CN107543505A - There-dimensional laser scanning device and robot - Google Patents
There-dimensional laser scanning device and robot Download PDFInfo
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- CN107543505A CN107543505A CN201610462878.6A CN201610462878A CN107543505A CN 107543505 A CN107543505 A CN 107543505A CN 201610462878 A CN201610462878 A CN 201610462878A CN 107543505 A CN107543505 A CN 107543505A
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- scanning device
- laser sensor
- laser scanning
- assembly
- dimensional laser
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Abstract
The present invention relates to a kind of there-dimensional laser scanning device and robot, the there-dimensional laser scanning device includes mounting assembly, the rotary drive assembly being arranged on above mounting assembly, laser sensor rotary components, the GPS location component being arranged on above mounting assembly, the laser sensor being arranged on laser sensor rotary components and the control box assembly being arranged on below mounting assembly, rotary drive assembly is used to drive laser sensor rotary components to rotate, and control box assembly is connected by cable with rotary drive assembly and laser sensor.According to the there-dimensional laser scanning device of the present invention, the scanning imagery to 3 D complex environment can be achieved, realize robot in complicated environment navigation, avoidance and positioning function.Also, the there-dimensional laser scanning device compact overall structure, it is rationally distributed；Mounting assembly, rotary drive assembly, laser sensor rotary components, GPS location component, laser sensor and control box assembly can use modularized design.
Description
Technical field
The present invention relates to robot navigation, avoidance and location technology, more particularly to a kind of three-dimensional
Laser scanning device and robot.
Background technology
Existing robot navigation, avoidance, positioner use two-dimensional laser sensor to realize mostly,
This scheme can be only applied to the simple environment occasion such as indoor environment, laser sensor scanning range
Small, scanning distance is short.Comprehensive scanning can not be realized for complex environment.
The content of the invention
The technical problems to be solved by the invention are to use two-dimensional laser sensor for existing
The robot of navigation, avoidance and positioning is realized, comprehensive scanning can not be realized for complex environment
The defects of, there is provided a kind of there-dimensional laser scanning device.
Technical scheme is as follows used by above-mentioned technical problem of the present invention：
A kind of there-dimensional laser scanning device is provided, including mounting assembly, is arranged on the bearing group
Rotary drive assembly, laser sensor rotary components above part, it is arranged on the mounting assembly
The GPS location component of top, the laser sensing being arranged on the laser sensor rotary components
Device and the control box assembly being arranged on below the mounting assembly, the rotary drive assembly are used for
Drive the laser sensor rotary components to rotate, the control box assembly by cable with it is described
Rotary drive assembly and laser sensor connection.
According to the there-dimensional laser scanning device of the present invention, rotary drive assembly driving laser sensor
Rotary components rotate, so as to drive laser sensor to rotate, thus, it can be achieved to three-dimensional
The scanning imagery of complex environment, realize robot in complicated environment navigation, avoidance and positioning function.
Also, the there-dimensional laser scanning device compact overall structure, it is rationally distributed；Mounting assembly, rotation
Turn drive component, laser sensor rotary components, GPS location component, laser sensor and control
Box assembly processed can use modularized design.
In addition, present invention also offers a kind of robot, it includes above-mentioned 3 D laser scanning
Device.
Brief description of the drawings
Fig. 1 is the structural representation for the there-dimensional laser scanning device that one embodiment of the invention provides；
Fig. 2 is its mounting assembly of the there-dimensional laser scanning device of one embodiment of the invention offer
Structural representation；
Fig. 3 is its rotation driving group of the there-dimensional laser scanning device of one embodiment of the invention offer
The structural representation of part；
Fig. 4 is its laser sensor of the there-dimensional laser scanning device of one embodiment of the invention offer
The structural representation of rotary components；
Fig. 5 is the knot of its GPS component of the there-dimensional laser scanning device of one embodiment of the invention offer
Structure schematic diagram；
Fig. 6 is its control box assembly of the there-dimensional laser scanning device of one embodiment of the invention offer
Structural representation.
Wherein：11st, mounting assembly；111st, bottom plate；112nd, the first cant board；1121st,
One axis hole；113rd, the second cant board；1131st, the second axis hole；114th, the first swivel bearing；
115th, the second swivel bearing；116th, GPS component support；117th, limited block；12nd, rotate
Drive component；121st, motor；122nd, motor cabinet；123rd, transmission belt；124th, first
Drive pulley；125th, the second drive pulley；13rd, laser sensor rotary components；131st, swash
Optical sensor installing plate；132nd, the first adaptor；133rd, hollow rotating shaft；134th, second
Adaptor；135th, rotary shaft；14th, GPS location component；141st, GPS supports；142、GPS；
15th, box assembly is controlled；151st, mounting base；152nd, front panel；153rd, rear board；154、
First supporting vertical plate；155th, power supply board；156th, industrial computer；157th, the second supporting vertical plate；
158th, power interface；159th, signaling interface；16th, laser sensor.
