Tracker system and constant-temperature control method

Abstract

A tracker system (100) and a constant-temperature control method. The tracker system (100) comprises: a camera mechanism (20), which comprises a camera assembly (21) and a temperature control assembly (22); and a control mechanism (30), which comprises a controller (31) and an ambient temperature sensor (32), wherein the ambient temperature sensor (32) is configured to sense the actual ambient temperature in real time, the controller (31) is in communication connection with the ambient temperature sensor (32) and the temperature control assembly (22), the controller (31) is configured to determine a target constant temperature on the basis of an ambient temperature range to which the actual ambient temperature belongs, and send the target constant temperature to the temperature control assembly (22), and the temperature control assembly (22) is configured to regulate the actual camera temperature of the camera assembly (21) to the target constant temperature. The tracker system (100) performs corresponding constant-temperature control over the camera assembly (21) on the basis of the actual ambient temperature, such that the position of the camera assembly (21) does not change along with the change in the actual ambient temperature, thereby ensuring that pre-calibrated intrinsic parameters remain unchanged and guaranteeing measurement accuracy of the tracker system (100).

Description

Tracker system and constant temperature control method

[0001] The present application claims priority to the Chinese patent application No. 202410734029.6, filed on June 6, 2024, and entitled "Tracker system and constant temperature control method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of tracking technology, and in particular to a tracker system and a constant temperature control method. BACKGROUND

[0003] A tracker is a device used to capture ball sweep marks in a large range to indirectly obtain detailed features and actual size information of large objects. The core working principle of the tracker is to rely on accurate camera internal parameters and optical measurement systems. Before being shipped, the camera internal parameters of such devices are usually calibrated in a fixed temperature environment in the laboratory to ensure the measurement accuracy of the tracker.

[0004] In actual applications, changes in environmental temperature will cause structural parts of the tracker to deform. Although these deformations are small, they will significantly affect the changes in the absolute positions of camera components after being magnified by the optical space system. Camera internal parameters such as focal length, principal point position, and distortion coefficient are closely related to the positions of these components. Therefore, changes in environmental temperature will cause changes in camera internal parameters, which in turn affect the measurement accuracy of the tracker. SUMMARY

[0005] In view of the above, it is necessary to provide a tracker system and a constant temperature control method to solve the problem of low measurement accuracy of the existing tracker.

[0006] The present application provides a tracker system, comprising: a camera mechanism comprising a camera component and a temperature control component; a control mechanism comprising a controller and an environmental temperature sensor, the environmental temperature sensor being configured to sense an actual environmental temperature in real time, the controller being in communication connection with the environmental temperature sensor and the temperature control component, the controller being configured to determine a target constant temperature according to an environmental temperature range to which the actual environmental temperature belongs, and to send the target constant temperature to the temperature control component, the temperature control component being configured to adjust an actual camera temperature of the camera component to the target constant temperature.

[0007] The tracker system of the present application makes corresponding constant temperature control on the camera assembly according to the actual environment temperature, so that the position of the camera assembly is not changed by the change of the actual environment temperature, thereby ensuring that the pre-calibrated internal parameters are unchanged and the measurement accuracy of the tracker system is ensured. In addition, the controller automatically determines the corresponding target constant temperature according to the change of the actual environment temperature, thereby ensuring that the camera assembly quickly enters the working state after starting up and ensuring the stability of the measurement work in different application environments.

[0008] In some embodiments, the temperature control assembly includes a main control board, a cooling device, a heating device, and a camera temperature sensor configured to sense the actual camera temperature of the camera assembly in real time. The main control board is in communication connection with the cooling device, the heating device, and the camera temperature sensor. The main control board is configured to adjust the power of the heating device or the cooling device in real time according to the actual camera temperature, the target constant temperature, and a preset constant temperature control strategy, so as to adjust the actual camera temperature of the camera assembly to the target constant temperature.

