CN110095082A - Three-dimensional laser scanner complete set of equipments and mapping method applied to FARO software - Google Patents
Three-dimensional laser scanner complete set of equipments and mapping method applied to FARO software Download PDFInfo
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- CN110095082A CN110095082A CN201910340881.4A CN201910340881A CN110095082A CN 110095082 A CN110095082 A CN 110095082A CN 201910340881 A CN201910340881 A CN 201910340881A CN 110095082 A CN110095082 A CN 110095082A
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- pedestal
- faro
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- ball
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of three-dimensional laser scanner complete set of equipments and mapping method applied to FARO software, it applies in three-dimensional laser scanner field, solves the low technical problem of scanning accuracy in scanning process, its key points of the technical solution are that including three-dimensional laser scanner, total station, coordinate transformation device, the coordinate transformation device includes tripod, it is connected to the pedestal of the U-shaped on tripod, the pedestal is equipped with criss-cross connection frame, the horizontal segment rotation connection of the connection frame is on the base, the two sides of the vertical section of the connection frame are connected separately with reference sphere and prism, the midpoint of the line at the center of the centre of sphere of the reference sphere and the prism, in the axial direction of the connection frame horizontal segment；What is had has the technical effect that the mode for capableing of the more accurate environment three-dimensional by either inside shows.
Description
Technical field
The present invention relates to three-dimensional laser scanner fields, more specifically, it relates to a kind of three applied to FARO software
Tie up laser scanner complete set of equipments and mapping method.
Background technique
Three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, passes through the method for high-rate laser scanning survey, greatly
Area high resolution quick obtaining measurand surface three-dimensional coordinate data.Can quickly, largely acquire point position in space
Information provides a kind of completely new technological means quickly to establish the 3-dimensional image model of object.
The three-dimensional imaging of three-dimensional laser scanner has a range to need when being transformed to factory floor
Repeatedly measurement, measurement can all form a three-dimensional figure every time, a public coordinate be found in these three-dimensional figure, so that three-dimensional
Figure is overlapped, and this makes it possible to form complete three-dimensional figure.After forming three-dimensional figure, surveyed and drawn in the equipment to factory, then will set
Standby three-dimensional figure is put in the three-dimensional figure of factory floor, consequently facilitating the arrangement and layout of equipment.Existing mapping method is
By the way that target is arranged, target is equipped with the annulus of positioning, the center of circle, that is, common point coordinate of annulus.But when scanner and annulus
Axial direction when being staggered, then annulus in imaging process, becomes oval, the coordinates table for measuring the center of circle of annulus at this time will
It is not accurate enough, cause to be completely coincident between different three-dimensional figure when integrating multiple three-dimensional figure, is subsequent work
It makes troubles.
Summary of the invention
In view of the deficienciess of the prior art, one of the objects of the present invention is to provide a kind of three applied to FARO software
Laser scanner complete set of equipments is tieed up, its advantage is that, the mode for capableing of the more accurate environment three-dimensional by either inside is presented
Out.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of applied to FARO software
Three-dimensional laser scanner complete set of equipments, including three-dimensional laser scanner, total station, coordinate transformation device, the coordinate transformation dress
The pedestal including tripod, the U-shaped being connected on tripod is set, the pedestal is equipped with criss-cross connection frame, the connection frame
Horizontal segment rotation connection on the base, the two sides of the vertical section of the connection frame are connected separately with reference sphere and prism,
The midpoint of the line at the center of the centre of sphere of the reference sphere and the prism, in the axial direction of the connection frame horizontal segment.
Through the above technical solutions, coordinate transformation device is placed into scene first, with three-dimensional laser scanner to workshop
Internal environment is scanned；After three-dimensional laser scanner mapping, it is rotatablely connected frame, so that the ginseng that prism in place is original
The position of ball is examined, and guarantees that the center of prism is identical as the sphere center position of reference sphere, then with total station by the seat of prism
Mark is measured；Finally the image of three-dimensional laser scanner is imported into computer, and is opened with FARO software, whole station is inputted
The centre coordinate for the prism that instrument is measured integrates multiple three-dimensional figure automatically.Since reference sphere is sphere shape, no matter from which
Angle removes scanning reference sphere, and can reference sphere be all into circle, when multiple three-dimensional figure are integrated, be overlapped further by reference to ball
Judge the accuracy of mapping.This programme biggest advantage is to replace original plane target with reference sphere, and then improves measurement
Precision, but the coordinate of the centre of sphere is difficult to directly measure, measure the coordinate of reference sphere indirectly by the coordinates table of prism, this
Sample had both broken measurement method of traditional target as reference substance, while improving the precision of measurement.
