CN107035941A - Live standing tree 3 D laser scanning hoistable platform and live standing tree there-dimensional laser scanning device - Google Patents

Abstract

Three-dimensional laser scanning lifting platform for standing trees. In order to solve the problems of low accuracy of scanning measurement data of standing trees and blurred optical images obtained, the present invention proposes a three-dimensional laser scanning lifting platform for standing trees, which has a base part, Lifting mechanism and scanning platform, the lifting mechanism is installed on the base, the scanning platform is installed on the lifting mechanism, the scanning platform can be moved horizontally relative to the base by controlling the lifting mechanism; the base has an opening and the plane is U The glyph plane, the base part includes a base body and a base left arm and a base right arm that are oppositely arranged. The beneficial effect of the present invention is: can obtain the complete topography scanning point cloud data of the trunk surface of the standing tree, so that the complete three-dimensional image of the trunk surface of the standing tree can be accurately restored in the computer, reduce the workload of image splicing processing in the later stage, and simultaneously improve Speed and stability of signal acquisition. The invention also discloses a three-dimensional laser scanning device for standing trees.

Description

Living tree 3D laser scanning lifting platform and living tree 3D laser scanning device

technical field

The invention relates to the technical field of three-dimensional scanning, in particular to a three-dimensional laser scanning lifting platform for standing trees, and also to a three-dimensional laser scanning device for standing trees.

Background technique

Forest resources are an important resource that is closely related to human production and life. How to rationally cultivate forest resources, especially artificial forest resources, and how to rationally and effectively utilize forest resources are important topics worth studying. Living trees generally refer to living trees in woodland, open woodland or scattered. The scientific evaluation of standing trees is helpful to judge the forest quality, and it is of great value to the protection and utilization of forest resources. As we all know, trees need to grow for a long period of time before they can reach a diameter suitable for human use; in addition, trees are affected by climatic conditions, weather changes, human disturbance, animals and microorganisms during their growth, resulting in their sharpness and curvature. degrees, cracks, knots, rot, holes, etc.; under the premise of not affecting the continued growth of trees and not damaging the tested trees, scientific detection, flaw detection, evaluation and reasonable tending of standing trees are the key to improving the quality of forest trees. Important way of yield and quality. According to the specific conditions of the shape, size and various defects of the outline of each standing tree, forest tending and wood processing can not only ensure the orderly development of forest resources, but also help improve the grade of sawn timber, plywood and other wood products. Realize the rational use of timber resources.

In order to obtain the basic parameters of the outer contour and internal defects of standing trees, people have generally used measurement methods such as visual observation and mechanical measurement. Because this method relies too much on the experience of the operator and has large measurement errors, the degree of sharpness and curvature Information such as internal defects and internal defects is not easy to obtain, so the measurement results are not satisfactory; with the advancement of measurement technology, people began to use acoustic, optical, thermal and electromagnetic methods to conduct non-contact measurement research on the outer contour of objects, but due to Living trees have different heights, large differences in growth conditions and growth environments, surface morphology is easily affected by the environment, and field measurement is difficult, coupled with the heterogeneity, porosity and anisotropy of wood, etc. The reason is that these measurement methods are not completely suitable for the measurement of standing trees; how to analyze and select the shape, size and various defects of the outer contour of living trees has become a difficult problem in the field of forestry; traditional laser scanning equipment cannot directly complete The 3D laser scanning of the complete surface topography of the trunk of a living tree requires multiple scans in multiple directions, and then splicing the scanned images in different directions. How to design a system that can synchronize multiple 3D laser scanners around the living tree The scanning synchronous lifting mechanical device realizes the direct scanning of the surface topography of the complete standing tree and avoids the complicated post-splicing work, which is also an important problem that needs to be solved at present.

Using laser to measure distance in a non-contact manner has the advantages of simple structure, fast test speed, and strong real-time processing capability. However, due to the high trunk of the standing tree, the laser detection process is easily limited by the poor rigidity and low precision of the transmission device itself, resulting in scanning instruments. The overall precision is low and the accuracy is poor; in addition, the growth environment of living trees is quite different, and the scanning equipment is often unstable during the scanning process due to the factors of the field environment, so that the captured graphics have large errors and blurs. Therefore, the existing technology The method of laser distance measurement cannot be directly applied to the measurement of the outer contour of living trees.

Contents of the invention

The present invention aims to solve a series of problems existing in the prior art that the accuracy of laser measurement data for standing trees is not high, the laser three-dimensional scanning of living trees cannot be performed, and the optical images obtained in the prior art are blurred, and further proposes A living tree three-dimensional laser scanning lifting platform and a living standing tree three-dimensional laser scanning device, the living standing tree three-dimensional laser scanning lifting platform has a base part, a lifting mechanism and a scanning platform, the lifting mechanism is installed on the base part, The scanning platform is installed on the lifting mechanism, and the scanning platform can be moved horizontally relative to the base part by controlling the lifting mechanism; the base part has an opening and a U-shaped plane, so The base part includes a base body, a base left arm and a base right arm, the base body is connected to the base left arm and the base right arm respectively, the base left arm and the base right arm The opening is located between the left arm of the base and the right arm of the base; the scanning platform has at least one scanning entrance, and the direction of the scanning entrance is the same as the direction of the opening .