Embodiment
The present invention is further elaborated below in conjunction with the accompanying drawings.
Referring to Fig. 1, one embodiment of the invention discloses a kind of there-dimensional laser scanning device, and it is wrapped
It is fixed to include mounting assembly 11, rotary drive assembly 12, laser sensor rotary components 13, GPS
Hyte part 14, control box assembly 15 and laser sensor 16, the rotary drive assembly 12
For driving the laser sensor rotary components 13 to rotate, the control box assembly 15 passes through
Cable is connected with the rotary drive assembly 12 and laser sensor 16.
With reference to shown in figure 2, it includes bottom plate 111, the first cant board 112 to mounting assembly 12,
Second cant board 113, the first swivel bearing 114, the second swivel bearing 115 and GPS component
Support 116.Wherein, the first cant board 112 and the second cant board 113 are symmetrically mounted on bottom plate
On 111, the top of the cant board 113 of the first cant board 112 and second forms first respectively
The axis hole 1131 of axis hole 1121 and second, the swivel bearing of the first swivel bearing 114 and second
115 are respectively charged into the axis hole 1131 of the first axis hole 1121 and second, GPS component support
116 are arranged on the sidepiece of the second cant board 113.
In the present embodiment, rotary drive assembly 12 is fixed on the top of mounting assembly 11, laser
Concentric the first cant board 112 installed in the both sides of mounting assembly 11 of sensor rotary components 13 and
On second cant board 113, rotary drive assembly 12 is arranged on the second cant board 113 by screw
Bottom and laser sensor rotary components 13 can be driven to rotate, the laser sensor 16 is logical
Screw is crossed on laser sensor rotary components 13, and can be rotated with laser sensor
Component 13 is rotated together, and the GPS location component 14 is arranged on mounting assembly 11, institute
Control cabinet group 15 is stated installed in the lower section of mounting assembly 11.
With reference to shown in figure 4, laser sensor rotary components 13 include laser sensor installing plate
131st, the first adaptor 132, hollow rotating shaft 133, the second adaptor 134 and rotary shaft
135, wherein, the first adaptor 132, the second adaptor 134 are symmetrically mounted on laser sensing
The both sides of device installing plate 131, hollow rotating shaft 133 are arranged on the first adaptor 132, rotation
Axle 135 is arranged on the second adaptor 134, the hollow rotating shaft 133 and rotary shaft 135
It is respectively charged into the swivel bearing 115 of the first swivel bearing 114 and second.
With reference to shown in figure 1 and Fig. 3, rotary drive assembly 12 includes motor 121, motor
Seat 122, transmission belt 123, the first drive pulley 124 and the second drive pulley 125.Wherein,
Motor cabinet 122 is fixed by screws in the inner side of the second cant board 113, and motor 121 is logical
Cross screw to be fixed on motor cabinet 122, it is defeated that the first drive 124 is arranged on motor 121
Go out shaft end, the second drive pulley 125 is arranged in the rotary shaft 135, the transmission belt
123 is ratcheting with the drive pulley 125 of the first drive pulley 124 and second, will driving with this
The power of motor 121 is transferred to rotary shaft 135, and laser sensor rotary components 13 are driven with this
Laser sensor installing plate 131 rotate, laser sensor installing plate 131 finally drives laser
Sensor 16 rotates.Transmission belt 123, the first drive pulley 124 and the second drive pulley 125
Form belt driver.
Certainly, in other embodiments, chain gearing or gear drive can also be used
Instead of above-mentioned belt driver.
With reference to shown in figure 4, the rotary shaft 135 is multi-diameter shaft, second drive pulley
125 are arranged on less one section of the diameter of rotary shaft 135, second cant board 113
The marginal position of second axis hole 1131 is provided with limited block 117, the limited block
Be relatively large in diameter with the rotary shaft 135 one section of 117 medial surface is slidably matched, and is avoided with this
Rotary shaft 135 deflects, and realizes that the rotation of laser sensor rotary components 13 is radially spacing.
With reference to shown in figure 1 and Fig. 5, GPS component 14 includes GPS supports 141 and GPS142,
The GPS supports 141 are arranged on the top of GPS component support 116, the GPS142
It is arranged on the top of GPS supports 141.GPS component can realize laser sensor 16
Positioning.
