrally connected; in another embodiment of this application, the first mounting arm 261, the connecting part 262, and the second mounting arm 263 can be integrally connected, fixedly connected, or separately connected, and no limitation is made here.

[0073] It is understood that the actual working environment of the measuring device in this embodiment is mostly outdoors. Under conditions such as side lighting or rain exposure to one of the mounting arms, there may be a significant temperature difference between the first mounting arm 261 and the second mounting arm 263. Therefore, in the measuring device of this embodiment, at least two first temperature sensors 24 are provided, and they are at least located within the first mounting arm 261 and the second mounting arm 263. Thus, each of the first mounting arm 261 and the second mounting arm 263 is equipped with a first temperature sensor 24, enabling the control unit 25 to obtain a first control command based on the first temperature parameters obtained from each of the first temperature sensors 24. Based on the first control command, the control unit 25 controls the first motor 21 to operate. Simultaneously, based on the first and second temperature parameters, the control unit obtains a second control command and controls the second motor 22 to operate. This further improves the rotational accuracy of the first motor 21 and the second motor 22 when there is a significant temperature difference between the first mounting arm 261 and the second mounting arm 263.

[0074] It is understood that, in one embodiment of this application, the first temperature sensor 24 may be provided only in the first mounting arm 261 and the second mounting arm 263, or another first temperature sensor 24 may be provided simultaneously in the connecting part 262.

[0075] like Figure 3 and Figure 7 As shown, in one embodiment of this application, a gimbal 20 is provided with an attitude sensor 271, which is configured to acquire the attitude change of the gimbal 20 during the rotation along a first direction; the control unit 25 is configured to correct the first control command by using the attitude change obtained by the attitude sensor 271 during the process of controlling the first motor 21 to work and drive the gimbal 20 and the rotating housing 10 to rotate along the first direction.

[0076] In the operation of the measuring device in this embodiment, the attitude sensor 271 can acquire the attitude change of the gimbal 20 in real time during the rotation along the first direction. When the control unit 25 controls the first motor 21 to work and drive the gimbal 20 and the rotating housing 10 to rotate along the first direction, it can use the attitude change obtained by the attitude sensor 271 to correct the first control command, thereby ensuring that the first motor 21 can drive the gimbal 20 and the rotating housing 10 to rotate to the target angle.

[0077] Specifically, in one embodiment of this application, the attitude sensor 271 includes a tilt sensor and / or a gyroscope sensor; the tilt sensor is configured to acquire the relative tilt angle of the position relative to three reference axes, and the gyroscope sensor is configured to acquire the angular change of the position relative to the three reference axes to acquire the relative tilt angle of the position relative to the three reference axes.

[0078] It is understood that the tilt sensor can acquire the relative tilt angle of its position with respect to the three reference axes, thereby acquiring the attitude change of the gimbal 20 during rotation along the first direction; the gyroscope sensor can acquire the relative tilt angle of its position with respect to the three reference axes by acquiring the angular change of its position with respect to the three reference axes, i.e., the angular velocity with respect to the three reference axes. The results obtained by the tilt sensor are more intuitive, and the device cost is lower. Compared with the tilt sensor, the gyroscope sensor has higher dynamic positioning accuracy. Furthermore, when both the tilt sensor and the gyroscope sensor are provided, they can serve as redundant backups for each other, ensuring that at least one attitude sensor 271 can acquire the attitude change of the gimbal 20 during rotation along the first direction in real time during the operation of the measurement device in this embodiment of the application.

[0079] like Figure 3 and Figure 7 As shown, in one embodiment of this application, an angle sensor 272 is provided inside the gimbal 20. The angle sensor 272 is configured to cooperate with the second rotating shaft 13 to obtain the angle change during the rotation of the rotating chamber 10 in the second direction. The control unit 25 is configured to correct the second control command by using the angle change obtained by the angle sensor 272 during the process of controlling the second motor 22 to drive the rotating chamber 10 to rotate in the second direction.

[0080] In the operation of the measuring device according to this embodiment, the angle sensor 272 can acquire the angle change of the rotating chamber 10 during its rotation along the second direction. When the control unit 25 controls the second motor 22 to rotate the rotating chamber 10 along the second direction, it uses the angle change obtained from the angle sensor 272 to correct the second control command, thereby ensuring that the second motor 22 can drive the rotating chamber 10 to rotate to the target angle. It is understood that the angle sensor 272 can be a sensor capable of acquiring the rotation angle of the second rotating shaft 13, such as a grating encoder, and is not limited thereto.