Further, the lifting mechanism has a power device, an execution device and a platform strut, the power device is connected to the execution device, the platform strut is respectively connected to the base part and the scanning platform, and the platform strut makes the The scanning platform is kept horizontal, and under the action of the execution device, the scanning platform performs a horizontal upward movement or a horizontal downward movement on the platform support rod.

Further, the power equipment is an air compressor or a hydraulic press, the executive equipment is a telescopic rod, and the platform pole is a scissor-type lifting rod assembly, and the scissor-type lifting rod assembly has a bottom fixed rod, a top fixed rod A rod and a pivot, the bottom fixed rod and the top fixed rod are connected to each other through the pivot, the bottom fixed rod is connected to the rotating shaft of the base part and is slidably connected to the scanning platform, the The top fixed rod is connected to the rotating shaft of the scanning platform and is slidingly connected to the base; the scissor lift rod assembly is divided into two groups, one group is connected to the left arm of the base and the scanning platform, and the other group is connected to the base The right arm and the scanning platform, the telescopic rod is at least connected to any set of scissor-type lifting rod components and can push the end of the top fixed rod and the base part to move horizontally, thereby realizing the scissor-type lifting rod component to scan the platform. up or down.

Further, the power equipment is a motor, the execution equipment is a lift, the platform support rod is a screw rod or a combination of a screw rod and a smooth rod, one end of the screw rod is screwed with a nut, and the nut is connected to the scanning platform Fixed connection, the other end of the screw rod is connected to the elevator, and the motor and the elevator are connected through a connecting rod and a coupling; when there are multiple elevators, the motor and the elevator There is a steering gear, and there are connecting rods and couplings between the elevators; there are more than three screw rods, and the connection points between the screw rods and the elevators are not all located on the same straight line.

Further, the elevator has a worm gear reduction mechanism, the worm gear reduction mechanism includes a worm wheel and a worm, the worm is connected with a coupling, the center of the worm wheel is fixedly connected with the screw, and the worm wheel and the worm mesh with each other, When the worm rotates, the worm wheel and the screw rotate simultaneously, and when the screw rotates, the nut fixedly connected with the scanning platform rises or falls on the lifting rod; The steering gear can drive multiple elevators to rotate synchronously. When the elevators rotate synchronously, the screw rod drives multiple nuts to move simultaneously, and simultaneously drives the scanning platform to rise or fall horizontally.

Further, the lifting mechanism also has a central control device, the central control device has a man-machine interface control unit, a data transmission unit and a central processing unit, the central processing unit includes a control system, and the control system has host computer software and Lower computer software; the upper computer software is used to realize non-real-time motion axis management, communication fault display, limit state display and motion state display; the lower computer software is used to realize real-time position control and limit detection and motor fault detection; when the central control device obtains the startup information through the man-machine interface control unit, the data transmission unit transmits the startup information to the central processing unit, and the central processing unit processes the startup information and drives the The above-mentioned power equipment moves, and then the execution equipment and the platform strut are moved through the power equipment, so as to realize the horizontal rise or fall of the scanning platform.

Further, the lifting mechanism also has a central control device, the central control device has a man-machine interface control unit, a data transmission unit and a central processing unit, the central processing unit includes a control system, and the control system has host computer software and Lower computer software; the upper computer software is used to realize non-real-time motion axis management, communication fault display, limit state display and motion state display; the lower computer software is used to realize real-time position control and limit detection and motor failure detection; an encoder is also installed on the lifting mechanism, and the encoder is connected to the motor. When the motor is working, the connecting rod rotates to drive the code disc on the encoder to rotate to obtain a working signal. The controller transmits the working signal to the central processing unit through the data transmission unit, and the central processing unit processes the working signal and drives the power device to move through the control system, and then the power device moves the execution device and the platform pole to realize scanning The level of the platform rises or the level falls.

Further, the base part and the lifting mechanism are detachably connected, the base part has a draw-in slot, the bottom of the lift mechanism has a tongue-and-groove matching with the draw-in slot, the draw-in slot and the draw-in slot Movable connection; the bottom of the base part is provided with a pulley system, and the pulley system can make the base part and other components fixed on the base part move horizontally together.

