CN109407114A - Portable environment 3 D scanning system - Google Patents
Portable environment 3 D scanning system Download PDFInfo
- Publication number
- CN109407114A CN109407114A CN201811462524.7A CN201811462524A CN109407114A CN 109407114 A CN109407114 A CN 109407114A CN 201811462524 A CN201811462524 A CN 201811462524A CN 109407114 A CN109407114 A CN 109407114A
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- China
- Prior art keywords
- processing unit
- image processing
- interchanger
- rectangular casing
- cable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000013507 mapping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention discloses a kind of portable environment 3 D scanning system, there is rectangular casing, the upper surface of rectangular casing is fixed with multi-line laser radar, a side is fixed with single line laser radar, remaining three sides are respectively equipped with camera lens, handle and cable are connected to below rectangular casing, cable connects with computing unit box；Multi-thread laser sensor collection plate is equipped in rectangular casing, interchanger, universal serial bus concentrator, first image processing unit, second image processing unit, third image processing unit and independent power source plate, multi-line laser radar is connected by multi-thread laser sensor collection plate with interchanger, single line laser radar connects with interchanger, first to connect with camera lens, second and third image processing unit connects with universal serial bus concentrator, interchanger, universal serial bus concentrator passes through cable and connects with the computer card being placed in computing unit box, general supply plate is additionally provided in computing unit box, general supply plate is connected by cable with independent power source plate.
Description
Technical field
It is especially a kind of easy to use the present invention relates to a kind of mapping measuring device, operating efficiency can be effectively improved just
Take formula surrounding three-dimensional scanning system.
Background technique
The traverse measurement of environment and three-dimensional modeling are widely used to the fields such as geographical mapping, robot and unmanned plane.With
Past, the information collecting device of three-dimensional scenic is divided into mobile laser scanning and fixed laser scans two kinds.Mobile laser is swept
It retouches and is normally based on vehicle-mounted traverse measurement system, but be to rely on Global Satellite Navigation System (Global Navigation
Satellite System, GNSS) and inertial navigation system, it is only used for outdoor environment, can not be applied to for indoor or ground
The environment of the not no GNSS signal such as down space.Though fixed laser scanning can be used for indoor and outdoor environment, for multiple
Miscellaneous scene needs largely change station, then carry out a cloud, obtain the inefficiency of data.Currently, existing positioning and map immediately
Constructing technology (simultaneous localization and mapping, SLAM) technology is applied to mobile mapping, work
It is the color image data for acquiring three-dimensional laser point cloud data and three directions in real time by industrial personal computer as principle, by operating in work
Control and in " SLAM software algorithm " and " the mapping software algorithm of two dimensional image and three-dimensional point cloud ", obtain global three-dimensional in real time
Point cloud data solves the problems such as dependence and low data acquisition efficiency of the ground moving measuring system to GNSS signal.But it is existing
Data acquisition equipment based on SLAM technology is that the equipment such as radar image processing unit are arranged on cart, is only applicable to ground
The environment of face level, it is inconvenient for use.
Summary of the invention
The present invention be in order to solve above-mentioned technical problem present in the prior art, provide it is a kind of easy to use, can be effective
Improve the portable environment 3 D scanning system of operating efficiency.
The technical solution of the invention is as follows: a kind of portable environment 3 D scanning system has rectangular casing, rectangular casing
The upper surface of be fixed with the multi-line laser radar of axis vertical, a side of rectangular casing is fixed with the single line laser of axis horizontal
Radar, remaining three sides are respectively equipped with camera lens, handle and cable, the cable and computing unit are connected to below rectangular casing
Box connects；Multi-thread laser sensor collection plate, interchanger, universal serial bus concentrator, first are equipped in the rectangular casing
Image processing unit, the second image processing unit, third image processing unit and independent power source plate, the multi-line laser radar pass through
Multi-thread laser sensor collection plate connects with interchanger, and the single line laser radar connects with interchanger, connects respectively with camera lens
The first image processing unit, the second image processing unit and third image processing unit with universal serial bus concentrator phase
It connecing, the interchanger, universal serial bus concentrator pass through cable and connect with the computer card being placed in computing unit box,
General supply plate is additionally provided in computing unit box, general supply plate is connected by cable with independent power source plate.
