CN103438829B - A kind of intelligent laser three-dimensional information measurement instrument - Google Patents
A kind of intelligent laser three-dimensional information measurement instrument Download PDFInfo
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- CN103438829B CN103438829B CN201310388294.5A CN201310388294A CN103438829B CN 103438829 B CN103438829 B CN 103438829B CN 201310388294 A CN201310388294 A CN 201310388294A CN 103438829 B CN103438829 B CN 103438829B
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Abstract
The present invention relates to a kind of intelligent laser three-dimensional information measurement instrument, it comprises Scan orientation system, video monitoring system, drive system, computer control system and wireless transmit and receiving system; Described Scan orientation system comprises the GPS positioning system for determining observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass of laser ranging sensor-based system horizontal rotation angle, and for measuring the inclination sensor-based system of described laser ranging sensor-based system elevation angle.The present invention is multiple functional, cheap, and robotization continuous high-efficient is measured, and can under all weather conditions, carry out aiming and dynamic object tracking by monitoring remote video, after scanned, in real time data can also be beamed back rear area work personnel, simply efficient.
Description
Technical field
The present invention relates to technique of computer measurement and control and instrument field, particularly a kind of intelligent laser three-dimensional information measurement instrument.
Background technology
Three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, is the technological revolution of survey field after GPS technology.It breaches traditional single-point measurement method, has high-level efficiency, high-precision unique advantage. and three-dimensional laser scanning technique can provide the three dimensional point cloud on scanning object surface, therefore may be used for the digital terrain model obtaining high-accuracy high-resolution.
Three-dimensional laser scanning technique is the new technology occurred in recent years, more and more causes the concern of research field at home.It is the principle utilizing laser ranging, by information such as the three-dimensional coordinate of a large amount of intensive point in record testee surface, reflectivity and textures, can rebuild out the various figure event data such as the three-dimensional model of measured target and line, face, body fast.Because three-dimensional laser scanning system can obtain the data point of destination object thick and fast in a large number, therefore relative to traditional spot measurement, three-dimensional laser scanning technique is also referred to as the revolutionary technological breakthrough evolving to planar survey from spot measurement.This technology building, planning, civil engineering work, building monitoring, Disaster Assessment, etc. field there has also been a lot of application.Three-dimensional laser scanning system comprises the hardware components of data acquisition and the software section of data processing.
Existing mapping total powerstation or three-dimensional laser scanner on market, have following problem:
1, static object can only be measured under static state, dynamic object cannot be surveyed on dynamic platform.Existing mapping total powerstation or scanner can only after instrument levelings, manually aim at object with telescope and carry out static spot measurement, the inefficiency of scanning survey, and surveying instrument main body has no idea to carry out continuous high speed measurement in the process of rotary motion up and down, therefore carrying out in the subtle three-dimensional scanning survey process as large-sized object, artificial aiming can expend huge time cost; And when dynamic object (aircraft as airflight aims at), artificial aiming there will be again and obviously lags behind moving object, cannot aim at the situation that object is measured in real time; If the ship that instrument is placed on motion is measured the aircraft of motion, be also the difficult problem that cannot realize for traditional three-dimensional laser scanner or total powerstation.
2, manual site is needed to operate the positioning and directing carrying out scanner, and cannot Long-distance Control.Because existing scanner cannot carry out the real-time coordinate setting and the orientation that realize scanner self, need artificial being positioned by other utility appliance and orientation, and in real work, usually run into because of environmental hazard, cannot to send someone long-time operation instrument, or cannot the situation of round-the-clock uninterrupted measurement, traditional instrument is because be unableing to do without the execute-in-place of people, and all have certain limitation.
Therefore, just need one self with high-precision GPS and electronic compass (or gyrocompassing) device, can under all weather conditions, aiming and dynamic object tracking is carried out by monitoring remote video, simultaneously by controlled in wireless motor running, the three-dimensional scanning device of high precision scanning survey can also be carried out, after scanned, in real time data can also be beamed back office.
Summary of the invention
For the problems referred to above that prior art exists, the invention discloses a kind of multiple functional, cheap, and the laser three-D information measurement instrument that robotization continuous high-efficient is measured.