A three-dimensional scanning device, which has the three-dimensional laser scanning lifting platform for living trees; the scanning platform of the three-dimensional laser scanning lifting platform for living standing trees has an opening-encircling frame body and a ring track, and the ring track is arranged on the opening surrounding Between the bottom of the frame body and the scanning platform, the opening-encircling frame body is connected with the scanning platform through the circular track, and the opening-encircling frame body can be fixed or slid on the circular track; the opening-encircling frame body A laser scanning device is arranged on the frame body.

Further, the open embracing frame is a double-layer structure, with an upper frame and a lower frame, the upper frame and the lower frame are connected by a column, and the column includes a fixed column and a movable column, The upper frame body and the lower frame body have paired column moving rails on the inner side; the bottom of the lower frame body has a rail holding groove, and the rail holding groove has a top surface of the groove, an inner hook arm and an outer hook arm , the rail-holding groove embraces the annular track through the inner hook arm and the outer hook arm, and pneumatic floating beads are evenly distributed on the side of the annular track opposite to the top surface of the groove, and the inner passage of the annular track There is compressed air; there is also a frame sliding part on the circular track, and the frame sliding part can make the open-enclosed frame slide clockwise, counterclockwise or fix on the circular track.

The beneficial effects of the present invention are: the base part and the scanning platform of the three-dimensional laser scanning lifting platform for living standing trees can both surround the living standing trees, realize lifting and synchronous scanning of multiple three-dimensional laser instruments while embracing the living standing trees, and then can obtain The point cloud data of the complete topography of the trunk surface of the standing tree enables the complete three-dimensional image of the trunk surface of the standing tree to be accurately restored in the computer, reducing the workload of image stitching and processing in the later stage, and improving the speed and stability of signal acquisition at the same time.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a side structure schematic diagram of an embodiment of the present invention;

Fig. 3 is a side structural schematic diagram of another embodiment of the present invention;

Fig. 4 is the overall structure schematic diagram of another angle of the present invention;

Fig. 5 is a perspective view of a standing tree three-dimensional laser scanning device of the present invention;

Fig. 6 is a partial schematic diagram of the three-dimensional laser scanning lifting platform for living standing trees of the present invention;

Fig. 7 is a schematic diagram of lifting and lowering of an embodiment of the living tree three-dimensional laser scanning lifting platform of the present invention;

Fig. 8 is a schematic diagram of an embodiment of the living tree three-dimensional laser scanning lifting platform of the present invention;

Fig. 9 is a schematic structural diagram of a three-dimensional laser scanning device for standing trees of the present invention;

Fig. 10 is a schematic diagram of the 3D laser scanning device for standing trees of the present invention embracing the opening of the sliding frame;

Fig. 11 is a schematic diagram of an embodiment of a standing tree three-dimensional laser scanning device of the present invention;

Fig. 12 is a structural schematic diagram of another angle of the three-dimensional laser scanning device for standing trees of the present invention;

Fig. 13 is a structural schematic diagram of a rail holding groove and a circular track in a three-dimensional laser scanning device for a standing tree of the present invention;

Fig. 14 is a structural schematic diagram of the working state of the rail holding groove and the circular track in the present invention;

The meanings of each part in the figure are as follows: 1 base part; 11 base body; 12 left arm of base; 13 right arm of base; 14 opening; 2 lifting mechanism; 21 power equipment; Central control equipment; 25 encoder; 3 scanning platform; 31 scanning entrance; 32 open embracing frame; 321 upper frame; 322 lower frame; 323 fixed column; ; 327 inner hook arm; 328 outer hook arm; 329 column moving rail; 33 circular track; 331 pneumatic floating ball;

detailed description

The specific implementation manner of the present invention will be described below in conjunction with the accompanying drawings.

Specific embodiment 1: This embodiment is described in conjunction with Fig. 1, Fig. 2 and Fig. 3. A living tree three-dimensional laser scanning lifting platform described in this embodiment has a base part 1, a lifting mechanism 2 and a scanning platform 3. The lifting mechanism 2 is installed on the base part 1, the scanning platform 3 is installed on the lifting mechanism 2, and the scanning platform 3 can be horizontally lifted relative to the base part 1 by controlling the lifting mechanism 2 Movement; the base part 1 has an opening 14 and the plane is a U-shaped plane, the base part 1 includes a base body 11, a base left arm 12 and a base right arm 13, and the base body 11 is connected with the base body respectively The base left arm 12 is connected to the base right arm 13, the base left arm 12 and the base right arm 13 are oppositely arranged and not connected to each other, the opening 14 is located between the base left arm 12 and the base Between the right arm 13 of the base; the scanning platform 3 has at least one scanning entrance 31 , and the direction of the scanning entrance 31 is the same as that of the opening 14 .

The technical effect of this embodiment is that both the base part and the scanning platform of the three-dimensional laser scanning lifting platform of a living tree can surround the living tree, realize lifting and scanning while embracing the living tree, and then can obtain more accurate scanning results, The high-definition three-dimensional images of standing trees can be accurately restored in the computer, and the speed and stability of signal acquisition can be improved.