[0009] In some embodiments, the tracker system further includes a main beam, and the camera mechanism further includes a shell, and a light supplement assembly. The shell is fixed to the end of the main beam, and the cooling device is installed on the inner side of the shell. An installation space is arranged in the shell, and at least two partitions are arranged in the installation space. The two partitions separate the installation space into three independent heat insulation cavities, in which the camera assembly, the main control board, and the light supplement assembly are respectively arranged.

[0010] In some embodiments, the camera assembly further includes a lens seat, a back cover plate, and a circuit board. The back cover plate and the circuit board are installed on the lens seat. The lens seat is installed on the end of the main beam. The heating device is installed on one side of the lens seat, and the camera temperature sensor is installed on the lens seat. The back cover plate is in rigid contact with the lens seat, and the circuit board is in contact with the back cover plate through a heat-conducting medium.

[0011] In some embodiments, the environment temperature sensor is arranged on the main beam and located near the air inlet of the environment air of the controller.

[0012] The present application provides a constant temperature control method, which should be configured as the tracker system of the above-mentioned embodiments. The constant temperature control method includes: an environment temperature sensor senses the actual environment temperature in real time; a controller determines a target constant temperature according to the environment temperature range to which the actual environment temperature belongs, and sends the target constant temperature to a temperature control assembly; and the temperature control assembly adjusts the actual camera temperature of the camera assembly to the target constant temperature.

[0013] In some embodiments, the adjusting the actual camera temperature of the camera assembly to the target constant temperature by the temperature control assembly comprises: adjusting, by the main control board, the power of the heating device or the cooling device according to the actual camera temperature, the target constant temperature and a preset constant temperature control strategy in real time, so as to adjust the actual camera temperature of the camera assembly to the target constant temperature.

[0014] In some embodiments, the preset constant temperature control strategy comprises: adjusting the power of the heating device or the cooling device in real time by using a difference between the actual camera temperature and the target constant temperature.

[0015] In some embodiments, the constant temperature control method further comprises: presetting, by the controller, a plurality of environment temperature ranges and a plurality of target constant temperatures corresponding to the plurality of environment temperature ranges respectively.

[0016] In some embodiments, the constant temperature control method further comprises: calibrating, by the controller, a plurality of camera intrinsic parameters of the camera assembly according to the plurality of target constant temperatures corresponding to the plurality of environment temperature ranges respectively. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0018] Fig. 1 is a structural schematic diagram of a tracking instrument system according to an embodiment of the present application.

[0019] Fig. 2 is a structural schematic diagram of a tracking instrument system according to another embodiment of the present application.

[0020] Fig. 3 is a structural schematic diagram of a tracking instrument system according to another embodiment of the present application.

[0021] Fig. 4 is a step schematic diagram of a constant temperature control method according to an embodiment of the present application.

[0022] Main element symbol explanation Tracker system 100 Main beam 10 Camera mechanism 20 Camera assembly 21 Temperature control assembly 22 Main control board 221 Heating device 211 Heat sink 212 Camera temperature sensor 213 Lens holder 214 Fixing column 215 Rear cover plate 216 Circuit board 217 Lens 218 Shell 23 Installation space 231 Partition plate 232 Cooling device 24 Supplementary light assembly 25 Control mechanism 30 Controller 31 Ambient temperature sensor 32 DETAILED DESCRIPTION

[0023] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein like or similar constituent elements or components throughout the several views are denoted by like reference numerals, and the implementation can be exemplified in the figures. The embodiments described below are merely exemplary and are not to be construed as limiting the present application.

[0024] In the embodiments of the present application, it should be noted that the words "exemplary" or "for example" are used herein to mean "an example of" rather than "an ideal". Any implementation described herein as "exemplary" or "for example" is not necessarily to be construed as preferred or advantageous over other implementations. A phrase according to "an example implementation" or "for example" should therefore not be interpreted as an expression meaning "one of the preferred implementations" or "one of the better implementations".

[0025] In the description of the present application, it should be noted that unless specifically defined and limited otherwise, the terms "mount", "connect", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood as specific circumstances.

[0026] In the description of the present application, it should be noted that in the description of the present application, the meaning of "multiple" is two or more,

[0027] Unless specifically defined and limited otherwise.

