CN106289104B - Color three-dimensional laser scanner - Google Patents
Color three-dimensional laser scanner Download PDFInfo
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- CN106289104B CN106289104B CN201610853902.9A CN201610853902A CN106289104B CN 106289104 B CN106289104 B CN 106289104B CN 201610853902 A CN201610853902 A CN 201610853902A CN 106289104 B CN106289104 B CN 106289104B
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- color
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a color three-dimensional laser scanner, comprising: a base for supporting the entire color three-dimensional laser scanner; the horizontal rotary table is rotatably connected with the base; the shell is fixedly connected with the horizontal rotary table and rotates along with the rotation of the horizontal rotary table; the horizontal driving device is arranged in the shell, connected with the horizontal rotary table and used for driving the horizontal rotary table to horizontally rotate so as to drive the shell to horizontally rotate; and a scanning system disposed within the housing; the scanning system comprises an image acquisition device, a laser ranging device and a control device; the control device is respectively connected with the image acquisition device and the laser ranging device. The color three-dimensional laser scanner can improve the accuracy of the color point cloud data information obtained by final measurement.
Description
Technical Field
The invention relates to the technical field of laser scanning, in particular to a color three-dimensional laser scanner.
Background
The three-dimensional laser scanner is a measuring device which can quickly acquire high-precision three-dimensional coordinates of a measured object and then construct a high-precision three-dimensional model. There is a great demand for three-dimensional laser scanners in the fields of machinery manufacturing, architectural design, civil engineering, industrial inspection, cultural heritage protection, virtual reality, and the like. The color laser scanner needs to perform rotation in horizontal and vertical directions to acquire three-dimensional coordinate information of the measured object. The traditional color three-dimensional laser scanner needs more transmission structures to realize horizontal rotation of the scanner, so that the precision of measured data can be influenced by the precision of the transmission structures and installation errors, and the precision of a final measuring result is lower.
Disclosure of Invention
Therefore, a color three-dimensional laser scanner with high measurement accuracy is needed.
A color three-dimensional laser scanner comprising: a base for supporting the entire color three-dimensional laser scanner; the horizontal rotary table is rotatably connected with the base; the shell is fixedly connected with the horizontal rotary table and rotates along with the rotation of the horizontal rotary table; the horizontal driving device is arranged in the shell, connected with the horizontal rotary table and used for driving the horizontal rotary table to horizontally rotate so as to drive the shell to horizontally rotate; and a scanning system disposed within the housing; the scanning system comprises an image acquisition device, a laser ranging device and a control device; the control device is respectively connected with the image acquisition device and the laser ranging device; the image acquisition device is used for acquiring color texture information of a measured object, and the laser ranging device is used for acquiring three-dimensional coordinate information of the measured object; the control device is used for controlling the image acquisition device and the laser ranging device and determining the color point cloud data information of the measured object according to the color texture information and the three-dimensional coordinate information.
In one embodiment, the horizontal driving means comprises a first motor and a first encoder; the first motor is used for providing driving force for the rotation of the horizontal rotary table; the first encoder is used for recording the rotation angle of the first motor.
In one embodiment, the housing comprises a connecting socket, a first housing and a second housing; the connecting seat is sleeved outside the horizontal rotary table; the first shell and the second shell are respectively and fixedly connected with the connecting seat, and the first shell and the second shell are symmetrically arranged relative to the horizontal rotary table.
In one embodiment, the laser ranging device comprises a laser emitter, and the laser emitter is arranged above the horizontal rotary table and arranged on a central rotating shaft of the horizontal rotary table.
In one embodiment, the laser transmitter is a high frequency pulsed laser transmitter.
In one embodiment, the laser ranging device further comprises a reflector, a second motor and a second encoder; the second motor is used for driving the reflector to rotate so as to control the laser emitted by the laser emitter to move in the vertical direction and further vertically scan the object to be measured; the second encoder is used for recording the rotation angle of the second motor.
