CN208207203U - A kind of structure for ground static three-dimensional laser scanner external camera - Google Patents

Abstract

The utility model belongs to the technical field of laser radar and close-range photogrammetry, and specifically relates to a structure for an external camera of a static three-dimensional laser scanner on the ground, including a fixed base, a rotating shaft table, a camera fixing stud, a rotating shaft, a fixed With screw holes, damping bearings, vertical support plates, outer clamping holes, inner clamping holes, locking buckles, and camera lens anti-shake fixing frame, the utility model can effectively solve the problem of ground three-dimensional laser scanner external camera photography image under static conditions. It is fully capable of correspondingly covering or exceeding the field of view of the scanning point cloud, especially in the case of close-range and steep target objects to completely collect the true color RGB information of the ground surface in the scanning point cloud area.

Description

A structure for an external camera of a static 3D laser scanner on the ground

technical field

The utility model relates to the technical field of laser radar and close-range photogrammetry, in particular to a structure for an external camera of a ground static three-dimensional laser scanner.

Background technique

3D laser scanning technology is a fast, non-contact, high-precision and high-density high-tech technology for obtaining 3D spatial information that is close to the real model, which emerged in my country at the beginning of the 21st century. It has become one of the main technical means of 3D spatial information acquisition. The point cloud data obtained by this technology is rich in information, including the three-dimensional space coordinates of points, true color information, reflectivity and reflection intensity, among which the true color information RGB is mainly obtained by the digital camera in the three-dimensional laser scanning system.

The installation of the digital camera in the terrestrial 3D laser scanning system is divided into built-in and external. Regardless of the installation method of the camera, its focal length is fixed when the image is collected, but the scanning method of the scanner is different due to the different installation methods of the camera. The ground static scanner with a built-in camera first obtains point cloud data, and then divides the imaging frame by a certain overlap according to the size of the point cloud frame, and then collects images one by one; the ground static 3D laser scanner with an external camera rotates 360° in the horizontal direction The acquisition of spatial information can be completed in one circle. The coverage of the vertical field of view of the 3D laser scanner and the vertical field of view of the external fixed camera lens is directly related to the distance from the scanner to the target. The closer the object is, the azimuth field of view of the image is always smaller than the field of view of the scanning point cloud. There is a problem that the vertical field of view of the image cannot completely correspond to the vertical field of view of the point cloud, and some target areas have surface point cloud data but no The phenomenon of image data leads to the lack of true color RGB information in some point cloud data.

Therefore, a fixed camera structure is required, which needs to be rotated within 180° in the vertical field of view, so that the camera can capture all image data within the range of the scanner's field of view.

Contents of the invention

The purpose of this utility model is to solve the problem that the vertical field of view of the camera cannot completely correspond to the vertical field of view of the scanner, and the phenomenon that some target areas have point cloud data but no image data on the surface has formed, resulting in true The missing problem of color RGB information.

For this reason, the utility model provides a structure for an external camera of a static three-dimensional laser scanner on the ground, including a fixed base, a rotating shaft table, a camera fixing stud, a rotary shaft, a fixed screw hole, a damping bearing, Vertical support plate, outer card hole, inner card hole, locking buckle, camera lens anti-shake fixing frame, the fixed connection base is a flat plate structure placed horizontally, the left and right sides are straight lines, and the front and rear sides are circles On the arc edge, the center of the fixed base is provided with a fixed screw hole, and the fixed screw hole is an internal threaded round hole passing through the fixed base. There are two vertical support plates, which are rectangular flat plates, perpendicular to the fixed base. The flat surface of the connection base is respectively arranged on the straight sides of the left and right sides of the fixed connection base. A round hole is arranged in the middle of the upper middle part of the vertical support plate, and a damping bearing is installed in the round hole. The damping bearing is a damping bearing. The bearing, the damping bearing is fitted with a rotary shaft, one end of the rotary shaft is flush with the left end face of the left vertical support plate, and the other end is flush with the right end face of the right vertical support plate, the rotating shaft It is a rectangular cylinder with a round hole in the center from the left end to the right end. The rotating pillow block is fixed around the rotating shaft through the round hole set in the center. The rotating shaft block is set between two vertical support plates. The camera The fixed stud is an externally threaded column, which is arranged in the middle of the top surface of the rotating pillow block.

