CN110345862A - A kind of non-slip-ring type rotary color three-dimensional modeling apparatus - Google Patents
A kind of non-slip-ring type rotary color three-dimensional modeling apparatus Download PDFInfo
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- CN110345862A CN110345862A CN201810278913.8A CN201810278913A CN110345862A CN 110345862 A CN110345862 A CN 110345862A CN 201810278913 A CN201810278913 A CN 201810278913A CN 110345862 A CN110345862 A CN 110345862A
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- conductive bearing
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- 230000003287 optical effect Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 16
- 238000004146 energy storage Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 2
- 238000000034 method Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 241000931526 Acer campestre Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses a kind of non-slip-ring type rotary color three-dimensional modeling apparatus; including support protection and filter module, laser emitting module, laser pick-off module, motor rotary module and electronic circuit module; wherein laser emitting module and laser pick-off module is driven to be mounted on the output end of motor rotary module and connect with electronic circuit module; for emitting in point-like laser, linear laser or point linear laser to target area, laser pick-off module is used to receive the reflection light that object reflects in target area laser emitting module；Support protection is equipped with panorama camera module with filter module inner or outer side；Motor rotary module drives laser emitting module and the rotation of laser pick-off module, and the 3-D scanning of degree of realization realizes three-dimensional color UML by combining the colour information of panorama camera module.The present invention realizes the powerup issue of rotating part by conductive bearing, has the characteristics that highly integrated, promotes system dimension small, and be easily installed.
Description
Technical field
The invention belongs to field of photoelectric technology, in particular to a kind of non-slip-ring type rotary color three-dimensional modeling apparatus.
Background technique
Traditional image technique refers to that two-dimensional image, single image do not have depth information more, with the hair of technology
Exhibition, more and more application scenarios want to obtain three-dimensional colour information, for example, corresponding scheme includes: binocular vision side
Case, infrared structure light combination camera scheme, pulse type laser scanning combine camera scheme etc..Binocular vision scheme is in image
Need largely to calculate the matching etc. for realizing characteristic point in treatment process, and when apart from farther out, binocular cannot achieve three
The building of dimension；Infrared structure light combination camera scheme is suitble to the three-dimensional building of short distance；Pulse type laser scanning combines camera shooting
The distance that can measure simultaneously of head scheme with closer place, and has the characteristics that high-precision farther out.For utilizing pulse laser
The mode of three-dimensional modeling is to be broadly divided into three kinds of modes at this stage: the all-solid state laser radar of phased array utilizes the partly solid of MEMS
State laser radar, mechanical type rotating scanning type laser radar, wherein all-solid state laser radar is controlled using the coherence of wave
The scanning of radar, semisolid laser radar are vibrated the polarization scans for carrying out laser using MEMS, when being received using same light path, faced
MEMS galvanometer size is small, it is difficult to do big puzzlement；When receiving using the single-point of non-same light path mode, a large amount of environment will be received
Light causes signal noise, is unfavorable for carrying out signal processing.It is then mechanical due to introducing using mechanical type rotating scanning type laser radar
Part, to realize scanning, mechanical structure is more complicated, and the service life is limited by slip ring.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of non-slip-ring type rotary color three-dimensional modeling apparatus,
Traditional mechanical three-dimensional laser radar structure is improved, is not by answering single transmitter and reception mode
System achievees the purpose that three-dimensional measurement, but the single-point laser of transmitting is become linear laser or point linear laser, to reduce
A large amount of mechanical structured member and assembly work；And in order to avoid the life problems of slip ring, the present invention uses the scheme of conductive bearing.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of non-slip-ring type rotary color three-dimensional modeling apparatus, including support protection and filter module and be set to the branch
Support protection and laser emitting module, laser pick-off module, motor rotary module and the electronic circuit module in filter module, wherein
Laser emitting module and laser pick-off module are mounted on the rotary output of motor rotary module and connect with electronic circuit module
It connects, the laser emitting module is for emitting point-like laser, linear laser or putting in linear laser to target area, the laser
Receiving module is used to receive the reflection light that object reflects in the target area；Support protection on the inside of filter module or
Outside is equipped with panorama camera module；The motor rotary module drives laser emitting module and the rotation of laser pick-off module, realizes
360 degree of 3-D scanning realizes three-dimensional color UML by the colour information in conjunction with the panorama camera module.
