CN114964185B - Spatial data measuring device and measuring method thereof - Google Patents

Spatial data measuring device and measuring method thereof Download PDF

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Publication number
CN114964185B
CN114964185B CN202210914389.5A CN202210914389A CN114964185B CN 114964185 B CN114964185 B CN 114964185B CN 202210914389 A CN202210914389 A CN 202210914389A CN 114964185 B CN114964185 B CN 114964185B
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moving part
measuring
rotating
target
motor
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CN114964185A (en
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代满仓
曹云祥
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Xi'an Depsecco Measuring Equipment Co ltd
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Xi'an Depsecco Measuring Equipment Co ltd
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/242—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by spreading of the legs
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention belongs to the technical field of space measurement, and particularly discloses a space data measuring device and a measuring method thereof, wherein the device comprises a tripod, a measuring assembly and a control assembly; the measuring assembly comprises a base, a first moving part, a second moving part and a laser scanner, wherein the laser scanner is arranged on the outer surfaces of the first moving part and the second moving part; the control assembly comprises a cabinet body, wherein a control device, a power supply, a receiver and a driver which are connected with the control device are arranged in the cabinet body. The invention can carry out fusion matching on the acquired measurement data, a plurality of measurement data obtained by scanning the target from different azimuths and an image set containing the target obtained on the basis of the measurement data are sequentially input into 3D SIMs (three dimensional difference object model) software for modeling, so that the obtained contour is revised from different azimuths.

Description

Spatial data measuring device and measuring method thereof
Technical Field
The invention belongs to the technical field of space measurement, and particularly relates to a space data measuring device and a measuring method thereof.
Background
Two methods, a manual acquisition method and a three-dimensional digitizer acquisition method, are generally adopted for the spatial measurement of an object. The manual acquisition method is mainly used for measuring the traditional crop geometric forms, and mainly comprises manual and visual observation by means of tools such as a tape measure and a protractor. The inaccuracy of the observation method leads to low research efficiency, and the obtained result is greatly influenced by subjective factors. The acquisition of the three-dimensional digitizer mainly refers to the recording and tracking of the position of the probe in a three-dimensional space through a sensor, so that the digitization of a target object is realized. The common instruments include coordinate measuring machine, mechanical arm type three-dimensional scanner and electromagnetic three-dimensional digitizer. Compared with manual acquisition, the three-dimensional digitizer acquisition has relatively improved efficiency.
At present, space modeling is carried out on the basis of space data acquired by a three-dimensional digitizer by using 3D SOM software, wherein the 3D SOM software establishes a model by using contour approximation, vertex analysis and triangulation methods. The specific principle is as follows: firstly, masking a plurality of introduced multi-angle images, selecting the position of a target object in each picture, and identifying a background, a scaling pad area and the like which are irrelevant to the target object; acquiring a plurality of polygonal approximate contours according to the partial information of the target object of each multi-angle image, and numbering each approximate contour; then, calculating a polygon outline to obtain three vertexes, and recording information of each vertex; and finally, dividing the complete surface by utilizing a triangular grid so as to draw out the details of the surface. The above steps are the implementation of the steps of 'contour extraction' and 'vertex calculation and visual shell generation' of the silhouette contour method. Up to this point, the contour model of the target object is generated, and since the contour model obtained based on one measurement direction and angle measurement has a large error, it is generally necessary to correct the contour by acquiring measurement data of a plurality of measurement directions and angles. However, when the initial position is calibrated and the angle and the measuring direction are moved, the newly formed calibration position cannot be effectively combined with the set initial position, so that the measurement data cannot be directly matched with the corresponding coordinates, and the secondary correction cannot be performed.
Disclosure of Invention
In view of the above, the present invention provides a spatial data measuring device.