For achieving the above object, a kind of intelligent laser three-dimensional information measurement instrument of the present invention comprises Scan orientation system, video monitoring system, drive system, computer control system and wireless transmit and receiving system;
Described Scan orientation system comprises the GPS positioning system for determining observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass of laser ranging sensor-based system horizontal rotation angle, and for measuring the inclination sensor-based system of described laser ranging sensor-based system elevation angle;
Described video monitoring system is for following the tracks of and gather the object image be observed;
Described drive system is for driving described Scan orientation system level to swing in the horizontal direction or upper and lower pitch rotation;
Described computer control system is found by described video monitoring system and locks measured object, send Scan orientation system and video monitoring system described in order-driven to described drive system to rotate in the horizontal or up and down direction, while video monitoring system follows the tracks of measured object, Scan orientation system scans measured object profile each point, and by information feed back to computer control system, computer control system is by described wireless transmit and receiving system is wireless sends and reception information.
Further, described laser ranging sensor-based system is high frequency lasers distance measuring sensor.
Further, the light that described high frequency lasers distance measuring sensor sends is infrared light and green glow.
Further, described inclination sensor-based system is high frequency precision angle system.
Further, described video monitoring system is automatic focusing high-definition camera; Described computer control system is small-size computer or single-chip microcomputer.
Further, described laser three-D information measurement instrument also comprises base, erecting bed, support; Described erecting bed can horizontally rotate and is arranged on base, and support can be arranged on the bearing of erecting bed up and down rotationally, described Scan orientation system and video monitoring system detachably rack-mount.
Further, described drive system comprises and horizontally rotates motor and upper and lower rotation motor, described in horizontally rotate motor and rotate in the horizontal direction for driving described erecting bed, described upper and lower rotation motor rotates up and down for driving described support.
Further, described support left and right sides mirror image is provided with coupling shaft, and these two coupling shafts are arranged in the mounting hole of corresponding setting on described bearing respectively by ball bearing; Described two coupling shafts arbitrary roots and tops transmission gear is installed, described upper and lower rotation motor drives the upper and lower pitch rotation of described support by transmission gear.
Further, described transmission gear is clearance elimination gear.
Further, described computer control system also comprises liquid crystal display control system and USB interface.
Further, the operating system of described computer control system is Windows operating system.
Further, some described measuring instruments are by a computer system control, and some measuring instruments are from different azimuth and synchronously carry out tracking measurement to measured object, obtain information by the three-dimensional information that can obtain measured object after computer system overall treatment.
Accompanying drawing explanation
Fig. 1 is present system structured flowchart;
Fig. 2 is mounting structure schematic diagram of the present invention;
Fig. 3 is multiple stage measuring instrument collaborative work schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in Figure 1, a kind of intelligent laser three-dimensional information measurement instrument of the present invention comprises Scan orientation system, video monitoring system, drive system, computer control system and wireless transmit and receiving system;
Scan orientation system comprises the GPS positioning system for determining observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass of laser ranging sensor-based system horizontal rotation angle, and for measuring the inclination sensor-based system of laser ranging sensor-based system elevation angle.
Drive system is for driving Scan orientation system level to swing in the horizontal direction or upper and lower pitch rotation;
Computer control system is found by video monitoring system and locks measured object, order-driven Scan orientation system is sent and video monitoring system is rotated in the horizontal or up and down direction to drive system, while video monitoring system follows the tracks of measured object, Scan orientation system scans measured object profile each point, and by information feed back to computer control system, computer control system is by wireless transmit and receiving system is wireless sends and reception information.Inclination sensor-based system is high frequency precision goniometer.Video monitoring system is automatic focusing high-definition camera; Computer control system is small-size computer or single-chip microcomputer.