[0028] In order to enable those skilled in the art to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be described in detail below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In practical application, the change of ambient temperature will cause very slight deformation of the structural parts of the tracker. Although these deformations are very small, they will significantly affect the absolute position change of the camera components after being amplified by the optical space system. The camera internal parameters such as focal length, principal point position, distortion coefficient, etc. are closely related to the position of these components. Therefore, the change of ambient temperature will cause the change of the camera internal parameters of the existing tracker, which will further affect the measurement accuracy of the tracker.

[0030] In view of the above, it is necessary to provide a tracker system and a constant temperature control method to solve the above problems.

[0031] Please refer to Fig. 1, which is a schematic diagram of the architecture of a tracker system 100 provided by an embodiment of the present application.

[0032] Specifically, the tracking instrument system 100 comprises a camera mechanism 20, a control mechanism 30. In combination with FIG. 2, the camera mechanism 20 comprises a camera assembly 21 and a temperature control assembly 22. The control mechanism 30 comprises a controller 31 and an ambient temperature sensor 32. The ambient temperature sensor 32 is configured to sense the actual ambient temperature in real time. The controller 31 is communicatively connected with the ambient temperature sensor 32 and the temperature control assembly 22. The controller 31 is configured to determine a target constant temperature according to the ambient temperature range to which the actual ambient temperature belongs, and send the target constant temperature to the temperature control assembly 22. The temperature control assembly 22 is configured to adjust the actual camera temperature of the camera assembly 21 to the target constant temperature.

[0033] In combination with FIG. 2 and FIG. 3, in some embodiments, the temperature control assembly 22 comprises a main control board 221, a cooling device 24, a heating device 211, and a camera temperature sensor 213. The camera temperature sensor 213 is configured to sense the actual camera temperature of the camera assembly 21 in real time. The main control board 221 is communicatively connected with the cooling device 24, the heating device 211, and the camera temperature sensor 213. The main control board 221 is configured to adjust the power of the heating device 211 or the cooling device 24 in real time according to the actual camera temperature, the target constant temperature, and a preset constant temperature control strategy, so as to adjust the actual camera temperature of the camera assembly 21 to the target constant temperature.

[0034] In some embodiments, the preset constant temperature control strategy comprises adjusting the power of the heating device 211 or the cooling device 24 in real time by using the difference between the actual camera temperature and the target constant temperature.

[0035] For example, when the difference between the actual camera temperature of the camera assembly 21 and the target constant temperature is less than 0, i.e., the actual camera temperature of the camera assembly 21 is lower than the target constant temperature, the main control board 221 will control the heating device 211 to increase the power, thereby increasing the actual camera temperature of the camera assembly 21.

[0036] For example, when the difference between the actual camera temperature of the camera assembly 21 and the target constant temperature is greater than 0, i.e., the actual camera temperature of the camera assembly 21 is higher than the target constant temperature, the main control board 221 will control the cooling device 24 to increase the power, thereby reducing the actual camera temperature of the camera assembly 21. In some embodiments, the controller 31 is further configured to preset a plurality of ambient temperature ranges and a plurality of target constant temperatures corresponding to the plurality of ambient temperature ranges, respectively.

[0037] For example, the ambient temperature ranges and the corresponding target constant temperatures are shown in the following table:

[0038] Specifically, when the controller 31 determines that the actual ambient temperature belongs to the ambient temperature range of T0 to T1, the target constant temperature is determined as Tt1; when the controller 31 determines that the actual ambient temperature belongs to the ambient temperature range of T1 to T2, the target constant temperature is determined as Tt2; when the controller 31 determines that the actual ambient temperature belongs to the ambient temperature range of T2 to T3, the target constant temperature is determined as Tt3; and when the controller 31 determines that the actual ambient temperature belongs to the ambient temperature range of T3 to T4, the target constant temperature is determined as Tt4.