The specific scheme is as follows:
a spatial data measuring device comprises a tripod and a measuring component;
the measuring assembly comprises a base, a first moving part, a second moving part and a laser scanner, wherein the laser scanner is arranged on the outer surfaces of the first moving part and the second moving part;
the top of the base is fixedly provided with a first sliding block, the bottom of the first moving part is provided with a first guide rail, and the first sliding block is connected with the first guide rail in a sliding manner; a third guide rail is arranged at the top of the first moving part, a second guide rail is arranged at the bottom of the second moving part, a second sliding block is arranged between the first moving part and the second moving part, and the bottom and the top of the second sliding block are respectively connected with the third guide rail and the second guide rail in a sliding manner;
a first screw rod is arranged in the first moving part, one end of the first screw rod is connected with a first motor, the other end of the first screw rod is connected with one side wall of the first moving part through a bearing, a bolt block penetrates through the first screw rod, and the top of the bolt block is fixedly connected with the inner wall of the top of the first moving part and used for driving the first moving part to slide along a first guide rail; a second screw rod is arranged in the second moving part, one end of the second screw rod is connected with a second motor, the other end of the second screw rod is connected with one side wall of the second moving part through a bearing, a bolt block penetrates through the second screw rod, and the top of the bolt block is fixedly connected with the inner wall of the top of the second moving part and used for driving the second moving part to slide along a second guide rail;
a supporting platform is arranged at the top of the tripod, a rotating part is arranged at the top of the supporting platform, a level meter is arranged at the bottom of the supporting platform, one end of the rotating part is rotatably connected with the supporting platform, and the other end of the rotating part is fixedly connected with the base;
the control assembly is electrically connected with the first motor, the second motor and the laser scanner respectively;
the control assembly comprises a cabinet body, wherein a control device, a power supply, a receiver and a driver which are respectively connected with the control device are arranged in the cabinet body; the display and the touch screen are arranged on the surface of the cabinet body and are respectively and electrically connected with the control device;
the receiver is used for receiving the measurement result of the laser scanner;
the driver is used for controlling the movement speed and direction of the first motor and the second motor;
during measurement, a three-dimensional coordinate system is established by taking the bottom of the level gauge as a coordinate origin; the measuring component is driven to rotate through a rotating part at the top of the tripod, first measuring data are obtained through a receiver, the receiver transmits the first measuring data to a processor arranged in a control device in real time on the basis of a time sequence, the processor is used for detecting a rotating angle component, based on a coordinate origin, of the rotating part corresponding to each group of first image sets in the received first measuring data in real time on the basis of the time sequence, the control device forms a control signal on the basis of the rotating angle component and sends the control signal to a driver to control the rotating speed of the rotating part, and therefore the first image set corresponding to each rotating angle component is controlled; and inputting the first image sets into an object detector in real time to detect the object, and sequentially inputting a plurality of first image sets containing the object into 3D COM software for modeling when the object is detected to exist so as to obtain a first outline of the object.
Furthermore, the first moving part and the second moving part are the same in structure and are of bottomless rectangular cavity structures, and the first lead screw is located inside the cavity and is connected with the cavity in a rotating mode.
Further, the three-dimensional coordinate system is established by taking the bottom of the level as a coordinate origin, wherein the coordinate origin is coincident with the bottom of the level, the moving direction of the first moving plate is the same as the Y-axis direction, and the moving direction of the second moving plate is the same as the X-axis direction.
And further, when a three-dimensional coordinate system is established by taking the bottom of the level gauge as a coordinate origin, the Z-axis coordinate is a scalar from the bottom of the level gauge to the ground to be measured.
The invention also provides a spatial data measuring method, which is applied to the device; the method comprises the following steps:
step 1: adjusting the tripod to enable a supporting platform of the tripod to be in a horizontal state;
and 2, step: establishing a three-dimensional coordinate system by taking the bottom of the level gauge as a coordinate origin;
and step 3: the method comprises the steps that a laser scanner is started, a rotating part at the top of a tripod drives a measuring assembly to rotate, first measuring data are obtained through a receiver, the receiver transmits the first measuring data to a processor which is arranged in a control device in real time on the basis of a time sequence, the processor is used for detecting rotating angle components, based on a coordinate origin, of the rotating part corresponding to each group of first image sets in the received first measuring data in real time on the basis of the time sequence, the control device forms control signals on the basis of the rotating angle components and sends the control signals to a driver to control the rotating speed of the rotating part, and therefore the first image set corresponding to each rotating angle component is controlled; inputting the first image sets into an object detector in real time to detect an object, and when the object is detected to exist, sequentially inputting a plurality of first image sets containing the object into 3D SIMM software for modeling so as to obtain a first contour of the object;
and 4, step 4: the driver is used for controlling the first motor and/or the second motor to rotate, respectively driving the first moving plate to move along the Y-axis direction and/or driving the second moving plate to move along the X-axis direction, and driving the rotating part to rotate by a set angle so as to change the initial scanning position of the laser scanner; repeating the steps 2) and 3) to obtain a plurality of second measurement data through scanning the target from different orientations, and sequentially inputting a plurality of second image sets containing the target into 3D COM software for modeling based on a second image set containing the target obtained through scanning the target from the second measurement data so as to revise the obtained first contour from different orientations.