Specific embodiment 2: This embodiment is described in conjunction with Fig. 1, Fig. 2 and Fig. 3, a living tree three-dimensional laser scanning lifting platform described in this embodiment, the lifting mechanism 2 has a power device 21, an execution device 22 and a platform support Rod 23, the power equipment 21 is connected with the execution equipment 22, the platform pole 23 is respectively connected with the base part 1 and the scanning platform 3, the platform pole 23 keeps the scanning platform 3 horizontal, The scanning platform 3 moves up or down horizontally on the platform pole 23 under the action of the execution device 22 ; the others are the same as in the first embodiment.

The technical effect of this embodiment is: due to the cooperation of power equipment, execution equipment and platform poles, the scanning platform can be lifted and lowered smoothly by means of the lifting mechanism, thereby ensuring the stable lifting of the three-dimensional laser scanning equipment on the scanning platform. It can also ensure that multiple 3D laser scanning devices can be lifted and scanned smoothly and synchronously, and can obtain laser scanning point cloud data of the surface topography of living trees, which is conducive to improving the scanning accuracy and imaging quality.

Specific embodiment 3: This embodiment is described in conjunction with Fig. 1 and Fig. 2. The three-dimensional laser scanning lifting platform for living trees described in this embodiment, the power device 21 is an air compressor or hydraulic press, and the execution device 22 is a telescopic Rod, the platform pole 23 is a scissor-type lifting rod assembly, the scissor-type lifting rod assembly has a bottom fixed rod, a top fixed rod and a pivot, and the bottom fixed rod and the top fixed rod pass through The pivots are connected to each other, the bottom fixed rod is connected with the rotation shaft of the base part 1 and is slidably connected with the scanning platform 3, and the top fixed rod is connected with the rotation shaft of the scanning platform 3 and is connected with the base. The seat part 1 is slidingly connected; the scissor lift rod assembly is two groups, one group connects the left arm 12 of the base and the scanning platform 3, and the other group connects the right arm 13 of the base and the scanning platform 3, and the telescopic rod It is at least connected to any set of scissor-type lifting rod components and can push one end of the top fixed rod to slide and connect with the base to move horizontally, so as to realize the lifting or lowering of the scanning platform 3 by the scissor-type lifting rod components; other and specific implementation Method 2 is the same.

The technical effect of this embodiment is: due to the use of air compressors or hydraulic machines as power equipment, the transmission is more flexible without the use of mechanical transmission, and the use of scissor lift rod components can avoid the use of screw drive and bring mechanical parts Excessive wear and tear; the scissor lift rod assembly can be raised and lowered as needed, and the scissor lift rod assembly is two groups, one of which is connected to the left arm of the base and the scanning platform, and the other is connected to the base The right arm and the scanning platform can not only ensure that the platform can be lifted up and down at the same time, but also can better surround the living tree, ensuring the realization of the 3D laser scanning of the complete living tree surface topography.

Specific embodiment 4: This embodiment is described in conjunction with Fig. 1, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 8. The three-dimensional laser scanning lifting platform for living trees described in this embodiment, the power equipment 21 is a motor , the executive device 22 is a lift, the platform support rod 23 is a screw rod or a combination of a screw rod and a smooth rod, one end of the screw rod is screwed to a nut, and the nut is fixedly connected to the scanning platform 3, the The other end of the screw rod is connected to the elevator, and the motor and the elevator are connected through a connecting rod and a coupling; when there are multiple elevators, there is a diverter between the motor and the elevator, so There are also connecting rods and shaft couplings between the elevators; there are more than three screw rods, and the connection points between the screw rods and the elevators are not all located on the same straight line; the others are the same as in Embodiment 2.

The technical effect of this embodiment is: since the platform pole adopts the screw rod and the lifter cooperates with the screw rod, the lifting process between multiple screw rods can be effectively kept in sync, making the platform lift more stable, which is beneficial to the scanning equipment. It is easier to obtain clear standing tree image data on the scanning platform; when there are multiple laser scanning devices, it is beneficial to improve the scanning synchronization of multiple laser scanning devices, so that the accurate standing tree surface can be directly obtained in the post-processing process Topographical 3D reconstruction of images reduces the complexity of image stitching.

Specific embodiment 5: This embodiment is described in conjunction with Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 7. The three-dimensional laser scanning lifting platform for living trees described in this embodiment, the elevator has a worm gear reduction mechanism, and the The worm gear reduction mechanism includes a worm wheel and a worm, the worm is connected with a coupling, the center of the worm wheel is fixedly connected with the screw, the worm and the worm mesh with each other, and when the worm rotates, the worm and the screw Rotate at the same time, and when the screw shaft rotates, the nut fixedly connected with the scanning platform rises or falls on the lifting rod; the motor can drive multiple elevators to rotate synchronously through the coupling, connecting rod and steering gear , when multiple elevators rotate synchronously, the screw mandrel drives multiple nuts to move simultaneously, and simultaneously drives the scanning platform to rise or fall horizontally; others are the same as Embodiment 4.

