CN109819177B - Scene scanning method and scene scanner - Google Patents
Scene scanning method and scene scanner Download PDFInfo
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- CN109819177B CN109819177B CN201910043087.3A CN201910043087A CN109819177B CN 109819177 B CN109819177 B CN 109819177B CN 201910043087 A CN201910043087 A CN 201910043087A CN 109819177 B CN109819177 B CN 109819177B
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Abstract
The invention discloses a scene scanning method and a scene scanner, wherein the scene scanner comprises a sensor module, a first rotating mechanism and a second rotating mechanism, wherein the first rotating mechanism is used for driving the sensor module to rotate by taking a first axis as a center, and the second rotating mechanism is used for driving the sensor module to rotate by taking a second axis as a center; the first axis and the second axis form a preset included angle. The scanning method of the invention has high reliability and is easy to realize.
Description
Technical Field
The invention relates to the field of computer vision, in particular to a scene scanning method and a scene scanner.
Background
The current three-dimensional scene scanners use 3D sensors for scanning. The 3D sensor can enable hardware equipment to have intelligent eyes with a double sensing environment, can realize tens of functions such as face recognition, gesture recognition, human skeleton recognition, three-dimensional measurement, environment sensing, three-dimensional map reconstruction and the like, and is widely applied to the fields of artificial intelligence, mobile phones, televisions, robots, VR/AR, intelligent homes, intelligent security, automobile driving assistance and the like.
Because present 3D sensor perception region is limited with visual angle, will realize sensor panorama and depth scanning, the realization mode of present mainstream is that 3 sensor module distribute according to the fixed angle of 40 ~ 45 degrees, form a radiation contained angle and be the module of 80 ~ 90 degrees. And then horizontally rotated 360 degrees to achieve panoramic and depth scanning. Such an implementation requires 3 sensor modules, which is costly and cumbersome.
The utility model discloses an application number is 201720899340.1's utility model patent increases the rotatory degree of freedom of a vertical direction on 360 degrees of freedom of horizontal rotation, only utilizes 1 sensor module's rotation to realize panorama and depth scanning, and radiation angle is bigger than three fixed module, and the cost is lower, and equipment is light, easy dismounting. This patent only provides a scanner architecture and it is unclear how to reliably scan a scanned scene in particular.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a reliable scene scanning method and a scene scanner aiming at the defects of the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a scene scanning method is realized by the steps of:
s1, dividing a scanning scene where the sensor module is located into n target area units, wherein n is larger than or equal to 1;
s2, the sensor module scans each target area unit to complete the scanning of all target area units, wherein the sensor module performs t to the nth target area unitnSecondary scanning; t is tnIs a natural number greater than 0. Preferably, t is1＝t2＝…＝tn。
Preferably, in step S2, step S2 is the a-th1，…，a|p|Resetting the sensor module in the first direction after the secondary scanning; where p is the set {1, …, t1+t2+…+tnAny subset of { right } points; { a1,…,a|p|P; | p | represents the number of elements in the set p; a is1，…，a|p|Is a natural number greater than 0.
In step S2, the sequence is a'1，…，a′|p′|Resetting the sensor module in a second direction after the secondary scanning; where p' is the set { t }1,…,t1+t2+…+tnAny subset of { right } points; { a'1,…，a′|p′|P'; i p '| represents the number of elements in the set p'; a'1，…，a′|p′|Is a natural number greater than 0; preferably, the elements in the set p' are in turn the set t1,…,t1+t2+…+tnQ in (1)1，…,qsItem element, q1，…,qsArranged in an arithmetic series with a tolerance of a natural number greater than 0, 0<qs≤n，1≤s≤n。
Through the reset operation, the sensor module can return to the initial position after scanning the target area unit every time, so that the real restoration degree of the image generated by scanning is better. After the sensor module resets, can trigger the signal that resets, when detecting this signal, can stop slewing mechanism and rotate, revise the accumulative error of slewing mechanism rotation in-process, guarantee slewing mechanism pivoted precision.
t1＝t2＝…＝tnM; in the sequence of the b1,…,b|q|Resetting the sensor module in the first direction after the secondary scanning; b1,…,b|q|Is a natural number greater than 0;
where q is { e, …, e + (n-1) m }, { b1,…,b|q|I }, | q | represents the number of elements in the set q, e is an arbitrary subset of the set {1, …, m }; preferably, when set { c }1,…，c|t|Is the set b1,…，b|q|Any subset of, and at the same time, the set t1,…,t1+t2+…+tnAny subset of (c), at c1,…，c|t|Resetting the sensor module in a second direction after the secondary scanning; t ═ c1,…,c|t|}，c1,…,c|t|Is a natural number greater than 0;
or, q { (k)1+d1)m+e,…,(k1+dn)m+e}，{b1,,…,b|q|}＝{(k1+d1)m+e,…,(k1+dn′)m+e}，k1Is a natural number, | q | represents the number of elements in the set q, d1，…,dn'Is a natural number, d1＜…＜dn'And d is1，…,dn'In an arithmetic progression, k1+dn′N-1, e is any subset of the set {1, …, m }; preferably, when set { c }1,...,c|t|Is the set b1,…,b|q|Any subset of, and at the same time, the set t1,…,t1+t2+…+tnAny subset of (c), at c1,…,c|t|Resetting the sensor module in a second direction after the secondary scanning; t ═ c1,…,c|t|}，c1,…,c|t|Is a natural number greater than 0.
Correspondingly, the invention also provides a scene scanner, which comprises a sensor module, a first rotating mechanism and a second rotating mechanism, wherein the first rotating mechanism is used for driving the sensor module to rotate by taking a first axis as a center, and the second rotating mechanism rotates by taking a second axis as a center; the first axis and the second axis form a preset included angle; the device also comprises a precision control device for controlling the rotation precision of the rotating mechanism.
The precision control device comprises a rotation stopping switch arranged on the first rotating mechanism and/or the second rotating mechanism; for a rotation stopping switch on a first rotating mechanism, when the sensor module is at a first preset position, the rotation stopping switch is in contact with a first limiting part arranged on the sensor module; for a rotation stopping switch on the second rotating mechanism, when the sensor module is at a second preset position, the rotation stopping switch is in contact with a second limiting part arranged on the sensor module; preferably, the first limiting part and the second limiting part are both L-shaped, and the horizontal parts of the two L-shapes are both fixedly connected with the sensor module; when the sensor module is at a first preset position, the tail end of the L-shaped vertical part of the first limiting part is contacted with a rotation stop switch on the first rotating mechanism; when the sensor module is located at a second preset position, the tail end of the L-shaped vertical part of the second limiting part is in contact with a rotation stop switch on the second rotating mechanism.
The precision control device comprises a magnetic emitter fixed on one side end face of the sensor module, which is far away from the first rotating mechanism, and a mounting disc is fixed in the emitting range of the side end face magnetic emitter; a plurality of inductive switches are arranged on the mounting disc; when the position of the magnetic transmitter is opposite to the position of any inductive switch, the inductive switch at the position sends out an attitude information command.
The precision control device comprises a slingshot ring; the outer ring of the slingshot ring is provided with an elastic ratchet which extends outwards; the elastic ratchet is meshed with an internal tooth ratchet on the inner ring of the gear ring; the gear ring outer ring is provided with a plurality of limiting grooves; a limit switch is arranged near the gear ring, and when the limit switch extends out, a bulge of the limit switch is meshed with a limit groove at a corresponding position; when the limit switch is engaged with the limit groove at the corresponding position; for the first rotating mechanism, when the protrusion of the limit switch is engaged with the limit groove at the corresponding position, the sensor module stops rotating around the first axis; for the second rotating mechanism, when the protrusion of the limit switch is engaged with the limit groove at the corresponding position, the sensor module stops rotating around the second axis.