The present invention is further arranged to: the connection frame includes the connector sleeve being vertically arranged, the diametrical direction along connector sleeve
Horizontally disposed shaft is threaded in connecting rod in connector sleeve, and the reference sphere and the prism are separately fixed at the company
The both ends of extension bar, the connecting rod are equipped with connector sleeve, and the both ends that the connecting rod is located at the connector sleeve are equipped with locking cap.
Through the above technical solutions, shaft is rotatably connected on pedestal, connecting rod is for connecting reference sphere and prism.When turn
When axis rotates 180 °, the position of the original reference sphere of prism in place at this time.Connecting rod is threaded in connector sleeve, to pass through
It is rotatablely connected bar, it is ensured that the midpoint of the line at the center of the centre of sphere and prism of reference sphere, on the axis of shaft.
The present invention is further arranged to: one end of the connecting rod is equipped with connected ball, the close connection on the prism
One end of ball is equipped with the ball seat cooperated with the connected ball, and the connected ball includes several elastic slices, is equipped with rubber in the elastic slice
It pads, ball is equipped in the ball seat, the sphere diameter of the connected ball is greater than the sphere diameter of the ball.
Through the above technical solutions, the position of total station is arbitrarily placed, prism be not it is three-dimensional, when prism is directed at total station
Gun sight when, just go out the coordinate of prism convenient for total station survey.Connecting rod can rotate, it is ensured that connecting rod rotates rib after 180 degree
The center of mirror and the spherical shape of reference sphere are completely coincident, and the position of dimension prism can change, and can not face total station.Prism with
It is connected between connecting rod by connected ball, consequently facilitating the position of universal adjustment prism.Connected ball and ball seat are interference fitted, so that
The position of prism after adjusting will not change.
The present invention is further arranged to: the spherical surface of the reference sphere is equipped with two circles that are intersecting vertically and crossing the centre of sphere
Mark line, positioning device is equipped on the lateral wall of the pedestal along the vertical direction, the positioning device includes thread bush, screw thread
The adjusting screw rod being connected in connector sleeve, the screw thread of the adjusting screw rod is identical as the screw thread in the connecting rod, the adjusting
One end of screw rod is rotatably connected to fixing sleeve, and the fixing sleeve is detachably connected on the adjusting screw rod, in the fixing sleeve
Equipped with laser pen.
Through the above technical solutions, adjusting screw rod is rotated first, when the intersection point of two mark lines of laser pen horizontal aligument,
So that the height of laser pen and spherical height are the same as high.It is rotatablely connected bar, so that after connecting rod rotation 180 degree, the light of laser pen
Line and prism illustrate that prism centers and the spherical of reference sphere are overlapped with height；When the light of laser pen is different from prism high, at this time
Rotation adjusts two screw rods, so that the center of laser pen and prism is with circle number N that is high, and recording adjusting screw rod rotation, it is corresponding to rotate
Connecting rod, the circle number of rotation are N/2.It completes to adjust work in this way.
The present invention is further arranged to: the tripod includes three supporting legs, and the supporting leg includes two struts, screw thread company
The swivel nut on two struts is connect, the lower end of the pedestal is equipped with the levelling device for adjusting the pedestal level, the leveling
Device includes sliding the connecting plate for being connected to the base lower surface, the rotating ball being embedded in connecting plate, along rotating ball
Radial direction is fixed on the weight linear meter in rotating ball, along the axial direction of the weight linear meter on the weight linear meter and the rotating ball
Equipped with through-hole, the fixing sleeve is connected on the adjusting screw rod far from the threaded one end of the laser pen, when the pedestal water
Usually, the light of the laser pen and the through-bore axis are overlapped.
