CN112268509A - Laser three-dimensional measuring instrument adopting hollow joint - Google Patents

Laser three-dimensional measuring instrument adopting hollow joint Download PDF

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Publication number
CN112268509A
CN112268509A CN202011110153.3A CN202011110153A CN112268509A CN 112268509 A CN112268509 A CN 112268509A CN 202011110153 A CN202011110153 A CN 202011110153A CN 112268509 A CN112268509 A CN 112268509A
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CN
China
Prior art keywords
hollow joint
laser
rotating hollow
measured
measured target
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CN202011110153.3A
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Chinese (zh)
Inventor
蒋明
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Huazhong University of Science and Technology
Ezhou Institute of Industrial Technology Huazhong University of Science and Technology
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Huazhong University of Science and Technology
Ezhou Institute of Industrial Technology Huazhong University of Science and Technology
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Application filed by Huazhong University of Science and Technology, Ezhou Institute of Industrial Technology Huazhong University of Science and Technology filed Critical Huazhong University of Science and Technology
Priority to CN202011110153.3A priority Critical patent/CN112268509A/en
Publication of CN112268509A publication Critical patent/CN112268509A/en
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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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Abstract

The invention provides a laser three-dimensional measuring instrument adopting a hollow joint. The laser three-dimensional measuring instrument comprises a meter control device, a TOF distance measuring instrument, a bearing platform, a horizontal rotating hollow joint and a vertical rotating hollow joint; the control device is electrically connected with the TOF range finder and the bearing table; the horizontal rotating hollow joint is arranged on the upper surface of the bearing table; the vertical rotating hollow joint is arranged on the side wall of the horizontal rotating hollow joint; and the inside of each of the bearing table, the horizontal rotating hollow joint and the vertical rotating hollow joint is provided with a light path channel and a light path reflection device for reflecting laser incident from the TOF range finder to a measured target.

Description

Laser three-dimensional measuring instrument adopting hollow joint
Technical Field
The invention provides a laser three-dimensional measuring instrument adopting a hollow joint, and belongs to the technical field of three-dimensional measurement.
Background
The tof (time of flight) laser ranging technology adopts the principle that a transmitter transmits light pulses to an object, and a receiver determines the distance of the measured object by calculating the running time of the light pulses from the time of returning to the receiver multiplied by the speed of light, and is widely applied to the fields of laser radar for automatic driving of automobiles, satellite earth ranging, building size measurement and the like. However, TOF range finding can only carry out distance measurement, when accomplishing three-dimensional measurement, need adjust TOF distancer's spatial orientation, simultaneously, when TOF distancer is used for measuring long-distance target, transmitter and receiver volume all can increase, when TOF distancer volume and weight are too big, can lead to in time effectually carrying out angle rotation regulation to it, just also is difficult to measure the three-dimensional size of long-distance space target.
Disclosure of Invention
The invention provides a laser three-dimensional measuring instrument adopting a hollow joint, which is used for solving the problems that the traditional TOF distance measuring instrument cannot timely and effectively adjust angle rotation and cannot measure the space three-dimensional size of a target when the volume and the weight are too large, and adopts the following technical scheme:
a laser three-dimensional measuring instrument adopting a hollow joint comprises a meter control device, a TOF distance measuring instrument, a bearing platform, a horizontal rotating hollow joint and a vertical rotating hollow joint; the control device is electrically connected with the TOF range finder and the bearing table; the horizontal rotating hollow joint is arranged on the upper surface of the bearing table; the vertical rotating hollow joint is arranged on the side wall of the horizontal rotating hollow joint; and the inside of each of the bearing table, the horizontal rotating hollow joint and the vertical rotating hollow joint is provided with a light path channel and a light path reflection device for reflecting laser incident from the TOF range finder to a measured target.
Furthermore, a first reflector and a light path channel correspondingly matched with the first reflector are arranged inside the bearing table; the first reflecting mirror is used for reflecting laser which is emitted by the TOF distance measuring instrument and enters the bearing table to the horizontal rotating hollow joint.
Furthermore, a second reflector and a light path channel correspondingly matched with the second reflector are arranged inside the horizontal rotating hollow joint; the second reflector is used for reflecting the laser incident to the horizontal rotating hollow joint into the vertical rotating hollow joint.
Furthermore, a third reflector and a light path channel correspondingly matched with the third reflector are arranged inside the vertical rotating hollow joint; the third reflector is used for reflecting the laser which is incident to the vertical rotating hollow joint to the measured target.