The sensor module comprises at least one sensor unit; the sensor unit comprises a three-dimensional data acquisition sensor and/or a color image data acquisition sensor; preferably, the sensor module is a sphere or polyhedron. Compared with the prior art, the invention has the beneficial effects that:
1. the scanning method firstly divides a scanning scene into a plurality of target area units, and then scans each target area unit for a plurality of times so as to complete the scanning of all the target area units, and the scanning method has high reliability and is easy to realize;
2. in the scanning process of the target area unit, the rotating mechanism can drive the sensor module to reset, and can ensure that the sensor module can return to a preset position after each scanning, thereby eliminating errors accumulated in the rotating process, and enabling the data generated by scanning to be more accurate. The sensor module can trigger a reset signal after being reset, when the signal is detected, the rotation of the rotating mechanism is stopped, the accumulated error in the rotating process of the rotating mechanism is corrected, and the rotating precision of the rotating mechanism is guaranteed.
Drawings
FIG. 1 is a schematic view of a scene scanner according to the present invention;
FIG. 2 is a schematic view of another scene scanner according to the present invention;
FIG. 3 is a schematic view of a third exemplary embodiment of a scene scanner according to the present invention;
FIG. 4 is a schematic view of a portion of the stent of the present invention;
FIG. 5 is a partial schematic view of a reduction structure according to the present invention;
FIG. 6 is a schematic view of the structure of the position limiting device of the present invention;
FIG. 7 is a schematic view of a sensor module according to the present invention;
FIG. 8 is a schematic view of another sensor module of the present invention.
Detailed Description
The invention provides a scene scanning method, which is realized by using a scene scanner, wherein the scene scanner comprises a sensor module 1, a first rotating mechanism 2 and a second rotating mechanism 3, wherein the first rotating mechanism 2 is used for driving the sensor module 1 to rotate by taking a first axis as a center, and the second rotating mechanism 3 rotates by taking a second axis as a center; the first axis and the second axis form a preset included angle; the method comprises the following implementation processes:
s1, dividing a scanning scene where the sensor module 1 is located into n target area units, wherein n is larger than or equal to 1;
s2, the sensor module 1 scans each target area unit to complete the scanning of all target area units, wherein the sensor module 1 performs t on the nth target area unitnSecondary scanning; t is tnIs a natural number greater than 0.
In the present invention, the number of scans per area unit may be the same, i.e., t1＝t2＝…＝tn。
In the present invention, the target area unit may be scanned in a forward direction, a reverse direction, or a combination of the forward direction and the reverse direction. The forward scanning and the reverse scanning are opposite in scanning direction, that is, opposite in rotation direction of the sensor module (for example, the forward scanning may be a clockwise rotation direction of the sensor module, and the reverse scanning may be a counterclockwise rotation direction of the sensor module).
The first direction is the direction in which the sensor module rotates around the first axis; the second direction is hereinafter referred to as a direction in which the sensor module rotates about the second axis. For example, the sensor module may rotate clockwise or counterclockwise about the first axis, where the direction of the clockwise or counterclockwise rotation about the first axis is the first direction; the sensor module can rotate clockwise or anticlockwise around the second axis, and the direction of the clockwise or anticlockwise rotation around the second axis is the second direction.
The present invention will be described by taking an example in which the second rotating mechanism drives the sensor module to rotate so as to aim the sensor module at the corresponding target area unit, and the first rotating mechanism drives the sensor module to rotate so as to scan the aimed target area unit. When n is 1, t1＝t2＝…＝tnWhen the sensor module is 1, the first and second rotating mechanisms do not need to rotate (the sensor module in this case adopts the form of fig. 8); when n is 1, t1、t2、…、tnWhen at least one of them is not 1, the second rotating mechanism is not rotated, the first rotating mechanism is rotated in the ith target area unit, tiNot equal to 1, i is more than or equal to 1 and less than or equal to n; when n is>1，t1＝t2＝…＝tnWhen the sensor module is 1, the first rotating mechanism does not rotate, and the second rotating mechanism needs to rotate (the sensor module in the case is in the form of fig. 7); when n is>1，t1、t2、…、tnWhen the number of the sensor units is not 1, the first rotating mechanism rotates, and the second rotating mechanism also needs to rotate to complete the scanning of the whole scanning scene (the sensor module at this time may only include one sensor unit).
In the present invention, the sensor module 1 performs t on the nth target area unitnSub-scanning, which means dividing the nth target area unit into tnAnd scanning each block.
In the invention, the selection of n is determined by the angle of view of the sensor module, and in principle, the product of n and the angle of view is more than 360 degrees.
For the first rotating mechanism, the following term "reset" refers to that the sensor module rotates around the first axis from the current position to a preset position (which may be a start position or an end position of the sensor module rotating around the first axis); the second rotation mechanism is referred to as a reset mechanism, and the second rotation mechanism is referred to as a reset mechanism, which is a mechanism that the sensor module rotates around the second axis from the current position to a preset position (which may be a starting position or an end position of the sensor module around the second axis).
Preferably, in step S2, the first step is performed1，…，a|p|Resetting the sensor module 1 in the first direction after the secondary scanning; where p is the set {1, …, t1+t2+…+tnAny subset of { right } points; { a1,…,a|p|P; | p | represents the number of elements in the set p. Set {1, …, t1+t2+…+tnThe elements in are 1 to t1+t2+…+tnIs a natural number of (1).
For example, when p ═ {1}, i.e. a11, namely, the sensor module 1 is reset in the first direction after 1 scan; when p is {1, 2}, i.e. a1＝1，a2Resetting the sensor module 1 in the first direction after the 1 st scanning and after the 2 nd scanning in sequence; when p ═ {1, 2, …, t1+t2+…+tnAt time, i.e. a1＝1，a2＝2，…，ap＝t1+t2+…+tnI.e. after the 1 st scan, after the 2 nd scan, …, the t th scan in sequence1+t2+…+tnThen resetting the sensor module 1 in the first direction; since p is the set {1, …, t1+t2+…+tnAny subset of {1, 2, …, t } for the set1+t2+…+tnIt can take p ═ 1, 2, corresponding to a1＝1，a2In other words, the sensor module 1 is reset in the first direction after the 1 st scan and after the 2 nd scan in this order, and p may be {1, 2, t ═ 2 ═ b1+t2+…+tnIs corresponding to a1＝1，a2＝2，a3＝t1+t2+…+tnI.e. after the 1 st scan, after the 2 nd scan, and after the t-th scan in sequence1+t2+…+tnThe sensor module 1 is then reset in the first direction.
When t is1＝t2＝…＝tnWhen 1, p may also be the set {1, …, t1+t2+…+tnAny subset of (1), and it is worth mentioning that when the scene scanner has no shake and the sensor module has no shake deviation in the first direction, the sensor module reset angle is 0 degree; and when the sensor module has jitter deviation in the first direction, resetting the sensor module to a preset position.
Preferably, sequentially at a'1，…，a′|p′|Resetting the sensor module 1 in the second direction after the secondary scanning; where p' is the set { t }1,…,t1+t2+…+tnAny subset of { right } points; { a'1,…，a′|p′|P'; i p '| represents the number of elements in the set p'; a'1，…，a′|p′|Is a natural number greater than 0. For example, when p' ═ { t ═ t1H, a'1＝t1I.e. scanned t1Secondly, resetting the sensor module 1 in a second direction; when p' ═ t1,t1+t2H, a'1＝t1，a′2＝t1+t2I.e. scanned t1Then, the sensor module 1 is reset in the second direction, and the scanning is finished t1+t2Secondly, resetting the sensor module 1 in a second direction; when p' ═ t1,t1+t2,…,t1+t2+…+tnH, a'1＝t1，a′2＝t1+t2，…，a′|p′|＝t1+t2+…+tnI.e. scanned t1Then, the sensor module 1 is reset in the second direction, and the scanning is finished t1+t2Then, the sensor module 1 is reset in the second direction, and the scanning is finished t1+t2+…+tnNext, the sensor module 1 is reset in the second direction.