The middle part of the vertical support plate is provided with 37 external clamping holes, and the external clamping holes are through holes, which are evenly distributed on a 180° semi-circular arc from top to bottom. The center of the external clamping hole is located on the semi-circular arc. The center of the arc coincides with the center of the circular hole of the vertical support plate, and the positions of the outer clamping holes on both sides correspond.

The middle parts of the left and right sides of the rotating pillow block are provided with internal clamping holes. There are 37 internal clamping holes on each side and are blind holes. These 37 internal clamping holes are evenly distributed in 180° from top to bottom. On the semi-circular arc, the center of the inner clamping hole is located on the semi-circular arc, the center of the semi-circular arc coincides with the center of the circular hole of the rotating pillow block, and the positions of the inner clamping holes on both sides correspond.

The diameter of the outer clamping hole is the same as that of the inner clamping hole, and the distance from the outer clamping hole to the center of the circular hole of the vertical support plate is the same as the distance from the inner clamping hole to the center of the circular hole of the rotating pillow block.

The locking buckle includes a buckle handle and a lock rod. The lock rod is cylindrical, and the right end is perpendicular to the axial direction of the lock rod. Bar structure, the middle part is connected with the right end of the locking rod, the locking buckle passes through the outer locking hole and extends into the bottom of the round hole of the inner locking hole, and the buckle handle is exposed on the outside of the vertical support plate.

There are 3 locking buckles, which are respectively arranged in the three directions of the upper, lower, and left sides of the vertical direction. The angle between the upper part of the vertical direction and the left side of the horizontal direction is 90°, and The angle between the left side and the bottom of the vertical direction is also 90°.

The camera lens anti-shake fixing frame includes a fastening screw, a hinge, a fixing frame base, and an upper cover frame. The fixing frame base is a semicircle opening upwards, and two L-shaped back-to-back sides are separately provided on the left and right sides. Support foot, described loam cake frame is the semicircle of opening downwards, and the left end and the left end of fixed mount base are fixed by hinge, and the right end of loam cake frame is fixed with the right end of fixed mount base by threaded mode by fastening screw rod.

The camera lens anti-shake fixing frame is fixed on the middle part of the top surface of the rotating pillow block in a threaded manner through the supporting feet on the left and right sides, and is located on the front side of the camera fixing stud. The fixing frame base of the camera lens anti-shaking fixing frame It forms a complete circle with the upper cover frame, and the plane where the circle is located is parallel to the front side of the rotating pillow block.

The beneficial effects of the utility model:

1. Due to the use of the rotating pillow block, the rotating pillow block is fixed on the rotary shaft, and the rotary shaft is sleeved in the damping bearing. The rotating pillow block can drive the rotary shaft to rotate 360° around its axis, and the external camera can be fixed by the camera The stud is fixed on the top of the rotating pillow block. With the rotation of the rotating pillow block, images are taken one by one in the vertical direction, and all the image data in the vertical direction can be completely obtained, which can effectively solve the problem of static conditions. The photographic image of the external camera can completely cover or exceed the scanner's field of view, especially in the case of close-range and steep target objects, which can completely collect true-color RGB information in the scanned point cloud area.

2. Due to the setting of the outer clamping hole, the inner clamping hole and the locking buckle, the vertical support plate is provided with 37 outer clamping holes and 3 locking buckles, and the outer clamping hole and the inner clamping hole are located on the same side of the vertical support plate. Side, in the shape of a vertical semicircle, the step angle formed by the center of two adjacent clamping holes and the axis is 5°, the outer clamping hole and the inner clamping hole after installation and fitting are concentric circles, and the size is the same and one-to-one correspondence In the same way, the locking buckles for rotation and fixation are respectively located at the upper, lower, and left sides in the vertical direction, that is, the half-dome distance from the 0° start position, 180° end position and 90° position, can lock the camera system at different positions from the zenith, and at the same time realize the shooting of vertical multi-angle oblique image data, it can ensure that there are two locking buckles to lock the camera system, so that the external camera works well stability.