Video monitoring system is for following the tracks of and gather the object image be observed; In the present embodiment, video monitoring system is automatic focusing high-definition camera, its major function is when Long-distance Control, testee is aimed at by the crosshair in video, if object is motion, computer control system then can by analyzing video and graphic geometric configuration, determine the position of the central point of dynamic object in visual field, horizontal and vertical rotation is carried out from long-distance remote control motor, aim at testee and carry out high frequency sweep measurement, then the intensity of comprehensive laser reflection signal carries out coordinate data analysis and verification.This system can the process of machine control system and wireless transmit pole receiving system send to the staff at rear as calculated with corresponding image by live video data.
By obtaining the measurement numerical value of a line and two angles, the relative coordinate (X ＇, Y ＇, Z ＇) of impact point relative to observation station can be calculated easily, the coordinate figure (X that rear and GPS positioning system records
0, Y
0, Z
0) be added, the actual coordinate value (X, Y, Z) of impact point can be obtained.Therefore, after using electronic compass (or gyro) and high frequency precision goniometer and laser distance measuring system to observe measured body multiple spot, just the profile of measured body and profile three-dimensional coordinate data can be expressed.
Laser ranging sensor-based system is high frequency lasers distance measuring sensor.The light that high frequency lasers distance measuring sensor sends is infrared light and green glow.Traditional laser instrument selects infrared light, but in the sun can be optionally poor, and the present invention not only remains infrared light in the selection of laser instrument, and green glow visual under using visual, sunlight at a distance is first as guiding light source.This system is made to possess highly sensitive, far measuring distance and the high feature of resolution.
In addition, GPS positioning system mainly when testing initial, being set up the coordinate system of each test benchmark point (observation station), for during with Final finishing three-dimensional information data, being provided frame of reference information.Need to build multiple observation station in measuring process, the metering system of traditional reflective prism of placement is adopted not only to increase workload and measurement can produce cumulative errors, and GPS positioning system and instrument itself are merged the work not only simplifying in-site measurement personnel, and improve the precision of measurement.
Laser three-D information measurement instrument also comprises base 10, erecting bed 20, support 30; Erecting bed 20 can horizontally rotate and is arranged on base 10, and support 30 can be arranged on the bearing 21 of erecting bed 20 up and down rotationally, and Scan orientation system 40 and video monitoring system 50 are detachably arranged on support 30.
Drive system 60 comprises and horizontally rotates motor 61 and upper and lower rotation motor 65, and horizontally rotate motor 61 and rotate in the horizontal direction for drive installation platform 20, upper and lower rotation motor 65 rotates for driving arm about 30.
Support 30 left and right sides mirror image is provided with coupling shaft 31, and these two coupling shafts 31 are arranged in the mounting hole of corresponding setting on bearing 21 respectively by ball bearing 33; Two coupling shafts a roots and tops transmission gear 35 is installed, upper and lower rotation motor 65 is by transmission gear driving arm about 30 pitch rotation.Transmission gear 35 is clearance elimination gear.
In prior art, coupling shaft is semifloating vertical shaft structure, and the present invention makes support more flexibly with not easily stuck by adopting ball bearing.Present invention employs special clearance elimination gear in addition, this gear adopts two plate gears to stack with one heart, in two plate gear cracks, with spring, two plate gears are connected, two gear dislocation rotated to an angle when we install before this clearance elimination gear, be then engaged with another ordinary gear, a toothed disc one of such clearance elimination gear applies strength clockwise, another toothed disc applies strength counterclockwise, is clipped in the middle closely by the tooth of ordinary gear.This gear that disappears eliminates the error caused in gear-driven gap, thus minimum error can be reached by the rotation of Electric Machine Control scanner precision, therefore cooperation laser range sensor, electronic compass measure can reach high speed precision rotation constantly, thus by observation station three dimensional space coordinate precision determine.
Computer control system also comprises liquid crystal display control system 80 and USB interface (not shown).
The operating system of computer control system is Windows operating system.This system can process the outline line of surveyed object, characteristic curve, describes measured body with minimum observed reading, and calculates volume, area equivalence, and on screen, show measured body characteristic.The design of electric touch screen makes operation become simply convenient, on-the-spot just can carry out three-dimensional data process and display without the need to carrying notebook computer, is convenient to adjust in time unreasonable in measuring.