Preferably, the elements in the set p' are in turn the set t1,…,t1+t2+…+tnQ in (1)1，…,qsItem element, q1，…,qsArranged in an arithmetic seriesIs a natural number greater than 0, 0<qs≤n，1≤s≤n。
For example, when n is 5, q1，…,qsFirst item q of11, final term qsWhen the tolerance is 2, it can be selected from the set t 51,…,t1+t2+…+t5Taking every other element to get a set p ', i.e. p' ═ t1,t1+t2+t3,t1+t2+t3+t4+t5}. Arithmetic progression q1，…,qsThe tolerance of (c) can also be the rest of natural numbers greater than 0, the elements in p' are from the set t1,…,t1+t2+…+tnOne for each certain number of elements, for example, one for each 2 or more elements. For p' { t }1,t1+t2+t3,t1+t2+t3+t4+t5}，a′1＝t1，a′2＝t1+t2+t3，a′3＝t1+t2+t3+t4+t5I.e. scanned t1Then, the sensor module 1 is reset in the second direction, and the scanning is finished t1+t2+t3Then, the sensor module 1 is reset in the second direction, and the scanning is finished t1+t2+t3+t4+t5Next, the sensor module 1 is reset in the second direction.
Preferably, t is1＝t2＝…＝tnM, in turn at the b-th1,…,b|q|Resetting the sensor module 1 in the first direction after the secondary scanning; b1,…,b|q|Is a natural number greater than 0; where q is { e, …, e + (n-1) m }, { b1,…，b|q|I }, | q | represents the number of elements in the set q, e being an arbitrary subset of the set {1, …, m }.
In the present invention, e + m means that m is added to all elements in the set e. For example, when m is 4, e is a subset of the set {1, 2, 3, 4}, thenWhen e is {1, 2, 3, 4}, e + m is {5, 6, 7, 8}, and if the number of target area units is 3, that is, n is 3, q is {1, 2, …,12}, b is equal to {1, 2, …,12}, b1＝1，b2＝2，…，b12Resetting the sensor module 1 in the first direction after the 1 st, 2 nd, … th and 12 th scans in sequence, which is 12 th; when e is {1, 2}, e + m is {5, 6}, and when n is 3, q is {1, 2, 5, 6, 9, 10}, b1＝1，b2＝2，…，b12After the 1 st, 2 nd, 5 th, 6 th, 9 th, 10 th scans, the sensor module 1 is reset in the first direction 12.
Preferably, when set { c }1,…，c|t|Is the set b1,…，b|q|Any subset of, and at the same time, the set t1,…,t1+t2+…+tnAny subset of (c), can also be at c1,…，c|t|Resetting the sensor module 1 in the second direction after the secondary scanning; t ═ c1,…,c|t|}，c1，…，c|t|Is a natural number greater than 0;
for example, when m is 4, n is 3, { b1,…，b12}＝{1，2，…，12}，{t1,t1+t2,t1+t3When {4,8,12}, if t ═ c1,c2And {4,12}, which indicates that the sensor module 1 is reset in the second direction after the 4 th scan and after the 12 th scan.
Or, t1＝t2＝…＝tnM, in turn at the b-th1,…,b|q|Resetting the sensor module 1 in the first direction after the secondary scanning; b1,…,b|q|Is a natural number greater than 0; wherein q { (k)1+d1)m+e,…,(k1+dn′)m+e}，{b1,,…,b|q|}＝{(k1+d1)m+e,…,(k1+dn′)m+e}，k1Is a natural number, | q | represents the number of elements in the set q, d1，…,dn'Is a natural number, d1＜…＜dn'And d is1，…，dn'In an arithmetic progression, k1+dn′N-1, e is any subset of the set {1, …, m }. For example, when m is 4, e is {2}, then k is1＝0，d1，…,dn'The first term is 1, and the tolerance is 2, and when n is 3, q is {6,14}, that is, the sensor module 1 is reset in the first direction after the 6 th and 14 th scans. Since m is 4, i.e., 4 scans are made per target area unit, the 6 th post-scan reset occurs in the 2 nd targeted target area unit and the 14 th post-scan reset occurs in the 4 th targeted target area and unit. The user can select which target area unit to perform the reset operation according to the needs of the user, for example, the user can perform the reset operation on a target area unit with large shaking of the sensor module, a target area unit with a complex scene, or a target area unit with high requirement on the precision of rotation control.
Preferably, in { b }1,,…,b|q|}＝{(k1+d1)m+e,…,(k1+dn′) m + e), when set { c }1,…，c|t|Is the set b1,…，b|q|Any subset of, and at the same time, the set t1,…,t1+t2+…+tnAny subset of (c), can also be at c1,…，c|t|Resetting the sensor module 1 in the second direction after the secondary scanning; t ═ c1,…,c|t|}，c1,…,c|t|Is a natural number greater than 0. For example, when m is 4, e is {1, 2, 3, 4}, k1＝0，d1，…,dn'Is an arithmetic progression with a first term of 1 and a tolerance of 2, n is 3, k1＝0，{b1,b2…，b8}＝{5，6，7，8，13，14，15，16}，{t1,t1+t2,t1+t3When {4,8,12}, then t ═ c1And {8}, this indicates that the sensor module 1 is reset in the second direction after the 8 th scan.
The following examples are provided to illustrate the specific implementation of the present invention, and all of the following examples are carried out under the premise that n > 1.
The scanning method of the invention, embodiment 1, is as follows:
1) after the sensor module 1 scans a partial region of the aimed target region unit, the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 scans the other part of the aimed target region unit, so that the scanning region of the sensor module 1 covers the aimed target region unit;
2) judging whether all the n target area units are scanned or not, and when all the target area units are not scanned, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal and continuing to execute the steps 3) to 5); when the scanning of the n target area units is finished, the scanning is finished;
3) the sensor module 1 is driven to rotate a certain angle around the second axis by the second rotating mechanism 3, so that the sensor module 1 aims at the next target area unit;
4) after the sensor module 1 scans a part of the area of the target area unit aimed at in the step 3), the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 is aligned with another part of the target area unit aimed at in the step 3) to scan, so that the scanning area of the sensor module 1 covers the target area unit aimed at in the step 3);
5) judging whether all target area units are scanned or not, when all target area units are not scanned, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal, and repeating the steps 3) to 5); when all target area unit scans are completed, the scan ends. The scanning method embodiment 2 of the invention is implemented as follows:
1) after the sensor module 1 scans a partial region of the aimed target region unit, the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 scans another part of the aimed target region unit, so that the scanning region of the sensor module 1 covers the aimed target region unit;
2) judging whether all the n target area units are scanned or not, and continuing to execute the steps 3) to 5) when all the target area units are not scanned; when the scanning of the n target area units is finished, the scanning is finished;
3) the sensor module 1 is driven to rotate a certain angle around the second axis by the second rotating mechanism 3, so that the sensor module 1 aims at the next target area unit;
4) after the sensor module 1 scans a partial region of the target region unit aimed at in the step 3), and the first rotating mechanism 2 drives the sensor module 1 to rotate reversely by a certain angle around the first axis, the sensor module 1 is aligned with another part of the target region unit aimed at in the step 3) to scan, so that the scanning region of the sensor module 1 covers the target region unit aimed at in the step 3);
5) judging whether all target area units are scanned or not, when all target area units are not scanned, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal, and repeating the step 4) and the step 5); when all target area unit scans are completed, the scan ends.
