CN106289104A - Color three dimension laser scanner - Google Patents
Color three dimension laser scanner Download PDFInfo
- Publication number
- CN106289104A CN106289104A CN201610853902.9A CN201610853902A CN106289104A CN 106289104 A CN106289104 A CN 106289104A CN 201610853902 A CN201610853902 A CN 201610853902A CN 106289104 A CN106289104 A CN 106289104A
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- China
- Prior art keywords
- housing
- color
- revolving stage
- laser scanner
- horizontal revolving
- Prior art date
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- 238000000034 method Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 2
- 210000001367 artery Anatomy 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 210000003462 vein Anatomy 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of color three dimension laser scanner, including: base, it is used for supporting whole color three dimension laser scanner；Horizontal revolving stage, with described base for being rotatably connected；Housing, fixes with described horizontal revolving stage and is connected, and follow the rotation of described horizontal revolving stage and rotate；Horizontal drive apparatus, in being arranged on described housing and is connected with described horizontal revolving stage, is used for driving described horizontal revolving stage to horizontally rotate, and then drives described housing to horizontally rotate；And scanning system, described scanning system is arranged in described housing；Described scanning system includes image acquiring device, laser ranging system and control device；Described control device is connected with described image acquiring device, described laser ranging system respectively.Above-mentioned color three dimension laser scanner can improve the precision finally measuring the colour point clouds data message obtained.
Description
Technical field
The present invention relates to laser scanner technique field, particularly relate to a kind of color three dimension laser scanner.
Background technology
Three-dimensional laser scanner is a kind of can then to construct height with the high-precision three-dimensional coordinate of quick obtaining testee
The measurement equipment of precision threedimensional model.In machine-building, architectural design, civil engineering, industrial detection, cultural heritage protection and void
Intend the industry fields such as reality and three-dimensional laser scanner is had the biggest demand.Color laser scanner needs carry out level and hang down
Nogata to rotate with obtain testee three-dimensional coordinate information.Traditional color three dimension laser scanner needs more biography
Dynamic structure realizes horizontally rotating of scanner, so that the precision of measurement data can the precision of driven structure and installation
The impact of error, the precision causing final measurement is relatively low.
Summary of the invention
Based on this, it is necessary to provide the color three dimension laser scanner that a kind of certainty of measurement is higher.
A kind of color three dimension laser scanner, including: base, it is used for supporting whole color three dimension laser scanner；Level
Turntable, with described base for being rotatably connected；Housing, fixes with described horizontal revolving stage and is connected, and follow described horizontal revolving stage
Rotate and rotate；Horizontal drive apparatus, in being arranged on described housing and is connected with described horizontal revolving stage, is used for driving described level
Turntable horizontally rotates, and then drives described housing to horizontally rotate；And scanning system, described scanning system is arranged on
In described housing；Described scanning system includes image acquiring device, laser ranging system and control device；Described control device divides
It is not connected with described image acquiring device, described laser ranging system；Described image acquiring device is for obtaining testee
Color texture information, described laser ranging system is for obtaining the three-dimensional coordinate information of testee；Described control device is used for
Described image acquiring device and described laser ranging system are controlled, and according to described color texture information and described three-dimensional
Coordinate information determines the colour point clouds data message of described testee.
Wherein in an embodiment, described horizontal drive apparatus includes the first motor and the first encoder；Described first
Motor provides driving force for rotating for described horizontal revolving stage；Described first encoder is for recording the rotation of described first motor
Angle.
Wherein in an embodiment, described housing includes connecting seat, the first housing and the second housing；Described connection cover for seat
It is located at outside described horizontal revolving stage；Described first housing and described second housing are connected the fixing connection of seat, and institute with described respectively
State the first housing and described second housing is symmetrical arranged about described horizontal revolving stage.
Wherein in an embodiment, described laser ranging system includes generating laser, and described generating laser is arranged
Above described horizontal revolving stage and be arranged on the central rotating shaft of described horizontal revolving stage.
Wherein in an embodiment, described generating laser is high-frequency pulsed lasers emitter.
Wherein in an embodiment, described laser ranging system also includes illuminator, the second motor and the second encoder；
Described second motor is used for driving described illuminator to rotate, to control the laser of described laser transmitter projects in vertical direction fortune
Move and then testee is carried out vertical scanning；Described second encoder is for recording the rotational angle of described second motor.