The technical effect of this embodiment is: because the motor drives multiple elevators to rotate synchronously through the shaft coupling, connecting rod and steering gear, the worm gears in the multiple elevators drive the screw rods in the centers of the respective elevators to rotate, so that multiple screw rods drive multiple elevators to rotate. The nuts move at the same time, which makes the platform lift more stable, improves the scanning efficiency and synchronization, and thus ensures the accuracy and scientificity of the detection results.

Specific embodiment 6: This embodiment is described in conjunction with Fig. 1, Fig. 3, Fig. 7, Fig. 9 and Fig. 10. The three-dimensional laser scanning lifting platform for living trees described in this embodiment, the lifting mechanism 2 also has a central control device 24. The central control device 24 has a man-machine interface control unit, a data transmission unit, and a central processing unit, and the central processing unit includes a control system, and the control system has upper computer software and lower computer software; the upper computer software It is used to realize non-real-time motion axis management, communication fault display, limit state display and motion state display; the lower computer software is used to realize real-time position control, limit detection and motor fault detection; when the After the control device 24 obtains the starting information through the man-machine interface control unit, the data transmission unit transmits the starting information to the central processing unit, and the central processing unit processes the starting information and drives the power device 21 to move through the control system, and then passes The power device 21 moves the execution device 22 and the platform strut 23 to realize the horizontal rise or fall of the scanning platform 3; the others are the same as any one of the specific embodiments 2-5.

The technical effect of this embodiment is: due to the use of central control equipment, which includes a human-computer interaction interface, the operation of the equipment is more intuitive, the difficulty of operation is reduced, and the technical requirements for equipment operators are lowered. The use of the data transmission unit enables the entire operation process of the lifting platform to be fed back to the central control equipment in real time, and reported to the operator in real time through the human-computer interaction interface. In addition, the use of upper computer software and lower computer software enables the lifting range of the lifting platform to be reasonably controlled, and the operating status is monitored in real time, which plays a role in reducing equipment damage, prolonging equipment life and monitoring equipment status. At the same time, the use of central control equipment avoids manual errors caused by manual control, improves the accuracy and stability of signal acquisition by laser scanning equipment, and has the effect of improving scanning accuracy.

Specific embodiment 7: This embodiment is described in conjunction with Fig. 3, Fig. 9, Fig. 10, Fig. 11 and Fig. 12. The three-dimensional laser scanning lifting platform for living trees described in this embodiment, the lifting mechanism 2 also has a central control device 24. The central control device 24 has a man-machine interface control unit, a data transmission unit, and a central processing unit, and the central processing unit includes a control system, and the control system has upper computer software and lower computer software; the upper computer software It is used to realize non-real-time motion axis management, communication fault display, limit state display and motion state display; the lower computer software is used to realize real-time position control, limit detection and motor fault detection; the lifting mechanism 2 is also installed with an encoder 25, the encoder 25 is connected to the motor, the connecting rod rotates when the motor works to drive the code disc on the encoder to rotate to obtain a working signal, and the encoder 25 passes through the data transmission unit The working signal is transmitted to the computer, and the computer controls the three-dimensional laser scanning device 4 and the encoder 25 to trigger synchronously, so that the lifting of the scanning platform 3 is synchronized with the triggering of the scanning device 4; the others are the same as the specific embodiment 4 or 5.

The technical effect of this embodiment is: since the encoder is provided, the scanning speed of the three-dimensional laser scanner can be set by calculating the relationship between the encoder speed and the lifting speed of the screw. The steering gear drives multiple elevators to rotate synchronously and at the same time drives the encoder to rotate together. The code transmits the data to the computer through the data transmission unit. The computer controls the 3D laser scanner and the encoder to trigger synchronously, so that the lifting of the platform is synchronized with the triggering of the scanner. Achieve the effect of improving scanning accuracy and reducing mechanical errors.

Specific embodiment 8: This embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 9 and Fig. 10. The three-dimensional laser scanning lifting platform for living trees described in this embodiment, the base part 1 and the lifting mechanism 2 For detachable connection, the base part 1 has a card slot, the bottom of the lifting mechanism 2 has a tongue and groove matching with the card slot, and the card slot and the tongue and groove are movably connected; the base A pulley system is provided at the bottom of the base, and the pulley system can make the base and other components fixed on the base move horizontally together; the others are the same as any one of Embodiments 1-7.