The embodiment 3 of the scanning method of the invention is realized by the following steps:
1) after the sensor module 1 scans a partial region of the aimed target region unit, the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 scans another part of the aimed target region unit, so that the scanning region of the sensor module 1 covers the aimed target region unit;
2) judging whether all the n target area units are scanned or not, and continuing to execute the steps 3) to 5) when all the target area units are not scanned; when the scanning of the n target area units is finished, the scanning is finished;
3) the sensor module 1 is driven to rotate a certain angle around the second axis by the second rotating mechanism 3, so that the sensor module 1 aims at the next target area unit;
4) after the sensor module 1 scans a partial region of the target region unit aimed at in the step 3), and the first rotating mechanism 2 drives the sensor module 1 to rotate reversely by a certain angle around the first axis, the sensor module 1 is aligned with another part of the target region unit aimed at in the step 3) to scan, so that the scanning region of the sensor module 1 covers the target region unit aimed at in the step 3);
5) judging whether all target area units finish scanning or not, when the scanning of all the target area units is not finished, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal, and driving the sensor module 1 to rotate for a certain angle around the second axis by the second rotating mechanism 3 so as to enable the sensor module 1 to aim at the next target area unit; after the sensor module 1 scans a partial region of the aimed target region unit, the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 scans another part of the aimed target region unit, so that the scanning region of the sensor module 1 covers the aimed target region unit; repeating the step 4) and the step 5); when all target area unit scans are completed, the scan ends.
The embodiment 4 of the scanning method of the invention is realized by the following steps:
1) after the sensor module 1 scans a partial region of the aimed target region unit, the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 scans another part of the aimed target region unit, so that the scanning region of the sensor module 1 covers the aimed target region unit;
2) judging whether all the n target area units are scanned or not, and continuing to execute the steps 3) to 5) when all the target area units are not scanned; when the scanning of the n target area units is finished, the scanning is finished;
3) the sensor module 1 is driven to rotate a certain angle around the second axis by the second rotating mechanism 3, so that the sensor module 1 aims at the next target area unit;
4) after the sensor module 1 scans a partial region of the target region unit aimed at in the step 3), and the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis by a certain angle, the sensor module 1 is aligned with another part of the target region unit aimed at in the step 3) to scan, so that the scanning region of the sensor module 1 covers the target region unit aimed at in the step 3);
5) judging whether all target area units finish scanning or not, when the scanning of all the target area units is not finished, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal, and driving the sensor module 1 to rotate for a certain angle around the second axis by the second rotating mechanism 3 so as to enable the sensor module 1 to aim at the next target area unit; after the sensor module 1 scans a partial region of the aimed target region unit, the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis, and the sensor module 1 scans another part of the aimed target region unit, so that the scanning region of the sensor module 1 covers the aimed target region unit; repeating the step 4) and the step 5); when all target area unit scans are completed, the scan ends.
In step 2) of embodiment 2, embodiment 3, and embodiment 4, it is determined whether all the n target area units complete scanning, and when all the target area units do not complete scanning, the following operations may be further performed: the first rotating mechanism 2 drives the sensor module 1 to reset to a preset position, triggers a reset signal and then continues to execute the subsequent steps.
In step 1) and step 4) of embodiments 1 to 4, in the process of scanning another part of the aimed target area unit (where the target area unit is the g-th target area unit, and g is greater than or equal to 1 and less than or equal to n), the sensor module stops rotating and scans every certain angle of rotation, then rotates a certain angle, stops rotating and scans again, and repeats the process until scanning t g1 time, the scan area covers the targeted area unit.
In steps 1) and 4) of embodiments 1 to 4, when the sensor module scans the other part of the aimed target area unit (the target area unit is the g-th target area unit, and g is greater than or equal to 1 and less than or equal to n), the rotation is stopped and the scanning is performed every certain angle, the sensor module is reset, and then the sensor module is rotated by a certain angleDegree (the angle of rotation is larger than the angle of rotation last time), stopping rotation and scanning, resetting the sensor module, and repeating the process until scanning t g1 time, the scan area covers the targeted area unit.
In the above embodiments 2 and 3, the process of resetting the sensor module driven by the first rotating mechanism corresponds to k1＝0，d1，…，dn'Is 0, and the tolerance is 1, i.e., one or more resets are performed every 1 target area unit.
The reversal in step 4) of embodiments 2, 3 refers to the direction of rotation of the sensor module about the first axis when scanning the currently targeted area unit within the currently targeted area unit, which is opposite to the direction of rotation of the sensor module about the first axis when scanning the previous targeted area unit within the previous targeted area unit. For example, if the sensor module rotated clockwise about the first axis while scanning within the last targeted area unit, then it rotated counterclockwise about the first axis while scanning within the currently targeted area unit. The implementation process of embodiment 5 of the scanning method of the invention is as follows:
1) after the sensor module 1 scans a partial area of the targeted area unit, the following process is performed:
A. after the first rotating mechanism 2 drives the sensor module 1 to rotate by an angle N around the first axis, the sensor module 1 scans the aimed target area unit, and the first rotating mechanism 2 drives the sensor module 1 to reset to a preset position;
b.f is the number of times +1 that the first rotating mechanism in the target area unit currently aimed at drives the sensor module to reset; after the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis by the angle fN, the sensor module 1 scans the targeted area unit, and the first rotating mechanism 2 drives the sensor module 1 to reset to a preset position;
C. repeating the step B until the scanning area of the sensor module 1 covers the aimed target area unit;
2) judging whether all the n target area units are scanned or not, and when all the target area units are not scanned, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal and continuing to execute the steps 3) to 5); when the scanning of the n target area units is finished, the scanning is finished;
3) the sensor module 1 is driven to rotate a certain angle around the second axis by the second rotating mechanism 3, so that the sensor module 1 aims at the next target area unit;
4) after the sensor module 1 scans the partial area of the target area unit aimed at in step 3), the following processes are executed:
a) after the first rotating mechanism 2 drives the sensor module 1 to rotate by an angle N' around the first axis, the sensor module 1 scans the other part of the targeted area unit aimed at in the step 3), and resets to a preset position;
b) i is the number of times +1 that the first rotating mechanism in the current aiming target area unit drives the sensor module to reset; after the first rotating mechanism 2 drives the sensor module 1 to rotate around the first axis by an angle iN', the sensor module 1 scans the targeted area unit, and the first rotating mechanism 2 drives the sensor module 1 to reset to a preset position;
c) repeating step b) until the scanning area of the sensor module 1 covers the target area unit aimed at in step 3);
5) judging whether all target area units are scanned or not, when all target area units are not scanned, driving the sensor module 1 to reset by the first rotating mechanism 2, triggering a reset signal, and repeating the steps 3) to 5); when all target area unit scans are completed, the scan ends.
In the present invention, the first rotating mechanism 2 drives the sensor module 1 to reset, and the resetting may occur in any one target area unit, for example, one or more resetting operations may be performed at intervals of a certain number of target area units, one or more resetting operations may be performed on each target area unit, or one or more resetting operations may be performed in a plurality of randomly selected target area units. The user can select the corresponding target area unit to carry out reset operation according to the self requirement.
In the invention, the first rotating mechanism 2 drives the sensor module 1 to reset, and can reset to the initial position, the final position and other set positions, wherein the set positions can be one or more. The invention does not limit the direction of the sensor module rotating around the first axis in the resetting process, for example, when the sensor module rotates clockwise around the first axis by 60 degrees, the sensor module can rotate anticlockwise by 60 degrees and reset to the initial position, and when the sensor module rotates clockwise around the first axis by 240 degrees, the sensor module can rotate clockwise by 60 degrees and reset to the initial position.