Further, the control device includes:
the first reflector control module is used for controlling the first reflector to rotate so that laser is incident to the horizontal rotating hollow joint;
the rotation control module is used for controlling the horizontal rotation hollow joint and the vertical rotation hollow joint to rotate;
the measuring module is used for measuring a measured target and acquiring the space coordinates of each measuring contour point;
the judging module is used for judging whether all the contour points on the measured target are measured or not, and if the judging result is that all the contour points on the measured target are not measured, the rotating control module and the measuring module are repeatedly started until all the contour points on the measured target are measured; if the judgment result is that all contour points on the measured target are measured completely, starting a three-dimensional acquisition module;
and the three-dimensional acquisition module is used for drawing a three-dimensional graph of the measured target according to the space coordinates of the measurement contour points of the target area obtained by measurement.
Further, the rotation control module includes:
the horizontal rotation control module is used for controlling the horizontal rotation hollow joint to rotate along the horizontal direction;
and the vertical rotation control module is used for controlling the vertical rotation hollow joint to rotate along the vertical direction.
Further, the measurement module includes:
the distance value acquisition module is used for controlling the TOF distance meter to sequentially irradiate the measurement contour points on the measured target and acquiring the distance value between the TOF distance meter and the measurement contour points on the measured target;
and the space coordinate acquisition module is used for acquiring the space coordinates of each measuring contour point on the measured target by utilizing the distance value and the rotating angles of the horizontal rotating hollow joint and the vertical rotating hollow joint.
Further, the measurement process of the laser three-dimensional measuring instrument comprises the following steps:
step 1, the TOF range finder emits laser and emits the laser into the bearing table;
step 2, the control device controls the first reflector to rotate so that laser is incident to the horizontal rotating hollow joint;
step 3, the control device controls the horizontal rotating hollow joint and the vertical rotating hollow joint to rotate, changes the light path of the incident laser emitted by the TOF range finder, measures each measurement contour point on the measured target, and acquires the space coordinate of each measurement contour point;
step 4, the control device judges whether all the contour points on the measured target are measured, if the judgment result is that all the contour points on the measured target are not measured, the contents of the step 2 to the step 3 are repeated until all the contour points on the measured target are measured; if the judgment result is that all the contour points on the measured target are measured, executing step 5;
and 5, drawing a three-dimensional graph of the measured target by the control device according to the space coordinates of each measurement contour point of the target area obtained by measurement.
Further, the process of acquiring the spatial coordinates of the measurement profile points in step 3 includes:
301, controlling a horizontal rotating hollow joint and a vertical rotating hollow joint to rotate by the control device, wherein the horizontal rotating hollow joint and the vertical rotating hollow joint respectively drive a second reflecting mirror and a third reflecting mirror to rotate in the rotating process, so that laser emitted from the vertical rotating hollow joint finally irradiates on a measured target;
step 302, the control device controls the TOF distance meter to sequentially irradiate the measurement contour points on the measured target, and a distance value between the TOF distance meter and the measurement contour points on the measured target is obtained;
and 303, acquiring the space coordinates of each measuring contour point on the measured target by using the distance value and the rotating angles of the horizontal rotating hollow joint and the vertical rotating hollow joint.
Further, the spatial coordinates of each measurement contour point on the measured object are obtained by using the following formula:
xd＝L·cos(θa)·cos(θc)
yd＝L·cos(θa)·sin(θc)
zd＝L·sin(θc)
wherein x isd、ydAnd zdRespectively representing the coordinate value of the xyz axis corresponding to each point in the three points, L representing the reading of the TOF range finder corresponding to each point in the three points, namely the distance value between the TOF range finder and the measurement contour point on the measured target, and thetaaAnd thetacRespectively representing the rotation angles of the TOF range finder on an A axis and a C axis, wherein the A axis represents the rotation of the TOF range finder in a vertical direction, and thetaaI.e. representing the angle of rotation of the TOF rangefinder in the vertical direction; the C-axis represents the rotation of the TOF range finder in the horizontal direction, θcI.e. representing the angle at which the TOF rangefinder rotates in the horizontal direction.