[0081] like Figure 3 As shown, in one embodiment of this application, the measuring device of this application embodiment further includes a communication unit 28, which is configured to communicate with a monitoring device to send a signal including a first temperature parameter and / or a second temperature parameter to the monitoring device, and to receive a first control command and / or a second control command.

[0082] In the operation of the measuring device according to this embodiment, the communication unit 28 of the measuring device can send a signal including a first temperature parameter and / or a second temperature parameter to the monitoring device. The monitoring device can generate corresponding first control commands and / or second control commands based on the first temperature parameters and / or the second temperature parameters, and send them back to the measuring device. This allows the control unit 25 to control the first motor 21 to work based on the first control command, and / or control the second motor 22 to work based on the second control command. In other words, the generation process of the first control command and / or the second control command can be performed on the monitoring device, thereby reducing the computational burden on the measuring device.

[0083] In another embodiment of this application, the generation process of the first control command and / or the second control command can be performed only within the measuring device to reduce the delay generated during signal transmission and reception.

[0084] Specifically, the monitoring equipment promptly acquires various information obtained by the measuring equipment, enabling users to monitor the relevant situation in the target area. The monitoring equipment can be installed in a location geographically far from the measuring equipment, communicating with it via mobile communication or other means; alternatively, it can be installed geographically close to the measuring equipment, communicating with it via wireless networks or other means. No restriction is imposed on this.

[0085] like Figure 3 As shown, in one embodiment of this application, the gimbal 20 is provided with a first cooling unit 291 and / or a first heating unit 292. The first cooling unit 291 is configured to cool the location based on a first temperature parameter, and the first heating unit 292 is configured to heat the location based on the first temperature parameter.

[0086] In the operation of the measuring device in this embodiment, the first cooling unit 291 in the gimbal 20 can cool the position based on the first temperature parameter, and the first heating unit 292 can heat the position based on the first temperature parameter, thereby ensuring that the various components in the gimbal 20 are within a suitable operating temperature range, thereby extending the service life of the various components in the gimbal 20.

[0087] Similarly, such as Figure 3 As shown, in one embodiment of this application, a second cooling unit 151 and / or a second heating unit 152 are provided in the rotating chamber 10. The second cooling unit 151 is configured to cool the location based on a second temperature parameter, and the second heating unit 152 is configured to heat the location based on the second temperature parameter.

[0088] In the operation of the measuring device in this embodiment, the second cooling unit 151 in the rotating chamber 10 can cool the position based on the second temperature parameter, and the second heating unit 152 can heat the position based on the second temperature parameter, thereby ensuring that the various devices in the rotating chamber 10 are within a suitable operating temperature range, thereby extending the service life of the various devices in the rotating chamber 10.

[0089] like Figure 4 As shown, this application also provides a control method for a measuring device, the structure of which is as described above and will not be repeated here.

[0090] The control method for this measuring device includes:

[0091] Step S101: At least a first control command obtained based on the first temperature parameter, and / or at least a second control command obtained based on the second temperature parameter;

[0092] Step S102: Control the first motor 21 to work based on the first control command, and / or control the second motor 22 to work based on the second control command;

[0093] Step S104: Rotate the rotating chamber 10 so that the laser sensing module 11 and / or the image sensing module 12 are oriented toward the set target area.

[0094] In the control method of the measuring device in this application embodiment, the first motor 21 can be controlled to work based on a first control command obtained at least according to a first temperature parameter, and the second motor 22 can be controlled to work based on a second control command obtained at least according to a second temperature parameter, so that the rotating chamber 10 rotates to make the laser sensing module 11 and / or the image sensing module 12 face the set target area.

[0095] Compared to existing control methods for measuring equipment, in the control method of the measuring equipment in this embodiment, the first control command for controlling the operation of the first motor 21 is obtained at least based on the first temperature parameter, and the second control command for controlling the operation of the second motor 22 is obtained at least based on the second temperature parameter. This effectively considers the influence of the temperature of the gimbal 20 and the rotating chamber 10 on the rotation process of the first motor 21 and the second motor 22, thereby effectively improving the rotation accuracy of the gimbal 20 and the rotating chamber 10, and ensuring that the laser sensing module 11 and / or the image sensing module 12 can effectively locate the required target area. Through actual testing, the positioning accuracy of the measuring equipment in this embodiment can be improved from the tens of arcseconds level to the arcsecond level, greatly improving the positioning accuracy.

[0096] like Figure 5As shown, in one embodiment of this application, the first motor 21 and the second motor 22 are stepper motors; the first control command includes a first stepping pulse count, and the second control command includes a second stepping pulse count;

[0097] Step S101: The step of obtaining a first control command based at least on a first temperature parameter and / or a second control command based at least on a second temperature parameter includes:

[0098] Step S1011: Obtain a first control command including a first step pulse number based at least on a first temperature parameter and a target angle of rotation along a first direction, and / or obtain a second control command including a second step pulse number based at least on a second temperature parameter and a target angle of rotation along a second direction.