In the invention, the precision control of the second rotating mechanism can be realized before the scanning of the current aimed target area unit is finished and the scanning of the next target area unit is started; in the whole scanning scene, the specific implementation process of the precision control of the second rotating mechanism is as follows:
i. after the second rotating mechanism drives the sensor module 1 to rotate by the angle M, the second rotating mechanism drives the sensor module 1 to reset;
setting j as the number of times +1 that the second rotating mechanism drives the sensor module 1 to reset, rotating the sensor module 1 by an angle jM, and driving the sensor module 1 to reset by the second rotating mechanism;
repeat step ii until the sensor module 1 scans the entire scanned scene.
In the specific implementation process of the precision control of the second rotating mechanism, after the second rotating mechanism drives the sensor module 1 to rotate by the angle M, the sensor module can aim at the next target area unit from the currently aimed target area unit.
The specific implementation process of the precision control of the second rotating mechanism is that t is scanned1、t1+t2、…、t1+t2+…+tnAfter that time, the second rotating mechanism drives the sensor module 1 to reset (corresponding to q)1，…,qsFirst item q of11, tolerance 1).
Of course, t may be scanned completely1Then, the second rotating mechanism drives the sensor module 1 to reset, and the scanning is finished t1+t2+t3Then, the second rotating mechanism drives the sensor module 1 to reset, and the scanning is finished t1+t2+t3+t4+t5Next, the second rotating mechanism drives the sensor module 1 to reset (corresponding to q)1，…,qsFirst item q of11, tolerance 2), and so on.
Of course, t may be scanned completely1Then, the second rotating mechanism drives the sensor module 1 to reset, and the scanning is finished t1+t2+t3Then, the second rotating mechanism drives the sensor module 1 to reset, and the scanning is finished t1+t2+t3+t4+t5+t6+t7After that, the second rotating mechanism drives the sensor module 1 to reset, that is, the user can select to reset the second rotating mechanism driving the sensor module 1 after scanning any target area unit according to the needs of the user.
The second rotating mechanism drives the sensor module 1 to reset, and can reset to the starting position, for example, 6 target area units are provided, and when the second rotating mechanism drives the sensor module to rotate by 60 °, 120 °, 180 °, 240 °, and 360 °, the sensor module can be reset to the starting position before rotation (i.e., the position when rotating by 0 °); the sensor module can also be reset to the end position, for example, when the second rotating mechanism drives the sensor module to rotate by 60 degrees, the sensor module can be reset to the position of 60 degrees because a shaking error exists possibly and a certain deviation exists between the rotating angle of the sensor module and 60 degrees; the sensor module can be reset to other set positions, for example, 6 target area units are provided, the set position is a position where the sensor module rotates 60 degrees, when the second rotating mechanism drives the sensor module to rotate 60 degrees, 120 degrees, 180 degrees, 240 degrees and 360 degrees, the sensor module can be reset to the set position, of course, a plurality of set positions can be provided, for example, when the second rotating mechanism drives the sensor module to rotate 120 degrees, the sensor module can be reset to a position where the sensor module rotates 60 degrees, and when the second rotating mechanism drives the sensor module to rotate 180 degrees, the sensor module can be reset to a position where the sensor module rotates 120 degrees. The invention does not limit the direction of the sensor module rotating around the second axis in the resetting process, for example, when the sensor module rotates clockwise around the second axis by 60 degrees, the sensor module can rotate anticlockwise by 60 degrees and reset to the initial position, and when the sensor module rotates clockwise around the second axis by 240 degrees, the sensor module can rotate clockwise by 60 degrees and reset to the initial position.
For example, when the second rotating mechanism drives the sensor module to aim at the first target area unit, the first rotating mechanism may perform multiple scans on the first target area unit, where the multiple scans may be performed by rotating a certain angle, stopping the rotation, then rotating a certain angle, stopping the rotation again, and repeating the process until the first target area unit is scanned; or rotating a certain angle, stopping rotation, resetting the sensor module, rotating a certain angle again, stopping rotation, resetting again, and repeating the process until the scanning of the first target area unit is finished; or rotating a certain angle, stopping rotation, rotating a certain angle again, stopping rotation, resetting the sensor module, namely resetting in the even-numbered scanning or odd-numbered scanning until the scanning of the first target area unit is finished; or the number of scanning times may be several, and the reset may be performed after any one scanning.
The sensor module can perform one or more resetting operations on each target area unit; one or more reset operations can also be carried out at intervals of one or more target area units; one or more reset operations may also be performed at intervals of any number of target area units.
The scene scanner of the present invention may adopt the structure shown in fig. 1, the scene scanner includes a sensor module 1, a first rotating mechanism 2 and a second rotating mechanism 3; in the structure, the connecting shaft is a telescopic shaft, the first rotating mechanism 2 can drive the sensor module 1 to rotate around a first axis through the first telescopic shaft 6, and the first telescopic shaft 6 can be telescopic in the direction of the first axis; the second rotating mechanism 3 can drive the sensor module 1 to rotate around a second axis through a second telescopic shaft 5, and the second telescopic shaft 5 can be telescopic in the direction of the second axis; the first axis and the second axis form a preset included angle.
In the structure of fig. 1, when the scanner stops working, the first telescopic shaft 6 and the second telescopic shaft 5 can both be connected with the sensor module 1, or only the first telescopic shaft 6 is connected with the sensor module, or only the second telescopic shaft 5 is connected with the sensor module, or the sensor module is supported by other modes, and both the first telescopic shaft and the second telescopic shaft are not connected with the sensor module.
The first axis 01 may be a horizontal axis, the second axis 02 may be a vertical axis, and the second axis may form an angle of 90 ° with the first axis.
When the scanner works, if the sensor module 1 needs to horizontally rotate (namely, rotate around the second axis), the first telescopic shaft retracts into the first rotating mechanism 2, after the sensor module horizontally rotates back to the original position, the second telescopic shaft extends into the sensor module 1, and the sensor module 1 is controlled to rotate (corresponding to the situation that the first rotating mechanism does not rotate, the second rotating mechanism drives the sensor module to rotate, so that the sensor module aims at a corresponding target area unit); if the sensor module needs to rotate vertically (i.e. rotate around the first axis), the second telescopic shaft retracts into the second rotating mechanism 3, and when the sensor module returns to the initial position after rotating vertically (corresponding to the situation that the second rotating mechanism does not rotate, the first rotating mechanism drives the sensor module to rotate, so that the sensor module scans the corresponding target area unit), the second telescopic shaft 5 extends into the sensor module 1 in a rotating manner to be ready for controlling the sensor module. The positions of the first telescopic shaft and the second telescopic shaft connected with the sensor module can be polygonal holes, such as regular hexagon holes, and the shape of the part of the rotating shaft extending into the sensor module is also regular hexagon, so that good rotation control can be realized. The positions of the two telescopic shafts connected with the sensor module 1 can also be threaded holes, the part of the telescopic shaft extending into the sensor module is also provided with threaded holes, and the threaded holes in the telescopic shafts can be completely matched with the threaded holes in the sensor module and enter threaded holes of the sensor module through rotation.
Preferably, the first rotating mechanism and the second rotating mechanism both comprise motors; the output shaft of the motor is connected with the corresponding telescopic shaft.
As shown in fig. 2, in order to ensure a more stable structure, in another scene scanner of the present invention, a support 8 is disposed on a side of the sensor module away from the first rotating mechanism; when the first telescopic shaft is connected with the sensor module, the support member 8 extends out through the third telescopic shaft 7 to be connected with the sensor module; when the second telescopic shaft is connected with the sensor module, the third telescopic shaft 7 is retracted.