3. Since the step angle formed by the center of two adjacent card holes and the axis is 5°, it can achieve a large degree of overlap between images shot at multi-angle obliquely, which can ensure subsequent image splicing and matching.

4. Due to the use of the camera lens anti-shake holder, the lens of the external camera can be stuck in the camera lens anti-shake holder, which further increases the stability of the external camera when shooting and ensures that the captured images are clear and usable.

5. Since the camera lens anti-shake fixing frame is provided with a hinge and a fastening screw, when the fastening screw is loosened, the upper cover frame can be opened and closed and rotated around the axis of the hinge relative to the base of the fixed frame, which is convenient for external placement Camera installation and removal.

Description of drawings

Fig. 1 is a structural representation of the utility model;

Fig. 2 is a schematic side view of the rotary pillow block of the present invention;

Fig. 3 is a schematic structural view of the camera lens anti-shake fixing mount of the present invention;

Fig. 4 is a structural schematic diagram of the locking buckle of the present invention;

In the figure: 1. Fixed base; 2. Rotating pillow block; 3. Camera fixing stud; 4. Rotary shaft; 5. Fixed screw hole; 6. Damping bearing; 7. Vertical support plate; 8. Outer card Hole; 9, inner card hole; 10, locking buckle; 10-1, buckle handle; 10-2, locking rod; 11, camera lens anti-shake fixing frame; 11-1, fastening screw rod; 11-2 , hinge; 11-3, fixed frame base; 11-4, upper cover frame.

Detailed ways

In order to further illustrate the technical means and effects of the utility model to achieve the intended purpose, the specific implementation, structural features and effects of the utility model will be described in detail below in conjunction with the accompanying drawings and examples.

Example 1

In order to solve the problem that the vertical field of view of the camera cannot completely correspond to the vertical field of view of the scanner, the phenomenon of point cloud data but no image data on the surface of some target areas has been formed, resulting in the lack of true color RGB information in part of the point cloud data Problem, this embodiment, as shown in Figure 1, provides a structure for an external camera of a static 3D laser scanner on the ground, including a fixed base 1, a rotating platform 2, a camera fixing stud 3, a rotating shaft 4, and a fixed screw Hole 5, damping bearing 6, vertical support plate 7, outer card hole 8, inner card hole 9, locking buckle 10, camera lens anti-shake fixing frame 11, and the fixed connection base 1 is a flat plate structure placed horizontally , the left and right sides are straight lines, the front and rear sides are arc sides, and the center of the fixed connection base 1 is provided with a fixed connection screw hole 5, and the fixed connection screw hole 5 is an internal threaded round hole penetrating the fixed connection base 1 , the vertical support plate 7 has two, is a rectangular flat plate, perpendicular to the flat surface of the fixed base 1, and is respectively arranged on the straight sides of the left and right sides of the fixed base 1, the middle and upper part of the vertical support plate 7 There is a round hole in the middle, and a damping bearing 6 is installed in the round hole. The damping bearing 6 is a bearing with damping. 7 is flush with the left end face, and the other end is flush with the right end face of the vertical support plate 7 on the right side. The rotating pillow block 2 is a rectangular cylinder, and a round hole is provided in the center from the left end to the right end. The rotating pillow block 2 The round hole set in the center is fixed around the rotating shaft 4, the rotating pillow block 2 is arranged between two vertical support plates 7, and the camera fixing stud 3 is an externally threaded column, which is arranged on the rotating shaft block 2 Top middle.