With reference to shown in figure 6, control box assembly 15 include mounting base 151, front panel 152,
Rear board 153, the first supporting vertical plate 154, power supply board 155, industrial computer 156 and second
Supporting vertical plate 157, mounting base 151, front panel 152 and rear board 153 form casing,
First supporting vertical plate 154 and the second supporting vertical plate 157 are symmetrically mounted on mounting base 151,
Front panel 152 and rear board 153 are located at before and after casing, the front panel 152 and rear board
153 are fixed on the lower section of the bottom plate 111, and the mounting base 151 is fixed on before described
The lower section of plate 152 and rear board 153, and front panel 152 and rear board 153 and industrial computer
156 and power supply board 155 be in contact.
With reference to shown in figure 6, the power supply board 155 and industrial computer 156 are respectively arranged with and passed
The power interface 158 and signaling interface 159 of the rear board 153 of casing.Power interface 158 is logical
Cross cable and be connected respectively to motor 121, the power supply terminal of laser sensor 16, with to
Motor 121 and laser sensor 16 are powered；The one side of signaling interface 159 passes through cable
It is connected with the signal terminal of motor 121, to control the work of motor 121 with stopping
Only；On the other hand, it is connected by cable with the signal terminal of laser sensor 16, collection swashs
The three-dimensional environment scanning signal of optical sensor 16.
There-dimensional laser scanning device according to the above embodiment of the present invention, rotary drive assembly driving
Laser sensor rotary components rotate, so as to drive laser sensor to rotate, thus, can
The scanning imagery to 3 D complex environment is realized, realizes robot in complicated environment navigation, avoidance
And positioning function.Also, the there-dimensional laser scanning device compact overall structure, it is rationally distributed；
Mounting assembly, rotary drive assembly, laser sensor rotary components, GPS location component, swash
Optical sensor and control box assembly can use modularized design.
Claims (10)
1. a kind of there-dimensional laser scanning device, it is characterised in that including mounting assembly, set
Rotary drive assembly, laser sensor rotary components above the mounting assembly, it is arranged on
GPS location component above the mounting assembly, it is arranged on the laser sensor rotary components
On laser sensor and the control box assembly that is arranged on below the mounting assembly, the rotation
Drive component is used to drive the laser sensor rotary components to rotate, and the control box assembly leads to
Cable is crossed to be connected with the rotary drive assembly and laser sensor.
2. there-dimensional laser scanning device according to claim 1, it is characterised in that institute
Stating mounting assembly includes bottom plate, the first cant board, the second cant board, the first swivel bearing, the
Two swivel bearings and GPS component support, first cant board and the second cant board are symmetrical arranged
On bottom plate, the top of first cant board and the second cant board formed respectively the first axis hole and
Second axis hole, first swivel bearing and the second swivel bearing are respectively charged into first axis hole
And second in axis hole.
3. there-dimensional laser scanning device according to claim 1, it is characterised in that institute
Stating rotary drive assembly includes motor, motor cabinet and transmission device, and the motor cabinet is fixed
On second cant board, the motor is fixed on the motor cabinet, the transmission
The input of device is connected to the output shaft end of the motor, the output of the transmission device
End connects the laser sensor rotary components.
4. there-dimensional laser scanning device according to claim 1, it is characterised in that institute
Stating laser sensor rotary components includes laser sensor installing plate, the first adaptor, hollow rotation
Rotating shaft, the second adaptor and rotary shaft, first adaptor and the second adaptor are symmetrical arranged
In the both sides of the laser sensor installing plate, the hollow rotating shaft is arranged on the first adaptor
On, the rotary shaft is arranged on the second adaptor, the hollow rotating shaft and rotary shaft difference
It is fitted into first swivel bearing and the second swivel bearing.
5. there-dimensional laser scanning device according to claim 3, it is characterised in that institute
It is belt driver to state transmission device, and it includes transmission belt, the first drive pulley and the second transmission
Belt wheel, first drive pulley are arranged on the output shaft end of the motor, and described second
Drive pulley is arranged in the rotary shaft, the transmission belt and first drive pulley and the
Two drive pulleys are ratcheting.
6. there-dimensional laser scanning device according to claim 4, it is characterised in that institute
It is multi-diameter shaft to state rotary shaft, and it is less that second drive pulley is arranged on the rotation shaft diameter
On one section, the marginal position that second cant board is located at second axis hole sets limited location
Block, be relatively large in diameter with the rotary shaft one section of the medial surface of the limited block are slidably matched.