When the first rotation mechanism 2 drives the sensor module to rotate, the sensor module can also rotate around the third telescopic shaft 7.
When the scanner stops working, the third telescopic shaft can be connected with the sensor module, and the sensor module is supported by the support member 8 and the third telescopic shaft. A motor is fixed in the support member 8, and the motor drives the third telescopic shaft to stretch. Preferably, the third telescopic shaft is in line with the axis of the first telescopic shaft, preferably the line is parallel to the first axis.
The scene scanner of fig. 2 is used in a similar manner to the scene scanner of fig. 1, except that when the second rotary drive sensor module 1 rotates, the third telescopic shaft and the first telescopic shaft are both retracted and disconnected from the sensor module. When the first rotation drives the sensor module 1 to rotate, the third telescopic shaft can retract and can also be connected with the sensor module 1.
Referring to fig. 3, in the third scene scanner of the present invention, a first rotating mechanism 2 is connected to the sensor module 1, and the first rotating mechanism 2 can drive the sensor module 1 to rotate around a first axis; the first rotating mechanism 2 is arranged at one end of the rotating bracket 4; the second rotating mechanism 3 is connected with the rotating bracket 4, and the second rotating mechanism 3 can drive the rotating bracket 4 to rotate around a second axis; the first axis and the second axis form a preset included angle; the other end of the rotating bracket 4 is provided with a supporting piece 8; the support 8 is connected to the sensor module 1.
In fig. 3, the first rotation mechanism 2 is connected to the sensor module 1 by a first connecting shaft 6'; the second rotating mechanism 3 is connected with the rotating bracket 4 through a second connecting shaft 5'. The first rotating mechanism and the second rotating mechanism both adopt motors; the output shaft of the motor is connected with the corresponding connecting shaft. The support 8 is connected to the sensor module 1 by a third connecting shaft 7'. Preferably, the first rotating mechanism and the second rotating mechanism both comprise motors; the output shaft of the motor is connected with the corresponding connecting shaft (the output shaft of the motor can be connected with the corresponding connecting shaft by a coupler), or the output shaft of the motor can be directly used as the connecting shaft. Preferably, the second rotating mechanism is disposed below or above the middle of the rotating bracket 4.
In fig. 2 and 3, the first rotating mechanism drives the sensor module to rotate, so that the sensor module scans the targeted target area unit, the second rotating mechanism drives the rotating bracket 4 to rotate, and the rotating bracket drives the sensor module and the first rotating mechanism to rotate around the second axis, so that the sensor module is targeted at the corresponding target area unit.
Preferably, the third connecting shaft 7 'is in a straight line with the axis of the first connecting shaft 6', preferably the straight line is parallel to the first axis.
When the first rotating mechanism 2 drives the sensor module to rotate, the sensor module can also rotate around the third connecting shaft 7'.
As shown in fig. 4 and 5, in the scanner of fig. 1 and 2 of the present invention, the sensor module and the first rotating mechanism are both mounted on the bracket 15; in the scanner of fig. 3, the sensor module, the first rotating mechanism, and the rotating bracket are all mounted on the bracket 15 (in this case, when the second rotating mechanism drives the sensor module to rotate around the second axis, the first rotating mechanism, the rotating bracket, the sensor module, the bracket 15, and the supporting member are driven to rotate around the second axis together); the sensor module is arranged on one side of a support 15, one end of the sensor module is connected with the support 15 through an installation disc (namely, an installation flange 12), and the installation flange 12 is fixedly connected with the support 15; the other end of the sensor module is close to a first rotating mechanism, and the first rotating mechanism is fixedly connected with the support 15. The first rotating mechanism further comprises a flange 16, the flange 16 is close to the sensor module 1, the flange 16 is U-shaped (or C-shaped), a rotation stop switch 10 (such as a mouse micro switch and other light touch type key switches) is arranged on the U-shaped (or C-shaped), one end, close to the first rotating mechanism, of the sensor module is fixedly provided with a limiting part 9, the limiting part 9 is L-shaped, the L-shaped comprises a horizontal part and a vertical part, the horizontal part of the L-shaped is fixedly connected with the sensor module, when the sensor module 1 is located at a preset position (including an end position where the sensor module 1 rotates around a first axis), the preset position referred to here is a first preset position, and the tail end of the vertical part of the L-shaped is in contact with the rotation stop switch 10. At this time, the rotation stop switch 10 outputs a reset signal to a controller (such as a single chip) for controlling the rotation of the first rotating mechanism, so that the controller controls the first rotating mechanism to drive the sensor module to reset to a preset position where the sensor module rotates around the first axis.
The end refers to an end of the L-shaped vertical portion away from the horizontal portion.
For the first rotating mechanism, when the sensor module 1 is at a first preset position, the tail end of the L-shaped vertical part of the first limiting part is contacted with the rotation stop switch at the corresponding position; for the second rotating mechanism, when the sensor module 1 is located at a second preset position (including an end position where the sensor module 1 rotates around the second axis), the tail end of the L-shaped vertical part of the second limiting part contacts with the rotation stop switch at a corresponding position, and at this time, the rotation stop switch 10 outputs a reset signal to a controller (such as a single chip microcomputer) for controlling the second rotating mechanism to rotate, so that the controller controls the second rotating mechanism to drive the sensor module to reset to the preset position where the sensor module rotates around the second axis.
In the present invention, when the rotation stop switch is mounted on the first rotating mechanism, it is necessary to ensure that the rotation stop switch does not rotate, that is, the rotation stop switch should be mounted on a fixed portion of the first rotating mechanism (the fixed portion refers to a portion that does not change position relative to the rotating portion, for example, for a motor, an output shaft thereof rotates, and then the fixed portion of the motor is a body portion of the motor except the output shaft), and the rotation stop switch is convenient to be used in cooperation with the limit component 9. Similarly, when the rotation stop switch is mounted on the second rotating mechanism, it is necessary to ensure that the rotation stop switch does not rotate, that is, the rotation stop switch should be mounted on a fixed portion of the second rotating mechanism (the fixed portion refers to a portion that does not change position relative to the rotating portion, for example, for a motor, an output shaft of the motor rotates, and then the fixed portion of the motor is a body portion of the motor except the output shaft), and the rotation stop switch is convenient to be used in cooperation with the limiting component 9.
For the structure of fig. 1 and 2, the rotation stop switch is mounted on the rotating mechanism, and when the rotation stop switch is mounted on the first rotating mechanism, the position of the bracket 15 close to the first rotating mechanism is provided with a limiting part; when the second rotating mechanism is provided with the rotation stop switch, the fixed part of the second rotating mechanism is provided with the limiting part.
For the structure of fig. 3, the rotation stop switch is mounted on the rotating mechanism, and when the rotation stop switch is mounted on the first rotating mechanism, the position of the bracket 15 close to the first rotating mechanism is provided with a limiting part; when the second rotating mechanism is provided with the rotation stop switch, the fixed part of the second rotating mechanism is provided with the limiting part.
In order to improve the control accuracy, a plurality of inductive switches 14 (hall switches) are mounted on the mounting flange 12, a magnetic transmitter 13 is mounted on the end face of the sensor module close to the mounting flange (the mounting flange is positioned in the effective transmitting range of the magnetic transmitter 13), when the sensor module rotates, the magnetic transmitter rotates along with the sensor module, when the magnetic transmitter rotates to be opposite to the position of a certain inductive switch, the inductive switches are triggered to send a posture information instruction to the external controller, the external controller determines the posture of the sensor module according to the posture information instruction, and the rotation angle of the motor is adjusted according to the posture of the sensor module. The Hall switch and the magnetic transmitter are in non-contact type, compared with mechanical reset and limit, the precision is higher, the problem of fatigue attenuation of elements can not occur, the service life is longer, and the Hall switch and the magnetic transmitter are more reliable.