Through the above technical solutions, supporting leg can be adjusted, thus by the length for adjusting supporting leg, so that pedestal is horizontal, into
One step makes connecting rod in a vertical state, when connecting rod is in the course of rotation always in vertical rotation in surface.Weight linear meter and
Rotating ball is fixed, so that the center of gravity of weight linear meter and connected ball zoarium, in the lower end of the centre of sphere of connected ball, connected ball is rotatably connected on
On connecting plate.No matter what horizontally disposed inclination pedestal is in, weight linear meter is downward always under gravity at this time, and laser
Pen is set on the base, opposing stationary between pedestal.When the light of laser pen is overlapped with the axis of through-hole, illustrate bottom at this time
Seat is in horizontal device, when the light of laser pen is not overlapped with through-hole, illustrates that pedestal is adjusted not yet to level.
The present invention is further arranged to: the upper surface of the connecting plate is equipped with circular level meter, in the level meter
Heart position is equipped with the circular hole concentric with the through-hole.
Through the above technical solutions, level meter helps to be quickly found out horizontal position, but since level meter is difficult to lead to
Artificial judgement is crossed to adjust to optimal horizontal device.And rely solely on laser pen and be difficult to understand the inclined specific direction of pedestal,
By the dual cooperation of level meter and laser pen, quickly pedestal can be adjusted to horizontality.
The present invention is further arranged to: one of them described shaft passes through the vertical side wall of the pedestal and is connected with electricity
Machine, the shell of the motor are fixed on the outer wall of the pedestal, and the motor is equipped with remote controllers.
Through the above technical solutions, sometimes having measured, staff is distant from coordinate transformation device, needs to go over
Rotating shaft, so that the position of prism in place reference sphere.Motor carries DC power supply, and remote controllers are convenient for long-range control motor
Rotation, so that mapping worker does not need running back and forth.
The present invention is further arranged to: along the radial direction side perpendicular to the shaft on the inner surface of the vertical end of the pedestal
To plunger bushing is equipped with, be equipped with spring in the plunger bushing, one end of the spring is equipped with steel ball, the shaft be equipped with it is described
The annular groove of steel ball cooperation is circumferentially evenly distributed with two location holes, one end spiral shell far from the steel ball on the plunger bushing in the annular groove
Line is connected with bottom plate, and one end of the spring contradicts on the bottom plate.
Through the above technical solutions, spring contradicts steel ball, steel ball is contradicted in annular groove, so that between steel ball and annular groove
Have certain pressure, when motor drive shaft rotate when, need to overcome the frictional force between shaft and steel ball so that turn
Axis can be stable operation, work as motor stalls, avoid shaft in the effect of inertia, continue to move to.Location hole is turned with positioning
Axis rotates 180 degree, so that steel ball cooperates in shaft, further prevents the shaft rotational angle to be more than after shaft rotation 180 degree
180 degree.
The present invention is further arranged to: the pedestal is detachably connected on the tripod, four round angles of the pedestal
Threaded connection is fallen there are four connecting column, the connecting column passes through the vertical end of the pedestal and is equipped with rubber pad.
Through the above technical solutions, there has been producing line in workshop originally, need when adding ancillary equipment in producing line, in producing line
Being inconvenient to place tripod, pedestal can directly be disassembled from tripod at this time, connecting column is used for adjustment base, so that
Pedestal is in level.
The second object of the present invention is to provide a kind of mapping method of three-dimensional laser scanner applied to FARO software,
Its advantage is that the mode for capableing of the more accurate environment three-dimensional by either inside shows.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of applied to FARO software
The mapping method of three-dimensional laser scanner, comprising the following steps:
1, coordinate transformation device is put into scene, and makes reference sphere exposed above；
2, three-dimensional laser scanner enters factory floor scene and carries out to either inside environment and measurement ball repeatedly comprehensive
Scanning；
3, coordinate transformation device is adjusted, so that positioning the position of the original reference sphere of prism in place, and ensures the ball of reference sphere
Heart position is overlapped with the center of prism；
4, go out the center position coordinates of prism with total station survey, this coordinate is equivalent to the sphere centre coordinate of reference sphere；
5, the image of three-dimensional laser scanner is imported in computer, and is opened with FARO software, and the centre of sphere of reference sphere is sat
Mark is input in FARO software, is converted into figure automatically by FARO software.