The invention has the beneficial effects that:
according to the laser three-dimensional measuring instrument adopting the hollow joint, the laser of the TOF range finder can be irradiated on a measured target at any position in a light path conversion adjusting mode under the condition that the TOF range finder is not moved, the self-movement or rotation adjustment of the TOF range finder with large volume and large weight is completely avoided, the angle adjusting effectiveness and rapidity of the TOF range finder in the three-dimensional measuring process are improved to the great extent, and further the overall efficiency and accuracy of three-dimensional measurement can be effectively improved. On the other hand, the automatic measurement of the three-dimensional data of the measured target can be realized by utilizing the detection method and the process of the laser three-dimensional measuring instrument. Meanwhile, the three-dimensional size measurement accuracy of the measured target is effectively improved, the space plane size measurement process is simplified, the data processing amount in the measurement process is reduced, and the speed and the efficiency of the space plane size measurement are effectively improved. In addition, the measuring method realizes the rapid measurement and the high-precision measurement in the three-dimensional direction of the measured target in any shape.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a schematic diagram of a measurement of the system of the present invention;
(1, a meter control device; 2, a TOF range finder; 3, a bearing table; 4, a horizontally rotating hollow joint; 5, a vertically rotating hollow joint; 31, a first mirror; 41, a second mirror; 51, a third mirror).
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides a laser three-dimensional measuring instrument adopting a hollow joint, which comprises a meter control device 1, a TOF (time of flight) distance measuring instrument 2, a bearing platform 3, a horizontal rotating hollow joint 4 and a vertical rotating hollow joint 5, wherein the TOF distance measuring instrument is shown in figure 1; the control device 1 is electrically connected with the TOF distance measuring instrument 2 and the bearing table 3; the horizontal rotating hollow joint 4 is arranged on the upper surface of the bearing table 3; the vertical rotating hollow joint 5 is arranged on the side wall of the horizontal rotating hollow joint 4; and the bearing table 3, the horizontal rotating hollow joint 4 and the vertical rotating hollow joint 5 are internally provided with light path channels and light path reflection devices for reflecting laser incident from the TOF range finder 2 to a measured target.
A first reflector 31 and a light path channel correspondingly matched with the first reflector 31 are arranged in the bearing table 3; the first reflecting mirror 31 is used for reflecting laser light emitted by the TOF range finder 2 and entering the bearing table 3 into the horizontal rotating hollow joint 4.
A second reflector 41 and an optical path channel correspondingly matched with the second reflector 41 are arranged inside the horizontal rotary hollow joint 4; the second reflecting mirror 41 is used for reflecting the laser light incident on the horizontal rotary hollow joint 4 into the vertical rotary hollow joint 5.
A third reflector 51 and a light path channel correspondingly matched with the third reflector 51 are arranged inside the vertical rotary hollow joint 5; the third reflector 51 is used for reflecting the laser light incident to the vertical rotary hollow joint 5 to the target to be measured.
The principle of the technical scheme is as follows: the optical path of the TOF range finder is changed without moving the TOF range finder by arranging reflectors on the bearing table 3, the horizontal rotary hollow joint 4 and the vertical rotary hollow joint 5.
The effect of the above technical scheme is as follows: laser of the TOF distance measuring instrument irradiates on a measured target at any position, self movement or rotation adjustment of the TOF distance measuring instrument with large volume and large weight is completely avoided, the effectiveness and the rapidity of angle adjustment of the TOF distance measuring instrument in the three-dimensional measuring process are improved to a great extent, and further the overall efficiency and the accuracy of three-dimensional measurement can be effectively improved.
In one embodiment of the present invention, the control device 1 includes:
the first reflector control module is used for controlling the first reflector 31 to rotate so that laser is incident to the horizontal rotating hollow joint 4;
the rotation control module is used for controlling the horizontal rotation hollow joint 4 and the vertical rotation hollow joint 5 to rotate;
the measuring module is used for measuring a measured target and acquiring the space coordinates of each measuring contour point;
the judging module is used for judging whether all the contour points on the measured target are measured or not, and if the judging result is that all the contour points on the measured target are not measured, the rotating control module and the measuring module are repeatedly started until all the contour points on the measured target are measured; if the judgment result is that all contour points on the measured target are measured completely, starting a three-dimensional acquisition module;
and the three-dimensional acquisition module is used for drawing a three-dimensional graph of the measured target according to the space coordinates of the measurement contour points of the target area obtained by measurement.
The rotation control module includes:
the horizontal rotation control module is used for controlling the horizontal rotation hollow joint 4 to rotate along the horizontal direction;
and the vertical rotation control module is used for controlling the vertical rotation hollow joint 5 to rotate along the vertical direction.