The magnetic emitter is opposite to a certain inductive switch, and the connecting line between the middle point of the magnetic emitter and the middle point of the inductive switch at the position is parallel to the first axis.
As shown in fig. 6, the spacing device of the present invention comprises a slingshot ring 51; the outer ring of the slingshot ring 51 is provided with an elastic ratchet 511 which extends outwards; the elastic ratchet 511 is meshed with an internal tooth ratchet on the inner ring of the gear ring 52; a plurality of limiting grooves 522 are formed in the outer ring of the gear ring 52; the gear ring 52 is provided with a limit switch 53 at a side edge, and when the limit switch 53 extends out, the protrusion of the limit switch 53 is engaged with the limit groove 522 at the corresponding position. The number of the limiting grooves 522 is determined according to the size of the field angle and the number of the sensors. The limit switch 53 includes a vertical portion and a horizontal portion (i.e., a protrusion) connected to the vertical portion, and the horizontal portion is retractable (when the ring gear 52 rotates, the outer ring of the ring gear contacts with the end portion of the horizontal portion of the limit switch, the horizontal portion is in a compressed state at this time, and when the limit switch is engaged with the limit groove, the horizontal portion is in an extended state), and when the horizontal portion extends into the limit groove, the rotating mechanism stops rotating, so that the sensor module stops rotating and is positioned at a corresponding position. For example, when the sensor module rotates around the first axis, if the sensor module needs to stop rotating for a certain time every time the sensor module rotates 60 °, 5 limit grooves may be uniformly arranged on the gear ring, and when the sensor module rotates 60 °, the protrusions of the limit switches extend into the limit grooves, and when the first rotating mechanism stops rotating, the sensor module stops rotating. Correspondingly, the working process of the limit switch and the limit groove is similar for the second rotating mechanism.
In the structure shown in fig. 1 and 2, the slingshot ring 51 may be attached to the first telescopic shaft, may be attached to the second telescopic shaft, or may be attached to both the first telescopic shaft and the second telescopic shaft. Alternatively, the slingshot ring may be mounted at a position of the sensor module close to the first rotating mechanism (for example, a mounting shaft may be additionally provided at one end of the sensor module close to the first rotating mechanism, and the slingshot ring may be mounted on the mounting shaft, or of course, the slingshot ring may be directly mounted at one end of the sensor module close to the first rotating mechanism); or, a fixed shaft is additionally arranged at the position of the sensor module close to the second rotating mechanism, and the slingshot ring is arranged on the fixed shaft; the slingshot rings can be arranged at positions, close to the first rotating mechanism and the second rotating mechanism, of the sensor module. For the case where the slingshot ring is mounted on the first telescopic shaft, the limit switch may be mounted on the bracket 15; for the case that the slingshot ring is mounted on the second telescopic shaft, the limit switch can be mounted on the fixed part of the second rotating mechanism; for the condition that the slingshot ring is arranged on the sensor module, the limit switch is arranged on the fixed part of the first rotating mechanism; in the case where the slingshot ring is mounted on the fixed shaft, the limit switch is mounted on the fixed portion of the second rotating mechanism.
Of course, for all the situations that the slingshot ring is installed on the first telescopic shaft, the slingshot ring is installed on the second telescopic shaft, the slingshot ring is installed on the sensor module, and the slingshot ring is installed on the sensor module fixing shaft, a fixed bracket for installing a limit switch can be additionally arranged at the other positions close to the gear ring, and only the horizontal part of the limit switch can be meshed with the limit groove at the corresponding position on the gear ring when extending out.
For the configuration of fig. 3, the slingshot ring 51 is mounted on the first connecting shaft 6 and can rotate with the first connecting shaft 6, or the slingshot ring 51 is mounted on the second connecting shaft 5 and can rotate with the second connecting shaft 5; or the slingshot rings 51 are mounted on the first connecting shaft 6 and the second connecting shaft 5; or the slingshot ring 51 is mounted on the sensor module 1 (for example, an installation shaft may be additionally mounted at one end of the sensor module close to the first rotating mechanism, and the slingshot ring is mounted on the installation shaft, or of course, the slingshot ring may be directly sleeved at one end of the sensor module close to the first rotating mechanism); or the slingshot ring 51 is mounted on the rotating bracket 4 (at this time, a fixed shaft can be additionally arranged on the rotating bracket, and the slingshot ring is mounted on the fixed shaft); or the sensor module 1 and the rotating bracket 4 are both provided with the slingshot ring 51.
In the case of mounting the slingshot ring on the first connecting shaft, the limit switch should be mounted on the bracket 15, and in the case of mounting the slingshot ring on the second connecting shaft, the limit switch should be mounted on the fixed portion of the second rotating mechanism; in the case of mounting the slingshot ring on the sensor module 1, the limit switch is mounted on a fixed portion of the first rotating mechanism (the fixed portion refers to a portion that does not undergo a positional change with respect to a rotating portion of the first rotating mechanism, for example, in the case of a motor, an output shaft thereof rotates, and then the fixed portion of the motor is a body portion of the motor except for the output shaft); in the case where the slingshot ring 51 is mounted on the rotating bracket 4, a limit switch 53 should be mounted on a fixed portion of the second rotating mechanism.
Of course, for all the situations that the slingshot ring is installed on the first connecting shaft, the slingshot ring is installed on the second connecting shaft, the slingshot ring is installed on the sensor module, and the slingshot ring is installed on the rotating bracket 4, a fixed bracket installation limit switch can be additionally arranged at the other positions close to the gear ring, and only the horizontal part of the limit switch can be ensured to be meshed with the limit groove at the corresponding position on the gear ring when extending out.
For the structure shown in fig. 1 and 2, the slingshot ring of the present invention may also be mounted on the motor output shaft 20 through the bracket sleeve 512, for example, for the first rotating mechanism including the first motor, the bracket sleeve is sleeved on the output shaft of the first motor, the slingshot ring is sleeved on the bracket sleeve, and the limit switch may be mounted on the rest positions of the first rotating mechanism, or may be mounted on the fixing portion of the first telescopic shaft, as long as it is ensured that the limit switch does not rotate with the output shaft of the first motor, and the horizontal portion of the limit switch can be engaged with the limit groove on the gear ring when extending out; for the second rotating mechanism, the second rotating mechanism comprises a second motor, the support sleeve is sleeved on the output shaft of the second motor, the slingshot sleeve is sleeved on the support sleeve, the limit switch can be installed on the rest positions of the second rotating mechanism at the moment and also can be installed on the fixed part of the second telescopic shaft, and the limit switch can not rotate along with the output shaft of the first motor and can be meshed with the limit groove in the gear ring when the horizontal part of the limit switch extends out. For the case that the slingshot ring is mounted on the output shaft of the motor, it is noted that the output shaft of the motor in this case is taken as a part of the telescopic shaft (i.e. the telescopic shaft includes the output shaft of the motor), for example, the output shaft of the first motor is a part of the first telescopic shaft, and the output shaft of the second motor is a part of the second telescopic shaft.