[0099] That is, a first control command including a first step pulse number is obtained based at least on a first temperature parameter and a target angle of rotation along a first direction, and a second control command including a second step pulse number is obtained based at least on a second temperature parameter and a target angle of rotation along a second direction. These two commands can be performed either one or simultaneously, without any restriction.

[0100] Since the first motor 21 and the second motor 22 are stepper motors, the first stepping pulse count is obtained based at least on the first temperature parameter and the target angle of rotation along the first direction, and the second stepping pulse count is obtained based at least on the second temperature parameter and the target angle of rotation along the second direction. This can effectively improve the accuracy of the first stepping pulse count and the second stepping pulse count, thereby improving the positioning accuracy of the measuring device in this embodiment of the application.

[0101] like Figure 6 As shown, in one embodiment of this application, an attitude sensor 271 is provided inside the gimbal 20. The attitude sensor 271 is configured to acquire the attitude change of the gimbal 20 during the rotation along a first direction.

[0102] The control method for the measuring device in this application embodiment further includes:

[0103] Step S1031: During the process of controlling the first motor 21 to work and drive the gimbal 20 and the rotating housing 10 to rotate along the first direction, the first control command is corrected by using the attitude change obtained by the attitude sensor 271.

[0104] In the control method of the measuring device in this application embodiment, the attitude sensor 271 can acquire the attitude change of the gimbal 20 in real time during the rotation of the gimbal 20 along the first direction. When the control unit 25 controls the first motor 21 to work and drive the gimbal 20 and the rotating housing 10 to rotate along the first direction, it can use the attitude change obtained by the attitude sensor 271 to correct the first control command, thereby ensuring that the first motor 21 can drive the gimbal 20 and the rotating housing 10 to rotate the target angle.

[0105] like Figure 6 As shown, in one embodiment of this application, an angle sensor 272 is provided inside the gimbal 20. The angle sensor 272 is configured to cooperate with the second rotating shaft 13 to obtain the angle change during the rotation of the rotating chamber 10 along the second direction.

[0106] Control methods for measuring equipment also include:

[0107] Step S1032: During the process of controlling the second motor 22 to drive the rotating chamber 10 to rotate in the second direction, the second control command is corrected by using the angle change obtained by the angle sensor 272.

[0108] In the control method of the measuring device in this application embodiment, the angle sensor 272 can acquire the angle change of the rotating chamber 10 during the rotation along the second direction; when the control unit 25 controls the second motor 22 to work and drive the rotating chamber 10 to rotate along the second direction, it uses the angle change obtained by the angle sensor 272 to correct the second control command, thereby ensuring that the second motor 22 can drive the rotating chamber 10 to rotate to the target angle.

[0109] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the market of the embodiments, or to enable other those skilled in the art to understand the embodiments disclosed herein. The scope of this application is defined by the appended claims.

Claims

1. A measuring device, characterized in that, include: Base (30); A rotating chamber (10) is provided with a laser sensing module (11) and / or an image sensing module (12). The laser sensing module (11) is configured to emit a laser to a target area and obtain the distance between the target area and the laser sensing module (11). The image sensing module (12) is configured to obtain image information of the target area. A gimbal (20) is configured to be rotatably mounted on a base (30) via a first rotating shaft (23), and a rotating housing (10) is configured to be rotatably mounted on the gimbal (20) via a second rotating shaft (13). A first motor (21) and a second motor (22) are provided inside the gimbal (20). The first motor (21) is configured to drive the gimbal (20) and the rotating housing (10) to rotate in a first direction; the second motor (22) is configured to drive the second rotating shaft (13) to drive the rotating housing (10) to rotate in a second direction. The first temperature sensor (24) is disposed inside the gimbal (20) and is configured to acquire the first temperature parameter of its location. The second temperature sensor (14) is disposed in the rotating chamber (10) and configured to acquire a second temperature parameter at its location. A control unit (25) is configured to control the first motor (21) to operate based on a first control command obtained at least according to the first temperature parameter, and / or to control the second motor (22) to operate based on a second control command obtained at least according to the second temperature parameter, so that the rotating chamber (10) rotates to make the laser sensing module (11) and / or the image sensing module (12) face the set target area; the first motor (21) and the second motor (22) are stepper motors; The first control command includes a first step pulse count, which is configured to be obtained based at least on the first temperature parameter and the target angle of rotation along the first direction; The second control command includes a second step pulse count, which is configured to be obtained based at least on the second temperature parameter and the target angle of rotation along the second direction; An attitude sensor (271) is provided inside the gimbal (20), and the attitude sensor (271) is configured to acquire the attitude change of the gimbal (20) during the rotation along a first direction; The control unit (25) is configured to correct the first control command by using the attitude change obtained by the attitude sensor (271) during the process of controlling the first motor (21) to work and drive the gimbal (20) and the rotating cylinder (10) to rotate in the first direction; An angle sensor (272) is provided inside the gimbal (20). The angle sensor (272) is configured to cooperate with the second rotating shaft (13) to obtain the angle change of the rotating chamber (10) during the rotation along the second direction. The control unit (25) is configured to correct the second control command by using the angle change obtained by the angle sensor (272) during the process of controlling the second motor (22) to drive the rotating chamber (10) to rotate in the second direction.