Wherein in an embodiment, described image acquiring device is arranged in described first housing；Described Image Acquisition
Device includes photographic head, imageing sensor and image processing module；Described imageing sensor is used for obtaining described photographic head and obtains
The image information got exporting processes to described image processing module, to obtain described color texture information；Described take the photograph
As head is fixed on described first housing, and described photographic head is positioned at same level height with described generating laser.
Wherein in an embodiment, described control device includes motor control module, for described first motor and
Described second motor is controlled；Described motor control module is arranged in described first housing.
Wherein in an embodiment, also include being arranged on the battery in described housing and battery mounting；Described electricity
Pond fixed mount is fixing on the housing, and is used for fixing described battery；Described battery is for sweeping for described color three dimension laser
Retouch instrument and operation power is provided.
Above-mentioned color three dimension laser scanner, horizontal revolving stage is rotatably connected with base and is fixedly connected with the casing, therefore
Horizontal drive apparatus directly drives horizontal revolving stage to horizontally rotate and can realize housing is horizontally rotated control.Therefore above-mentioned coloured silk
Without other drive mechanism to realize horizontal drive apparatus to colored three during the horizontally rotating of color three-dimensional laser scanner
That ties up laser scanner horizontally rotates control, thus decreases owing to machining accuracy and the alignment error of drive mechanism are caused
Measurement impact, the precision finally measuring the colour point clouds data message obtained can be improved.
Accompanying drawing explanation
Fig. 1 is the perspective view of the color three dimension laser scanner in an embodiment；
Fig. 2 is the explosive view of the color three dimension laser scanner in Fig. 1；
Fig. 3 is the front schematic view of the internal structure of the color three dimension laser scanner in Fig. 1；
Fig. 4 is the schematic rear view of the internal structure of the color three dimension laser scanner in Fig. 1.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the perspective view of the color three dimension laser scanner in an embodiment, and Fig. 2 is the explosive view of Fig. 1,
Fig. 3 and Fig. 4 is the schematic diagram of the internal structure of Fig. 1.Below in conjunction with Fig. 1～Fig. 4, the color three dimension laser in the present embodiment is swept
Retouch instrument to elaborate.This color three dimension laser scanner includes that base 110, horizontal revolving stage 120, housing 130, horizontal drive fill
Put 140 and scanning system.
Base 110 is used for supporting whole three-dimensional laser scanner.In the present embodiment, base 110 is generally circular in shape.
Horizontal revolving stage 120 is fixed on base 110, and with base 110 for being rotatably connected.Therefore, horizontal revolving stage 110 can
To horizontally rotate relative to base 110.In one embodiment, for guaranteeing consolidating between horizontal revolving stage 120 and base 110
Property, it is additionally provided with pressing plate 122.Pressing plate 122 is arranged on one side relative with base 110 on horizontal revolving stage 120, for level being turned
Platform 120 is locked between pressing plate 122 and base 110.
Housing 130 is as agent structure, for accommodating and protecting the horizontal drive apparatus in color three dimension laser scanner
The equipment such as 140 and scanning system.Housing 130 includes connecting seat the 132, first housing 134 and the second housing 136.Wherein, connect
It is outside that seat 132 is set in horizontal revolving stage 120, and fixing with horizontal revolving stage 120 is connected.First housing 134 and the second housing 136 are then
Respectively be connected that seat 132 is fixing to be connected, and be symmetrically distributed in the both sides of horizontal revolving stage 120.Therefore, housing 130 can follow level
The rotation of turntable and rotate, thus realize the horizontal sweep process of scanning system.
Horizontal drive apparatus 140 is arranged in housing 130, is used for driving horizontal revolving stage 120 to horizontally rotate.Level is driven
Dynamic device 140 includes the first motor 142 and the first encoder 144.First motor 142 carries for the rotation for horizontal revolving stage 120
For driving force, the first encoder 144 is then for the rotational angle of record the first motor 142, in order to scanning system reads this turn
Dynamic angle value, and calculate according to angle value.
Scanning system is arranged in housing 130, to measure testee.Scanning system includes laser ranging system
210, image acquiring device 220 and control device 230.Control device 230 to be connected with laser ranging system 210, and go back and image
Acquisition device 220 connects.Laser ranging system 210 is for obtaining the color texture information of testee, and image acquiring device
220 for obtaining the three-dimensional coordinate information of testee.Control device 230 for laser ranging system 210 and image are obtained
Fetching is put the work process of 220 and is controlled, and according to the color texture information got and three-dimensional coordinate information determine by
Survey the colour point clouds data message of object, thus realize the measurement to testee.
