CN107860335B - Three-dimensional laser scanner applied to actual measurement in building industry - Google Patents
Three-dimensional laser scanner applied to actual measurement in building industry Download PDFInfo
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- CN107860335B CN107860335B CN201711107582.3A CN201711107582A CN107860335B CN 107860335 B CN107860335 B CN 107860335B CN 201711107582 A CN201711107582 A CN 201711107582A CN 107860335 B CN107860335 B CN 107860335B
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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)
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- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a three-dimensional laser scanner applied to actual measurement in the building industry, which is characterized in that: the three-dimensional laser scanner comprises a vertical shaft driving mechanism and a transverse shaft pitching mechanism, wherein the vertical shaft driving mechanism comprises a first stepping motor, a vertical shaft, a first motor support, a base station, a vertical shaft bearing, a base station flange, a flange support and a first coupler, and the transverse shaft pitching mechanism comprises a second motor support, a second stepping motor, a second coupler, a transverse shaft bearing, a distance measuring head mounting support, a transverse shaft and a vertical shaft flange. The three-dimensional laser scanner can ensure the verticality of the vertical shaft and the horizontal plane, realize the simultaneous pitching motion of the transverse shaft and the rotation motion of the vertical shaft, realize automatic measurement and ensure the measurement accuracy.
Description
Technical Field
The invention relates to a three-dimensional laser scanner, in particular to a three-dimensional laser scanner which can be applied to actual measurement in the building industry.
Background
Currently, actual measurement excess of the building industry generally requires more than 2-3 persons for cooperative operation, and measuring personnel generally give the building professional and are on duty after actual measurement excess training; the measurement process is complex, and dozens of tools such as a laser range finder, a laser line marker, a leveling rod and the like need to be carried; the measurement time is long, generally a set of 100 square meters of houses needs to be measured for 40 minutes, and after the later data is analyzed and sorted, the actual measurement of the whole house needs to be over one hour in total; although the human resources are seriously consumed, the result is not satisfactory, for example, the wall surface flatness measurement is performed, a wall surface with the width larger than 3m is close to 3 feet, a wall surface with the width smaller than 3m is close to 2 feet, and the flatness of the whole wall surface is judged in such a way, so that the precision is very low.
The three-dimensional laser scanning technology is a full-automatic measuring technology which uses a three-dimensional laser scanner to obtain the space coordinates of each point on the surface of a target object, and then constructs a three-dimensional model of the target object according to the obtained measuring data, can be used in the fields of deformation monitoring, engineering measurement, terrain measurement, ancient architecture and cultural relic protection, section and volume measurement and the like, and has the advantages of no need of cooperative target, high precision, high density, high efficiency, full digital characteristics and the like. The three-dimensional laser scanning technology can truly describe the overall structure and morphological characteristics of a scanning object.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a three-dimensional laser scanner applied to actual measurement in the building industry, so that the defects of the prior art are overcome.
In order to achieve the purpose, the invention provides a three-dimensional laser scanner applied to actual measurement of actual measurement in the building industry, which is characterized in that: the three-dimensional laser scanner comprises a vertical shaft driving mechanism and a transverse shaft pitching mechanism, wherein the vertical shaft driving mechanism comprises a first stepping motor, a vertical shaft, a first motor support, a base station, a vertical shaft bearing, a base station flange, a flange support and a first coupler, and the transverse shaft pitching mechanism comprises a second motor support, a second stepping motor, a second coupler, a transverse shaft bearing, a distance measuring head mounting support, a transverse shaft and a vertical shaft flange.
Preferably, in the above technical scheme, the first motor support is arranged on the base platform, the first coupling is connected with the first stepping motor, the vertical shaft is connected with the first coupling through the vertical shaft bearing, and the base platform flange is connected with the base platform through the flange support.
Preferably, in the above technical solution, there are a plurality of second motor brackets, and a plurality of second stepping motors.
Preferably, in the above technical solution, the cross shaft is connected to the second stepping motor through a second coupling, and the distance measuring head mounting bracket is fixedly connected to the cross shaft.