The rotating pillow block 2 is fixed on the rotating shaft 4, and the rotating shaft 4 is set in the damping bearing 6. The rotating pillow block 2 can drive the rotating shaft 4 to rotate around its axis. During operation, the rotating pillow block 2 is relatively fixed to the base 1 The vertical support plate 7 rotates in the vertical direction, and the external camera can be fixed on the top of the rotating pillow block 2 through the camera fixing stud 3, and the rotating pillow block 2 can be adjusted and fixed at different angles, and the horizontal 360° direction can be realized. Shooting images one by one at different vertical angles can completely obtain all image data in different vertical directions, which can effectively solve the problem that the external camera image can completely cover or exceed the field of view of the scanning point cloud under static conditions. Especially in the short-distance and steep target conditions, the true color RGB information in the scanning point cloud area is completely collected.

Example 2

On the basis of Embodiment 1, as shown in Figure 2 and Figure 4, the middle part of the vertical support plate 7 is provided with 37 external clamping holes 8, and the external clamping holes 8 are through holes, which are evenly distributed at 180 from top to bottom. ° on the semicircle arc, the center of the outer card hole is located on the semicircle arc, and the center of the semicircle coincides with the center of the circular hole of the vertical support plate 7, and the positions of the outer card holes on both sides are corresponding.

The middle parts of the left and right sides of the rotating pillow block 2 are provided with internal clamping holes 9, and there are 37 internal clamping holes 9 on each side, which are blind holes. These 37 internal clamping holes 9 are evenly distributed from top to bottom On the 180° semi-circular arc, the center of the inner clamping hole is located on the semi-circular arc, the center of the semi-circular arc coincides with the center of the circular hole of the rotating pillow block 2, and the positions of the inner clamping holes on both sides correspond.

The outer clamping hole 8 has the same diameter as the inner clamping hole 9, and the distance from the outer clamping hole 8 to the center of the circle of the vertical support plate 7 is the same as the distance from the inner clamping hole 9 to the center of the circle of the rotating pillow block 2. Both distances are equal.

The locking buckle 10 includes a buckle handle 10-1 and a lock rod 10-2. The lock rod 10-2 is cylindrical, and the right end is perpendicular to the axial direction of the lock rod 10-2. A buckle handle 10- 1. The buckle handle 10-1 is a bar-shaped structure with a large center and small ends with a radian. The middle part is connected to the right end of the lock bar 10-2. The locking buckle 10 passes through the outer card hole 8 and extends into the inside At the bottom of the round hole 9 , the buckle handle 10 - 1 is exposed outside the vertical support plate 7 .

There are 3 locking buckles 10, which are respectively arranged in the three directions of the upper, lower, and left sides in the vertical direction. The angle between the upper side of the vertical direction and the left side of the horizontal direction is 90°, and The angle between the left side of the direction and the bottom of the vertical direction is also 90°.

Due to the arrangement of the outer clamping hole 8, the inner clamping hole 9 and the locking buckle 10, the vertical support plate 7 is provided with 37 outer clamping holes 8 and 3 locking buckles, and the outer clamping hole 8 and the inner clamping hole 9 Located on the side of the vertical support plate 7, it is in the shape of a vertical semicircle. The step angle formed by the centers of the two adjacent clamping holes and the axis is 5°. After the installation and fitting, the outer clamping hole 8 and the inner clamping hole 9 are concentric circles , and have the same size and one-to-one communication. The locking buckles 10 pass through the outer card hole 8 and extend into the bottom of the inner card hole 9. The locking buckles 10 for rotation and fixing are respectively located in the vertical The three orientations above, below, and left in the horizontal direction, that is, the semicircular zenith distance 0° start position, 180° end position, and 90° position, can lock the camera system at different positions from the zenith distance, and at the same time When realizing the shooting of vertical multi-directional image data, at least two locking buckles 10 can be guaranteed to lock the camera system, so that the external camera can work with good stability.

Since the step angle formed by the centers of two adjacent clamping holes and the axis is 5°, it can achieve a large degree of overlap between images shot from multiple directions, which can ensure subsequent image splicing and matching.