The technical effect of this embodiment is: since the base part and the lifting mechanism are detachably connected, it becomes easier to carry the device for field investigation and forest scientific research, and it can better monitor the places that cannot be reached by mechanical equipment such as automobiles and tractors. In the field or in the forest, more valuable scanning data can be obtained; at the same time, this detachable structure is more convenient for laboratory use and storage, and improves the utilization rate and service life of the equipment.

Specific embodiment 9: This embodiment is described in conjunction with Fig. 1, Fig. 3, Fig. 9, Fig. 10, Fig. 12, Fig. 13 and Fig. 14. A three-dimensional laser scanning device for standing trees in this embodiment has a three-dimensional laser scanning device for standing trees Scan the lifting platform, the scanning platform 3 of the three-dimensional laser scanning lifting platform for living standing trees also has an opening encircling frame body 32 and a ring track 33, and the ring track 33 is located at the bottom of the opening encircling frame body 32 and the scanning platform. 3, the opening embracing frame 32 is connected to the scanning platform through the ring track 33, and the opening embracing frame 32 can be fixed or slid on the ring track 33; the opening embracing frame 32 is provided with a laser scanning device 4; others are the same as any one of the specific embodiments 1-8.

The technical effect of this embodiment is: due to the arrangement of the circular track, the open-enclosed frame can be fixed or slid on the circular track, which is beneficial to the three-dimensional laser scanning.

Specific embodiment 10: This embodiment is described in conjunction with Fig. 3, Fig. 4, Fig. 7, Fig. 9, Fig. 13 and Fig. 14. In this embodiment, a three-dimensional laser scanning device for a living tree is described, and the opening encircling the frame 32 It is a double-layer structure, with an upper frame body 321 and a lower frame body 322, the upper frame body 321 and the lower frame body 322 are connected by a column, and the column includes a fixed column 323 and a movable column 324. The frame body 321 and the lower frame body 322 have a pair of vertical column moving rails 329 on the opposite side; the bottom of the lower frame body 322 has a rail holding groove 323, and the rail holding groove 323 has a groove top surface 324 and an inner hook arm. 325 and the outer hook arm 326, the rail holding groove 323 embraces the circular track 33 through the inner hook arm 325 and the outer hook arm 326, and the side opposite to the groove top surface 324 on the circular track 33 is uniform Pneumatic floating beads 331 are distributed, and compressed air is passed through the annular track 33; there is also a frame sliding part 332 on the annular track 33, and the frame sliding part 332 can make the opening encircle the frame 32 slides clockwise on the circular track 33, slides counterclockwise or fixes; others are the same as in Embodiment 9.

The technical effect of this embodiment is: since the rail holding groove embraces the circular track through the inner hook arm and the outer hook arm, and the side of the annular track opposite to the top surface of the groove is evenly distributed with pneumatic floating beads, and There is compressed air in the circular track, so that the open embracing frame on the circular track can float lightly on the air cushion formed by compressed air, so that the open embracing frame can be flexibly on the circular track without using lubricating oil Sliding, and there is no need to worry about the open-enclosed frame coming out of the track; the open-enclosed frame is provided with a scanning device, which can obtain clearer and more stable image information.

Adopt following embodiment to verify effect of the present invention:

Embodiment 1: A three-dimensional laser scanning lifting platform for standing trees, which has a base part 1, a lifting mechanism 2 and a scanning platform 3, the lifting mechanism 2 is installed on the base part 1, and the lifting mechanism 2 is installed on the lifting mechanism 2. The scanning platform 3, by controlling the lifting mechanism 2, can make the scanning platform 3 carry out horizontal lifting movement relative to the base part 1; the base part 1 has an opening 14 and the plane is a U-shaped plane, the Base part 1 comprises base body 11, base left arm 12 and base right arm 13, and described base body 11 is connected with base left arm 12 and base right arm 13 respectively, and described base left arm 12 Set opposite to the base right arm 13 and not connected to each other, the opening 14 is located between the base left arm 12 and the base right arm 13; the scanning platform 3 has a scanning entrance 31, the The direction of the scanning entrance 31 is the same as the direction of the opening 14; the lifting mechanism 2 has a power device 21, an execution device 22 and a platform pole 23, the power device 21 is a motor, and the execution device 22 is a lift, so The platform rod 23 is a combination of a screw rod or a screw rod and a smooth rod. Described scanning platform 3 is connected, and the combination of described screw mandrel or screw mandrel and smooth rod keeps described scanning platform 3 level; One end of described screw mandrel is screwed with nut, and described nut is fixedly connected with scanning platform 3, so The other end of the screw rod is connected with the lifter, and the scanning platform 3 is moved horizontally on the screw rod or the combination of the screw rod and the smooth rod under the action of the lifter; when the lifter When there are multiple, there is a steering gear between the motor and the elevator, and there are connecting rods and couplings between the elevators; there are three screw rods, and the connection points between the screw rods and the elevator are located in a triangular the three vertices of .

