CN101713827A - Marine laser scanner - Google Patents
Marine laser scanner Download PDFInfo
- Publication number
- CN101713827A CN101713827A CN200910186507A CN200910186507A CN101713827A CN 101713827 A CN101713827 A CN 101713827A CN 200910186507 A CN200910186507 A CN 200910186507A CN 200910186507 A CN200910186507 A CN 200910186507A CN 101713827 A CN101713827 A CN 101713827A
- Authority
- CN
- China
- Prior art keywords
- pitch axis
- axis motor
- laser
- laser scanner
- spectroscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a marine laser scanner, which comprises a mechanical rotating device, a laser ranging sensor, a control part, a light path part, a camera framing device, measuring and controlling software and a device base, wherein the mechanical rotating device comprises a pitch-axis motor and a rotation-axis motor; the pitch-axis motor and the rotation-axis motor are arranged vertically; the rotation-axis motor is arranged on the device base and is connected with a circular grating of a rotation axis; the pitch-axis motor is connected with a scanning mirror through the circular grating of a pitch axis; and the front end of the camera framing device is provided with a beam splitter. The digitalization of the information of hull blocks and three-dimensional sizes of components can be realized; the precision of the hull blocks and the components can be analyzed; and a comparison result between a design value and a measured value is given in a tubular form. The marine laser scanner has the characteristics of rapidness, convenience, high precision and high efficiency in measurement.
Description
Technical field
The present invention relates to a kind of marine laser scanner, be specifically related to a kind of non-contact scanning measurement mechanism, especially can realize the marine laser scanner that body section and parts three-dimensional dimension detect based on laser ranging technique and image processing techniques.
Background technology
The laser scanning measurement technology is the emerging technology that development in recent years is got up, and can gather the three-dimensional information of extensive area round-the-clock, quick, directly, accurately, realizes the digitizing of measurement model.Numerous areas such as city mapping, cultural relic digitalization protection, space flight, aviation, water conservancy, manufacturing have been widely used in.
One of China's shipping industry development in future target is exactly to improve shipbuilding efficiency and shipbuilding quality, presses for advanced detecting instrument and promotes the shipbuilding level.Present domestic most of shipyard also detects body section and parts in original measuring methods such as using laser transit, steel ruler, is difficult to satisfy the needs of advanced Shipbuilding Mode.Though most advanced shipyards have been introduced the accuracy detection that total powerstation carries out body section, effect is better, but total station survey is merely able to obtain the precision information of body section and parts key point, be difficult to obtain body section and the complete three-dimensional model information of parts, and efficiency of measurement is not high.
Use quick, accurate and contactless detection method and gather, handle the shape data of body section and parts, utilize Computer Storage, classification simultaneously, manage these three-dimensional datas, and then effectively promote shipbuilding efficiency and shipbuilding quality, become the oneself requirement of digitizing shipbuilding.Three-dimensional laser scanning technique can be realized above-mentioned functions efficiently, is the effective ways that shipyard detects.
Summary of the invention
Its purpose of the present invention just is to provide a kind of marine laser scanner, this device can not only obtain to robotization the three-dimensional model information of body section and parts, realize the digitizing of body section and parts three-dimensional dimension information, and can analyze the precision of body section and parts key point, provide the comparative result of design load and measured value with the form of form.Have the characteristics quick and easy, that precision is high, efficient is high of measuring.
The technical solution adopted for the present invention to solve the technical problems:
Comprise mechanical rotation device, laser range sensor, control section, light path part, the camera view finder unit, TT﹠C software and device pedestal, described mechanical rotation device comprises pitch axis motor and shaft rotating motor, described pitch axis motor and shaft rotating motor are arranged vertically, shaft rotating motor is arranged on the device pedestal and connects turning axle circle grating, described pitch axis motor connects scanning mirror through pitch axis circle grating, described camera view finder unit front end is provided with spectroscope, described pitch axis motor, pitch axis circle grating, scanning mirror, spectroscope and camera view finder unit are coaxial, described spectroscope surface pad pasting.
Compared with prior art this device has the following advantages.
1, considered the convenience that the user uses in the design process, therefore device is designed to portable structure;
2, camera need not coarse scanning towards coaxial with distance measuring light beam, just can accurately obtain the information of measured object by camera, makes that the scope selection of scanning survey is more accurate;
3, the present invention is a full-automatic device, has reduced the error that manual operation brought in measuring;
4, the design of key point autoscan metering system has effectively promoted the shipyard efficiency of measurement, has reduced workman's field operation measured intensity;
5, this device is gathered the three-dimensional model information of body section and parts efficiently, realizes the digitizing of body section and parts, can promote the development of digitizing shipbuilding.
