阅读说明：本技术 测量装置、方法及测量电路 (Measuring device, method and measuring circuit ) 是由 郑文 张翔 林恒 于 2020-03-24 设计创作，主要内容包括：本申请公开一种测量装置、方法及测量电路,其中,测量装置包括云台、激光雷达、激光测距仪；云台包括底座、支撑架、壳体、转动件,支撑架的一端与壳体连接,另一端与转动件连接,底座包括垂直转轴及第一驱动电机,垂直转轴的一端与转动件连接,另一端与第一驱动电机连接；壳体包括至少两个卡孔,激光雷达的一端、激光测距仪的一端分别固定在一个卡孔中,并从卡孔中延伸出。本申请能够灵活使用激光测距仪对单个目标点进行测量,而使用激光雷达对多个目标点进行测量,进而实现避免激光测距仪开启、转动频繁的同时,实现单点测距、多点三维建模等工作模式的灵活切换,进而延长激光测距仪的使用寿命。另一方面,本申请还能提高测量效率。(The application discloses a measuring device, a measuring method and a measuring circuit, wherein the measuring device comprises a holder, a laser radar and a laser range finder; the cradle head comprises a base, a support frame, a shell and a rotating piece, wherein one end of the support frame is connected with the shell, the other end of the support frame is connected with the rotating piece, the base comprises a vertical rotating shaft and a first driving motor, one end of the vertical rotating shaft is connected with the rotating piece, and the other end of the vertical rotating shaft is connected with the first driving motor; the casing includes two at least card holes, and laser radar's one end, laser range finder's one end are fixed respectively in a card hole to extend in following the card hole. This application can use laser range finder in a flexible way to measure single target point, and uses laser radar to measure a plurality of target points, and then realizes avoiding laser range finder to open, rotate frequent the time, realizes the nimble switching of mode such as single-point range finding, multiple spot three-dimensional modeling, and then extension laser range finder's life. On the other hand, the method and the device can also improve the measurement efficiency.)

1. A measuring device is characterized by comprising a holder, a laser radar and a laser range finder;

the cradle head comprises a base, a support frame, a shell and a rotating part, wherein one end of the support frame is connected with the shell, the other end of the support frame is connected with the rotating part, the base comprises a vertical rotating shaft and a first driving motor, one end of the vertical rotating shaft is connected with the rotating part, the other end of the vertical rotating shaft is connected with the first driving motor, the rotating part comprises a second driving motor and a horizontal rotating shaft connected with the second driving motor, and two ends of the horizontal rotating shaft are connected with the support frame;

and the shell comprises at least two clamping holes, and one end of the laser radar and one end of the laser range finder are respectively fixed in one of the at least two clamping holes and extend out of the clamping holes.

2. The measurement device of claim 1, further comprising a camera, the camera being one of a digital camera and a video camera.

3. The measurement device of claim 2, further comprising an infrared laser fill-in light mounted on one side of the housing, the infrared laser fill-in light being horizontally symmetrical to at least one of the lidar, the laser range finder, and the camera.

4. The measuring device of claim 1, wherein the at least two card holes are arranged in a transverse direction.

5. The measuring device of claim 1, further comprising a heating plate fixedly mounted to one side of the vertical axis or the horizontal axis.

6. The measurement device of claim 1, further comprising a heat dissipation mechanism mounted within the housing;

and the heat dissipation mechanism comprises an air inlet fan and an air outlet fan, the air inlet fan is fixedly installed on the left shell wall of the shell, and the air outlet fan is fixedly installed on the right shell wall of the shell.

7. A measuring circuit, which is used in the measuring device according to one of claims 1-6, wherein the measuring circuit comprises a central control unit and an angle sensor, and the angle sensor is electrically connected with the central control unit;

the angle sensor is used for acquiring an angle rotation value of the measuring device and outputting the angle rotation value to the central controller;

the central controller is used for driving the shell to rotate according to the angle rotation value so as to drive the laser radar and the laser range finder.

8. The measurement circuit of claim 7, further comprising a first temperature sensor electrically connected to the central controller, the first temperature sensor being configured to obtain a temperature value inside the housing and input the temperature value inside the housing into the central controller;

the central controller is also used for driving the air inlet fan and the air outlet fan to rotate according to the temperature value in the shell.

9. The measurement circuit according to claim 7, further comprising a second temperature sensor electrically connected to the central controller, wherein the second temperature sensor uses a temperature value of a horizontal rotation axis of the measurement device or a vertical rotation axis of the measurement device and inputs the temperature value of the horizontal rotation axis or the temperature value of the vertical rotation axis into the central controller;

the central controller is also used for driving the heating sheet on the horizontal rotating shaft to heat according to the temperature value of the horizontal rotating shaft, or driving the heating sheet of the vertical rotating shaft to heat according to the temperature value of the vertical rotating shaft.

10. A measuring method, which is applied to a measuring device according to one of claims 1-6, the method comprising:

when the target area is a target point, the cloud deck rotates the laser range finder so that the laser range finder is aligned with the target point and the coordinates of the target point are obtained.

