CN110966919A - Indoor three-dimensional scanning system and using method thereof - Google Patents
Indoor three-dimensional scanning system and using method thereof Download PDFInfo
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- CN110966919A CN110966919A CN201811149108.1A CN201811149108A CN110966919A CN 110966919 A CN110966919 A CN 110966919A CN 201811149108 A CN201811149108 A CN 201811149108A CN 110966919 A CN110966919 A CN 110966919A
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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
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Abstract
An indoor three-dimensional scanning system and a using method thereof are used for indoor three-dimensional scanning, and comprise three-dimensional scanning equipment and a positioning seat which is in communication connection with the three-dimensional scanning equipment; the positioning seats are distributed on indoor preset scanning points, the three-dimensional scanning equipment comprises a walking device, a processing device, a support, a rotating disc and a three-dimensional scanning device which are sequentially arranged from bottom to top, and the rotating disc drives the three-dimensional scanning device on the top surface of the rotating disc to rotate for 360 degrees; the walking device and the three-dimensional scanning device are electrically connected with the processing device, the walking device is provided with a positioning sensing device which senses the positioning seats, each positioning seat is manually numbered according to the number of preset scanning points, the processing device controls the walking device to walk to each scanning point according to the number in sequence according to the number information sensed by the positioning sensing device, and the walking device scans indoors at each scanning point through the three-dimensional scanning device. The invention does not need to manually carry the three-dimensional scanning device for scanning, saves the scanning time and improves the scanning precision.
Description
Technical Field
The invention belongs to the field of three-dimensional scanning, and particularly relates to an indoor three-dimensional scanning system and a using method thereof.
Background
In the current indoor three-dimensional scanning, a structured light three-dimensional scanning measurement mode is mostly adopted, double cameras are placed at indoor fixed points, and the three-dimensional coordinate information of a body is obtained by utilizing triangular intersection of the double cameras. Compared with the traditional measuring method, the method has the advantages of no contact, high detection speed, large data volume and the like, but simultaneously, because too many points need to be arranged for indoor three-dimensional scanning, each detection point needs to be manually moved to detect the measuring equipment, the scanning time of a house of one hundred square meters needs one to two hours in general, and the scanning time is longer.
Disclosure of Invention
The invention aims to provide an indoor three-dimensional scanning system and a using method thereof, and aims to solve the technical problem that each detection point in the prior art needs to be manually moved to carry out detection, so that the labor is consumed; and the problem of overlong time required for indoor scanning in the prior art is solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an indoor three-dimensional scanning system is used for indoor three-dimensional scanning and is characterized by comprising three-dimensional scanning equipment and a positioning seat which is in communication connection with the three-dimensional scanning equipment; the positioning seats are distributed on indoor preset scanning points, the three-dimensional scanning equipment comprises a walking device, a processing device, a support, a rotating disc and a three-dimensional scanning device which are sequentially arranged from bottom to top, and the rotating disc drives the three-dimensional scanning device on the top surface of the rotating disc to rotate for 360 degrees; the walking device and the three-dimensional scanning device are electrically connected with the processing device, the walking device is provided with a positioning sensing device which senses the positioning seats, each positioning seat is manually numbered according to the number of preset scanning points, the processing device controls the walking device to walk to each scanning point according to the number sequence according to the number information sensed by the positioning sensing device, and the walking device scans indoors at each scanning point through the three-dimensional scanning device.
Further preferably, the support is a post fixed to the top surface of the treatment device.
Further, the support includes vertical support bar and fixes the landing leg in vertical support bar bottom, the landing leg is three, and every landing leg is 45 ~ 60 with vertical support bar contained angle.
Further, the walking device comprises a supporting plate and at least three pulleys fixed at the bottom of the supporting plate.
Furthermore, the positioning sensing device is arranged on the bottom surface of the supporting plate.
Furthermore, the positioning seat is hemispherical, and an arc-shaped channel for the positioning seat to pass through is arranged on the bottom surface of the supporting plate.
In addition, a brake pad is arranged on at least one pulley.
More preferably, the processing device comprises a loading housing and a core processor loaded within the loading housing.
The use method of the indoor three-dimensional scanning system is characterized by comprising the following steps,
s1, presetting an indoor scanning route: presetting a scanning route, presetting scanning points on the scanning route, placing positioning seats on the scanning points, and numbering the positioning seats on all the scanning points from first to last in a scanning sequence from 1 manually according to the scanning route;
and S2, scanning at the first scanning point: placing the three-dimensional scanning equipment indoors and starting, sensing the positioning seat with the number of 1 by the positioning sensing device, transmitting sensing information to the processing device, controlling the traveling device to travel to the position with the number of 1, scanning indoors, controlling the brake pad to brake the traveling device 1 by the processing device 2 when the positioning sensing device 6 is positioned right above the positioning seat 7, and scanning the three-dimensional scanning device at the position after the traveling device 1 stops.
S3, sequential scan: after the positioning seat with the number of 1 is scanned, the processing device controls the traveling device to travel to the position above the positioning seat with the number of 2, the indoor space is scanned, and the scanning is sequentially performed on the other positioning seats until the indoor space is scanned three-dimensionally at all scanning points, so that the indoor three-dimensional scanning system is used completely.