Above-mentioned color three dimension laser scanner, horizontal revolving stage 120 and base 110 are rotatably connected and fix with housing 130
Connecting, therefore horizontal drive apparatus 140 directly drives horizontal revolving stage 120 to horizontally rotate the water that can realize housing 130
Flat turn is dynamic to be controlled.Therefore without other drive mechanism to realize water during the horizontally rotating of above-mentioned color three dimension laser scanner
Flat driving means 140 horizontally rotates control to color three dimension laser scanner, thus decreases the processing due to drive mechanism
The measurement impact that precision and alignment error are caused, can improve the essence finally measuring the colour point clouds data message obtained
Degree.
In the present embodiment, laser ranging system 210 includes generating laser 212, illuminator 214 and vertically drives dress
Put.Wherein, vertical driving means includes the second motor 216 and the second encoder 218.Generating laser 212 is arranged on level and turns
The top of platform 120 and being positioned on the central rotating shaft of horizontal revolving stage 120, so that it is guaranteed that color three dimension laser scanner is either at water
Flat or be all to rotate centered by generating laser 212 at vertical direction.In the present embodiment, generating laser 212 uses
High-frequency pulsed lasers emitter, is used for sending high-frequency pulsed lasers.Illuminator 214 can enter under the driving of the second motor 216
Row rotates, thus is adjusted the emergent ray of generating laser 212, to realize generating laser 212 in vertical direction
Scanning.Second encoder 218 is then for the rotational angle of record the second motor 216.
Image acquiring device 220 is arranged in the first housing 134.Image acquiring device 220 includes photographic head 222, image
Sensor 224 and image processing module 226.Image information that imageing sensor 224 gets for obtaining photographic head 222 is the most defeated
Go out the color texture information carrying out processing to obtain testee to image processing module 226.In the present embodiment, photographic head
222 are fixed on the first housing 134, and photographic head 222 is positioned at same level height with generating laser 212.That is, photographic head
222 when following housing 130 and rotating, and is with generating laser 212 as center of rotation, thus facilitate and follow-up carry out data fusion.
Control device 230 and include motor control module.Motor control module is for the first motor 142 and the second motor
The rotation of 216 is controlled.Control device 230 to be similarly disposed in the first housing 134.
In the present embodiment, above-mentioned color three dimension laser scanner also include the battery 152 that is arranged in housing 130 and
Battery mounting 154.Battery mounting 154 is fixed on the first housing 134.Battery mounting 154 is for self-contained battery 152.
Battery 152 is then for providing operation power for whole color three dimension laser scanner.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a color three dimension laser scanner, it is characterised in that including:
Base, is used for supporting whole color three dimension laser scanner；
Horizontal revolving stage, with described base for being rotatably connected；
Housing, fixes with described horizontal revolving stage and is connected, and follow the rotation of described horizontal revolving stage and rotate；
Horizontal drive apparatus, in being arranged on described housing and is connected with described horizontal revolving stage, is used for driving described horizontal revolving stage to enter
Row horizontally rotates, and then drives described housing to horizontally rotate；And
Scanning system, described scanning system is arranged in described housing；Described scanning system includes image acquiring device, Laser Measuring
Away from device and control device；Described control device is connected with described image acquiring device, described laser ranging system respectively；Described
Image acquiring device is for obtaining the color texture information of testee, and described laser ranging system is for obtaining testee
Three-dimensional coordinate information；Described control device is used for being controlled described image acquiring device and described laser ranging system, and
The colour point clouds data message of described testee is determined according to described color texture information and described three-dimensional coordinate information.
Color three dimension laser scanner the most according to claim 1, it is characterised in that described horizontal drive apparatus includes
One motor and the first encoder；Described first motor provides driving force for rotating for described horizontal revolving stage；Described first coding
Device is for recording the rotational angle of described first motor.
Color three dimension laser scanner the most according to claim 1, it is characterised in that described housing include connecting seat, the
One housing and the second housing；Described connection cover for seat is located at outside described horizontal revolving stage；Described first housing and described second housing
It is connected the fixing connection of seat with described respectively, and described first housing and described second housing set about described horizontal revolving stage symmetry
Put.
Color three dimension laser scanner the most according to claim 3, it is characterised in that described laser ranging system includes swashing
Optical transmitting set, described generating laser is arranged at above described horizontal revolving stage and is arranged at the central rotating shaft of described horizontal revolving stage
On.