The present invention is the equipment based on SLAM technology, not only solves dependence of the ground moving measuring system to GNSS signal
And data acquisition efficiency it is low the problems such as, and by laser radar, camera lens, image processing unit, interchanger, universal serial bus
The units rational deployment such as hub, computer and power supply can avoid interfering with each other, guaranteeing equipment normal work between each unit
Make, while having many advantages, such as compact-sized, low-profile, easy to carry, it is hand-holdable or be placed in mating knapsack, unmanned plane, machine
Global three dimensional point cloud is obtained on other carriers such as device people in real time, it is easy to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2, Fig. 3 are the schematic block circuit diagrams of the embodiment of the present invention.
Specific embodiment
Portable environment 3 D scanning system of the invention is as shown in Figure 1, Figure 2, Figure 3 shows, there is rectangular casing 1, rectangular casing 1
The upper surface of be fixed with 16 line laser radars 2 of axis vertical, the single line that a side of rectangular casing 1 is fixed with axis horizontal swashs
Optical radar 3, remaining three sides are respectively equipped with camera lens 4, and handle 5 and cable 6, cable 6 and calculating are connected to below rectangular casing 1
Unit box 7 connects；16 line laser sensor collection plates, interchanger, universal serial bus concentrator are equipped in rectangular casing 1
(USB-HUB), the first image processing unit, the second image processing unit, third image processing unit and an independent power source plate, also
The indicator light for display working condition can be set.16 line laser radars 2 by 16 line laser sensor collection plates with exchange
Machine connects, and single line laser radar 3 directly connects with interchanger, the first image processing unit, the second figure to connect respectively with camera lens 4
As processing unit and third image processing unit connect with universal serial bus concentrator, interchanger, universal serial bus collection
Line device passes through cable 6 and connects with the computer card being placed in computing unit box 7, and total electricity is additionally provided in computing unit box 7
Source plate and switch etc., general supply plate are connected by cable 6 with independent power source plate, and general supply is divided into different operating voltages respectively.
Claims (1)
1. a kind of portable environment 3 D scanning system, it is characterised in that: have rectangular casing (1), the upper surface of rectangular casing (1) is solid
Surely there is the multi-line laser radar (2) of axis vertical, a side of rectangular casing (1) is fixed with the single line laser thunder of axis horizontal
Up to (3), remaining three sides are respectively equipped with camera lens (4), and handle (5) and cable (6) are connected to below rectangular casing (1), described
Cable (6) connects with computing unit box (7)；Be equipped in the rectangular casing (1) multi-thread laser sensor collection plate, interchanger,
Universal serial bus concentrator, the first image processing unit, the second image processing unit, third image processing unit and independent power source
Plate, the multi-line laser radar (2) are connected by multi-thread laser sensor collection plate with interchanger, the single line laser radar
(3) connect with interchanger, the first image processing unit, the second image processing unit and the third figure to connect respectively with camera lens (4)
As processing unit connects with universal serial bus concentrator, the interchanger, universal serial bus concentrator pass through cable
(6) connect with the computer card being placed in computing unit box (7), be additionally provided with general supply plate in computing unit box (7), total electricity
Source plate is connected by cable (6) with independent power source plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462524.7A CN109407114A (en) | 2018-12-03 | 2018-12-03 | Portable environment 3 D scanning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811462524.7A CN109407114A (en) | 2018-12-03 | 2018-12-03 | Portable environment 3 D scanning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109407114A true CN109407114A (en) | 2019-03-01 |
Family
ID=65456708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811462524.7A Withdrawn CN109407114A (en) | 2018-12-03 | 2018-12-03 | Portable environment 3 D scanning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109407114A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113009504A (en) * | 2021-01-29 | 2021-06-22 | 上海图趣信息科技有限公司 | Handheld full-element high-precision map acquisition equipment |
| CN113624213A (en) * | 2021-07-02 | 2021-11-09 | 中国煤炭地质总局广东煤炭地质局勘查院 | Multifunctional robot for underground engineering surveying and mapping |
-
2018
- 2018-12-03 CN CN201811462524.7A patent/CN109407114A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113009504A (en) * | 2021-01-29 | 2021-06-22 | 上海图趣信息科技有限公司 | Handheld full-element high-precision map acquisition equipment |
| CN113624213A (en) * | 2021-07-02 | 2021-11-09 | 中国煤炭地质总局广东煤炭地质局勘查院 | Multifunctional robot for underground engineering surveying and mapping |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190301 |