More preferably, in the step S2, when the positioning sensing device is located right above the positioning seat, the processing device controls the brake pad to brake the traveling device, and after the traveling device stops, the three-dimensional scanning device scans at the position.
The implementation of the invention can achieve the following beneficial effects:
the positioning seats are placed on preset scanning points in advance, are in communication connection with the positioning seats through the positioning sensing device, drive the three-dimensional scanning device to pass through the positioning seats in sequence through the walking device, scan the indoor environment at the positioning seats, rotate the disc to drive the three-dimensional scanning device to rotate in multiple angles, manual carrying of the three-dimensional scanning device for scanning is not needed, scanning time is greatly saved, and scanning accuracy is improved.
Drawings
FIG. 1 is a schematic diagram of an indoor three-dimensional scanning system according to the present invention;
fig. 2 is a schematic diagram of a position relationship between the positioning sensing device and the positioning seat according to the present invention.
Detailed description of the embodiments reference is made to the accompanying drawings in which:
1-a walking device; 11-a support plate; 12-a pulley; 13-an arcuate channel; 2-a processing device; 3-a scaffold; 31-vertical support bars; 32-legs; 4-rotating the disc; 5-a three-dimensional scanning device; 6-positioning a sensing device; 7-positioning seat.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An indoor three-dimensional scanning system is shown in figure 1 and is used for indoor three-dimensional scanning and comprises three-dimensional scanning equipment and a positioning seat which is in communication connection with the three-dimensional scanning equipment; the positioning seats 7 are distributed on indoor preset scanning points, the three-dimensional scanning equipment comprises a walking device 1, a processing device 2, a support 3, a rotating disc 4 and a three-dimensional scanning device 5 which are sequentially arranged from bottom to top, and the rotating disc 4 drives the three-dimensional scanning device 5 on the top surface of the rotating disc to rotate for 360 degrees; running gear 1 and three-dimensional scanning device 5 all are connected with processing apparatus 2 electricity, be equipped with the location induction system 6 that carries out the response with positioning seat 7 on running gear 1, the position relation of location induction system 6 and positioning seat 7 when the scanning can be seen in fig. 2, running gear 1 can drive three-dimensional scanning device and walk at indoor walking, and stop at the measuring point that corresponds, every positioning seat 7 all carries out artificial numbering according to the number of preset scanning point, processing apparatus 2 controls running gear 1 according to the serial number information control running gear 1 of location induction system 6 perception according to the serial number and walks to every scanning point in order, and scan indoor at every scanning point through three-dimensional scanning device 5. The bracket 3 is a vertical column fixed on the top surface of the processing device 2; another embodiment of the support 3 includes a vertical support rod 31 and three support legs 32 fixed at the bottom of the vertical support rod 31, and the included angle between each support leg 32 and the vertical support rod 31 is 45-60 °. The walking device 1 comprises a supporting plate 11 and at least three pulleys 12 fixed at the bottom of the supporting plate 11; the positioning induction device 6 is arranged on the bottom surface of the supporting plate 11. The positioning seat 7 is in a semi-sphere shape, the bottom surface of the supporting plate 11 is provided with an arc-shaped channel 13 for the positioning seat 7 to pass through, and when in specific use, the arc-shaped channels 13 can be two and are crosswise arranged on the bottom surface of the supporting plate 11; a brake pad is arranged on at least one pulley 12; the three-dimensional scanning device 5 is a structured light three-dimensional scanning device, can scan the surrounding environment, draw a depth map, produce the depth map through scanning 360-degree space, and splice images to form an indoor three-dimensional map; the processing device 2 includes a loading housing and a core processor loaded within the loading housing.
A method for using an indoor three-dimensional scanning system comprises the following steps,
s1, presetting an indoor scanning route: presetting a scanning route, presetting scanning points on the scanning route, placing positioning seats 7 on each scanning point, and numbering the positioning seats 7 on all the scanning points from 1 to 1 in a scanning sequence according to the scanning route manually;
and S2, scanning at the first scanning point: the three-dimensional scanning equipment is placed indoors and started, the positioning induction device 6 senses the positioning seat 7 with the number of 1 and transmits the sensing information to the processing device 2, the processing device 2 controls the walking device 1 to walk to the position above the positioning seat 7 with the number of 1 and scans indoors,
s3, sequential scan: after the scanning at the position 7 with the number 1 is finished, the processing device 2 controls the traveling device 1 to travel to the position 7 with the number 2 and scan indoors, and the scanning is sequentially performed at the positions of the other positioning seats 7 until the indoor three-dimensional scanning is performed at all scanning points, so that the indoor three-dimensional scanning system is finished.