Preferably, in the above technical solution, the fixed vertical shaft is a dual-bearing fixed vertical shaft, and the dual-bearing fixed vertical shaft is installed on the flange support and the base flange.
Preferably, in the above technical scheme, the vertical shaft rotating mechanism is powered by a first stepping motor, and the first stepping motor drives the vertical shaft to rotate through a first coupler.
Preferably, in the above technical solution, the horizontal axis pitching mechanism is connected to the vertical axis rotating mechanism through a vertical axis flange, and the horizontal axis pitching mechanism and the vertical axis rotate together.
Compared with the prior art, the invention has the following beneficial effects: 1. a double-bearing fixed vertical shaft is arranged on the flange support and the flange of the base station, so that the verticality of the vertical shaft and the horizontal plane is ensured; 2. the vertical shaft rotating mechanism is powered by a stepping motor, the vertical shaft is driven to rotate through a coupler, and the horizontal shaft pitching mechanism is connected with the vertical shaft rotating mechanism through a vertical shaft flange and rotates together with the vertical shaft, so that the horizontal shaft pitching motion and the vertical shaft rotating motion are simultaneously carried out; 3. the transverse shaft rotating mechanism realizes the pitching motion of the distance measuring head mounting bracket through the combination of three groups of stepping motors, the shaft coupling, the transverse shaft and the double bearings, and the double bearings ensure the accuracy of rotation.
Drawings
Figure 1 is a schematic view of a vertical shaft rotary mechanism according to the present invention.
Fig. 2 is a schematic diagram of a transverse axis pitch mechanism according to the present invention.
Fig. 3 is a schematic view of a measured actual three-dimensional laser scanner according to the present invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 is a schematic view of a vertical shaft rotation mechanism according to the present invention, and as shown, the vertical shaft rotation mechanism includes a first stepper motor 104, a vertical shaft 108, a first motor bracket 102, a base platform 103, a vertical shaft bearing 107, a base platform flange 106, a flange post 105, and a first coupling 101. The first motor support 102 is arranged on the base platform 103, the first motor support 102 is detachably connected with the base platform 103, the detachable connection mode can be any mode known in the art, the first coupler 101 is connected with the first stepping motor 104, the first stepping motor 104 can drive the first coupler 101, the first coupler 101 can drive the vertical shaft 108 to rotate, the vertical shaft 108 is connected with the first coupler 101 through a vertical shaft bearing 107, the vertical shaft is a double-bearing fixed vertical shaft which is arranged on a flange support 105 and a base platform flange 106, the vertical shaft rotating mechanism is powered by the first stepping motor 104, and the first stepping motor 104 drives the vertical shaft 108 to rotate through the first coupler 101. Further, as shown, there are multiple grooves on the vertical shaft 108 for snap-fitting the range head mounting bracket of the cross-shaft pitch mechanism.
Fig. 2 is a schematic diagram of a transverse axis pitch mechanism according to the present invention. The transverse axis pitch mechanism includes a second motor bracket 203 (preferably, a plurality of second motor brackets, e.g., a plurality of second motor brackets 203 and 210), a second stepper motor 202 (preferably, a plurality of second stepper motors, e.g., a plurality of second stepper motors 202, 205, and 209), a second coupling 204, a transverse axis bearing 207, a ranging head mounting bracket 206, a transverse axis 208, and a vertical axis flange 201. The cross shaft 208 is connected with the second stepping motor 205 through the second coupling 204, and the distance measuring head mounting bracket 206 is fixedly connected with the cross shaft 208. The horizontal axis pitching mechanism is connected with the vertical axis rotating mechanism through a vertical axis flange 201, and the horizontal axis pitching mechanism and the vertical axis rotate together.
Fig. 3 is a schematic view of a measured actual three-dimensional laser scanner according to the present invention. As shown, the cross-axis pitch mechanism can be mounted on a vertical shaft swivel, which are connected by a vertical shaft flange 201. The distance measuring head mounting bracket of the transverse shaft pitching mechanism is clamped in a clamping groove on the vertical shaft 108.