Through the above technical solutions, replacing existing target with reference sphere, the centre of sphere of reference sphere is replaced with the center of prism,
To improve the accuracy of mapping by above-mentioned operating method.
In conclusion the invention has the following advantages:
1, the setting of coordinate transformation device improves the precision of positioning and the accuracy of mapping；
2, it can be adjusted between reference sphere and prism, so that it is guaranteed that the center of the centre of sphere of reference sphere and prism can mutually convert.
Detailed description of the invention
Fig. 1 is the whole structural schematic diagram of the present embodiment.
Fig. 2 is the structural schematic diagram of the coordinate transformation device of the present embodiment.
Fig. 3 is the structural schematic diagram of the connection frame of the present embodiment.
Fig. 4 is the connecting rod of the present embodiment and the structural schematic diagram of prism.
Fig. 5 is the structural schematic diagram of the positioning device of the present embodiment.
Fig. 6 is the structural schematic diagram of the regulating device of the present embodiment.
Fig. 7 is A-A cross-sectional view in Fig. 6.
Fig. 8 is the structural schematic diagram of the connecting column of the present embodiment
Appended drawing reference: 1, three-dimensional laser scanner；2, total station；3, coordinate transformation device；31, reference sphere；32, prism；33, ball
Seat；4, tripod；40, supporting leg；41, strut；42, swivel nut；43, inserting column；5, pedestal；51, connection frame；52, connector sleeve；53, even
Extension bar；54, shaft；541, annular groove；542, location hole；55, locking cap；56, connected ball；57, elastic slice；58, rubber pad；59, even
Connect column；6, positioning device；61, thread bush；62, fixing sleeve；63, laser pen；64, adjusting screw rod；7, levelling device；71, it connects
Plate；72, rotating ball；73, weight linear meter；74, level meter；75, through-hole；76, circular hole；8, motor；81, remote controllers；82, plunger
Set；83, spring；84, steel ball.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Embodiment 1: refer to Fig. 1 and Fig. 2, a kind of three-dimensional laser scanner complete set of equipments applied to FARO software, including
Three-dimensional laser scanner 1, total station 2, coordinate transformation device 3.Coordinate transformation device 3 includes tripod 4, is arranged in tripod 4
On U-shaped pedestal 5, connection frame 51, reference sphere 31 and prism 32 is respectively set in the upper and lower ends of connection frame 51, when connection frame 51
180 degree is rotated, the center of prism 32 and the centre of sphere of reference sphere 31 can transpositions.Coordinate transformation device 3 is placed into survey first
Scene is drawn, and reference sphere 31 is disposed over, prism 32 is arranged below；Then with three-dimensional laser scanner 1 to workshop
Internal environment takes multiple scan；After three-dimensional laser scanner 1 is surveyed and drawn, connection frame 51 is rotated into 180 degree, so that rib
Mirror 32 comes out the measurement of coordinates of the center of prism 32 in upper end, with total station 2；It finally will be in three-dimensional laser scanner 1
All images import computers, and with FARO software opening figure, the reference in each width figure is chosen in FARO software
The centre of sphere of ball 31, then the coordinate of the centre of sphere is input in FARO software, so that all three-dimensional figure are automatically synthesized a Zhang Quan
The figure of the completion in face.
With reference to Fig. 1 and Fig. 2, since reference sphere 31 is regardless of being all circle in terms of what angle, the circular center of circle is the centre of sphere, phase
It is compared to traditional target, circular pattern is set on target, when three-dimensional laser scanner 1 is not to face target, this markers
It is ellipticity that the circular pattern come is scanned on target, so that FARO software is when capturing the centre coordinate of target, it is difficult to accurately
The center of circle of circular pattern is captured, causes actual central coordinate of circle corresponding with the central coordinate of circle of pictorial pattern in FARO software in this way
On not, corresponding error is caused.