[0039] In some embodiments, when the controller 31 determines that the actual ambient temperature is not in the ambient temperature range of T0 to T4, the controller 31 sends a warning message to prompt the relevant staff that the current actual ambient temperature is too high or too low, and thus the temperature control assembly 22 cannot adjust the actual camera temperature of the camera assembly 21 to the target constant temperature, so that the relevant staff can find abnormal problems in time and avoid causing measurement errors.

[0040] In combination with FIGS. 1 and 2, in some embodiments, the tracking instrument system 100 includes a main beam 10, and the camera mechanism 20 further includes a shell 23 and a light supplement assembly 25, the shell 23 is fixed to the end of the main beam 10, and the cooling device 24 is installed on the inner side of the shell 23. The shell 23 is provided with an installation space 231. The inside of the installation space 231 is provided with at least two partitions 232, which divide the installation space 231 into three independent heat insulation cavities, so as to respectively place the camera assembly 21, the main control board 221 and the light supplement assembly 25 in the three independent heat insulation cavities, thereby reducing the influence of the light supplement assembly 25, the main control board 221 and other heat generating components on the actual camera temperature of the camera assembly 21.

[0041] In combination with FIG. 3, in some embodiments, the camera assembly 21 further includes a lens seat 214, a fixing column 215, a back cover plate 216 and a circuit board 217, the lens seat 214 is installed on the end of the main beam 10 through the fixing column 215, the back cover plate 216 and the circuit board 217 are installed on the lens seat 214, the heating device 211 is installed on one side of the lens seat 214, and the camera temperature sensor 213 is installed on the lens seat 214.

[0042] In some embodiments, the temperature control assembly 22 further includes a heat sink 212, the heat sink 212 is installed on one side of the lens seat 214, and the heating device 211 is located between the lens seat 214 and the heat sink 212. In some embodiments, the fixing column 215 can be directly machined on the lens seat 214, or the fixing column 215 can be made of a separate hard material with low thermal conductivity, such as bakelite, ceramic and the like, so that the combination of the camera assembly 21 and the main beam 10 is stable and the thermal conduction efficiency is low.

[0043] In some embodiments, the heat sink 212 is in rigid contact with the lens seat 214 and the back cover plate 216, the heating device 211 is in contact with the heat sink 212 through a heat-conducting medium, and the circuit board 217 is in contact with the back cover plate 216, facilitating heat conduction.

[0044] In some embodiments, the heat sink 212 can include a heat sink, which is usually made of a metal with good heat conduction performance, such as aluminum or copper. The heat sink is designed to have a large area, thin and dense structure to increase the heat dissipation surface area. The heat sink can be directly attached to the heat generating components of the camera assembly 21, such as the main control board 221, to help conduct heat to a larger heat dissipation area.

[0045] In some embodiments, the heat sink 212 can be designed as a structure with longitudinal and transverse grooves to facilitate multi-directional air flow and improve heat dissipation effect.

[0046] In some embodiments, the heat-conducting medium can be a heat-conducting gel, which has the characteristics of high heat conduction and low stress, and excellent heat conduction effect.

[0047] In some embodiments, the camera assembly 21 further includes a lens 218. The lens 218 can be fixed on the lens seat 214 by a screw.

[0048] In some embodiments, the back cover plate 216 is made of a metal with high thermal conductivity, such as copper.

[0049] In some embodiments, the ambient temperature sensor 32 is arranged on the main beam 10 and located near the air inlet of the controller 31, which can more accurately represent the ambient temperature.

[0050] In some embodiments, the heating device 211 can include a heating film, which is a thin film type heater with the characteristics of thin thickness, small longitudinal thermal resistance, uniform heating, fast response, easy installation, stable resistance value, high temperature resistance, and reliable use.

[0051] In some embodiments, the heating device 211 can include a resistance heater, which generates heat through resistance material and has the characteristics of simple structure, low cost, and fast heating speed.

[0052] In some embodiments, the heating device 211 can include a thermistor heater, which can change the resistance value according to the temperature change, thereby realizing temperature control.

[0053] In some embodiments, the type of the heating device 211 is not limited in the present application.

