CN102338617B - Three-dimension measuring system - Google Patents
Three-dimension measuring system Download PDFInfo
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- CN102338617B CN102338617B CN201010236272.3A CN201010236272A CN102338617B CN 102338617 B CN102338617 B CN 102338617B CN 201010236272 A CN201010236272 A CN 201010236272A CN 102338617 B CN102338617 B CN 102338617B
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- electronics turntable
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Abstract
The present invention relates to a kind of three-dimension measuring system, including a positioning and orientation device, the laser scanner of 360 degree of one geometric data passing through scanning acquisition one measured target object, one has a center of rotation and the electronics turntable horizontally rotated around described center of rotation, the geometric data that absolute position data and the described laser scanner of described electronics turntable obtain is carried out the data processing equipment of fusion treatment by the positioning and orientation device of one absolute position data obtaining described electronics turntable and, described positioning and orientation device and described laser scanner are arranged on described electronics turntable, between one scan face and the described electronics turntable of described laser scanner, there is a special angle.The present invention also provides for a kind of three-dimensional scanner, and described three-dimensional scanner and three-dimension measuring system achieve the comprehensive scanning to testee and measurement.
Description
Technical field
The present invention relates to a kind of scanning means, particularly relate to three-dimensional scanner and apply the three-dimension measuring system of this device.
Background technology
Along with becoming increasingly popular of three-dimensional spatial information service, the verisimilitude of virtual reality is required more and more higher by people, mobile modeling is also more and more concerned with the technology of measurement, the motion carrier of mobile measuring equipment is varied, it can be land vehicle, ships, aviation aircraft, can even is that portable knapsack, therefore it is used widely, mobile modeling directly obtains, with measuring Technology application laser scanner, the geological information measuring target, its operating distance can reach km level, range finding also can reach the precision of millimeter, but owing to laser scanner field range is limited, often can only scan the object of specific direction, it is unable to reach comprehensive scanning, this cannot meet certain user's particular demands for scanning angle, such as, the requirement that high-voltage line above railway is measured by railway interests can not be met, it is difficult to obtain the some cloud of traffic signs head-on or be only capable of scanning the side in lane and opposite side can not be scanned.
Summary of the invention
In view of the above-mentioned problems in the prior art, present invention is primarily targeted at the defect solving prior art, it is provided that a kind of can the three-dimensional measuring apparatus of comprehensive scanning and apply the three-dimension measuring system of this device.
A kind of three-dimensional scanner, there is the electronics turntable of a center of rotation including a laser scanner with 360 degree of scanning field of view and one, described laser scanner is arranged on described electronics turntable, between one scan face and the described electronics turntable of described laser scanner, there is a special angle, described electronics turntable can rotate about central horizontal and rotate, to adjust the scanning angle of described laser scanner.
A kind of three-dimension measuring system, including a positioning and orientation device, the laser scanner of 360 degree of one geometric data passing through scanning acquisition one measured target object, one has a center of rotation and the electronics turntable horizontally rotated around described center of rotation, the geometric data that absolute position data and the described laser scanner of described electronics turntable obtain is carried out the data processing equipment of fusion treatment by the positioning and orientation device of one absolute position data obtaining described electronics turntable and, described positioning and orientation device and described laser scanner are arranged on described electronics turntable, between one scan face and the described electronics turntable of described laser scanner, there is a special angle.
What the present invention compared prior art has the beneficial effect that described three-dimension measuring system and described three-dimensional scanner have employed 360 degree of laser scanners and be scanned, and described electronics turntable Ke Raoqi center does 360 degree and horizontally rotates, the scanning angle of described laser scanner is adjusted also by the setting angle arranged between the scanning plane of laser scanner and described electronics turntable, therefore described three-dimensional scanner and three-dimension measuring system can to from front and back, up and down, measured target thing described in all directions scanning survey of left and right, realize object is carried out comprehensive measurement, user's particular demands for scanning angle can be met.Accompanying drawing explanation
The first better embodiment that Fig. 1 is three-dimension measuring system of the present invention is arranged on the structural representation on a motion carrier.