The specific scanning method is that after scanning is started, the positioning seat 7 is placed at a preset scanning point, counting information is coded on the positioning seat 7 according to a preset scanning route, the scanning equipment is placed in a room, and a user can leave the room after the scanning equipment is started. The positioning sensing device 6 communicates with the positioning seats 7 with the count of 1, the position of the positioning seat 7 with the count of 1 is detected, and the walking is carried out towards the direction of the positioning seat 7, when the positioning sensing device 6 is positioned right above the positioning seat 7, the processing device 2 controls the brake pad to brake the walking device 1, after the walking device 1 stops, the rotating disc 4 drives the three-dimensional scanning device 5 to rotate for 360 degrees, the three-dimensional scanning device 5 carries out scanning for 360 degrees at a first scanning point, after the scanning is completed, the positioning sensing device 6 communicates with the positioning seats 7 with the count of 2, the position of the positioning seat 7 with the count of 2 is detected, and the walking is carried out towards the direction of the positioning seat 7, the walking device sequentially moves to the upper part of each positioning seat 7, and sequentially stops at each scanning point, and the data of each scanning point is arranged.
When scanning multiple rooms, a fixed scanning point is arranged at the position (such as a door) where two rooms are connected, the two rooms are connected, and after all scanning points are scanned, the processing device splices the scanning data, so that a scanning image of the whole room can be formed.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An indoor three-dimensional scanning system is used for indoor three-dimensional scanning and is characterized by comprising three-dimensional scanning equipment and a positioning seat (7) which is in communication connection with the three-dimensional scanning equipment; the positioning seats (7) are distributed on indoor preset scanning points, the three-dimensional scanning equipment comprises a walking device (1), a processing device (2), a support (3), a rotating disc (4) and a three-dimensional scanning device (5), which are sequentially arranged from bottom to top, and the rotating disc (4) drives the three-dimensional scanning device (5) on the top surface to rotate for 360 degrees; running gear (1) and three-dimensional scanning device (5) all are connected with processing apparatus (2) electricity, be equipped with on running gear (1) and carry out location induction system (6) that respond to with positioning seat (7), every positioning seat (7) all carry out artificial serial number according to the number of the predetermined scanning point of predetermineeing, processing apparatus (2) walk to every scanning point according to serial number information control running gear (1) of location induction system (6) perception according to the serial number in order to scan indoor at every scanning point through three-dimensional scanning device (5).
2. An indoor three-dimensional scanning system as claimed in claim 1, wherein: the support (3) is a vertical column fixed on the top surface of the processing device (2).
3. An indoor three-dimensional scanning system as claimed in claim 1, wherein: the method is characterized in that: the support (3) comprises three vertical support rods (31) and three support legs (32) fixed at the bottoms of the vertical support rods (31), and included angles between each support leg (32) and each vertical support rod (31) are 45-60 degrees.
4. An indoor three-dimensional scanning system as claimed in claim 1, wherein: the walking device (1) comprises a supporting plate (11) and at least three pulleys (12) fixed at the bottom of the supporting plate (11).
5. An indoor three-dimensional scanning system as claimed in claim 4, wherein: the positioning induction device (6) is arranged on the bottom surface of the supporting plate (11).
6. An indoor three-dimensional scanning system as claimed in claim 5, wherein: the positioning seat (7) is hemispherical, and an arc-shaped channel (13) which is convenient for the positioning seat (7) to pass through is arranged on the bottom surface of the supporting plate (11).
7. An indoor three-dimensional scanning system as claimed in claim 4, wherein: and a brake pad is arranged on at least one pulley (12).
8. An indoor three-dimensional scanning system as claimed in claim 1, wherein: the processing device (2) comprises a loading housing and a core processor loaded in the loading housing.
9. The use method of an indoor three-dimensional scanning system according to any one of claims 1 to 8, comprising the following steps,
s1, presetting an indoor scanning route: presetting a scanning route, presetting scanning points on the scanning route, placing positioning seats (7) on each scanning point, and numbering the positioning seats (7) on all the scanning points from 1 to 1 in a scanning sequence manually according to the scanning route;
and S2, scanning at the first scanning point: the three-dimensional scanning equipment is placed indoors and started, the positioning induction device (6) senses the positioning seat (7) with the number of 1 and transmits sensing information to the processing device (2), and the processing device (2) controls the traveling device (1) to travel to the position above the positioning seat (7) with the number of 1 and scans indoors;
s3, sequential scan: after the positioning seat (7) with the number of 1 is scanned, the processing device (2) controls the traveling device (1) to travel to the position above the positioning seat (7) with the number of 2, the indoor space is scanned, and the scanning is sequentially performed on the other positioning seats (7) until the indoor space is scanned in three dimensions at all scanning points, so that the indoor three-dimensional scanning system is used completely.
10. The method of claim 9, wherein the step S2 is executed by controlling the brake pad to brake the traveling device (1) when the positioning sensing device (6) is located right above the positioning seat (7), and the three-dimensional scanning device scans at the position when the traveling device (1) stops.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811149108.1A CN110966919A (en) | 2018-09-29 | 2018-09-29 | Indoor three-dimensional scanning system and using method thereof |
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| CN201811149108.1A CN110966919A (en) | 2018-09-29 | 2018-09-29 | Indoor three-dimensional scanning system and using method thereof |
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Application publication date: 20200407 |