In one embodiment, the image capture device is disposed within the first housing; the image acquisition device comprises a camera, an image sensor and an image processing module; the image sensor is used for acquiring image information acquired by the camera and outputting the image information to the image processing module for processing so as to obtain the color texture information; the camera is fixed on the first shell, and the camera and the laser emitter are located at the same horizontal height.
In one embodiment, the control device comprises a motor control module for controlling the first motor and the second motor; the motor control module is disposed within the first housing.
In one embodiment, the battery box further comprises a battery and a battery fixing frame which are arranged in the shell; the battery fixing frame is fixed on the shell and used for fixing the battery; the battery is used for providing working power for the color three-dimensional laser scanner.
Above-mentioned colored three-dimensional laser scanner, horizontal revolving stage and base rotatable coupling just with casing fixed connection, therefore horizontal drive arrangement direct drive horizontal revolving stage carries out the horizontal rotation and can realize the horizontal rotation control to the casing. Therefore, in the horizontal rotation process of the color three-dimensional laser scanner, other transmission structures are not needed to realize the horizontal rotation control of the horizontal driving device on the color three-dimensional laser scanner, so that the measurement influence caused by the processing precision and the installation error of the transmission structures is reduced, and the precision of the color point cloud data information obtained by final measurement can be improved.
Drawings
FIG. 1 is a schematic perspective view of a color three-dimensional laser scanner in one embodiment;
FIG. 2 is an exploded view of the color three-dimensional laser scanner of FIG. 1;
FIG. 3 is a schematic front view of the internal structure of the color three-dimensional laser scanner of FIG. 1;
fig. 4 is a rear view of the internal structure of the color three-dimensional laser scanner of fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic perspective view of a color three-dimensional laser scanner in an embodiment, fig. 2 is an exploded view of fig. 1, and fig. 3 and 4 are schematic views of an internal structure of fig. 1. The color three-dimensional laser scanner in the present embodiment is described in detail below with reference to fig. 1 to 4. The color three-dimensional laser scanner includes a base 110, a horizontal turntable 120, a housing 130, a horizontal driving device 140, and a scanning system.
The base 110 serves to support the entire three-dimensional laser scanner. In the present embodiment, the base 110 has a circular shape.
The horizontal turntable 120 is fixed on the base 110 and is rotatably connected with the base 110. Accordingly, the horizontal turntable 110 can horizontally rotate with respect to the base 110. In one embodiment, to ensure stability between the horizontal turntable 120 and the base 110, a pressure plate 122 is further provided. A platen 122 is provided on the horizontal turntable 120 on a side opposite to the base 110 for locking the horizontal turntable 120 between the platen 122 and the base 110.
The housing 130 serves as a main structure for accommodating and protecting the horizontal driving device 140 and the scanning system in the color three-dimensional laser scanner. The housing 130 includes a connection base 132, a first housing 134, and a second housing 136. The connecting seat 132 is sleeved outside the horizontal rotary table 120 and is fixedly connected to the horizontal rotary table 120. The first housing 134 and the second housing 136 are fixedly connected to the connecting base 132, and are symmetrically distributed on both sides of the horizontal rotary table 120. Accordingly, the housing 130 rotates following the rotation of the horizontal turntable, thereby performing a horizontal scanning process of the scanning system.
The horizontal driving means 140 is provided in the housing 130 for driving the horizontal turn table 120 to rotate horizontally. The horizontal driving device 140 includes a first motor 142 and a first encoder 144. The first motor 142 is used for providing a driving force for the rotation of the horizontal turntable 120, and the first encoder 144 is used for recording the rotation angle of the first motor 142, so that the scanning system can read the rotation angle value and perform calculation according to the rotation angle value.
A scanning system is disposed within the housing 130 to measure an object under test. The scanning system includes a laser ranging device 210, an image acquisition device 220, and a control device 230. The control device 230 is connected to the laser ranging device 210 and is also connected to the image capturing device 220. The laser ranging device 210 is used for acquiring color texture information of the object to be measured, and the image acquiring device 220 is used for acquiring three-dimensional coordinate information of the object to be measured. The control device 230 is configured to control the working processes of the laser ranging device 210 and the image obtaining device 220, and determine color point cloud data information of the measured object according to the obtained color texture information and the obtained three-dimensional coordinate information, thereby implementing measurement on the measured object.