For the configuration of fig. 3, the slingshot ring of the present invention may also be mounted to the motor output shaft 20 via a bracket sleeve 512. For example, in the present invention, the first rotating mechanism 2 includes a first motor; the second rotating mechanism 3 comprises a second motor; the output shaft of the first motor is connected with the sensor module 1; the output shaft of the second motor is connected with the rotating bracket 4; the slingshot rings 51 are mounted on the output shaft (namely, the first connecting shaft) of the first motor and the output shaft (namely, the second connecting shaft) of the second motor; the outer ring of the slingshot ring 51 is provided with an elastic ratchet 511 which extends outwards; the elastic ratchet 511 is meshed with an internal tooth ratchet on the inner ring of the gear ring 52; a plurality of limiting grooves 522 are formed in the outer ring of the gear ring 52; a limit switch 53 is arranged near the gear ring 52, and when the limit switch 53 extends out, the protrusion of the limit switch 53 is meshed with the limit groove 522 at the corresponding position; for the first motor, the limit switch is mounted on a bracket 15; for the second motor, the limit switch is installed on the body of the second motor.
It should be noted that the rotation stop switch and the limit component, the magnetic emitter and the inductive switch, and the slingshot ring part and the limit switch mentioned in the invention are three different types of precision control devices of the invention, and the rotation stop switch and the limit component are used in cooperation for resetting the sensor module; the magnetic emitter is matched with the inductive switch for use and is used for determining the posture of the sensor module and adjusting the rotation angle of the motor according to the posture of the sensor module; the slingshot ring part is matched with the limit switch for use and is used for controlling the sensor module to stop rotating at a set position.
The sensor module of the present invention comprises a sensor unit 1-2, the sensor unit 1-2 may comprise a depth camera, or alternatively, a depth camera and a color camera; specifically, the sensor unit may be a depth sensor, or a depth camera plus a common RGB camera in the depth sensor. Of course, if the sensor module includes only one sensor unit, the cost is much lower than a sensor module consisting of a plurality of sensor units, and a full scene scan can be achieved by multiple rotations (including but not limited to vertical rotation and horizontal rotation).
The sensor module may further include a plurality of sensor units, each of which may include a three-dimensional data acquisition sensor and/or a color image data acquisition sensor; specifically, the sensor unit may be a depth sensor, or a depth camera plus a common RGB camera in the depth sensor.
In fig. 7, there are 3 sensor units, and when the sensor module shown in fig. 7 including a plurality of sensor units is used, since the field of view of the sensor units 1-2 can cover the targeted area unit in the first direction, the scanning in the entire scanning direction can be completed by rotating only the second rotating mechanism without rotating the first rotating mechanism.
The entire sensor module of the invention can also be spherical, as in fig. 8. However, the number of sensor units included in the sensor module is not limited regardless of the form of the entire sensor module, because the number of sensor units can be reduced if the angle of view of a single sensor unit is sufficiently large to satisfy the full-field scanning. Taking a spherical shape as an example, 12 sensor units can be included, and an included angle between two adjacent sensor units can be 90 degrees; the sensor unit can also comprise 18 sensor units, and the included angle between two adjacent sensor units can be 60 degrees; the sensor unit can also comprise 21 sensor units, and the included angle between two adjacent sensor units can be 51.42 degrees; and 24 sensor units can be included, and the included angle between two adjacent sensor units can be 45 degrees. When the sensor module is spherical, when the number of the sensor units is enough, the scanning of the whole scanning scene can be completed without rotating the first rotating mechanism and the second rotating mechanism.
Compared with a sensor module consisting of a single sensor unit, the sensor module consisting of a plurality of sensor units has a larger area for acquiring image information once, so that the rotation times of the sensor module can be reduced, and the scanning time is further shortened.
In the invention, the three-dimensional data acquisition sensor can be a depth sensor, a laser radar, a Kinect sensor and the like, and the color image data acquisition sensor can be a color camera and the like.
Claims (4)
1. A scene scanner comprises a sensor module (1), a first rotating mechanism (2) and a second rotating mechanism (3), wherein the first rotating mechanism (2) is used for driving the sensor module (1) to rotate by taking a first axis as a center, and the second rotating mechanism (3) is used for driving the sensor module (1) to rotate by taking a second axis as a center; the first axis and the second axis form a preset included angle; the device is characterized by also comprising a precision control device for controlling the rotation precision of the rotating mechanism; the precision control device comprises a rotation stop switch (10) arranged on the first rotating mechanism (2) and the second rotating mechanism (3); for a rotation stop switch (10) on a first rotating mechanism (2), when the sensor module (1) is at a first preset position, the rotation stop switch (10) is in contact with a first limiting component arranged on the sensor module (1); for a rotation stopping switch (10) on a second rotating mechanism (3), when the sensor module (1) is at a second preset position, the rotation stopping switch (10) is in contact with a second limiting part arranged on the sensor module (1); the first limiting part and the second limiting part are both L-shaped, and the horizontal parts of the two L-shaped parts are fixedly connected with the sensor module (1); when the sensor module (1) is at a first preset position, the tail end of the L-shaped vertical part of the first limiting part is contacted with a rotation stop switch (10) on a first rotating mechanism; when the sensor module (1) is at a second preset position, the tail end of the L-shaped vertical part of the second limiting part is contacted with a rotation stop switch (10) on the second rotating mechanism; and/or
The precision control device comprises a slingshot ring (51); an elastic ratchet (511) extending outwards is arranged on the outer ring of the slingshot ring (51); the elastic ratchet (511) is meshed with an internal tooth ratchet on the inner ring of the gear ring (52); a plurality of limiting grooves (522) are formed in the outer ring of the gear ring (52); a limit switch (53) is arranged near the gear ring (52), and when the limit switch (53) extends out, the protrusion of the limit switch (53) is meshed with the limit groove (522) at the corresponding position; when the limit switch (53) is engaged with the limit groove (522) at the corresponding position; for the first rotating mechanism, when the protrusion of the limit switch (53) is engaged with the limit groove (522) at the corresponding position, the sensor module (1) stops rotating around the first axis; for the second rotating mechanism, when the protrusion of the limit switch (53) is engaged with the limit groove (522) at the corresponding position, the sensor module (1) stops rotating around the second axis.
2. The scene scanner according to claim 1, characterized in that the precision control device comprises a magnetic emitter (13) fixed on one side end face of the sensor module (1) far away from the first rotating mechanism (2), and a mounting disc is fixed in the emitting range of the side end face magnetic emitter (13); a plurality of inductive switches (14) are arranged on the mounting plate; when the position of the magnetic transmitter (13) is opposite to the position of any inductive switch (14), the inductive switch (14) at the position sends out a posture information command.
3. The scene scanner according to claim 1, characterized in that said sensor module (1) comprises at least one sensor unit; the sensor unit comprises a three-dimensional data acquisition sensor and/or a color image data acquisition sensor.
4. The scene scanner according to claim 3, characterized in that the sensor module (1) is a sphere or a polyhedron.
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| KR102135177B1 (en) * | 2014-06-27 | 2020-07-20 | 한국전자통신연구원 | Method and apparatus for implemeting active imaging system |
| CN104315979B (en) * | 2014-11-19 | 2017-01-25 | 重庆理工大学 | Three-dimensional scanner and three-dimensional scanning method |
| EP3086283B1 (en) * | 2015-04-21 | 2019-01-16 | Hexagon Technology Center GmbH | Providing a point cloud using a surveying instrument and a camera device |
| CN207037750U (en) * | 2017-07-21 | 2018-02-23 | 湖南拓视觉信息技术有限公司 | Whole scene scanning means and 3-D scanning modeling |
| CN107465906B (en) * | 2017-08-09 | 2019-07-19 | Oppo广东移动通信有限公司 | Panorama shooting method, device and the terminal device of scene |
| CN108195358B (en) * | 2017-11-10 | 2020-07-14 | 广东电网有限责任公司教育培训评价中心 | Power transmission line data acquisition method based on unmanned aerial vehicle inspection simulation training system |
| CN108241148B (en) * | 2017-12-13 | 2018-11-20 | 交通运输部规划研究院 | A method of utilizing remote sensing images attributes extraction port resources information |
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