Example 3

On the basis of Embodiment 1 and Embodiment 2, as shown in Figure 3, the camera lens anti-shake fixing frame 11 includes a fastening screw 11-1, a hinge 11-2, a fixing frame base 11-3, and an upper cover frame 11 -4, the base of the fixing frame 11-3 is a semicircle opening upwards, and two L-shaped support feet facing away from each other are separately provided on the left and right sides, and the upper cover frame 11-4 is a semicircle opening downwards Shape, the left end and the left end of fixed mount base 11-3 are fixed by hinge 11-2, and the right end of loam cake frame 11-4 adopts screw thread mode and the right end of fixed mount base 11-3 to fix by fastening screw rod 11-1.

The camera lens anti-shake fixing frame 11 is fixed on the middle part of the top surface of the rotating pillow block 2 in a threaded manner through the supporting feet on the left and right sides, and is located on the front side of the camera fixing stud 3. The camera lens anti-shake fixing frame 11 The fixed frame base 11-3 and the upper cover frame 11-4 form a complete circle, and the plane where the circle is located is parallel to the front side of the rotating pillow block 2.

The camera lens anti-shake fixing frame is equipped with a hinge and a fastening screw. When the fastening screw is loosened, the upper cover frame can rotate around the axis of the hinge relative to the base of the fixing frame, which is convenient for the installation and removal of the external camera. .

Embodiment assembly of the present utility model and use process are as follows:

Assembly process: First, the base and the vertical support plate are fixed as a whole, and the damping bearing is installed in the round hole of the vertical support plate; the rotary shaft passes through the damping bearing of the vertical support plate on one side, and then passes through the rotating shaft The platform passes through the damping bearing of the vertical support plate on the other side. The rotary shaft, the damping bearing and the rotating platform are all fixed by the interference fit between the shaft holes. The camera is fixed on the top of the rotating platform by threading. The studs and the camera lens anti-shake fixing frame, the assembly process can be completed.

Use process:

Step 1) Install the camera: tighten the screw hole at the bottom of the camera on the camera fixing stud, and fix the camera lens on the camera lens anti-shake bracket;

Step 2) Set up the scanner and camera system: first set up the 3D laser scanner at a fixed position on the ground, then install the assembled embodiment on the top of the vertical axis of the scanner, and connect the connection between the camera and the control system;

Step 3) Laser scanning to obtain point cloud data: set scanning parameters and scan the target area;

Step 4) Acquisition of the image data corresponding to the laser point cloud: first predict the coverage of the horizontal fixation and rotation shooting image on the obtained two-dimensional view of the point cloud according to the distance between the scanning station and the target object, and then according to the coverage of the horizontal field of view , turn the pivot table up or down at a certain step angle vertically, and lock it with the locking buckle, and use the camera to shoot until the image data corresponds to the point cloud data.

The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be assumed that the specific implementation of the utility model is only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.

Claims (8)

1. a kind of structure for ground static three-dimensional laser scanner external camera, it is characterised in that: including the pedestal that is connected (1), rotate axis platform (2), camera fixed bolt (3), rotating shaft (4), be connected screw hole (5), damping bearing (6), perpendicular fagging (7), Outer card hole (8), interior card hole (9), locking buckle (10), camera lens stabilization fixed frame (11), the connected pedestal (1) are level The disk construction of placement, the left and right sides are straight line, and front and rear sides are arc-shaped edges, and the center of connected pedestal (1), which is equipped with, to be connected Screw hole (5), the connected screw hole (5) are the internal screw thread circular hole for penetrating through connected pedestal (1), and there are two the perpendicular faggings (7), are square Shape plate is separately positioned on the straight line of the left and right sides of connected pedestal (1) perpendicular to the platen surface of connected pedestal (1), erects support The centre of the middle and upper part of plate (7) is equipped with circular hole, is equipped with damping bearing (6) in circular hole, and the damping bearing (6) is with damping Bearing, damping bearing (6) is interior to be set with rotating shaft (4), the left end of the perpendicular fagging (7) of one end and left side of the rotating shaft (4) Face is concordant, and the other end is concordant with the right side of perpendicular fagging (7) on right side, and the rotation axis platform (2) is rectangular shaped post, and center is equipped with Circular hole penetrates into right end from left end, and the circular hole suit that rotation axis platform (2) is arranged by center is fixed on the surrounding of rotating shaft (4), Rotation axis platform (2) is located between two perpendicular faggings (7), and the camera fixed bolt (3) is an external thread column, and setting is rotating In the middle part of the top surface of axis platform (2).