11. The measurement method of claim 10, wherein the method further comprises:

and when the target area comprises at least two target points, the holder rotates the laser radar so that the laser radar is aligned to the target area and the coordinates of all the target points in the target area are acquired.

12. The measurement method of claim 10, wherein the method further comprises:

when the target area comprises at least two target points, the cloud deck rotates a shooting instrument so that the shooting instrument is aligned to the target area and an image of the target area is acquired;

and the cradle head determines the coordinates of all target points in the target area according to the relative space matching rule of the shooting instrument and the laser radar.

Technical Field

The present disclosure relates to the field of measurement, and in particular, to a measurement device, a measurement method, and a measurement circuit.

Background

At present, a laser range finder can only measure one target point at a time, and when a large-scale and large-range measurement (such as the surface area of a measurement field, the volume of a soil slope or a stock ground) needs to be carried out on a target scene, a pan-tilt needs to be frequently rotated at a small angle and the laser range finder needs to be repeatedly started for ranging. The method is long in time consumption, cannot meet the requirement of the current engineering measurement speed, and the laser range finder is serious in frequent starting loss.

Disclosure of Invention

The application aims to disclose a measuring device, a measuring method and a measuring circuit, which can flexibly use a laser range finder to measure a single target point according to data such as the number of the target points, and use a laser radar to measure a plurality of target points, so that the laser range finder is prevented from being opened and rotated frequently, and the service life of the laser range finder is prolonged. On the other hand, the method and the device can also improve the measurement efficiency.

The first aspect of the application discloses a measuring device, which comprises a holder, a laser radar and a laser range finder;

the cradle head comprises a base, a supporting frame, a shell and a rotating piece, wherein one end of the supporting frame is connected with the shell, the other end of the supporting frame is connected with the rotating piece, the base comprises a vertical rotating shaft and a first driving motor, one end of the vertical rotating shaft is connected with the rotating piece, and the other end of the vertical rotating shaft is connected with the first driving motor; the rotating part comprises a second driving motor and a horizontal rotating shaft connected with the second driving motor, and two ends of the horizontal rotating shaft are connected with the supporting frame;

and the body comprises at least two clamping holes, and one end of the laser radar and one end of the laser range finder are respectively fixed in one of the at least two clamping holes and extend out of the clamping holes.

In this application first aspect, through horizontal rotating shaft, support frame and perpendicular pivot, rotate the piece, the casing is rotatable, and then can realize rotating laser range finder and laser radar in the casing according to the requirement of different scenes, so that one in laser range finder and the laser radar aims at the target region, so, compare with prior art needs exclusive use laser range finder to measure a plurality of target points, this application can make laser radar measure a plurality of target points, and then this application can avoid laser range finder to open, rotate frequently, and then can prolong laser range finder's life and improve measurement of efficiency. Compared with the method for measuring a plurality of target points by using the laser radar alone, the method for measuring the target points of the laser radar can measure a plurality of target points simultaneously and can measure a single target point, and therefore the method has better use flexibility.

In the first aspect of the present application, as an optional implementation manner, the measuring apparatus further includes a camera, where the camera is one of a digital camera and a video camera.

In this optional embodiment, the camera can shoot the target area and generate an image of the target area, and further determine coordinates of a plurality of target points in the target area according to the image of the target area and a spatial relationship between the camera and the laser radar. Meanwhile, the camera can be used for acquiring the image of the target area and the remote video monitoring and remote control can be realized by combining the camera with the network.

In the first aspect of the present application, as an alternative embodiment, the at least two card holes are arranged in a transverse direction. In this alternative embodiment, since the two card holes are arranged in the transverse direction, the instrument aimed at the target point can be switched in the horizontal direction by the rotation of the vertical rotating shaft.

In the first aspect of the present application, as an optional implementation manner, the measuring device further includes a heating plate, and the heating plate is fixedly installed on one side of the vertical rotating shaft or the horizontal rotating shaft. In this alternative embodiment, the heating plate can prevent the lubricating liquid of the vertical rotating shaft or the horizontal rotating shaft from solidifying, and especially, the heating plate can enable the vertical rotating shaft and the horizontal rotating shaft to normally rotate under the condition of low air temperature.

In the first aspect of the present application, as an optional implementation manner, the measurement apparatus further includes a heat dissipation mechanism, and the heat dissipation mechanism is installed in the housing; and the heat dissipation mechanism comprises an air inlet fan and an air outlet fan, the air inlet fan is fixedly installed on the left shell wall of the shell, and the air outlet fan is fixedly installed on the right shell wall of the shell. In this optional embodiment, heat dissipation mechanism can dispel the heat in the casing to avoid laser range finder and laser radar work in high temperature environment, thereby laser range finder and laser radar's that reduces damage probability.