The motor rotary module includes motor runner assembly and motor fixation kit, and the motor runner assembly includes turning
Son and the rotating turret that is fixedly connected with the rotor, the motor fixation kit between the rotor and the rotating turret,
And connect by conductive axle module with the rotating turret, the laser emitting module and laser pick-off module and the rotating turret connect
It connects.
The electronic circuit module includes the first circuit board and second for being respectively arranged at motor rotary module both ends
Circuit board, the first circuit board are connect with the rotating turret, and the second circuit board is connect with the motor fixation kit, institute
It states first circuit board and the second circuit board to connect by the conducting wire connecting with the conductive bearing module, the second circuit
Plate is first circuit board power supply.
The conductive bearing module includes the first conductive bearing and the second conductive bearing, and the second circuit board power supply is just
Pole is connect by conducting wire with the outer ring of the first conductive bearing or the second conductive bearing, and the cathode of the second circuit board power supply passes through
Conducting wire is connect with the outer ring of the second conductive bearing or the first conductive bearing, and the anode of the first circuit board passes through conducting wire and first
The connection of the inner ring of conductive bearing or the second conductive bearing, the cathode of the first circuit board by conducting wire and the second conductive bearing or
The inner ring of first conductive bearing connects.
There is energy-storage module and the first light wireless communication module, the energy-storage module is for described on the first circuit board
Electricity supply when first circuit board powers off；The second circuit board be equipped with the second wireless communication module, first light without
Line communication module and the second wireless communication module, which are realized, to be wirelessly communicated.
The laser pick-off module includes receiving sensor and receiving lens, and the receiving lens are used for the target area
The reflection light that object reflects in domain focuses in receiving sensor, and the receiving sensor is for receiving optical signal and will connect
The optical signal of receipts is converted to electric signal output.
When the laser emitting module emits point-like laser, the receiving sensor is single-geophone receiver sensor；Work as institute
When stating laser emitting module transmitting linear laser or point linear laser, the receiving sensor is linear receiving sensor.
The laser emitting module includes laser emitter, the laser transmitter projects point-like laser；Or it is described sharp
Optical transmitter module includes laser emitter and optical lens, and the point-like laser that the optical lens goes out laser transmitter projects becomes
For linear laser；Or the laser emitting module includes laser emitter and MEMS galvanometer, the MEMS galvanometer passes through vibration
The point-like laser that laser transmitter projects go out is changed into a linear laser.
The support protection including support protection component and is set to the support protection component light-transmitting opening with filter module
On shade, the shade be used for filtering non-laser wavelength light.
The panorama camera module arrangement contains at least two camera in the lower section of the motor rotary module；It is multiple
Camera is uniformly distributed on a sagittal plane.
The invention has the advantages and beneficial effects that:
1. the present invention uses conductive bearing mode, slip ring structure is not used, improves lifetime of system.
2. the present invention proposes the mode of linear scanning or the linear scanning of point, relatively traditional multiple single-points are arranged side by side
Scanning mode, mechanical structure is simple, easy to assembly.
3. the present invention has the characteristics that highly integrated, promote system dimension small, and be easily installed.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the invention；
Fig. 2 is dotted transmitting laser and received schematic illustration in one embodiment of the invention；
Fig. 3 is linear transmitting laser and received schematic illustration in one embodiment of the invention；
Fig. 4 is that one embodiment of the invention midpoint threadiness emits laser and received schematic illustration；
Fig. 5 is the structural schematic diagram of another embodiment of the present invention.