2. the structure according to claim 1 for ground static three-dimensional laser scanner external camera, it is characterised in that: 37 outer card holes (8) are provided in the middle part of the perpendicular fagging (7), the outer card hole (8) is through-hole, is evenly distributed on from top to bottom On 180 ° of semi arch, the outer card hole center of circle is located on semi arch, and the center of circle of semi arch is overlapped with the circular hole center of circle of perpendicular fagging (7), Two sides wild card hole site is corresponding.

3. the structure according to claim 1 for ground static three-dimensional laser scanner external camera, it is characterised in that: It is designed with interior card hole (9) in the middle part of the side of left and right two of rotation axis platform (2), the interior card hole (9) of each side has 37 And be blind hole, this 37 interior card holes (9) are evenly distributed on from top to bottom on 180 ° of semi arch, and the interior card hole center of circle is located at semi arch On, the center of circle of semi arch is overlapped with the circular hole center of circle of rotation axis platform (2), and card hole position is corresponding in two sides.

4. the structure according to claim 2 or 3 for ground static three-dimensional laser scanner external camera, feature exist In: the outer card hole (8) is identical as the diameter of interior card hole (9), and outer card hole (8) arrives the distance in the circular hole center of circle of perpendicular fagging (7), At a distance from interior card hole (9) to the circular hole center of circle of rotation axis platform (2), the two are equidistant.

5. the structure according to claim 1 for ground static three-dimensional laser scanner external camera, it is characterised in that: The locking buckle (10) includes buckle handle (10-1), locking bar (10-2), and the locking bar (10-2) is cylinder, and right end is vertical Buckle handle (10-1) is axially arranged in locking bar (10-2), and the buckle handle (10-1) is small with cambered both ends broad in the middle Strip structure, middle part is connected with the right end of locking bar (10-2), and locking buckle (10) passes through outer card hole (8) and extend into interior card hole (9) circular hole bottom, buckle handle (10-1) are exposed in the outside of perpendicular fagging (7).

6. the structure according to claim 5 for ground static three-dimensional laser scanner external camera, it is characterised in that: The locking buckle (10) has 3, is separately positioned on these three orientation on the left of the top, lower section, horizontal direction of vertical direction, erects Histogram to top and horizontal direction on the left of between angle be 90 °, angle between on the left of the horizontal direction and lower section of vertical direction It also is 90 °.

7. the structure according to claim 1 for ground static three-dimensional laser scanner external camera, it is characterised in that: The camera lens stabilization fixed frame (11) includes fastening screw (11-1), hinge (11-2), fixed frame pedestal (11-3), upper cover Frame (11-4), the fixed frame pedestal (11-3) are the semicircle of upward opening, the left and right sides is discrete set there are two back to L shape Support leg, the upper cover frame (11-4) are downwardly open semicircle, and left end and the left end of fixed frame pedestal (11-3) pass through conjunction Page (11-2) is fixed, and the right end of upper cover frame (11-4) is by fastening screw (11-1) using engagement thread and fixed frame pedestal (11- 3) right end is fixed.

8. the structure according to claim 1 or claim 7 for ground static three-dimensional laser scanner external camera, feature exist In: the camera lens stabilization fixed frame (11) is fixed on rotation axis platform using engagement thread by the support leg of the left and right sides (2) in the middle part of top surface, it is located at the front side of camera fixed bolt (3), the fixed frame bottom of the camera lens stabilization fixed frame (11) Seat (11-3) is complete round with upper cover frame (11-4) composition, and the plane at round place is parallel with the rotation leading flank of axis platform (2).