Referring to figs. 2 and 3, connection frame 51 include connector sleeve 52, along connector sleeve 52 diametrical direction be arranged shaft 54, spiral shell
Line is connected to the connecting rod 53 in connector sleeve 52, and pedestal 5 is rotatably connected on the vertical end of pedestal 5, connecting rod at U-shaped, shaft 54
53 both ends are separately connected reference sphere 31 and prism 32.By being rotatablely connected bar 53, so that connecting rod 53 is moved in connector sleeve 52
It is dynamic, and then guarantee connecting rod 53 after overturning 180 degree, the center of prism 32 can exchange completely with the centre of sphere of reference sphere 31, this
The sphere centre coordinate that sample passes through centre coordinate, that is, reference sphere 31 of measuring prism 32.Since the sphere centre coordinate of reference sphere 31 is difficult to directly
It measures, to indirectly measure the centre of sphere of reference sphere 31 through the above way.Positioned at connector sleeve 52 in connecting rod 53
Upper and lower two sides are threadedly coupled locking cap 55, after connecting rod 53 adjusts good position, are locked with locking cap 55, it is ensured that connecting rod 53
It will not change with the position of connector sleeve 52.
With reference to Fig. 3 and Fig. 4, connected ball 56 is set in one end of connecting rod 53, ball seat is set on the cylindrical surface of prism 32
33, connected ball 56 is rotatably connected in ball seat 33, and connected ball 56 is hollow, and connected ball 56 includes several elastic slices 57,
Spherical rubber pad 58 is set inside elastic slice 57；Open up ball on ball seat 33, the diameter of connected ball 56 is less times greater than ball
Diameter, so that the cooperation of 56 interference of connected ball is in ball.The position of total station 2 is arbitrarily placed, since prism 32 is not three-dimensional
, when prism 32 is directed at the gun sight of total station 2, the coordinate of prism 32 is just measured convenient for total station 2.As it ensure that connection
The center of prism 32 and the spherical shape of reference sphere 31 are completely coincident after the rotation 180 degree of bar 53, therefore can rotate connecting rod 53, so that rib
The position of mirror 32 can change, and can not face total station 2.It is connected between prism 32 and connecting rod 53 by connected ball 56, from
And it is convenient for the position of universal adjustment prism 32.Connected ball 56 and ball seat 33 are interference fitted, so that the position of the prism 32 after adjusting
It will not change.
With reference to Fig. 5, reference sphere 31 is rotatably connected in connecting rod 53.Two vertical phases are equipped on the spherical surface of reference sphere 31
Circular mark line that is handing over and crossing the centre of sphere, is arranged positioning device 6 on the lateral wall of the vertical end of pedestal 5, and positioning device 6 is used
It is positioned in reference sphere 31, so that the center of the centre of sphere of reference sphere 31 and prism 32 is symmetrical about shaft 54.Positioning device 6
Including thread bush 61, the adjusting screw rod being threaded in connector sleeve 52 64, fixing sleeve 62 is set in one end of adjusting screw rod 64,
It is equipped with blind hole along the radial direction of fixing sleeve 62 on fixing sleeve 62, adjusting screw rod 64 is rotatably connected in blind hole, in fixing sleeve 62
Middle setting laser pen 63, the screw thread of adjusting screw rod 64 are identical with the screw thread in connecting rod 53.When reference sphere 31 above when so that
Shaft 54 is then rotated 180 degree by the light arrow mark line of laser pen 63 and the point of intersection of mark line.If laser pen 63
Light and prism 32 illustrate that 32 center of prism and the spherical of reference sphere 31 are overlapped with height；When the light and prism 32 of laser pen 63
When different high, adjusting screw rod 64 is rotated at this time, so that the center of laser pen 63 and prism 32 is same high, and records 64 turns of adjusting screw rod
Dynamic circle number N, corresponding to be rotatablely connected bar 53, the circle number of rotation is N/2, completes to adjust work in this way.
With reference to Fig. 1 and Fig. 2, tripod 4 includes three supporting legs 40, and supporting leg 40 includes two struts 41, is threaded in two
Swivel nut 42 on a strut 41, two struts 41 are opposite thread.When rotary threaded sleeve 42, and keep two struts 41 not
Dynamic, strut 41 slides in swivel nut 42 at this time, and then plays the role of adjusting 40 length of supporting leg, due to ground injustice, when three branch
The adjustment length with the variation of landing ground of leg 40, so that playing the role of adjustment base 5 is in horizontality.