Color three dimension laser scanner the most according to claim 4, it is characterised in that described generating laser is high frequency arteries and veins
Impulse optical transmitting set.
Color three dimension laser scanner the most according to claim 4, it is characterised in that described laser ranging system also includes
Illuminator, the second motor and the second encoder；Described second motor is used for driving described illuminator to rotate, to control described laser
The laser that emitter is launched carries out vertical scanning in movement in vertical direction and then to testee；Described second encoder is used for remembering
Record the rotational angle of described second motor.
Color three dimension laser scanner the most according to claim 4, it is characterised in that described image acquiring device is arranged on
In described first housing；Described image acquiring device includes photographic head, imageing sensor and image processing module；Described image
Sensor processes to described image processing module for obtaining image information that described photographic head gets exporting, with
To described color texture information；Described photographic head is fixed on described first housing, and described photographic head and described Laser emission
Device is positioned at same level height.
Color three dimension laser scanner the most according to claim 6, it is characterised in that described control device includes motor control
Molding block, for being controlled described first motor and described second motor；Described motor control module is arranged on described
In one housing.
Color three dimension laser scanner the most according to claim 1, it is characterised in that also include being arranged in described housing
Battery and battery mounting；Described battery mounting is fixing on the housing, and is used for fixing described battery；Described electricity
Pond is for providing operation power for described color three dimension laser scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610853902.9A CN106289104B (en) | 2016-09-26 | 2016-09-26 | Color three-dimensional laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610853902.9A CN106289104B (en) | 2016-09-26 | 2016-09-26 | Color three-dimensional laser scanner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106289104A true CN106289104A (en) | 2017-01-04 |
| CN106289104B CN106289104B (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610853902.9A Active CN106289104B (en) | 2016-09-26 | 2016-09-26 | Color three-dimensional laser scanner |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106932780A (en) * | 2017-03-14 | 2017-07-07 | 北京京东尚科信息技术有限公司 | Object positioning method, device and system |
| CN109059803A (en) * | 2018-08-14 | 2018-12-21 | 贵州大学 | A kind of ore mining three-dimensional laser scanner |
| JP7670720B2 (en) | 2019-12-30 | 2025-04-30 | マターポート・インコーポレーテッド | System and method for capturing and generating panoramic 3D images - Patents.com |
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|---|---|---|---|---|
| US6006995A (en) * | 1993-10-12 | 1999-12-28 | Metrologic Instruments Inc. | System for reading bar code symbol on containers having arbitrary surface geometry |
| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| CN105157566A (en) * | 2015-05-08 | 2015-12-16 | 深圳市速腾聚创科技有限公司 | Color three-dimensional laser scanner and three-dimensional color point cloud scanning method |
| CN205027316U (en) * | 2015-05-08 | 2016-02-10 | 深圳市速腾聚创科技有限公司 | Quick three -dimensional laser scanning appearance |
| CN105841631A (en) * | 2016-03-22 | 2016-08-10 | 中国神华能源股份有限公司 | Three-dimensional laser scanning device and method |
-
2016
- 2016-09-26 CN CN201610853902.9A patent/CN106289104B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6006995A (en) * | 1993-10-12 | 1999-12-28 | Metrologic Instruments Inc. | System for reading bar code symbol on containers having arbitrary surface geometry |
| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| CN105157566A (en) * | 2015-05-08 | 2015-12-16 | 深圳市速腾聚创科技有限公司 | Color three-dimensional laser scanner and three-dimensional color point cloud scanning method |
| CN205027316U (en) * | 2015-05-08 | 2016-02-10 | 深圳市速腾聚创科技有限公司 | Quick three -dimensional laser scanning appearance |
| CN105841631A (en) * | 2016-03-22 | 2016-08-10 | 中国神华能源股份有限公司 | Three-dimensional laser scanning device and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106932780A (en) * | 2017-03-14 | 2017-07-07 | 北京京东尚科信息技术有限公司 | Object positioning method, device and system |
| CN109059803A (en) * | 2018-08-14 | 2018-12-21 | 贵州大学 | A kind of ore mining three-dimensional laser scanner |
| JP7670720B2 (en) | 2019-12-30 | 2025-04-30 | マターポート・インコーポレーテッド | System and method for capturing and generating panoramic 3D images - Patents.com |
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| Publication number | Publication date |
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| CN106289104B (en) | 2020-04-10 |
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