Description of drawings
The invention will be further described below in conjunction with accompanying drawing.
Fig. 1 structural representation of the present invention;
1. pitch axis motors among the figure, 2. pitch axis circle grating, 3. scanning mirror, 4. spectroscope, 5. camera, 6. laser range sensor, 7. device pedestal, 8. turning axle circle grating, 9. shaft rotating motor, 10. control section.
Fig. 2 critical area scanning of the present invention synoptic diagram;
Fig. 3 TT﹠C software surface chart of the present invention;
Fig. 4 analytical statement synoptic diagram of the present invention.
Embodiment
Comprise mechanical rotation device, laser range sensor 6, control section 10, light path part, camera view finder unit 5, TT﹠C software and device pedestal 7, as shown in Figure 1, described mechanical rotation device comprises pitch axis motor 1 and shaft rotating motor 9, described pitch axis motor 1 and shaft rotating motor 9 are arranged vertically, shaft rotating motor 9 is arranged on the device pedestal 7 and connects turning axle circle grating 8, described pitch axis motor 1 connects scanning mirror 3 through pitch axis circle grating 2, described camera view finder unit 5 front ends are provided with spectroscope 4, described pitch axis motor 1, pitch axis circle grating 2, scanning mirror 3, spectroscope 4 and camera view finder unit 5 are coaxial, described spectroscope 4 surperficial pad pastings.
Described laser range sensor 6 is LMS30.
The motor drive module controller adopts the ARM11 high-performance processor in the mechanical rotation device, and the circle grating is selected the RESM20USA52 circle grating of Reinshaw (Renishaw) for use, and read head SR05A adopts the WHISTLE series driver of Israel ELMO company.
In the light path spectroscope 4 and Laser emission direction and camera towards each in angle of 45 degrees, the reflectivity of 905nm wavelength laser and the refractive index of natural light are all greater than 95%.
The invention provides a kind of marine laser scanner.As shown in Figure 1, device pedestal 7 is the basis of this device, guarantees that device lays steadily.The rotation of shaft rotating motor 9 and pitch axis motor 1 drives turning axle and pitch axis rotates.Shaft rotating motor and pitch axis motor divide 10 control rotations by apparatus control portion; Turning axle circle grating 8 and pitch axis circle grating 2 are measured the angle that turning axle and pitch axis turned over.Laser range sensor 6 emission laser shine body surface after spectroscope 4 and scanning mirror 3 reflections, after the body surface diffuse reflection along former road return laser light distance measuring sensor 6.Extraneous visible light is received by camera after scanning mirror 3 reflections and spectroscope 4 refractions.
This device also comprises some features like this:
1, during device was selected, laser range sensor was LMS30; Lens materials is K9.
2, mechanical rotation device is made up of orthogonal turning axle and pitch axis two sleeves system, drive by motor drive module, controller adopts the ARM11 high-performance processor, the circle grating is selected the RESM20USA52 circle grating of Reinshaw (Renishaw) for use, read head SR05A, adopt the WHISTLE series driver of Israel ELMO company, motor is that Chengdu 906 factories produce.
3, in the light path spectroscope and Laser emission direction and camera towards each in angle of 45 degrees, surperficial pad pasting, the reflectivity of 905nm wavelength laser and the refractive index of natural light are all greater than 95%.
4, spectroscope pad pasting design makes camera towards coaxial with laser range sensor emission laser direction.
5, the operator selects the rectangular area in the software monitors window, and device is determined the sweep limit line scanning measurement of going forward side by side according to this selections.
6, import the key point tabulation in the TT﹠C software, and control the measurement of finishing initial three key point coordinate figures by the operator, the TT﹠C software control device is finished the scanning survey of residue key point region automatically, extracts the key point coordinate and generates analytical statement.