Fig. 2 is the scheme of installation of the electronics turntable in Fig. 1, image acquisition device and positioning and orientation device.
Fig. 3 is the structural representation of the second better embodiment of three-dimension measuring system of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings and the specific embodiments.
Refer to Fig. 1 and Fig. 2, first better embodiment of three-dimension measuring system of the present invention is arranged on a motion carrier 2, for measuring the three-dimensional data of a target object and setting up the threedimensional model of measured target object, in present embodiment, described motion carrier 2 is a vehicle, in other embodiments, described motion carrier 2 can be aviation aircraft, ships, portable knapsack etc..
Described three-dimension measuring system includes electronics turntable 10, image acquisition device 20, positioning and orientation device 30 and a data processing equipment 40.Described image acquisition device 20 includes a laser scanner 210 and two CCD (Charge-coupledDevice, charge coupled cell) photographing unit 220.Described laser scanner 210 is one 360 degree of laser scanners, and namely it has the scanning field of view of 360 degree, can do ring-type scanning.
Described electronics turntable 10 is horizontally arranged on a pallet of described motion carrier 2, and can move up and down with described pallet.
Described positioning and orientation device 30 is arranged on described electronics turntable 10, described positioning and orientation device 30 is also as a bogey, for installing described image acquisition device 20, wherein, described laser scanner 210 is arranged on described positioning and orientation device 30 by a lifting device 50, and described two CCD camera 220 are erected at the top of described laser scanner 210.As shown by the arrows in figure 2, the one scan face that one plane is described laser scanner 210 at the scanning common place of line of a plurality of different directions of described laser scanner 210, the lens direction of described two CCD camera 220 is parallel with the scanning plane of described laser scanner 210, namely the lens direction of each CCD camera 220 is parallel at least one scanning line, during installation, can according to the position of measured target object, size etc., and the setting angle between described laser scanner 210 and described electronics turntable 10 is set by described lifting device 50, so that described laser scanner 210 and two CCD camera 220 are arranged on specific station, such as Fig. 1, shown in Fig. 2, in present embodiment, described laser scanner 210 is arranged on oblique 45 degree of stations by the lifting adjusting described lifting device 50, tilt 45 degree by described laser scanner 210 and be arranged on described positioning and orientation device 30, therefore, angle between scanning plane and the electronics turntable 10 of described laser scanner 210 is 45 degree (90 degree of-45 degree).
Described electronics turntable 10 has a center of rotation, described electronics turntable 10 can rotate about center and do 360 degree and horizontally rotate, when described electronics turntable 10 horizontally rotates, described laser scanner 210, two CCD camera 220 and positioning and orientation device 30 horizontally rotate with described electronics turntable 10.
Described laser scanner 210 obtains the geological information of measured target object by the mode of laser scanning, and such as length, height etc., described two CCD camera 220 are used for the image shooting described measured target thing to obtain the texture information of measured target object.
Described positioning and orientation device 30 is for obtaining the absolute location information of described electronics turntable 10, described absolute location information includes the center of rotation of described electronics turntable 10 coordinate under the unified coordinate system of the whole world and described electronics turntable 10 rotates about the angle of central rotation, described positioning and orientation device can include an Inertial Measurement Unit (InertialMeasurementUnit, and a GPS (GlobalPositionSystem IMU), GPS), wherein said Inertial Measurement Unit is for measuring the anglec of rotation of described electronics turntable 10, described global positioning system is used for the center of rotation obtaining temporal information and described electronics turntable 10 coordinate under the unified coordinate system of the whole world, described positioning and orientation device 30 can pass through to send PPS (Pulsepersecond, every pulse per second (PPS)) and serial ports time signal give described laser scanner 210 and described two CCD camera 220, to work asynchronously with described laser scanner 210 and two CCD camera 220.