[0054] In some embodiments, the cooling device 24 can include a fan. The fan can use the flow of air to take away heat, and the rotation speed of the fan can be adjusted as needed to adapt to different heat dissipation requirements. The fan is generally arranged below the heat sink 212 to act on the heat sink 212 through a specific air outlet direction, facilitating the formation of an active convection to take away heat.

[0055] In some embodiments, the cooling device 24 can include a Stirling cooler, which realizes refrigeration through an adiabatic expansion process and has the characteristics of small volume.

[0056] In some embodiments, the cooling device 24 can include a Thermo Electric Cooler (TEC), which utilizes the Peltier effect, that is, when an electric current passes through a thermocouple composed of two different metal conductors (such as bismuth telluride, silicon germanium, and various bismuth antimony alloys), one end emits heat and the other end absorbs heat, thereby realizing the dual functions of heating / cooling, and the environmental adaptation range is wider, and low-temperature cooling can be realized.

[0057] In some embodiments, the cooling device 24 can be selected to have a large air volume and a low rotation speed to ensure heat dissipation performance and avoid the influence of running noise.

[0058] In some embodiments, the type of the cooling device 24 is not limited in the present application.

[0059] The tracking instrument system 100 according to the actual environment temperature, makes corresponding constant temperature control for the camera assembly 21, so that the position of the camera assembly 21 does not change with the change of the actual environment temperature, thereby ensuring that the pre-calibrated internal parameters remain unchanged, and the measurement accuracy of the tracking instrument system 100 is ensured. In addition, the controller 31 automatically determines the corresponding target constant temperature according to the change of the actual environment temperature, thereby ensuring that the camera assembly 21 quickly enters the working state after starting up and ensuring the stability of the measurement work in different application environments.

[0060] Referring to FIG. 4, the steps of the constant temperature control method provided by an embodiment of the present application are shown in a schematic diagram, and are applied to the tracking instrument system 100 of the above-mentioned embodiments.

[0061] Specifically, the constant temperature control method includes:

[0062] S10, the environment temperature sensor 32 senses the actual environment temperature in real time.

[0063] S20, the controller 31 determines the target constant temperature according to the environment temperature range to which the actual environment temperature belongs, and sends the target constant temperature to the temperature control assembly 22.

[0064] S30, the temperature control assembly 22 adjusts the actual camera temperature of the camera assembly 21 to the target constant temperature.

[0065] In some embodiments, the step S30, the temperature control assembly 22 adjusts the actual camera temperature of the camera assembly 21 to the target constant temperature, specifically includes: the main control board 221 adjusts the power of the heating device 211 or the cooling device 24 according to the actual camera temperature, the target constant temperature and the preset constant temperature control strategy in real time, so as to adjust the actual camera temperature of the camera assembly 21 to the target constant temperature.

[0066] In some embodiments, the preset constant temperature control strategy includes: adjusting the power of the heating device 211 or the cooling device 24 in real time by using the difference between the actual camera temperature and the target constant temperature.

[0067] For example, when the difference between the actual camera temperature of the camera assembly 21 and the target constant temperature is less than 0, that is, the actual camera temperature of the camera assembly 21 is lower than the target constant temperature, the main control board 221 will control the heating device 211 to increase the power, so as to increase the actual camera temperature of the camera assembly 21.

[0068] For example, when the difference between the actual camera temperature of the camera assembly 21 and the target constant temperature is greater than 0, that is, the actual camera temperature of the camera assembly 21 is higher than the target constant temperature, the main control board 221 will control the cooling device 24 to increase the power, so as to reduce the actual camera temperature of the camera assembly 21.

[0069] In some embodiments, the constant temperature control method further includes: the controller 31 presets a plurality of environment temperature ranges and a plurality of target constant temperatures corresponding to the plurality of environment temperature ranges respectively.

[0070] For example, the environment temperature range and the corresponding target constant temperature are shown in the following table:

[0071] Specifically, when the controller 31 determines that the actual environment temperature belongs to the environment temperature range T0-T1, the target constant temperature Tt1 is determined; when the controller 31 determines that the actual environment temperature belongs to the environment temperature range T1-T2, the target constant temperature Tt2 is determined; when the controller 31 determines that the actual environment temperature belongs to the environment temperature range T2-T3, the target constant temperature Tt3 is determined; when the controller 31 determines that the actual environment temperature belongs to the environment temperature range T3-T4, the target constant temperature Tt4 is determined.