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
As shown in Figure 1, spectroscope 4 surperficial pad pastings are that the find a view transmitance of required visible light of the reflectivity of laser of 905nm and camera 5 all surpasses 95% to the wavelength of laser range sensor 6 emission.This design also makes 6 emission laser beam directions in center and laser range sensor of 5 images acquired of camera overlap, no matter scanning mirror 3 and device are towards which direction, the operator can both observe the image at laser range sensor 6 emission places that light beam is aimed in the TT﹠C software monitor window, need not coarse scanning, the operator just can observe measured object in the TT﹠C software interface, make the selection of sweep limit reasonable more, efficient.The scanning area system of selection is: any some a mouse click right buttons in monitor window, in the menu that ejects, select " scanning angle point one ", in addition some a mouse click right button once more in monitor window, select " scanning angle point two " in the menu that ejects, the rectangular area of then installing with these 2 compositions is that scanning area is carried out scanning survey.Concrete measuring process is: the laser range sensor 6 that is installed in this device box one side sends beam of laser, reflex on the scanning mirror 3 that is fixed on the pitch axis by spectroscope 4 and reflex to the surface of measured object, because measured object has certain reflectivity to the laser of 905nm wavelength, laser is pressed former road return laser light distance measuring sensor behind the measured object surface diffuse reflectance, by calculating the time that whole process light is passed by, transform the distance of deriving means and measured point again through formula.Simultaneously, the shaft rotating motor 9 of device bottom can continuously drive device and rotate, modifier towards, the pitch axis motor 1 on the pitch axis drives scanning mirror 3 rotations.Turning axle turns over angle and pitch axis and turns over angle and recorded by turning axle circle grating 8 and pitch axis circle grating 2 respectively.Like this, the coordinate information of surperficial each point of measured object is just unique definite with distance, turning axle circle grating reading value, the pitch axis circle grating reading value of measured point by device.Repeat the coordinate information that above measuring process then can obtain a large amount of points in measured object surface, thereby obtain the complete three-dimensional information in measured object surface.In shipyard was measured, this device can obtain the complete information of body section and parts three-dimensional model, realized the digitizing of body section and parts.
As shown in Figure 2, the key point tabulation that at first will design, make the body section finished or parts design value imports in the marine laser scanner, A, B, C 3 points (annotate: key point is and the outer rim contact position) among initial three key point positions such as Fig. 2 in the tabulation.Image center in the TT﹠C software monitor window overlaps with installing current measurement point, so the operator can aim at A, B, 3 positions of C respectively according to TT﹠C software interface actuation means as shown in Figure 3, the measurement of realization A, B, C three point coordinate values.Operation steps is: click in the monitor window more arbitrarily with left mouse button, when system launches laser alignment click point according to information calculations laser range sensors such as the pixel difference of mouse institute's clicking point and image center and camera enlargement factors, the required angle that turns over of shaft rotating motor and pitch axis motor.The control section actuation means finish transposition and judge laser towards with the position deviation of tested point, when two position deviations within the specific limits the time, gather distance measuring sensor range data and turning axle circle grating and pitch axis circle grating angle value, and with this value storage in measured value tabulation, prepare to compare with the design load tabulation.Also can click the rotation of the directionkeys actuation means motor on the keypad in the TT﹠C software interface, click the collection that " data preservation " realizes distance and angle information after arriving assigned address, this value storage in the measured value tabulation, is prepared to compare with the design load tabulation.Another method is manually to import the corner coordinate figure in the input frame of " target location ", control device rotates to the target location, click the collection that " data preservation " realizes distance and angle information after arriving assigned address, this value storage in the measured value tabulation, is prepared to compare with the design load tabulation.After finishing initial three key point measurement of coordinates, the TT﹠C software of device is calculated according to A, B, 3 design loads of C and deviation of measuring value, it is unified with the device coordinate system to design coordinate system, device remains the scanning of key point region automatically then, is the key point region as shadow region among Fig. 2.The regulation key point is changed to the T-shape angle point place in zone as shown in Figure 2 in this device TT﹠C software, and then Zhuan Zhi TT﹠C software is extracted the key point coordinate automatically and generated analytical statement.
Claims (4)
1. marine laser scanner, comprise mechanical rotation device, laser range sensor (6), control section (10), light path part, camera view finder unit (5), TT﹠C software and device pedestal (7), it is characterized in that, described mechanical rotation device comprises pitch axis motor (1) and shaft rotating motor (9), described pitch axis motor (1) and shaft rotating motor (9) are arranged vertically, shaft rotating motor (9) is arranged on the last and connection turning axle circle grating (8) of device pedestal (7), described pitch axis motor (1) connects scanning mirror (3) through pitch axis circle grating (2), described camera view finder unit (5) front end is provided with spectroscope (4), described pitch axis motor (1), pitch axis circle grating (2), scanning mirror (3), spectroscope (4) and camera view finder unit (5) are coaxial, the surperficial pad pasting of described spectroscope (4).
2. a kind of marine laser scanner according to claim 1 is characterized in that, described laser range sensor (6) is LMS30.
3. a kind of marine laser scanner according to claim 1, it is characterized in that, the motor drive module controller adopts the ARM11 high-performance processor in the mechanical rotation device, the circle grating is selected the RESM20USA52 circle grating of Reinshaw (Renishaw) for use, read head SR05A adopts the WHISTLE series driver of Israel ELMO company.