Embodiment 2: When there are multiple elevators, there is a diverter between the motor and the elevator, and there are connecting rods and couplings between the elevators; there are four screw rods, and the screw rods The connection points connected with the elevator are located at the four vertices of the quadrilateral; the rest are the same as in the first embodiment.

Embodiment 3: A three-dimensional laser scanning lifting platform for a living tree, which has a three-dimensional laser scanning lifting platform for a living tree, and the scanning platform 3 of the three-dimensional laser scanning lifting platform for a living tree also has an opening-encircling frame body 32 and a ring track 33, The ring track 33 is arranged between the bottom of the opening embracing frame 32 and the scanning platform 3, the opening embracing frame 32 is connected with the scanning platform through the ring track 33, and the opening embracing frame 32 It can be fixed or slid on the circular track 33; the laser scanning device 4 is arranged on the open surrounding frame body 32, and an orientation device is installed on the open surrounding frame body 32, and on the circular track 33 There is a scale; the orientation device is a compass; the rest are the same as those in Embodiment 1 or Embodiment 2.

The complete surface topography three-dimensional laser scanning data of the scanned object can be better obtained through the above-mentioned embodiment, and the two-dimensional or three-dimensional image of the object can be reconstructed from these data; the synchronous scanning of three laser scanners can directly obtain more accurate The complete object surface topography scan data reduces the workload of image stitching in the later stage; the data information of living trees is collected through the sliding of the bracket on the track, which improves the speed and stability of signal collection; the use of directional equipment can ensure the measurement Different objects or multiple measurements of the same object have the same initial calibration direction, ensuring that the same forest land or even all standing tree scans are calibrated with a unified initial direction, so that the initial directions of the images in the established 3D reconstruction image library of living trees are consistent of.

It should be understood that the above-mentioned specific implementations and examples of the present invention are only used to illustrate or explain the principles of the present invention, but not to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. Furthermore, it is intended that the appended claims of the present invention embrace all changes and modifications that come within the scope and metesques of the appended claims, or equivalents of such scope and metes and bounds.

Claims (10)

1. a kind of live standing tree 3 D laser scanning hoistable platform, it is characterised in that：With base portion (1), elevating mechanism (2) and sweep Retouch and install that the scanning is installed on the elevating mechanism (2), the elevating mechanism (2) is flat on platform (3), the base portion (1) Platform (3), by controlling the elevating mechanism (2) that the scanning platform (3) can be made to carry out level relative to the base portion (1) Elevating movement；The base portion (1) has opening (14) and the u-shaped plane of plane, and the base portion (1) includes base body (11), pedestal left arm (12) and pedestal right arm (13), the base body (11) respectively with pedestal left arm (12) and pedestal right arm (13) connect, the pedestal left arm (12) and the pedestal right arm (13) are oppositely arranged and be mutually not connected to, described opening (14) position Between the pedestal left arm (12) and the pedestal right arm (13)；The scanning platform (3) at least has a scanning entrance (31), the direction of the scanning entrance (31) is identical with the direction of the opening (14).

2. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 1, it is characterised in that：The elevating mechanism (2) there is power-equipment (21), equipment (22) and platform pole (23) is performed, the power-equipment (21) is with performing equipment (22) Connection, the platform pole (23) is connected with base portion (1) and the scanning platform (3) respectively, and the platform pole (23) makes The scanning platform (3) keeps level, and the scanning platform (3) is in the platform branch in the presence of the execution equipment (22) Make horizontal ascending motion or horizontal descending motion on bar (23).

3. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 2, it is characterised in that：The power-equipment (21) it is air compressor or hydraulic press, the execution equipment (22) is expansion link, and the platform pole (23) is scissor-type liter Bar assembly drops, and the scissors type elevating bar assembly has the solid bar in bottom, the solid bar in top and pivot, the solid bar in the bottom and the top The solid bar in end is connected with each other by the pivot, the solid bar in the bottom and the base portion (1) and rotating shaft be connected is put down with described scan Platform (3) is slidably connected, the solid bar in the top and the scanning platform (3) and rotating shaft is connected and is slidably connected with the base portion (1)； The scissors type elevating bar assembly is two groups, one of which connection pedestal left arm (12) and scanning platform (3), another group of linker Seat right arm (13) and scanning platform (3), the expansion link are at least connected and can promoted with any group of scissors type elevating bar assembly One end horizontal movement that the solid bar in top is slidably connected with base portion, and then realize scissors type elevating bar assembly to scanning platform (3) Lifting or reduction.

4. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 2, it is characterised in that：The power-equipment (21) it is motor, the execution equipment (22) is lift, and the platform pole (23) is screw mandrel or screw mandrel and smooth shaft Combination, one end of the screw mandrel is connected with nut thread, and the nut is fixedly connected with scanning platform (3), and the screw mandrel is another End is connected with the lift, is connected between the motor and the lift by connecting rod and shaft coupling；When the lifting Having when machine is multiple between the motor and the lift also has connecting rod and shaft coupling between steering gear, the lift Device；The screw mandrel is more than three, and the tie point that screw mandrel is connected with lift is not located along the same line entirely.

5. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 4, it is characterised in that：The lifting equipment There is worm gear reducer mechanism, the worm gear reducer mechanism includes worm gear and worm screw, and the worm screw is connected with shaft coupling, the worm gear Center is fixedly connected with the screw mandrel, the worm gear and worm screw intermeshing, the worm gear and screw mandrel when the worm screw rotates Rotate simultaneously, and the nut being fixedly connected when the screw mandrel is rotated with scanning platform rises or falls on elevating lever； The motor can drive multiple lift synchronous axial systems by shaft coupling, connecting rod and steering gear, when multiple liftings During machine synchronous axial system, then the screw mandrel drives multiple nuts move simultaneously, and drive scanning platform level rising simultaneously or Level declines.

6. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 2,3,4 or 5, it is characterised in that：It is described Elevating mechanism (2) also has control device (24), and the control device (24) has human-computer interface control unit, data transfer list Member and CPU, the CPU include control system, and the control system has upper computer software with Position machine software；The upper computer software is used to realize that the kinematic axis of non real-time nature to be managed, communication failure is shown, spacing status display And motion state is shown；The slave computer software is used to realize the position control of real-time, spacing detection and electrical fault detection； After the control device (24) is obtained by human-computer interface control unit starts information, data transmission unit will start information and pass CPU is defeated by, the CPU drives the power after handling startup information by control system Equipment (21) is moved, and then moves execution equipment (22) and platform pole (23) by power-equipment (21), realizes that scanning is flat The level of platform (3) rises or level declines.

7. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 4 or 5, it is characterised in that：The lifting Mechanism (2) also have control device (24), the control device (24) have human-computer interface control unit, data transmission unit and CPU, the CPU includes control system, and the control system has upper computer software and slave computer Software；The upper computer software be used to realizing the kinematic axis management of non real-time nature, communication failure show, spacing status display and fortune Dynamic status display；The slave computer software is used to realize the position control of real-time, spacing detection and electrical fault detection；It is described Encoder (25) is also equipped with elevating mechanism (2), the encoder (25) is connected with motor, connecting rod during the motor work Rotate and drive the code-disc on the encoder to rotate and obtain working signal, the encoder (25) will by data transmission unit Working signal passes to computer, and computer control 3 D laser scanning equipment (4) triggering synchronous with encoder (25) makes scanning The triggering of the same scanning device of lifting (4) of platform (3) reaches synchronization.

8. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 7, it is characterised in that：The base portion (1) it is that there is neck, the bottom of the elevating mechanism (2) on detachable connection, the base portion (1) with elevating mechanism (2) With the tongue and groove coordinated with the neck, the movable connection of neck and tongue and groove；The base portion bottom is provided with pulley system System, the pulley system can move the base portion and the other part common horizontals being fixed in base portion.

9. a kind of live standing tree there-dimensional laser scanning device, it is characterised in that：With live standing tree any one of claim 1-8 3 D laser scanning hoistable platform；There is split ring on the scanning platform (3) of the live standing tree 3 D laser scanning hoistable platform Formula support body (32) and circular orbit (33) are embraced, the circular orbit (33) is located at described opening encircling type support body (32) bottom with sweeping Retouch between platform (3), the opening encircling type support body (32) is connected by the circular orbit (33) with scanning platform, described to open Mouth encircling type support body (32) can be fixed or slided on the circular orbit (33)；Set on the opening encircling type support body (32) There is Laser Scanning Equipment (4).

10. a kind of live standing tree there-dimensional laser scanning device according to claim 9, it is characterised in that：The opening encircling type Support body (32) is double-decker, with upper strata support body (321) and lower floor's support body (322), the upper strata support body (321) and it is described under Layer frame body is connected between (322) by column, and the column includes fixed column (323) and movable post (324), the upper strata support body And the opposite inner side of lower floor's support body (322) has the column dynamic rail (329) being arranged in pairs (321)；Lower floor's support body (322) Bottom, which has, embraces track slot (325), and there is described armful of track slot (325) groove top surface (326), inner side to hook arm (327) and outside hook arm (328), described armful of track slot (325) hooks arm (327) by the inner side and outside hooks arm (328) and clasps the circular orbit (33) Pneumatic floating pearl (331), is evenly distributed with the opposite side of the groove top surface (326) on the circular orbit (33), it is described Compressed air is connected with circular orbit (33)；Also there is support body sliding part (332), the support body on the circular orbit (33) Sliding part (332) can make the opening encircling type support body (32) slide, be slided counterclockwise clockwise on circular orbit (33) Move or fixed.