7. there-dimensional laser scanning device according to claim 2, it is characterised in that institute
Stating GPS component support includes GPS supports and GPS, and the GPS supports are arranged on the GPS
Above assembly support, the GPS is arranged on above the GPS supports.
8. there-dimensional laser scanning device according to claim 1 or 2, it is characterised in that
The control box assembly includes casing, power supply board and industrial computer, the power supply board and industry control
Machine is arranged in the casing, and the power supply board and industrial computer are respectively arranged with and pass casing
Power interface and signaling interface.
9. there-dimensional laser scanning device according to claim 8, the casing includes peace
Fill bottom plate, front panel, rear board, front support riser and rear support riser, the front panel and
Rear board is fixed on the lower section of the bottom plate, the mounting base be fixed on the front panel and after
The lower section of panel, the front support riser and rear support riser are symmetricly set on the mounting base
On, the front panel and rear board are in contact with the industrial computer and power supply board.
10. a kind of robot, it is characterised in that including described in claim 1-9 any one
There-dimensional laser scanning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462878.6A CN107543505A (en) | 2016-06-23 | 2016-06-23 | There-dimensional laser scanning device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462878.6A CN107543505A (en) | 2016-06-23 | 2016-06-23 | There-dimensional laser scanning device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107543505A true CN107543505A (en) | 2018-01-05 |
Family
ID=60960676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610462878.6A Pending CN107543505A (en) | 2016-06-23 | 2016-06-23 | There-dimensional laser scanning device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107543505A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762255A (en) * | 2018-05-03 | 2018-11-06 | 南京理工大学 | A kind of indoor intelligent mobile robot and control method |
| CN112710233A (en) * | 2020-12-18 | 2021-04-27 | 南京航空航天大学 | Large-scale aircraft skin point cloud obtaining equipment and method based on laser point cloud |
Citations (7)
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|---|---|---|---|---|
| KR100228226B1 (en) * | 1997-12-27 | 1999-12-01 | 신현준 | Laser scanning device for 3-d shape detection |
| JP2003315023A (en) * | 2002-04-24 | 2003-11-06 | Daihatsu Motor Co Ltd | Three-dimensional measuring apparatus and method therefor |
| CN1730248A (en) * | 2005-08-20 | 2006-02-08 | 大连海事大学 | Reverse engineering robot system |
| CN101187548A (en) * | 2007-12-06 | 2008-05-28 | 上海交通大学 | Large-scale forging laser radar on-line tri-dimensional measuring device and method |
| CN101303228A (en) * | 2008-06-11 | 2008-11-12 | 中国矿业大学 | Method and apparatus associating GPS position with three-dimensional laser scanner measurement |
| CN102831646A (en) * | 2012-08-13 | 2012-12-19 | 东南大学 | Scanning laser based large-scale three-dimensional terrain modeling method |
| CN103148803A (en) * | 2013-02-28 | 2013-06-12 | 中国地质大学（北京） | Light and small three-dimensional laser scanning measurement system and method |
-
2016
- 2016-06-23 CN CN201610462878.6A patent/CN107543505A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100228226B1 (en) * | 1997-12-27 | 1999-12-01 | 신현준 | Laser scanning device for 3-d shape detection |
| JP2003315023A (en) * | 2002-04-24 | 2003-11-06 | Daihatsu Motor Co Ltd | Three-dimensional measuring apparatus and method therefor |
| CN1730248A (en) * | 2005-08-20 | 2006-02-08 | 大连海事大学 | Reverse engineering robot system |
| CN101187548A (en) * | 2007-12-06 | 2008-05-28 | 上海交通大学 | Large-scale forging laser radar on-line tri-dimensional measuring device and method |
| CN101303228A (en) * | 2008-06-11 | 2008-11-12 | 中国矿业大学 | Method and apparatus associating GPS position with three-dimensional laser scanner measurement |
| CN102831646A (en) * | 2012-08-13 | 2012-12-19 | 东南大学 | Scanning laser based large-scale three-dimensional terrain modeling method |
| CN103148803A (en) * | 2013-02-28 | 2013-06-12 | 中国地质大学（北京） | Light and small three-dimensional laser scanning measurement system and method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762255A (en) * | 2018-05-03 | 2018-11-06 | 南京理工大学 | A kind of indoor intelligent mobile robot and control method |
| CN112710233A (en) * | 2020-12-18 | 2021-04-27 | 南京航空航天大学 | Large-scale aircraft skin point cloud obtaining equipment and method based on laser point cloud |
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Application publication date: 20180105 |
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