In figure: 1 is laser emitting module；11 be laser emitter；12 be optical lens；13 be MEMS galvanometer；2 be laser
Receiving module；21 be receiving sensor；21-1 is single-geophone receiver sensor；21-2 is linear receiving sensor；22 is saturating to receive
Mirror；3 be motor rotary module；31 be motor runner assembly；311 be rotating turret；32 be motor fixation kit；4 be electronic circuit
Module；41 be first circuit board；411 be the first light wireless communication module；412 be energy-storage module；42 be second circuit board；421
For the second wireless communication module；422 be transmitting receiving module；5 be conductive bearing module；51 be the first conductive bearing；52 be
Two conductive bearings；6 be panorama camera module；7 be support protection and filter module；71 be support protection component；711 connect to be fixed
Connect hole；712 export input port for installation's power source and data；72 be shade；8 be object.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of non-slip-ring type rotary color three-dimensional modeling apparatus provided by the invention, including support protection with
Filter module 7 and be set to support protection with filter module 7 in laser emitting module 1, laser pick-off module 2, motor rotate
Module 3, electronic circuit module 4 and panorama camera module 6, wherein laser emitting module 1 and laser pick-off module 2 are mounted on motor
The rotary output of rotary module 3 and connect with electronic circuit module 4, laser emitting module 1 for emit point-like laser,
In linear laser or point linear laser to target area, laser pick-off module 2 be used to receive object in target area reflect it is anti-
Light is penetrated, the time difference received by calculating 1 launch time of laser emitting module and laser pick-off module 2, is calculated on object
The point being irradiated with a laser is at a distance from device；Motor rotary module 3 drives laser emitting module 1 and laser pick-off module 2 to revolve
Turn, realize 360 degree of 3-D scanning, by combining the colour information of panorama camera module 6, realizes three-dimensional color UML.
Support protection includes support protection component 71 with filter module 7 and is set in support protection 71 light-transmitting opening of component
Shade 72, shade 72 are that cylinder is barrel-shaped, have anti-reflection effect for the light of optical maser wavelength, for the light of non-laser wavelength
Line has filter action；The external fixedly connected hole 711 of device is located at bottom of device, and installation's power source and data export input port
712 are located at bottom of device.Panorama camera module 6 is arranged in the lower section of motor rotary module 3 and is fixed on support protection component 71
On.Panorama camera module 6 contains at least two camera；Multiple cameras are uniformly distributed on a sagittal plane.
Laser emitting module 1 and laser pick-off module 2 along assembly axis to upper and lower arrangement, launch device laser or its
Extended line intersects with device axis；The axis of the receiving lens of laser pick-off module 2 intersects with device axis.
Motor rotary module 3 includes motor runner assembly 31 and motor fixation kit 32, and motor runner assembly 31 includes turning
Son and the rotating turret 311 being fixedly connected with the rotor, motor fixation kit 32 is between rotor and rotating turret 311 and by leading
Electric axis module 5 is connect with rotating turret 311, and laser emitting module 1 and laser pick-off module 2 are connect with rotating turret 311.
Electronic circuit module 4 includes the first circuit board 41 and second circuit for being respectively arranged at 3 both ends of motor rotary module
Plate 42, first circuit board 41 are connect with rotating turret 311, second circuit board 42 and motor fixation kit 32 or support protection and filter
Module 7 connects, and first circuit board 41 and second circuit board 42 are connected by the conducting wire connecting with conductive bearing module 5, the second electricity
Road plate 42 is the power supply of first circuit board 41 by conductive bearing module 5.
Conductive bearing module 5 includes the first conductive bearing 51 and the second conductive bearing 52, and second circuit board 42 is powered just
Pole is connect by conducting wire with the outer ring of the first conductive bearing 51 or the second conductive bearing 52, and the cathode that second circuit board 42 is powered is logical
Conducting wire is crossed to connect with the outer ring of the second conductive bearing 52 or the first conductive bearing 51, the anode of first circuit board 41 by conducting wire with
The cathode of the connection of the inner ring of first conductive bearing 51 or the second conductive bearing 52, first circuit board 41 is conductive by conducting wire and second
The connection of the inner ring of bearing 52 or the first conductive bearing 51.
On first circuit board 41 there is energy-storage module 412 and the first light wireless communication module 411, energy-storage module 412 to be used for
Electricity supply when 41 short time of first circuit board powers off；Second circuit board 42 is equipped with the second wireless communication module 421 and hair
Receiving module 422 is penetrated, the first light wireless communication module 411 and the second wireless communication module 421 wirelessly realize data
Transmission is preferentially wirelessly communicated using photoelectric tube.
Motor runner assembly 31 passes through in photoelectric code disk, magnetic coder relative to the angle that motor fixation kit 32 rotates
A kind of mode measures, and is preferentially realized using reflecting light code disc mode, has groove on a part of motor runner assembly 31,
Transmitting receiving module 422 survey rotation when through transmitting 422 groove of receiving module quantity obtain motor runner assembly 31 relative to
The angle that motor fixation kit 32 rotates.