[0072] In some embodiments, the constant temperature control method further comprises: when the controller 31 determines that the actual environment temperature is not within the environment temperature range T0 to T4, the controller 31 sends a warning message to prompt the relevant staff that the current actual environment temperature is too high or too low, and the temperature control assembly 22 cannot adjust the actual camera temperature of the camera assembly 21 to the target constant temperature, so that the relevant staff can find abnormal problems in time and avoid causing measurement errors.

[0073] In some embodiments, the constant temperature control method further comprises: before leaving the factory, the controller 31 calibrates the plurality of camera internal parameters of the camera assembly 21 according to the target constant temperature corresponding to the plurality of environment temperature ranges, so as to facilitate the camera assembly 21 to retrieve the corresponding camera internal parameters according to the target constant temperature in actual application.

[0074] In some embodiments, the environment temperature sensor 32 is located near the air inlet of the controller 31, which can more accurately represent the environment temperature.

[0075] In some embodiments, the heating device 211 can include a heating film. The heating film is a thin film type heater, which has the characteristics of thin thickness, small longitudinal thermal resistance, uniform heating, fast response, easy installation, stable resistance value, high temperature resistance, and reliable use.

[0076] In some embodiments, the heating device 211 can include a resistance heater. The resistance heater generates heat through resistance materials, which has the characteristics of simple structure, low cost, and fast heating speed.

[0077] In some embodiments, the heating device 211 can include a thermistor heater. The thermistor heater can change the resistance value according to the temperature change, thereby realizing temperature control.

[0078] In some embodiments, the type of the heating device 211 is not limited in the present application.

[0079] In some embodiments, the cooling device 24 can include a fan. The fan can use the flow of air to carry away heat, and the rotating speed of the fan can be adjusted according to the needs to adapt to different heat dissipation requirements. The fan is generally arranged below the heat sink 212 to act on the heat sink 212 through a specific air outlet direction, so as to form an active convection to carry away heat.

[0080] In some embodiments, the cooling device 24 can include a Stirling cooler. The Stirling cooler realizes refrigeration through an adiabatic expansion process, which has the characteristic of small volume.

[0081] In some embodiments, the cooling device 24 can include a Thermo Electric Cooler (TEC) which utilizes the Peltier effect, i.e. when an electric current is passed through a thermocouple composed of two different metal conductors (such as bismuth telluride, silicon germanium and various bismuth antimony alloys), one end emits heat and the other end absorbs heat, thereby achieving the dual function of heating / cooling, with a wider range of environmental adaptation, and low-temperature cooling can be achieved.

[0082] In some embodiments, the cooling device 24 can be selected as a cooling device 24 with large air volume and low rotation speed to ensure heat dissipation performance and avoid the influence of running noise.

[0083] In some embodiments, the type of the cooling device 24 is not limited in the present application.

[0084] The constant temperature control method of the present application makes corresponding constant temperature control of the camera assembly 21 according to the actual environmental temperature, so that the position of the camera assembly 21 does not change with the change of the actual environmental temperature, thereby ensuring that the pre-calibrated internal parameters remain unchanged and the measurement accuracy of the tracking instrument system 100 is ensured. In addition, the controller 31 automatically determines the corresponding target constant temperature according to the change of the actual environmental temperature, thereby ensuring that the camera assembly 21 quickly enters the working state after starting up and ensuring the stability of the measurement work in different application environments.

[0085] Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any additional reference signs in the claims should not be considered as limiting the claims involved.

[0086] In addition, it is obvious that the word "comprising" does not exclude other sub-modules or steps, and the singular does not exclude the plural. The plurality of sub-modules or devices stated in the present application can also be implemented by one sub-module or device through software or hardware.