The measurement module includes:
the distance value acquisition module is used for controlling the TOF distance meter 2 to sequentially irradiate the measurement contour points on the measured target and acquiring the distance value between the TOF distance meter 2 and the measurement contour points on the measured target;
and the space coordinate acquisition module is used for acquiring the space coordinates of each measuring contour point on the measured target by using the distance value and the rotating angles of the horizontal rotating hollow joint 4 and the vertical rotating hollow joint 5.
The principle of the technical scheme is as follows: firstly, a first reflector control module controls the first reflector 31 to rotate so that laser is incident to the horizontal rotating hollow joint 4; then, a rotation control module is used for controlling the horizontal rotation hollow joint 4 and the vertical rotation hollow joint 5 to rotate; then, measuring the measured target through a measuring module, and acquiring the space coordinates of each measuring contour point; then, the door adopts a judging module to judge whether all the contour points on the measured object are measured, if the judging result is that all the contour points on the measured object are not measured, the rotating control module and the measuring module are repeatedly started until all the contour points on the measured object are measured; if the judgment result is that all contour points on the measured target are measured completely, starting a three-dimensional acquisition module; and finally, drawing a three-dimensional graph of the measured target through a three-dimensional acquisition module according to the space coordinates of each measurement contour point of the target area obtained through measurement. The control device 1 may be an intelligent device such as a computer, and the modules may be hardware modules that implement corresponding functions in the control device, or system modules of a control system embedded in the control device.
The effect of the above technical scheme is as follows: under the condition that TOF distancer is not removed, can make TOF distancer's laser shine on the target of being surveyed of optional position, avoid the self of the TOF distancer of bulky weight to remove or rotate the regulation completely, improved TOF distancer angle regulation validity and rapidity in three-dimensional measurement process to a great extent, and then can effectively improve three-dimensional measuring overall efficiency and accuracy. On the other hand, the automatic measurement of the three-dimensional data of the measured target can be realized by utilizing the detection method and the process of the laser three-dimensional measuring instrument. Meanwhile, the three-dimensional size measurement accuracy of the measured target is effectively improved, the space plane size measurement process is simplified, the data processing amount in the measurement process is reduced, and the speed and the efficiency of the space plane size measurement are effectively improved. In addition, the measuring method realizes the rapid measurement and the high-precision measurement in the three-dimensional direction of the measured target in any shape.
In an embodiment of the present invention, as shown in fig. 2, a measurement process of the laser three-dimensional measuring instrument includes:
step 1, the TOF range finder 2 emits laser and emits the laser into the bearing table 3;
step 2, the control device 1 controls the first reflector 31 to rotate so that laser is incident to the horizontal rotating hollow joint 4;
step 3, the control device 1 controls the horizontal rotating hollow joint 4 and the vertical rotating hollow joint 5 to rotate, changes the light path of the incident laser emitted by the TOF range finder 2, measures each measurement contour point on the measured target, and obtains the space coordinate of each measurement contour point;
step 4, the control device 1 judges whether all the contour points on the measured target are measured, if the judgment result is that all the contour points on the measured target are not measured, the contents of the steps 2 to 3 are repeated until all the contour points on the measured target are measured; if the judgment result is that all the contour points on the measured target are measured, executing step 5;
and 5, drawing a three-dimensional graph of the measured target by the control device 1 according to the space coordinates of each measurement contour point of the target area obtained by measurement.
The process of acquiring the spatial coordinates of the measurement contour points in step 3 includes:
301, controlling the horizontal rotating hollow joint 4 and the vertical rotating hollow joint 5 to rotate by the control device 1, and driving the second reflecting mirror 41 and the third reflecting mirror 51 to rotate respectively in the rotating processes of the horizontal rotating hollow joint 4 and the vertical rotating hollow joint 5, so that the laser emitted from the vertical rotating hollow joint 5 finally irradiates on a measured target;
step 302, the control device 1 controls the TOF distance meter 2 to sequentially irradiate the measurement contour points on the measured target, and obtains a distance value between the TOF distance meter 2 and the measurement contour points on the measured target;
and 303, acquiring the space coordinates of each measuring contour point on the measured target by using the distance value and the rotating angles of the horizontal rotating hollow joint 4 and the vertical rotating hollow joint 5.