Finally, the laser range finder of the present invention is introduced, and the laser range finder performs distance measurement by using a phase method, that is, the distance measurement is realized by measuring the phase of the echo signal and comparing or calculating with the phase of the transmitting signal. In order to eliminate the influence of the mechanical rotation angle on the measurement result, the extension line of the laser emission point intersects with the axis of the vertical shaft 108 in fig. 1 at a point.
For example, given a vertical rotation angle α, the laser makes successive measurements of β in the horizontal direction around a given α angle, after the measurement is completed, the next α angle is given, and so on to complete the rectification and lateral measurement.
The three-dimensional laser scanner measures the points on the measured surface at intervals of 200mm (676 square meters per square meter). The measured value is the laser line length value between each laser scanning point of the roof surface and a standard horizontal plane, and the distance value between each point on the measured surface and the horizontal plane is obtained through trigonometric function relation calculation between the laser line length value of the measured point and the linear distance between the measured point and the horizontal plane.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (2)
1. The utility model provides a be applied to three-dimensional laser scanner of building trade actual measurement which characterized in that: the three-dimensional laser scanner comprises a vertical shaft rotating mechanism and a transverse shaft pitching mechanism, wherein the vertical shaft rotating mechanism comprises a first stepping motor, a vertical shaft, a first motor support, a base station, a vertical shaft bearing, a base station flange, a flange support and a first coupler, and the transverse shaft pitching mechanism comprises a second motor support, a second stepping motor, a second coupler, a transverse shaft bearing, a distance measuring head mounting support, a transverse shaft and a vertical shaft flange;
the first motor bracket is arranged on the base platform, the first coupler is connected with the first stepping motor, the vertical shaft is connected with the first coupler through the vertical shaft bearing, and the base platform flange is connected with the base platform through the flange strut; the vertical shaft rotating mechanism is powered by the first stepping motor, and the first stepping motor drives the vertical shaft to rotate through the first coupler;
the second motor supports are vertically arranged, a plurality of second motor supports are arranged, and a plurality of second stepping motors are arranged; the transverse shaft is connected with the second stepping motor through the second coupler, and the distance measuring head mounting bracket is fixedly connected with the transverse shaft; the distance measuring head mounting brackets are of clamping plate structures which are opposite to each other in a left-right manner;
the transverse shaft pitching mechanism is connected with the vertical shaft rotating mechanism through the vertical shaft flange, and the transverse shaft pitching mechanism and the vertical shaft rotate together;
the vertical shaft is provided with a plurality of grooves, and a plurality of distance measuring head mounting brackets of the transverse shaft pitching mechanisms can be vertically mounted along the vertical shaft; a distance measuring head mounting bracket of the transverse shaft pitching mechanism is clamped in a groove on the vertical shaft;
the laser emission point extension line of the distance measuring head intersects with the axis of the vertical shaft at one point, so that the influence of the mechanical rotation angle on the measuring result is eliminated.
2. The three-dimensional laser scanner of claim 1, wherein: the vertical shaft is a double-bearing fixed vertical shaft, and the double-bearing fixed vertical shaft is arranged on the flange support and the base platform flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711107582.3A CN107860335B (en) | 2017-11-10 | 2017-11-10 | Three-dimensional laser scanner applied to actual measurement in building industry |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711107582.3A CN107860335B (en) | 2017-11-10 | 2017-11-10 | Three-dimensional laser scanner applied to actual measurement in building industry |
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| CN107860335A CN107860335A (en) | 2018-03-30 |
| CN107860335B true CN107860335B (en) | 2020-07-14 |
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| CN110207602B (en) * | 2019-07-01 | 2020-09-08 | 武汉东风工程建设监理有限公司 | Engineering construction supervision quality acceptance actual measurement device and method |
| CN110530343B (en) * | 2019-09-02 | 2022-04-05 | 上海泉勋科技有限公司 | Actual measurement system, method, device and storage medium |
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