Furthermore, a driving motor is arranged at the rotating part and electrically connected with the driver.
Further, the control device has:
a clock unit configured to provide standard clock timing for reception of data;
the processor is used for detecting the rotation angle component of the rotation part corresponding to each group of first image sets in the received first measurement data in real time based on the time sequence, wherein the rotation angle component is based on the origin of coordinates;
a control command generating section that forms a control signal in response to the rotation angle component and based on the rotation angle component;
an actuator, coupled to the driver, for causing the driver to control a rotation rate of the rotating part based on the control signal, thereby controlling the first image set corresponding to each rotation angle component;
an object detector for inputting the acquired first set of images to an object detector to detect the presence of an object;
and the 3DSOM software inputs a plurality of first image sets containing the target into the 3DSOM software in sequence for modeling so as to obtain a first contour of the target.
Compared with the prior art, the invention has the beneficial effects that: according to the method, a tripod is adjusted to enable a supporting platform of the tripod to be in a horizontal state, a three-dimensional coordinate system is established by taking the bottom of a level as a coordinate origin, based on the three-dimensional coordinate system, a rotating part at the top of the tripod drives a measuring assembly to rotate, a laser scanner is used for obtaining first measuring data and sending the first measuring data to a processor through a receiver, wherein the processor is used for detecting the rotating angle component of the rotating part, based on the coordinate origin, corresponding to each group of first image sets in the received first measuring data in real time based on time sequence, the control device forms a control signal based on the rotating angle component and sends the control signal to a driver to control the rotating speed of the rotating part, and therefore the first image set corresponding to each rotating angle component is controlled; inputting the first image sets into a target detector in real time to detect a target, and when the target is detected to exist, sequentially inputting a plurality of first image sets containing the target into 3DSOM software for modeling so as to obtain a first contour of the target;
in the above, the rotation unit sequentially rotates by a predetermined unit amount, and the laser scanner can acquire an image set within a predetermined range every rotation. When the target needs to be scanned from different directions, the first motor and/or the second motor are controlled to rotate through the driver, the first moving plate is driven to move along the Y-axis direction and/or the second moving plate is driven to move along the X-axis direction respectively, and the rotating part is driven to rotate by a set angle so as to change the initial scanning position of the laser scanner.
In the above, the distances of movement along the Y axis and the X axis and the direction of rotation of the rotating portion are established based on a three-dimensional coordinate system established with the bottom of the level as the origin of coordinates, so that the relative position based on the origin of coordinates can be obtained for each angle of rotation, and therefore, after the angle rotation, fusion matching can be performed on the obtained measurement data, and a plurality of second measurement data obtained by scanning the target from different orientations and a second image set containing the target obtained based on the second measurement data are sequentially input into 3d som software for modeling, so as to revise the obtained first profile from different orientations.
Drawings
The invention is illustrated and described only by way of example and not by way of limitation in the scope of the invention as set forth in the following drawings, in which:
FIG. 1: the invention discloses a structural schematic diagram of measuring equipment;
FIG. 2 is a schematic diagram: a schematic structural diagram of the measuring assembly;
FIG. 3: a schematic structural diagram of the moving part;
FIG. 4 is a schematic view of: a schematic diagram of the connection relation of the control components;
in the figure: 1. a tripod; 2. a rotating part; 3. a level gauge; 4. a base; 5. a first moving plate; 6. a second moving plate; 7. a first motor; 8. a first lead screw; 9. a second motor; 10. a second lead screw; 11. a first guide rail; 12. a first slider; 13. a second guide rail; 14. a second slider; 15. a laser scanner; 16. a bolt block; 17. a bearing; 18. a control device; 19. a power source; 20. a display; 21. a touch screen; 22. a receiver; 23. a driver.