And acquiring the space coordinates of each measured contour point on the measured target by using the following formula:
xd＝L·cos(θa)·cos(θc)
yd＝L·cos(θa)·sin(θc)
zd＝L·sin(θc)
wherein x isd、ydAnd zdRespectively representing the coordinate value of the xyz axis corresponding to each point in the three points, L representing the reading of the TOF range finder corresponding to each point in the three points, namely the distance value between the TOF range finder and the measurement contour point on the measured target, and thetaaAnd thetacRespectively representing the rotation angles of the TOF range finder on an A axis and a C axis, wherein the A axis represents the rotation of the TOF range finder in a vertical direction, and thetaaI.e. representing the angle of rotation of the TOF rangefinder in the vertical direction; the C-axis represents the rotation of the TOF range finder in the horizontal direction, θcI.e. representing the angle at which the TOF rangefinder rotates in the horizontal direction.
The effect of the above technical scheme is as follows: under the condition that TOF distancer is not removed, can make TOF distancer's laser shine on the target of being surveyed of optional position, avoid the self of the TOF distancer of bulky weight to remove or rotate the regulation completely, improved TOF distancer angle regulation validity and rapidity in three-dimensional measurement process to a great extent, and then can effectively improve three-dimensional measuring overall efficiency and accuracy. On the other hand, the automatic measurement of the three-dimensional data of the measured target can be realized by utilizing the detection method and the process of the laser three-dimensional measuring instrument. Meanwhile, the three-dimensional size measurement accuracy of the measured target is effectively improved, the space plane size measurement process is simplified, the data processing amount in the measurement process is reduced, and the speed and the efficiency of the space plane size measurement are effectively improved. In addition, the measuring method realizes the rapid measurement and the high-precision measurement in the three-dimensional direction of the measured target in any shape.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The laser three-dimensional measuring instrument adopting the hollow joint is characterized by comprising a counting control device (1), a TOF distance measuring instrument (2), a bearing platform (3), a horizontal rotating hollow joint (4) and a vertical rotating hollow joint (5); the control device (1) is electrically connected with the TOF distance measuring instrument (2) and the bearing table (3); the horizontal rotating hollow joint (4) is arranged on the upper surface of the bearing table (3); the vertical rotating hollow joint (5) is arranged on the side wall of the horizontal rotating hollow joint (4); and the inside of the bearing table (3), the horizontal rotating hollow joint (4) and the vertical rotating hollow joint (5) is provided with a light path channel and a light path reflection device for reflecting the laser incident from the TOF range finder (2) to a measured target.
2. The laser three-dimensional measuring instrument according to claim 1, characterized in that a first reflector (31) and a light path channel correspondingly matched with the first reflector (31) are arranged inside the bearing table (3); the first reflecting mirror (31) is used for reflecting laser which is emitted by the TOF range finder (2) and enters the bearing table (3) into the horizontal rotating hollow joint (4).
3. The laser three-dimensional measuring instrument according to claim 1, characterized in that a second reflecting mirror (41) and a light path channel correspondingly matched with the second reflecting mirror (41) are arranged inside the horizontal rotating hollow joint (4); the second reflecting mirror (41) is used for reflecting the laser incident to the horizontal rotating hollow joint (4) into the vertical rotating hollow joint (5).
4. The laser three-dimensional measuring instrument according to claim 1, characterized in that a third reflector (51) and a light path channel correspondingly matched with the third reflector (51) are arranged inside the vertical rotating hollow joint (5); the third reflector (51) is used for reflecting the laser incident to the vertical rotating hollow joint (5) to the measured object.
5. The laser three-dimensional measuring instrument according to claim 1, characterized in that the control device (1) comprises:
the first reflector control module is used for controlling the first reflector (31) to rotate so that laser is incident to the horizontal rotating hollow joint (4);
the rotation control module is used for controlling the horizontal rotation hollow joint (4) and the vertical rotation hollow joint (5) to rotate;
the measuring module is used for measuring a measured target and acquiring the space coordinates of each measuring contour point;
the judging module is used for judging whether all the contour points on the measured target are measured or not, and if the judging result is that all the contour points on the measured target are not measured, the rotating control module and the measuring module are repeatedly started until all the contour points on the measured target are measured; if the judgment result is that all contour points on the measured target are measured completely, starting a three-dimensional acquisition module;
and the three-dimensional acquisition module is used for drawing a three-dimensional graph of the measured target according to the space coordinates of the measurement contour points of the target area obtained by measurement.