4. a kind of marine laser scanner according to claim 1 is characterized in that, spectroscope in the light path (4) and Laser emission direction and camera towards each in angle of 45 degrees, the reflectivity of 905nm wavelength laser and the refractive index of natural light are all greater than 95%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910186507A CN101713827A (en) | 2009-11-18 | 2009-11-18 | Marine laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910186507A CN101713827A (en) | 2009-11-18 | 2009-11-18 | Marine laser scanner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101713827A true CN101713827A (en) | 2010-05-26 |
Family
ID=42417633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910186507A Pending CN101713827A (en) | 2009-11-18 | 2009-11-18 | Marine laser scanner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101713827A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240362A (en) * | 2013-05-06 | 2013-08-14 | 大连船舶重工集团装备制造有限公司 | Cold-forming device for ship body curved-surface planking |
| CN105223562A (en) * | 2015-10-20 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | A kind of laser radar footprint overlapping scan device and scan method |
| CN105571485A (en) * | 2015-12-15 | 2016-05-11 | 中科光绘（上海）科技有限公司 | Rotating mirror scanning apparatus integrated with rotation and swing |
| CN105883440A (en) * | 2015-12-31 | 2016-08-24 | 江苏耐维思通科技股份有限公司 | Unattended bridge type ship unloader |
| CN106526573A (en) * | 2016-12-30 | 2017-03-22 | 北醒（北京）光子科技有限公司 | Solid-state multi-line ranging device and ranging method |
| CN111239751A (en) * | 2020-03-17 | 2020-06-05 | 金华市蓝海光电技术有限公司 | Laser distance measuring device |
-
2009
- 2009-11-18 CN CN200910186507A patent/CN101713827A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103240362A (en) * | 2013-05-06 | 2013-08-14 | 大连船舶重工集团装备制造有限公司 | Cold-forming device for ship body curved-surface planking |
| CN105223562A (en) * | 2015-10-20 | 2016-01-06 | 中国科学院遥感与数字地球研究所 | A kind of laser radar footprint overlapping scan device and scan method |
| CN105571485A (en) * | 2015-12-15 | 2016-05-11 | 中科光绘（上海）科技有限公司 | Rotating mirror scanning apparatus integrated with rotation and swing |
| CN105883440A (en) * | 2015-12-31 | 2016-08-24 | 江苏耐维思通科技股份有限公司 | Unattended bridge type ship unloader |
| CN105883440B (en) * | 2015-12-31 | 2018-05-04 | 江苏耐维思通科技股份有限公司 | Unattended bridge type ship unloader |
| CN106526573A (en) * | 2016-12-30 | 2017-03-22 | 北醒（北京）光子科技有限公司 | Solid-state multi-line ranging device and ranging method |
| CN111239751A (en) * | 2020-03-17 | 2020-06-05 | 金华市蓝海光电技术有限公司 | Laser distance measuring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10866089B2 (en) | Two-camera triangulation scanner with detachable coupling mechanism | |
| US10060722B2 (en) | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations | |
| US10281259B2 (en) | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features | |
| JP5816773B2 (en) | Coordinate measuring machine with removable accessories | |
| US9228816B2 (en) | Method of determining a common coordinate system for an articulated arm coordinate measurement machine and a scanner | |
| US9628775B2 (en) | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations | |
| US10089415B2 (en) | Three-dimensional coordinate scanner and method of operation | |
| CN101713827A (en) | Marine laser scanner | |
| US8832954B2 (en) | Coordinate measurement machines with removable accessories | |
| US9638507B2 (en) | Measurement machine utilizing a barcode to identify an inspection plan for an object | |
| US7489408B2 (en) | Optical edge break gage | |
| US20110178763A1 (en) | Use of inclinometers to improve relocation of a portable articulated arm coordinate measuring machine | |
| Vukašinović et al. | Correlation between incident angle, measurement distance, object colour and the number of acquired points at CNC laser scanning | |
| WO2015009652A1 (en) | A laser line probe having improved high dynamic range | |
| WO2013188026A1 (en) | Coordinate measurement machines with removable accessories | |
| CN112037189A (en) | Device and method for detecting geometric parameters of steel bar welding seam | |
| CN103712572A (en) | Structural light source-and-camera-combined object contour three-dimensional coordinate measuring device | |
| JP2005121370A (en) | Surface shape measuring apparatus and method | |
| CN205808362U (en) | A kind of Model Reconstruction device | |
| CN202599338U (en) | Ship-used laser scanning measurement instrument | |
| JP2008032496A (en) | Optical measuring device | |
| Barone et al. | Optical tactile probe for the inspection of mechanical components | |
| JP2004333399A (en) | Device for measuring room dimension, and method | |
| Shacham | New laser technology in turbine blade measurements | |
| JP2017021432A (en) | Coordinate input device and coordinate input device control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100526 |