Laser pick-off module 2 includes receiving sensor 21 and receiving lens 22, and receiving lens 22 are used for will be in target area
The reflection light of object reflection focuses in receiving sensor 21, and receiving sensor 21 is used to receive optical signal and will be received
Optical signal is converted to electric signal output.It is connect by calculating 1 launch time of laser emitting module and each sensing of receiving sensor 21
The time difference that unit receives is received, calculates the point being irradiated with a laser on object at a distance from device.
As shown in Fig. 2, laser emitting module 1 includes laser emitter 11, receiving sensor 21 is single-geophone receiver sensor
21-1 includes a sensing receiving unit.Laser emitter 11 emits on the object 8 in point-like laser to target area, object 8
Point-like laser is reflexed in receiving lens 22, receiving lens 22 focus to reflection laser on single-geophone receiver sensor 21-1.
As shown in figure 3, laser emitting module 1 includes laser emitter 11 and optical lens in another embodiment of the present invention
12, it includes multiple sensing receiving units that receiving sensor 21, which is linear receiving sensor 21-2,.Laser emitter 11 emits dotted sharp
On light to optical lens 12, optical lens 12 is converted to point-like laser on linear laser to the object of target area, and object will
Linear laser reflexes in receiving lens 22, and receiving lens 22 focus to reflection laser on linear receiving sensor 21-2.
As shown in figure 4, laser emitting module 1 includes laser emitter 11 and MEMS galvanometer in another embodiment of the present invention
The point-like laser that laser emitter 11 is launched by vibration is changed into a linear laser and by dotted line by 13, MEMS galvanometers 13
On shape laser reflection to the object of target area, object reflexes to reflection laser in receiving lens 22 again, and receiving lens 22 will
Reflection laser focuses on linear receiving sensor 21-2.MEMS galvanometer 13 vibrates between extreme position A and extreme position B.
The working principle of the invention is:
Laser emitting module 1 launches point-like laser or linear laser or point linear laser, after shade 72, effect
Emit on to object, fraction of laser light will reflect back into device, be applied in receiving sensor 21 by receiving lens 22, when sharp
When the transmitting of optical transmitter module 1 is point-like laser, receiving sensor 21 is single-geophone receiver sensor 21-1, is connect comprising a sensing
Receive unit；When the transmitting of laser emitting module 1 is linear laser or point linear laser, receiving sensor 21 is that linear receive passes
Sensor 21-2 includes multiple sensing receiving units, by calculating each of 1 launch time of laser emitting module and receiving sensor 21
The time difference that sensing receiving unit receives calculates the point being irradiated with a laser on object at a distance from device；It is revolved by motor
Revolving die block 3 drives laser emitting module 1 and laser pick-off module 2 to rotate, and realizes 360 degree of 3-D scanning；By combining panorama
The colour information of camera model 6 realizes three-dimensional color UML.
In another embodiment of the present invention, as shown in figure 5, panorama camera module 6 can be used as an independent panorama camera dress
It sets, is set to the outside of support protection and filter module 7, the part for carrying out laser scanning modeling is built as an independent three-dimensional
Mold device, the two, which can be independently operated, to be also connected with each other by mechanical interface and power data interface, as a color three dimension
Model building device.
The present invention realizes the powerup issue of rotating part by conductive bearing, and realizes fix through wireless communication
The communication of part and rotating part, this method have the characteristics that the service life long relative to the implementation based on slip ring.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of non-slip-ring type rotary color three-dimensional modeling apparatus, which is characterized in that including support protection with filter module (7) and
It is set to the support protection and the laser emitting module (1) in filter module (7), laser pick-off module (2), motor rotating mould
Block (3) and electronic circuit module (4), wherein laser emitting module (1) and laser pick-off module (2) are mounted on motor rotary module
(3) it rotary output and is connect with electronic circuit module (4), the laser emitting module (1) dotted is swashed for emitting
In light, linear laser or point linear laser to target area, the laser pick-off module (2) is for receiving in the target area
The reflection light of object reflection；The support protection is equipped with panorama camera module (6) on the inside or outside of filter module (7)；Institute
It states motor rotary module (3) and drives laser emitting module (1) and laser pick-off module (2) rotation, realize that 360 degree of three-dimensional is swept
It retouches, by the colour information in conjunction with the panorama camera module (6), realizes three-dimensional color UML.
2. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 1, which is characterized in that the motor rotation
Module (3) includes motor runner assembly (31) and motor fixation kit (32), the motor runner assembly (31) include rotor and
The rotating turret (311) being fixedly connected with the rotor, the motor fixation kit (32) are located at the rotor and the rotating turret
(311) it is connect between and by conductive axle module (5) with the rotating turret (311), the laser emitting module (1) and laser
Receiving module (2) is connect with the rotating turret (311).
3. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 2, which is characterized in that the electronic circuit
Module (4) includes the first circuit board (41) and second circuit board (42) for being respectively arranged at motor rotary module (3) both ends,
The first circuit board (41) connect with the rotating turret (311), the second circuit board (42) and the motor fixation kit
(32) it connects, the first circuit board (41) and the second circuit board (42) with the conductive bearing module (5) by connecting
Conducting wire connection, the second circuit board (42) be first circuit board (41) power.
4. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 3, which is characterized in that the conductive bearing
Module (5) includes the first conductive bearing (51) and the second conductive bearing (52), and the anode of second circuit board (42) power supply is logical
Conducting wire is crossed to connect with the outer ring of the first conductive bearing (51) or the second conductive bearing (52), second circuit board (42) power supply
Cathode is connect by conducting wire with the outer ring of the second conductive bearing (52) or the first conductive bearing (51), the first circuit board (41)
Anode connect with the inner ring of the first conductive bearing (51) or the second conductive bearing (52) by conducting wire, the first circuit board
(41) cathode is connect by conducting wire with the inner ring of the second conductive bearing (52) or the first conductive bearing (51).
5. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 3, which is characterized in that first circuit
There is energy-storage module (412) and the first light wireless communication module (411), the energy-storage module (412) is for described on plate (41)
Electricity supply when first circuit board (41) powers off；The second circuit board (42) is equipped with the second wireless communication module (421),
The first light wireless communication module (411) and the second wireless communication module (421), which are realized, to be wirelessly communicated.
6. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 1, which is characterized in that the laser pick-off
Module (2) includes receiving sensor (21) and receiving lens (22), and the receiving lens (22) are used for will be in the target area
Object reflection reflection light focus on receiving sensor (21), the receiving sensor (21) for receive optical signal and
Received optical signal is converted into electric signal output.
7. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 6, which is characterized in that when the laser is sent out
When penetrating module (1) transmitting point-like laser, the receiving sensor (21) is single-geophone receiver sensor (21-1)；When the laser is sent out
When penetrating module (1) transmitting linear laser or point linear laser, the receiving sensor (21) is linear receiving sensor (21-2).
8. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 1, which is characterized in that the Laser emission
Module (1) includes laser emitter (11), and the laser emitter (11) emits point-like laser；Or the laser emitting module
It (1) include laser emitter (11) and optical lens (12), what the optical lens (12) launched laser emitter (11)
Point-like laser becomes linear laser；Or the laser emitting module (1) includes laser emitter (11) and MEMS galvanometer (13),
The point-like laser that laser emitter (11) is launched is changed into a linear laser by vibration by the MEMS galvanometer (13).
9. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 1, which is characterized in that the support protection
The shade for including support protection component (71) with filter module (7) and being set in described support protection component (71) light-transmitting opening
(72), the shade (72) is used for the light to filtering non-laser wavelength.
10. non-slip-ring type rotary color three-dimensional modeling apparatus according to claim 1, which is characterized in that the panorama phase
Machine module (6) is arranged in the lower section of the motor rotary module (3), contains at least two camera；Multiple cameras are at one
It is uniformly distributed on sagittal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810278913.8A CN110345862A (en) | 2018-04-01 | 2018-04-01 | A kind of non-slip-ring type rotary color three-dimensional modeling apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810278913.8A CN110345862A (en) | 2018-04-01 | 2018-04-01 | A kind of non-slip-ring type rotary color three-dimensional modeling apparatus |
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| CN110345862A true CN110345862A (en) | 2019-10-18 |
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| CN201810278913.8A Pending CN110345862A (en) | 2018-04-01 | 2018-04-01 | A kind of non-slip-ring type rotary color three-dimensional modeling apparatus |
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Cited By (1)
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