With reference to Fig. 6 and Fig. 7, the levelling device 7 horizontal for adjustment base 5, levelling device 7 are equipped in the lower end of pedestal 5
Turn including sliding the connecting plate 71 being connected on pedestal 5, the rotating ball being embedded in connecting plate 71 72 in the horizontal direction, being fixed on
Weight linear meter 73 on dynamic ball 72.The axis of weight linear meter 73 is directed toward the centre of sphere of rotating ball 72, and rotating ball 72 is rotatably connected on connecting plate
On 71, through-hole 75,75 axis of through-hole and adjusting spiral shell are equipped with along the axial direction of weight linear meter 73 on weight linear meter 73 and rotating ball 72
Bar 64 it is axially coincident.Threaded hole is arranged in one end on fixing sleeve 62 far from laser pen 63, by threaded hole, so that fixing sleeve
62 can be threaded in the lower end of adjusting screw rod 64, when pedestal 5 is horizontal, the 75 axis weight of light and through-hole of laser pen 63
It closes, and passes through irradiation on the ground from through-hole 75.Weight linear meter 73 and rotating ball 72 are fixed, so that weight linear meter 73 and connected ball
56 fit centers of gravity in the lower end of the centre of sphere of connected ball 56, though pedestal 5 be in what it is horizontally disposed tilt, weight linear meter 73 at this time
Always downward under gravity, and laser pen 63 is arranged on pedestal 5, it is opposing stationary between pedestal 5.When laser pen 63
Light when being overlapped with the axis of through-hole 75, illustrate that pedestal 5 is in horizontal device at this time, when the light and through-hole 75 of laser pen 63
When not being overlapped, illustrate that pedestal 5 is adjusted not yet to level.
With reference to Fig. 7, circular level meter 74 is also set up on the upper surface of connecting plate 71, is arranged on level meter 74 and logical
The coaxial circular hole 76 in hole 75 enables laser to pass through circular hole 76 and through-hole 75.In this way, substantially finding water by level meter 74
Flat position is further cooperated by laser pen 63 and through-hole 75, is accurately leveled to pedestal 5, guarantees connecting rod 53
It is in a vertical state, it is ensured that the position between reference sphere 31 and prism 32 can mutually convert.
With reference to Fig. 2, one of shaft 54 pass through pedestal 5 side wall and be connected with motor 8, the output shaft of motor 8 with
Shaft 54 is fixedly connected, and the shell of motor 8 is fixed on pedestal 5, and power supply (not shown) is arranged in the shell of motor 8,
Power supply is detachably connected in the shell of motor 8, and motor 8 is equipped with remote controllers 81.After having measured, staff may
It is distant from coordinate transformation device 3, rotating shaft 54 of going over is needed, prism 32 can be made to replace the position of reference sphere 31
It sets.Remote controllers 81 rotate convenient for long-range control motor 8, so that mapping worker does not need running back and forth.
With reference to Fig. 2, plunger bushing is equipped with along the radial direction perpendicular to shaft 54 on the inner surface of the vertical end of pedestal 5
82, it is equipped with spring 83 in plunger bushing 82, is welded with steel ball 84 in one end of spring 83；The one of separate steel ball 84 on plunger bushing 82
End is threadedly coupled bottom plate, and one end of spring 83 contradicts on bottom plate, rotary bottom plate, and then the decrement of adjustment spring 83.Turning
The annular groove 541 cooperated with steel ball 84 is set on axis 54, two location holes are set along the diametrical direction of shaft 54 in annular groove 541
542.Steel ball 84 contradicts in annular groove 541, so that having certain pressure between steel ball 84 and annular groove 541, when motor 8 is driving
When turn axis 54 rotates, need to overcome the frictional force between shaft 54 and steel ball 84, so that the fortune that shaft 54 can be stable
Row is avoided shaft 54 in the effect of inertia, continued to move to when motor 8 stops operating.Location hole 542 makes shaft 54 rotate 180
After degree, steel ball 84 cooperates in shaft 54, and further preventing 54 rotational angle of shaft is more than 180 degree.
With reference to Fig. 1 and Fig. 2, pedestal 5 is removably attachable on tripod 4, and inserting column 43, pedestal 5 are arranged on tripod 4
It is plugged on inserting column 43, so that pedestal 5 is detachably connected on tripod 4.
With reference to Fig. 8, four connecting columns 59 are set in the horizontal ends of pedestal 5, connecting column 59 be threaded on pedestal 5 and
Across pedestal 5, rubber pad is set in the lower end of connecting column.