In the color three-dimensional laser scanner, the horizontal turntable 120 is rotatably connected to the base 110 and is fixedly connected to the housing 130, so that the horizontal driving device 140 directly drives the horizontal turntable 120 to rotate horizontally, and thus the horizontal rotation of the housing 130 can be controlled. Therefore, in the horizontal rotation process of the color three-dimensional laser scanner, other transmission structures are not needed to realize the horizontal rotation control of the horizontal driving device 140 on the color three-dimensional laser scanner, so that the measurement influence caused by the processing precision and the installation error of the transmission structures is reduced, and the precision of the finally measured color point cloud data information can be improved.
In the present embodiment, the laser ranging device 210 includes a laser emitter 212, a mirror 214, and a vertical driving device. Wherein the vertical drive means comprises a second motor 216 and a second encoder 218. The laser transmitter 212 is disposed above the horizontal turntable 120 and on the central rotation axis of the horizontal turntable 120, thereby ensuring that the color three-dimensional laser scanner rotates about the laser transmitter 212 in both horizontal and vertical directions. In the present embodiment, the laser transmitter 212 is a high-frequency pulse laser transmitter for emitting high-frequency pulse laser light. The mirror 214 is driven by a second motor 216 to rotate, so as to adjust the outgoing light of the laser emitter 212, so as to realize the scanning of the laser emitter 212 in the vertical direction. The second encoder 218 is used to record the rotation angle of the second motor 216.
The image capture device 220 is disposed within the first housing 134. The image acquisition device 220 includes a camera 222, an image sensor 224, and an image processing module 226. The image sensor 224 is configured to acquire image information acquired by the camera 222 and output the image information to the image processing module 226 for processing to obtain color texture information of the object to be measured. In the present embodiment, the camera 222 is fixed on the first housing 134, and the camera 222 and the laser transmitter 212 are located at the same level. That is, the camera 222 is centered on the laser transmitter 212 when rotating along with the housing 130, so as to facilitate subsequent data fusion.
The control device 230 includes a motor control module. The motor control module is used to control the rotation of the first motor 142 and the second motor 216. The control device 230 is also disposed within the first housing 134.
In the present embodiment, the color three-dimensional laser scanner further includes a battery 152 disposed in the housing 130 and a battery holder 154. The battery holder 154 is fixed to the first housing 134. The battery holder 154 is used to hold the battery 152. The battery 152 is used for providing working power for the whole color three-dimensional laser scanner.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A color three-dimensional laser scanner comprising:
a base for supporting the entire color three-dimensional laser scanner;
the horizontal rotary table is arranged on the base and is rotatably connected with the base;
the shell is fixedly connected with the horizontal rotary table and rotates along with the rotation of the horizontal rotary table;
the horizontal driving device is arranged in the shell, connected with the horizontal rotary table and used for driving the horizontal rotary table to horizontally rotate so as to drive the shell to horizontally rotate; and
a scanning system disposed within the housing; the scanning system comprises an image acquisition device, a laser ranging device and a control device; the control device is respectively connected with the image acquisition device and the laser ranging device; the image acquisition device is used for acquiring color texture information of a measured object, and the laser ranging device is used for acquiring three-dimensional coordinate information of the measured object; the control device is used for controlling the image acquisition device and the laser ranging device and determining color point cloud data information of the measured object according to the color texture information and the three-dimensional coordinate information;
the shell comprises a connecting seat, a first shell and a second shell; the connecting seat is sleeved outside the horizontal rotary table and fixedly connected with the horizontal rotary table, the connecting seat is of a plate-shaped structure, and the connecting seat is positioned between the horizontal rotary table and the base; the first shell and the second shell are respectively and fixedly connected with the connecting seat, and the first shell and the second shell are symmetrically arranged around the horizontal rotary table;
the color three-dimensional laser scanner further comprises a pressing plate, wherein the pressing plate is arranged on one surface, opposite to the base, of the horizontal rotary table and used for locking the horizontal rotary table between the pressing plate and the base.