[0087] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application. Industrial applicability

[0088] The tracker system provided by the present disclosure makes corresponding constant temperature control on the camera assembly according to the actual environment temperature, so that the position of the camera assembly is not changed by the change of the actual environment temperature, thereby ensuring that the pre-calibrated internal parameters are unchanged and the measurement accuracy of the tracker system is ensured. In addition, the controller automatically determines the corresponding target constant temperature according to the change of the actual environment temperature, thereby ensuring that the camera assembly quickly enters the working state after starting in different application environments and ensuring the stability of the measurement work, which has strong industrial practicability.

Claims

1. A tracker system, wherein, The tracking instrument system comprises: a camera mechanism comprising a camera assembly and a temperature control assembly; a control mechanism comprising a controller and an ambient temperature sensor configured to sense an actual ambient temperature in real time, the controller being in communication connection with the ambient temperature sensor and the temperature control assembly, the controller being configured to determine a target constant temperature according to an ambient temperature range to which the actual ambient temperature belongs, and send the target constant temperature to the temperature control assembly, the temperature control assembly being configured to adjust an actual camera temperature of the camera assembly to the target constant temperature.

2. The tracker system of claim 1, wherein, The temperature control assembly comprises a main control board, a cooling device, a heating device, and a camera temperature sensor configured to sense the actual camera temperature of the camera assembly in real time, the main control board being in communication connection with the cooling device, the heating device, and the camera temperature sensor, the main control board being configured to adjust power of the heating device or the cooling device in real time according to the actual camera temperature, the target constant temperature, and a preset constant temperature control strategy, so as to adjust the actual camera temperature of the camera assembly to the target constant temperature.

3. The tracker system of claim 2, wherein, The tracking instrument system further comprises a main beam, and the camera mechanism further comprises a housing and a light supplement assembly, the housing being fixed to an end of the main beam, the cooling device being installed on an inner side of the housing, an installation space being arranged in the housing, and at least two partitions being arranged in an interior of the installation space, the two partitions separating the installation space into three independent heat insulation cavities for respectively placing the camera assembly, the main control board, and the light supplement assembly.

4. The tracker system of claim 3, wherein, The camera assembly further comprises a lens seat, a back cover plate, and a circuit board, the back cover plate and the circuit board being installed on the lens seat, the lens seat being installed on an end of the main beam, the heating device being installed on one side of the lens seat, the camera temperature sensor being installed on the lens seat, the back cover plate being in rigid contact with the lens seat, and the circuit board being in contact with the back cover plate through a heat conduction medium.

5. The tracker system of claim 3, wherein, The ambient temperature sensor is arranged on the main beam and located near an air inlet of the controller.

6. A method of thermostatic control wherein, The constant temperature control method should be configured as the tracking instrument system according to any one of claims 1-5, and the constant temperature control method comprises: an ambient temperature sensor sensing an actual ambient temperature in real time; a controller determining a target constant temperature according to an ambient temperature range to which the actual ambient temperature belongs, and sending the target constant temperature to a temperature control assembly; the temperature control assembly adjusting an actual camera temperature of a camera assembly to the target constant temperature.

7. The thermostatic control method of claim 6, wherein, The temperature control assembly adjusting the actual camera temperature of the camera assembly to the target constant temperature comprises: a main control board adjusting power of a heating device or a cooling device in real time according to the actual camera temperature, the target constant temperature, and a preset constant temperature control strategy, so as to adjust the actual camera temperature of the camera assembly to the target constant temperature.

8. The thermostatic control method of claim 7, wherein, The preset constant temperature control strategy comprises: using the difference between the actual camera temperature and the target constant temperature to adjust the power of the heating device or the cooling device in real time.

9. The thermostatic control method of claim 6, wherein, The constant temperature control method further comprises: the controller presets a plurality of environmental temperature ranges and target constant temperatures corresponding to the plurality of environmental temperature ranges respectively.

10. The thermostatic control method of claim 9, wherein, The constant temperature control method further comprises: the controller calibrates a plurality of camera intrinsic parameters of the camera assembly according to the target constant temperatures corresponding to the plurality of environmental temperature ranges respectively.

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