As shown in Figure 1, described data processing equipment 40 is a computer being arranged in described motion carrier 2, described data processing equipment 40 is used for receiving geological information and the texture information of the absolute location information of the described electronics turntable 10 that described positioning and orientation device 30 obtains and described image acquisition device 20 acquisition, and the data received are carried out fusion treatment by the software set in passing through, and set up the threedimensional model of measured target thing according to data processed result.Described data processing equipment 40 can pass through signal cable and be connected with described image acquisition device 10 and positioning and orientation device 20, it is possible to described image acquisition device 20 and positioning and orientation device 30 radio communication.
The shooting angle of CCD camera 220 described in the scanning angle and two of described laser scanner 210 can change with the change installing station on described positioning and orientation device 30 of the described laser scanner 210, therefore, can according to the position to target location, sizes etc. arrange the installation station of described laser scanner 210, such as, in the present embodiment, described laser scanner 210 can do 360 degree of ring-type scannings in oblique 45 degree of directions, when measuring the three-dimensional data in lane, described laser scanner can scan building and the traffic signs head-on of side, lane, the shooting angle of scanning angle and described CCD camera 220 by rotating laser scanner 210 described in described electronics turntable 10 also adjustable, such as, when described electronics turntable 10 revolves turnback, described laser scanner 210 can do 360 degree of scannings in oblique 135 degree of directions, therefore the opposite side in lane can be measured.
Refer to Fig. 3, in this second embodiment, described laser scanner 210 also can be directly mounted on described electronics turntable 10 and by lifting device 50 adjusting angle, and is not arranged on described electronics turntable 10 by described positioning and orientation device 30.
Described three-dimension measuring system 1 it is scanned owing to have employed the laser scanner 210 of 360 degree of scanning field of view, also can be arranged as required to described laser scanner 210 and two CCD camera 220 installation station on described electronics turntable 10, and described electronics turntable 10 Ke Raoqi center does 360 degree and horizontally rotates, therefore described mobile modeling and measurement system 1 can to from front and back, up and down, left and right all directions obtain geometry and the texture information of measured target thing in real time, realize object is carried out comprehensive measurement, user's particular demands for scanning angle can be met.
In other embodiments, can increase or reduce the quantity of described CCD camera 220 as required, as long as the lens direction making described CCD camera 220 is parallel to the one scan direction of described laser scanner, therefore, described CCD camera 220 can shoot the position that described laser scanner 210 is current scanned, without carrying out follow-up image rectification, when only need to obtain its geometric data when the data texturing that need not obtain measured target thing, CCD camera also can not be installed, such as, when measuring high-voltage line, can without using CCD camera.
The real-time position obtained by described positioning and orientation device 10 due to described traverse measurement system and geometric data and the data texturing of attitude data and object blend, it is to avoid station problem is spelled in follow-up scanning.
Claims (4)
1. a three-dimension measuring system, including a positioning and orientation device, the laser scanner of 360 degree of one geometric data passing through scanning acquisition one measured target object, one has a center of rotation and the electronics turntable horizontally rotated around described center of rotation, the geometric data that absolute position data and the described laser scanner of described electronics turntable obtain is carried out the data processing equipment of fusion treatment by the positioning and orientation device of one absolute position data obtaining described electronics turntable and, described positioning and orientation device and described laser scanner are arranged on described electronics turntable, between one scan face and the described electronics turntable of described laser scanner, there is a special angle；
Described three-dimension measuring system also includes the lifting device of the size of a described special angle of adjustment, and described lifting device is arranged between described laser scanner and electronics turntable；
Described three-dimension measuring system also includes the photographing unit of at least one data texturing for obtaining described measured target object, described at least one cameramount is located on described laser scanner, and the lens direction of described at least one photographing unit is parallel with the scanning plane of described laser scanner, the data texturing that described photographing unit is also obtained by described data processing equipment carries out fusion treatment together with the absolute position data of described geometric data and described electronics turntable；
Described positioning and orientation device is by sending every pps pulse per second signal and a serial ports time signal to described laser scanner and described at least one photographing unit to work asynchronously with described laser scanner and described photographing unit.