In this application first aspect, as an optional implementation mode, measuring device is still including installing the infrared laser light filling lamp of casing one side, infrared laser light filling lamp with laser radar laser range finder at least one item horizontal symmetry in the shooting instrument sets up. In this optional implementation mode, infrared laser light filling lamp can the light filling to make the appearance of shooing normally work in the dim environment of light.

A second aspect of the present application discloses a measurement circuit, which is applied to the measurement device in the first aspect of the present application, and the measurement circuit includes a central control unit and an angle sensor, and the angle sensor is electrically connected to the central control unit;

the angle sensor is used for acquiring an angle rotation value of the measuring device and outputting the angle rotation value to the central controller;

the central controller is used for driving the shell to rotate according to the angle rotation value so as to drive the laser radar and the laser range finder.

In this application second aspect, angle sensor can detect measuring device's angle of rotation value, and then central controller can the drive of angle of rotation value the casing rotates, in order to drive laser radar laser range finder the shooting instrument rotates.

In the second aspect of the present application, as an optional implementation manner, the measurement circuit further includes a first temperature sensor, where the first temperature sensor is electrically connected to the central controller, and the first temperature sensor is configured to acquire a temperature value inside the housing and input the temperature value inside the housing into the central controller;

the central controller is also used for driving the air inlet fan and the air outlet fan to rotate according to the temperature value in the shell.

In this optional embodiment, the first temperature sensor can detect the temperature in the housing, and then can perform heat dissipation processing on the housing according to the temperature in the housing.

In the second aspect of the present application, as an optional implementation manner, the measurement circuit further includes a second temperature sensor, where the second temperature sensor is electrically connected to the central controller, and the second temperature sensor uses a temperature value of a horizontal rotating shaft of the measurement device or a temperature value of a vertical rotating shaft of the measurement device, and inputs the temperature value of the horizontal rotating shaft or the temperature value of the vertical rotating shaft into the central controller;

the central controller is also used for driving the heating sheet on the horizontal rotating shaft to heat according to the temperature value of the horizontal rotating shaft, or driving the heating sheet of the vertical rotating shaft to heat according to the temperature value of the vertical rotating shaft.

In this optional embodiment, the second temperature sensor can detect the temperature of the vertical rotating shaft or the horizontal rotating shaft, and the central controller can control the heating sheet to heat the vertical rotating shaft or the horizontal rotating shaft according to the temperature of the vertical rotating shaft or the horizontal rotating shaft.

A third aspect of the present application discloses a measurement method applied to the measurement apparatus disclosed in the first aspect of the present application, the method including:

when the target area is a target point, the cloud deck rotates the laser range finder so that the laser range finder is aligned with the target point and the coordinates of the target point are obtained.

It should be noted that the number of target points in the target area may be determined by the survey operator.

As an optional implementation, the method further comprises:

and when the target area comprises at least two target points, the holder rotates the laser radar so that the laser radar is aligned to the target area and the coordinates of all the target points in the target area are acquired.

In the third aspect of the present application, the measuring method can realize that the housing can be rotated by the horizontal rotating shaft, the supporting frame and the vertical rotating shaft, and the rotating member can rotate the housing, and further can realize that the laser range finder and the laser radar in the housing can be rotated according to the requirements of different scenes, so that one of the laser range finder and the laser radar is aligned to the target area, and thus, compared with the prior art that the laser range finder is required to be used alone to measure a plurality of target points, the present application can enable the laser radar to measure a plurality of target points, and further avoid the laser range finder being opened, the rotation is frequent, and further the service life of the laser range finder can be prolonged and the measuring. Compared with the method for measuring a plurality of target points by using the laser radar alone, the method for measuring the target points by using the laser radar can measure a plurality of target points simultaneously and can measure a single target point, and therefore the method has better use flexibility.

In the third aspect of the present application, as an optional implementation, the method further includes:

when the target area comprises at least two target points, the cloud deck rotates a shooting instrument so that the shooting instrument is aligned to the target area and an image of the target area is acquired;

and the cradle head determines the coordinates of all target points in the target area according to the relative space matching rule of the shooting instrument and the laser radar.

In this alternative embodiment, the camera can capture the target area and generate an image of the target area, and further determine coordinates of a plurality of target points in the target area according to the image of the target area and a spatial relationship between the camera and the laser radar, so that the camera can acquire the image of the target area and realize remote video monitoring and remote control by combining the camera with a network.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a measuring apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of another measuring device disclosed in an embodiment of the present application;

fig. 3 is a schematic diagram of functional modules of a measurement circuit according to a second embodiment of the present disclosure;

fig. 4 is a schematic flow chart of a measurement method disclosed in the third embodiment of the present application;

wherein, the reference signs are casing 1, laser radar 2, laser range finder 3, shoot appearance 4, support frame 5, rotate piece 6, base 7.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Before this, it should be noted that the coordinates of the device coordinate system of one target point can be measured by the measuring method, circuit and apparatus of the present application, and after the measured coordinates of the device coordinate systems of a plurality of target points, three-dimensional modeling can be performed according to the coordinates of the device coordinate systems of a plurality of target points.