6. The laser three-dimensional measuring instrument according to claim 5, wherein the rotation control module comprises:
the horizontal rotation control module is used for controlling the horizontal rotation hollow joint (4) to rotate along the horizontal direction;
and the vertical rotation control module is used for controlling the vertical rotation hollow joint (5) to rotate along the vertical direction.
7. The laser three-dimensional measuring instrument according to claim 5, wherein the measuring module comprises:
the distance value acquisition module is used for controlling the TOF distance meter (2) to sequentially irradiate the measurement contour points on the measured target and acquiring the distance value between the TOF distance meter (2) and the measurement contour points on the measured target;
and the space coordinate acquisition module is used for acquiring the space coordinates of each measuring contour point on the measured target by using the distance value and the rotation angles of the horizontal rotating hollow joint (4) and the vertical rotating hollow joint (5).
8. The laser three-dimensional measuring instrument according to claim 1, wherein the measuring process of the laser three-dimensional measuring instrument comprises:
step 1, emitting laser by the TOF range finder (2) and enabling the laser to be incident into the bearing table (3);
step 2, the control device (1) controls the first reflector (31) to rotate so that laser is incident to the horizontal rotating hollow joint (4);
step 3, the control device (1) controls the horizontal rotating hollow joint (4) and the vertical rotating hollow joint (5) to rotate, changes the light path of the incident laser emitted by the TOF range finder (2), measures each measurement contour point on the measured target, and obtains the space coordinate of each measurement contour point;
step 4, the control device (1) judges whether all the contour points on the measured target are measured, if the judgment result is that all the contour points on the measured target are not measured, the contents of the step 2 to the step 3 are repeated until all the contour points on the measured target are measured; if the judgment result is that all the contour points on the measured target are measured, executing step 5;
and 5, drawing a three-dimensional graph of the measured target by the control device (1) according to the space coordinates of each measurement contour point of the target area obtained by measurement.
9. The laser three-dimensional measuring instrument according to claim 8, wherein the step 3 of acquiring the spatial coordinates of the measurement profile points comprises:
301, controlling a horizontal rotating hollow joint (4) and a vertical rotating hollow joint (5) to rotate by the control device (1), and driving a second reflector (41) and a third reflector (51) to rotate respectively in the rotating process of the horizontal rotating hollow joint (4) and the vertical rotating hollow joint (5) so that laser emitted from the vertical rotating hollow joint (5) is irradiated onto a measured target finally;
step 302, the control device (1) controls the TOF distance meter (2) to sequentially irradiate the measurement contour points on the measured target, and a distance value between the TOF distance meter (2) and the measurement contour points on the measured target is obtained;
and 303, acquiring the space coordinates of each measuring contour point on the measured target by using the distance value and the rotating angles of the horizontal rotating hollow joint (4) and the vertical rotating hollow joint (5).
10. The laser three-dimensional measuring instrument according to claim 9, wherein the spatial coordinates of each measurement contour point on the measured object are obtained by using the following formula:
xd＝L·cos(θa)·cos(θc)
yd＝L·cos(θa)·sin(θc)
zd＝L·sin(θc)
wherein x isd、ydAnd zdRespectively representing the coordinate value of the xyz axis corresponding to each point in the three points, L representing the reading of the TOF range finder corresponding to each point in the three points, namely the distance value between the TOF range finder and the measurement contour point on the measured target, and thetaaAnd thetacRespectively representing the rotation angles of the TOF rangefinder on the a-axis and the C-axis.
CN202011110153.3A 2020-10-16 2020-10-16 Laser three-dimensional measuring instrument adopting hollow joint Pending CN112268509A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116009007A (en) * 2023-02-27 2023-04-25 山东省地质测绘院 Three-dimensional range finder

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CN107515402A (en) * 2017-08-21 2017-12-26 东莞市迈科新能源有限公司 A kind of TOF three-dimensionals range-measurement system
CN107765263A (en) * 2017-10-30 2018-03-06 武汉海达数云技术有限公司 Laser scanning device and traverse measurement system
CN211236245U (en) * 2019-08-19 2020-08-11 武汉锐科光纤激光技术股份有限公司 Laser rangefinder and three-dimensional laser scanner

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116009007A (en) * 2023-02-27 2023-04-25 山东省地质测绘院 Three-dimensional range finder
CN116009007B (en) * 2023-02-27 2023-06-09 山东省地质测绘院 Three-dimensional range finder

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