As shown in Figure 3, the present invention can also allow some measuring instruments (after testee, measuring instrument is not shown) by a computer system control, some measuring instruments are from different azimuth and synchronously carry out tracking measurement to measured object, obtain information by the three-dimensional information that can obtain measured object after computer system overall treatment, especially for mobile object in the middle of laid some measuring instruments or when middle overhead is passed through, multiple stage measuring instrument synchronous working, can obtain the three-dimensional information of this mobile object instantaneously.
The present invention is multiple functional, cheap, and robotization continuous high-efficient is measured, and can under all weather conditions, carry out aiming and dynamic object tracking by monitoring remote video, after scanned, in real time data can also be beamed back rear area work personnel, simply efficient.
Claims (9)
1. a kind of intelligent laser three-dimensional information measurement instrument of the present invention, it is characterized in that, it comprises Scan orientation system, video monitoring system, drive system, computer control system, base, erecting bed, support and wireless transmit and receiving system;
Described Scan orientation system comprises the GPS positioning system for determining observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass of laser ranging sensor-based system horizontal rotation angle, and for measuring the inclination sensor-based system of described laser ranging sensor-based system elevation angle;
Described video monitoring system is for following the tracks of and gather the object image be observed;
Described drive system is for driving described Scan orientation system level to swing in the horizontal direction or upper and lower pitch rotation;
Described computer control system is found by described video monitoring system and locks measured object, send Scan orientation system and video monitoring system described in order-driven to described drive system to rotate in the horizontal or up and down direction, while video monitoring system follows the tracks of measured object, Scan orientation system scans measured object profile each point, and by information feed back to computer control system, computer control system is by described wireless transmit and receiving system is wireless sends and reception information;
Described erecting bed can horizontally rotate and is arranged on base, and support can be arranged on the bearing of erecting bed up and down rotationally, described Scan orientation system and video monitoring system detachably rack-mount.
2. laser three-D information measurement instrument as claimed in claim 1, it is characterized in that, described laser ranging sensor-based system is high frequency lasers distance measuring sensor.
3. laser three-D information measurement instrument as claimed in claim 2, it is characterized in that, the light that described high frequency lasers distance measuring sensor sends is infrared light and green glow.
4. laser three-D information measurement instrument as claimed in claim 1, it is characterized in that, described inclination sensor-based system is high frequency precision goniometer.
5. laser three-D information measurement instrument as claimed in claim 1, it is characterized in that, described video monitoring system is automatic focusing high-definition camera; Described computer control system is small-size computer or single-chip microcomputer.
6. laser three-D information measurement instrument as claimed in claim 1, it is characterized in that, described drive system comprises and horizontally rotates motor and upper and lower rotation motor, the described motor that horizontally rotates rotates in the horizontal direction for driving described erecting bed, and described upper and lower rotation motor rotates up and down for driving described support.
7. laser three-D information measurement instrument as claimed in claim 1, it is characterized in that, described support left and right sides mirror image is provided with coupling shaft, and these two coupling shafts to be arranged on described bearing in the corresponding mounting hole arranged respectively by ball bearing; Described two coupling shafts arbitrary roots and tops transmission gear is installed, described upper and lower rotation motor drives the upper and lower pitch rotation of described support by transmission gear.
8. laser three-D information measurement instrument as claimed in claim 7, it is characterized in that, described transmission gear is clearance elimination gear.
9. laser three-D information measurement instrument as claimed in claim 1, it is characterized in that, described computer control system also comprises liquid crystal display control system and USB interface.
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| CN103837095B (en) * | 2014-03-18 | 2016-06-01 | 华中科技大学 | A kind of 3 D laser scanning method and device |
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| CN108680105B (en) * | 2018-05-22 | 2020-09-11 | 公安部沈阳消防研究所 | Method and device for non-contact measurement of fixed-point three-dimensional relative position coordinates |
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| CN111121619A (en) * | 2018-11-01 | 2020-05-08 | 西南科技大学 | Space geometry automatic measurement method based on laser ranging |
| CN109540059B (en) * | 2018-11-27 | 2024-08-20 | 惠州绿保科技有限公司 | Profilometer rotary scanning mechanism |
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