2. The measuring device according to claim 1, characterized in that, The gimbal (20) includes a first mounting arm (261), a connecting part (262), and a second mounting arm (263). A mounting position is formed between the first mounting arm (261) and the second mounting arm (263), and the rotating chamber (10) is rotatably disposed within the mounting position. The first temperature sensor (24) is provided in at least two parts, and is provided in at least the first mounting arm (261) and the second mounting arm (263).

3. The measuring device according to claim 1, characterized in that, The attitude sensor (271) includes a tilt sensor and / or a gyroscope sensor; the tilt sensor is configured to acquire the relative tilt angle of the position with respect to three reference axes, and the gyroscope sensor is configured to acquire the angular change of the position with respect to the three reference axes to acquire the relative tilt angle of the position with respect to the three reference axes.

4. The measuring device according to any one of claims 1 to 3, characterized in that, It also includes a communication unit (28) configured to communicate with a monitoring device to send a signal including the first temperature parameter and / or the second temperature parameter to the monitoring device, and to receive the first control command and / or the second control command.

5. A control method for a measuring device, characterized in that, The measuring device includes: Base (30); A rotating chamber (10) is provided with a laser sensing module (11) and / or an image sensing module (12). The laser sensing module (11) is configured to emit a laser to a target area and obtain the distance between the target area and the laser sensing module (11). The image sensing module (12) is configured to obtain image information of the target area. A gimbal (20) is configured to be rotatably mounted on a base (30) via a first rotating shaft (23), and a rotating housing (10) is configured to be rotatably mounted on the gimbal (20) via a second rotating shaft (13). The gimbal (20) contains a first motor (21) and a second motor (22). The first motor (21) is configured to drive the gimbal (20) and the rotating housing (10) to rotate in a first direction; the second motor (22) is configured to drive the second rotating shaft (13) to drive the rotating housing (10) to rotate in a second direction. The first temperature sensor (24) is disposed inside the gimbal (20) and is configured to acquire the first temperature parameter of its location. The second temperature sensor (14) is disposed in the rotating chamber (10) and configured to acquire a second temperature parameter at its location. Control unit (25), the control unit being configured to execute a control method for the measuring device; The control method for the measuring device includes: At least a first control command derived from the first temperature parameter, and / or at least a second control command derived from the second temperature parameter; The first motor (21) is controlled to work based on the first control command, and / or the second motor (22) is controlled to work based on the second control command, so that the rotating chamber (10) rotates to make the laser sensing module (11) and / or the image sensing module (12) face the set target area; The first motor (21) and the second motor (22) are stepper motors; the first control command includes the first stepping pulse count, and the second control command includes the second stepping pulse count; The steps of obtaining a first control command based at least on the first temperature parameter and / or a second control command based at least on the second temperature parameter include: A first control command including a first step pulse number is obtained based at least on the first temperature parameter and the target angle of rotation along the first direction, and / or a second control command including a second step pulse number is obtained based at least on the second temperature parameter and the target angle of rotation along the second direction; an attitude sensor (271) is provided inside the gimbal (20), and the attitude sensor (271) is configured to acquire the attitude change of the gimbal (20) during the rotation along the first direction; The control method for the measuring device further includes: During the process of controlling the first motor (21) to drive the gimbal (20) and the rotating housing (10) to rotate in the first direction, the first control command is corrected by the attitude change obtained by the attitude sensor (271); the gimbal (20) is provided with an angle sensor (272), which is configured to cooperate with the second rotating shaft (13) to obtain the angle change of the rotating housing (10) during the rotation in the second direction; The control method for the measuring device further includes: During the process of controlling the second motor (22) to drive the rotating chamber (10) to rotate in the second direction, the second control command is corrected by the angle change obtained by the angle sensor (272).

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