Action process: coordinate transformation device 3 is placed into scene first, and reference sphere 31 is disposed over, prism
32 are arranged below；Then it is taken multiple scan with environment of the three-dimensional laser scanner 1 to either inside；Work as 3 D laser scanning
After instrument 1 is surveyed and drawn, connection frame 51 is rotated into 180 degree, so that prism 32 is in upper end, with total station 2 by the centre bit of prism 32
The measurement of coordinates set comes out；All images in three-dimensional laser scanner 1 are finally imported into computer, and are beaten with FARO software
Figure is opened, chooses the centre of sphere of the reference sphere 31 in each width figure in FARO software, then the coordinate of the centre of sphere is input to FARO software
In, so that all three-dimensional figure are automatically synthesized the figure comprehensively completed.
In addition the invention also discloses a kind of mapping methods of three-dimensional laser scanner applied to FARO software, with reference to figure
1 and Fig. 2, comprising the following steps:
1, coordinate transformation device 3 is put into scene, and makes reference sphere 31 exposed above；
2, three-dimensional laser scanner 1 enters factory floor scene and carries out to either inside environment and measurement ball repeatedly comprehensive
Scanning；
3, coordinate transformation device 3 is adjusted, so that positioning prism 32 replaces the position of original reference sphere 31, and ensures reference sphere
31 sphere center position is overlapped with the center of prism 32；
4, the center position coordinates of prism 32 are measured with total station 2, this coordinate is equivalent to the sphere centre coordinate of reference sphere 31；
5, the image of three-dimensional laser scanner 1 is imported in computer, and with FARO software opening, and by the centre of sphere of reference sphere 31
Coordinate is input in FARO software, is converted into figure automatically by FARO software.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (10)
1. a kind of three-dimensional laser scanner complete set of equipments applied to FARO software, including three-dimensional laser scanner (1), total station
(2), coordinate transformation device (3), which is characterized in that the coordinate transformation device (3) includes tripod (4), is connected to tripod
(4) pedestal (5) of the U-shaped on, the pedestal (5) are equipped with criss-cross connection frame (51), the horizontal segment of the connection frame (51)
It is rotatably connected on the pedestal (5), the two sides of the vertical section of the connection frame (51) are connected separately with reference sphere (31) and rib
Mirror (32), the midpoint of the line at the center of the centre of sphere and prism (32) of the reference sphere (31) are located at the connection frame
(51) on the axis of horizontal segment.
2. the three-dimensional laser scanner complete set of equipments according to claim 1 applied to FARO software, which is characterized in that institute
Stating connection frame (51) includes the connector sleeve (52) being vertically arranged, the horizontally disposed shaft of diametrical direction along connector sleeve (52)
(54), it is threaded in connecting rod (53) in connector sleeve (52), the reference sphere (31) and the prism (32) are separately fixed at
The both ends of the connecting rod (53), the connecting rod (53) are equipped with connector sleeve (52), and the connecting rod (53) is located at the company
The both ends of female connector (52) are equipped with locking cap (55).
3. the three-dimensional laser scanner complete set of equipments according to claim 2 applied to FARO software, which is characterized in that institute
The one end for stating connecting rod (53) is equipped with connected ball (56), one end on the prism (32) close to the connected ball (56) be equipped with
The ball seat (33) of connected ball (56) cooperation, the connected ball (56) includes several elastic slices (57), is set in the elastic slice (57)
Have rubber pad (58), ball is equipped in the ball seat (33), the sphere diameter of the connected ball (56) is greater than the sphere diameter of the ball.
4. the three-dimensional laser scanner complete set of equipments according to claim 3 applied to FARO software, which is characterized in that institute
The spherical surface for stating reference sphere (31) is equipped with two circular mark lines that are intersecting vertically and crossing the centre of sphere, the pedestal (5) it is outer
Positioning device (6) are equipped with along the vertical direction on side wall, the positioning device (6) includes thread bush (61), is threaded in connection
The adjusting screw rod (64) in (52) is covered, the screw thread of the adjusting screw rod (64) is identical as the screw thread on the connecting rod (53), institute
The one end for stating adjusting screw rod (64) is rotatably connected to fixing sleeve (62), and the fixing sleeve (62) is detachably connected on the adjusting spiral shell
On bar (64), laser pen (63) are equipped in the fixing sleeve (62).