2. three-dimension measuring system as claimed in claim 1, it is characterised in that: described special angle is 45 degree.
3. three-dimension measuring system as claimed in claim 1, it is characterised in that: described laser scanner is fixed on described positioning and orientation device with the complementary angle of described special angle on described electronics turntable.
4. three-dimension measuring system as claimed in claim 1, it is characterised in that: the absolute location information of described electronics turntable includes the center of rotation of described electronics turntable coordinate under the unified coordinate system of the whole world and described electronics turntable rotates about the angle that center rotates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010236272.3A CN102338617B (en) | 2010-07-22 | 2010-07-22 | Three-dimension measuring system |
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| CN201010236272.3A CN102338617B (en) | 2010-07-22 | 2010-07-22 | Three-dimension measuring system |
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| CN102338617A CN102338617A (en) | 2012-02-01 |
| CN102338617B true CN102338617B (en) | 2016-06-29 |
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| CN201010236272.3A Active CN102338617B (en) | 2010-07-22 | 2010-07-22 | Three-dimension measuring system |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103090791B (en) * | 2013-01-08 | 2015-06-10 | 中联重科股份有限公司 | Measuring system, method and device for bulk materials and material piling and taking control system |
| CN103196366A (en) * | 2013-03-08 | 2013-07-10 | 爱司帝光电科技(苏州)有限公司 | Measurement device and measurement method |
| CN103292697B (en) * | 2013-05-27 | 2016-02-03 | 深圳先进技术研究院 | A kind of 3 D scanning system |
| CN104296653A (en) * | 2014-07-18 | 2015-01-21 | 无锡新吉凯氏测量技术有限公司 | Geometrical-feature-based two-dimensional industrial identification and positioning system |
| CN104215198A (en) * | 2014-08-25 | 2014-12-17 | 南京天睿朗自动化科技有限公司 | Scanner for scanning three-dimensional profile of internal surface of tubular object |
| CN104260673A (en) * | 2014-10-21 | 2015-01-07 | 北京四维远见信息技术有限公司 | Vehicle-mounted measuring system |
| CN104501780A (en) * | 2015-01-09 | 2015-04-08 | 中国测绘科学研究院 | Vehicle-mounted data acquisition system based on digital camera and laser scanner |
| CN104819718B (en) * | 2015-04-09 | 2017-12-05 | 上海大学 | 3D photoelectric sensing alignment systems |
| CN106123798B (en) * | 2016-03-31 | 2019-01-08 | 北京北科天绘科技有限公司 | A kind of digital photography laser scanning device |
| CN107608876B (en) * | 2017-08-04 | 2021-05-11 | 上海交通大学 | Rotary table control system for three-dimensional scanning and visual identification evaluation |
| CN107505629A (en) * | 2017-08-16 | 2017-12-22 | 北京拓维思科技有限公司 | Airborne lidar instrument apparatus |
| TWI651687B (en) * | 2017-11-24 | 2019-02-21 | 財團法人工業技術研究院 | Three-dimensional model construction method and system thereof |
| CN108810424A (en) * | 2018-06-27 | 2018-11-13 | 淄博丙合商贸有限公司 | A kind of full-automatic mobile phone photograph ring object methods of exhibiting |
| CN109692002B (en) * | 2019-02-25 | 2023-09-22 | 湖南大学 | Hand-held three-dimensional laser scanner hand-hand rapid scanning method based on background |
| CN110411361B (en) * | 2019-05-15 | 2021-08-17 | 首都师范大学 | Laser detection data processing method for mobile tunnel |
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