Detailed Description
In order to make the objects, technical solutions, design methods, and advantages of the present invention more apparent, the present invention will be further described in detail by specific embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
In a first aspect of the present invention, as shown in fig. 1 and 2, there is provided a spatial data measuring apparatus comprising a tripod 1 and a measuring assembly; the measuring component comprises a base 4, a first moving part, a second moving part and a laser scanner 15, wherein the laser scanner 15 is arranged on the outer surfaces of the first moving part and the second moving part, and the first moving part and the second moving part are the same in structure and are of bottomless rectangular cavity structures. A first sliding block 12 is fixedly arranged at the top of the base 4, a first guide rail 11 is arranged at the bottom of the first moving part, and the first sliding block 12 is connected with the first guide rail 11 in a sliding manner; a third guide rail is arranged at the top of the first moving part, a second guide rail 13 is arranged at the bottom of the second moving part, a second sliding block 14 is arranged between the first moving part and the second moving part, and the bottom and the top of the second sliding block 14 are respectively in sliding connection with the third guide rail and the second guide rail 13;
a first lead screw 8 is arranged in the first moving part, one end of the first lead screw 8 is connected with a first motor 7, the other end of the first lead screw is connected with one side wall of the first moving part through a bearing 17, a bolt block 16 penetrates through the first lead screw 8, the top of the bolt block 16 is fixedly connected with the inner wall of the top of the first moving part and used for driving the first moving part to slide along a first guide rail 11, and the first lead screw 8 is positioned in a cavity of the first moving part and is rotatably connected with the cavity; a second lead screw 10 is arranged in the second moving portion, one end of the second lead screw 10 is connected with a second motor 9, the other end of the second lead screw is connected with one side wall of the second moving portion through a bearing 17, a bolt block 16 penetrates through the second lead screw 10, the top of the bolt block 16 is fixedly connected with the inner wall of the top of the second moving portion and used for driving the second moving portion to slide along a second guide rail 13, and the second lead screw 10 is located in a cavity of the second moving portion and is rotatably connected with the cavity. Tripod 1's top is provided with supporting platform, the supporting platform top is provided with rotation portion 2, the supporting platform bottom is provided with spirit level 3, 2 departments in rotation portion are provided with driving motor, driving motor and 23 electric connection of driver, the one end of rotation portion 2 with supporting platform rotates to be connected, the other end with 4 fixed connection on the base.
As shown in fig. 3, the measuring apparatus further includes a control component, and the control component is electrically connected to the first motor 7, the second motor 9 and the laser scanner 15 respectively;
the control assembly comprises a cabinet body, wherein a control device 18, a power supply 19, a receiver 22 and a driver 23 which are respectively connected with the control device 18 are arranged in the cabinet body; a display 20 and a touch screen 21 are arranged on the surface of the cabinet body, and the display 20 and the touch screen 21 are respectively electrically connected with the control device 18;
the receiver 22 is used for receiving the measurement result of the laser scanner 15;
the driver 23 is used for controlling the movement speed and direction of the first motor 7 and the second motor 9;
in the above, the control device 18 has:
a clock unit configured to provide standard clock timing for reception of data;
the processor is used for detecting the rotation angle component of the rotation part corresponding to each group of first image sets in the received first measurement data in real time based on the time sequence, wherein the rotation angle component is based on the coordinate origin;
a control command generating section that forms a control signal in response to the rotation angle component and based on the rotation angle component;
an actuator coupled to the driver, for causing the driver to control a rotation rate of the rotating portion based on the control signal, thereby controlling the first image set corresponding to each rotation angle component;
an object detector for inputting the acquired first set of images to an object detector for detecting the presence of an object;
and the 3DSOM software inputs a plurality of first image sets containing the target into the 3DSOM software in sequence for modeling so as to obtain a first contour of the target.