5. the three-dimensional laser scanner complete set of equipments according to claim 4 applied to FARO software, which is characterized in that institute
Stating tripod (4) includes three supporting legs (40), and the supporting leg (40) includes two struts (41), is threaded in two struts
(41) swivel nut (42) on, the lower end of the pedestal (5) is equipped with the levelling device (7) for adjusting the pedestal (5) level, described
Levelling device (7) includes that sliding is connected to the connecting plate (71) of the pedestal (5) lower surface, is embedded in connecting plate (71)
Rotating ball (72) is fixed on the weight linear meter (73) on rotating ball (72), the weight linear meter along the radial direction of rotating ball (72)
(73) and in the rotating ball (72) through-hole (75) are equipped with along the axial direction of the weight linear meter (73), the fixing sleeve (62) is remote
Threaded one end from the laser pen (63) is connected on the adjusting screw rod (64), described to swash when the pedestal (5) level
The light and the through-hole (75) axis of light pen (63) are overlapped.
6. the three-dimensional laser scanner complete set of equipments according to claim 5 applied to FARO software, which is characterized in that institute
The upper surface for stating connecting plate (71) is equipped with circular level meter (74), and the center of the level meter (74) is equipped with to be led to described
The concentric circular hole (76) in hole (75).
7. the three-dimensional laser scanner complete set of equipments according to claim 2 applied to FARO software, which is characterized in that its
In shaft (54) pass through the vertical side wall of the pedestal (5) and be connected with motor (8), the motor (8) it is outer
Shell is fixed on the outer wall of the pedestal (5), and the motor (8) is equipped with remote controllers (81).
8. the three-dimensional laser scanner complete set of equipments according to claim 6 applied to FARO software, which is characterized in that institute
It states and is equipped with plunger bushing (82) along the radial direction perpendicular to the shaft (54) on the inner surface of the vertical end of pedestal (5), it is described
Be equipped with spring (83) in plunger bushing (82), one end of the spring (83) is equipped with steel ball (84), the shaft (54) be equipped with
The annular groove (541) of the steel ball (84) cooperation is circumferentially evenly distributed with two location holes (542), the plunger bushing in the annular groove (541)
(82) threaded one end on far from the steel ball (84) is connected with bottom plate, and one end of the spring (83) is contradicted in the bottom plate
On.
9. the three-dimensional laser scanner complete set of equipments according to claim 1 applied to FARO software, which is characterized in that institute
It states pedestal (5) to be detachably connected on the tripod (4), there are four connections for the surrounding corner threaded connection of the pedestal (5)
Column (59), the connecting column (59) pass through the vertical end of the pedestal (5) and are equipped with rubber pad (58).
10. a kind of mapping method of the three-dimensional laser scanner applied to FARO software, which is characterized in that apply claim 1-
Described in 9 any one applied to FARO software three-dimensional laser scanner complete set of equipments mapping method the following steps are included:
1, coordinate transformation device (3) is put into scene, and makes reference sphere (31) exposed above；
2, three-dimensional laser scanner (1) enters factory floor scene and carries out to either inside environment and measurement ball repeatedly comprehensive
Scanning；
3, coordinate transformation device (3) are adjusted, so that positioning prism (32) replaces the position of original reference sphere (31), and ensured
The sphere center position of reference sphere (31) is overlapped with the center of prism (32)；
4, the center position coordinates of prism (32) are measured with total station (2), this coordinate is equivalent to the centre of sphere of reference sphere (31)
Coordinate；
5, the image of three-dimensional laser scanner (1) is imported in computer, and with FARO software opening, and by reference sphere (31)
Sphere centre coordinate is input in FARO software, is converted into figure automatically by FARO software.
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| CN201910340881.4A CN110095082B (en) | 2019-04-25 | 2019-04-25 | Three-dimensional laser scanner complete equipment applied to FARO software and surveying and mapping method |
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| CN201910340881.4A CN110095082B (en) | 2019-04-25 | 2019-04-25 | Three-dimensional laser scanner complete equipment applied to FARO software and surveying and mapping method |
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| CN110095082B (en) | 2021-02-05 |
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