2. The color three-dimensional laser scanner according to claim 1, wherein the horizontal driving means comprises a first motor and a first encoder; the first motor is used for providing driving force for the rotation of the horizontal rotary table; the first encoder is used for recording the rotation angle of the first motor.
3. The color three-dimensional laser scanner according to claim 1, wherein the laser ranging device comprises a laser transmitter disposed above the horizontal turntable and on a central rotation shaft of the horizontal turntable.
4. The color three-dimensional laser scanner according to claim 3, wherein said laser transmitter is a high frequency pulsed laser transmitter.
5. The color three-dimensional laser scanner according to claim 3, wherein the laser ranging device further comprises a mirror, a second motor, and a second encoder; the second motor is used for driving the reflector to rotate so as to control the laser emitted by the laser emitter to move in the vertical direction and further vertically scan the object to be measured; the second encoder is used for recording the rotation angle of the second motor.
6. The color three-dimensional laser scanner according to claim 3, wherein said image capturing device is disposed within said first housing; the image acquisition device comprises a camera, an image sensor and an image processing module; the image sensor is used for acquiring image information acquired by the camera and outputting the image information to the image processing module for processing so as to obtain the color texture information; the camera is fixed on the first shell, and the camera and the laser emitter are located at the same horizontal height.
7. The color three-dimensional laser scanner according to claim 5, wherein said control means comprises a motor control module for controlling said first motor and said second motor; the motor control module is disposed within the first housing.
8. The color three-dimensional laser scanner according to claim 1, further comprising a battery and a battery holder disposed within said housing; the battery fixing frame is fixed on the shell and used for fixing the battery; the battery is used for providing working power for the color three-dimensional laser scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610853902.9A CN106289104B (en) | 2016-09-26 | 2016-09-26 | Color three-dimensional laser scanner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610853902.9A CN106289104B (en) | 2016-09-26 | 2016-09-26 | Color three-dimensional laser scanner |
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| CN106289104A CN106289104A (en) | 2017-01-04 |
| CN106289104B true CN106289104B (en) | 2020-04-10 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106932780A (en) * | 2017-03-14 | 2017-07-07 | 北京京东尚科信息技术有限公司 | Object positioning method, device and system |
| CN109059803A (en) * | 2018-08-14 | 2018-12-21 | 贵州大学 | A kind of ore mining three-dimensional laser scanner |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6006995A (en) * | 1993-10-12 | 1999-12-28 | Metrologic Instruments Inc. | System for reading bar code symbol on containers having arbitrary surface geometry |
| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| CN105157566A (en) * | 2015-05-08 | 2015-12-16 | 深圳市速腾聚创科技有限公司 | Color three-dimensional laser scanner and three-dimensional color point cloud scanning method |
| CN205027316U (en) * | 2015-05-08 | 2016-02-10 | 深圳市速腾聚创科技有限公司 | Quick three -dimensional laser scanning appearance |
| CN105841631A (en) * | 2016-03-22 | 2016-08-10 | 中国神华能源股份有限公司 | Three-dimensional laser scanning device and method |
-
2016
- 2016-09-26 CN CN201610853902.9A patent/CN106289104B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6006995A (en) * | 1993-10-12 | 1999-12-28 | Metrologic Instruments Inc. | System for reading bar code symbol on containers having arbitrary surface geometry |
| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| CN105157566A (en) * | 2015-05-08 | 2015-12-16 | 深圳市速腾聚创科技有限公司 | Color three-dimensional laser scanner and three-dimensional color point cloud scanning method |
| CN205027316U (en) * | 2015-05-08 | 2016-02-10 | 深圳市速腾聚创科技有限公司 | Quick three -dimensional laser scanning appearance |
| CN105841631A (en) * | 2016-03-22 | 2016-08-10 | 中国神华能源股份有限公司 | Three-dimensional laser scanning device and method |
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