In the above description, when the 3DSOM software establishes the three-dimensional coordinates, the origin of coordinates coincides with the bottom of the level 3, the moving direction of the first moving plate 5 is the same as the Y-axis direction, and the moving direction of the second moving plate 6 is the same as the X-axis direction. And when the three-dimensional coordinate system is established by taking the bottom of the level meter as the origin of coordinates, the Z-axis coordinate is a scalar from the bottom of the level meter to the ground to be measured.
The working principle of the invention is as follows: establishing a three-dimensional coordinate system by taking the bottom of the level 3 as a coordinate origin; the measuring component is driven to rotate by the rotating part 2 at the top of the tripod 1, first measuring data are obtained by the receiver 22, the receiver 22 transmits the first measuring data to the processor built in the control device 18 in real time based on time sequence, wherein the processor is used for detecting the rotating angle component of the rotating part 2 corresponding to each group of first image set in the received first measuring data in real time based on the time sequence, based on the coordinate origin, the control device 18 forms a control signal based on the rotating angle component and sends the control signal to the driver 23 to control the rotating speed of the rotating part 2, so as to control the first image set corresponding to each rotating angle component; inputting the first image set into an object detector in real time to detect an object, inputting a plurality of first image sets containing the object into 3DSOM software in sequence to carry out modeling when the object is detected to exist so as to obtain a first outline of the object, acquiring a plurality of second measurement data through scanning the object from different directions, acquiring a second image set containing the object based on the second measurement data, and inputting the plurality of second image sets containing the object into the 3DSOM software in sequence to carry out modeling so as to revise the acquired first outline from different directions.
Example 2
The present embodiment provides a spatial data measuring method based on the spatial data measuring apparatus in embodiment 1, including the following steps:
step 1: adjusting the tripod 1 to enable a supporting platform of the tripod 1 to be in a horizontal state;
and 2, step: establishing a three-dimensional coordinate system by taking the bottom of the level 3 as a coordinate origin;
and step 3: starting the laser scanner 15, driving the base 4, the first moving portion, the second moving portion and the laser scanner 15 to rotate respectively through the rotating portion 2 on the top of the tripod 1, obtaining first measurement data through the receiver 22, transmitting the first measurement data to a processor built in the control device 18 in real time based on a time sequence by the receiver 22, wherein the processor is used for detecting a rotation angle component of the rotating portion 2, based on a coordinate origin, corresponding to each group of first image sets in the received first measurement data in real time based on the time sequence, the control device 18 forming a control signal based on the rotation angle component and sending the control signal to the driver 23 to control a rotation speed of the rotating portion 2, so as to control the first image set corresponding to each rotation angle component; inputting the first image sets into a target detector in real time to detect a target, and when the target is detected to exist, sequentially inputting a plurality of first image sets containing the target into 3DSOM software for modeling so as to obtain a first contour of the target;
and 4, step 4: the first motor 7 and/or the second motor 9 are controlled by the driver 23 to rotate, so as to respectively drive the first moving plate 5 to move along the Y-axis direction and/or the second moving plate 6 to move along the X-axis direction, and drive the rotating part 2 to rotate by a set angle, so as to change the initial scanning position of the laser scanner 15; repeating the steps 2) and 3) to obtain a plurality of second measurement data through scanning the target from different orientations, and sequentially inputting a plurality of second image sets containing the target into 3D COM software for modeling based on a second image set containing the target obtained through scanning the target from the second measurement data so as to revise the obtained first contour from different orientations.
Because the distances moving along the Y axis and the X axis and the rotating direction of the rotating part are established under the condition that the three-dimensional coordinate system is established by taking the bottom of the level gauge as the origin of coordinates, the rotation of each angle can obtain the relative position based on the original origin of coordinates, so after the angles are rotated, a plurality of second measurement data can be obtained, then a second image set is obtained according to the principle of the step 3, and the plurality of second image sets containing targets are sequentially input into 3DSOM software for modeling, so that the obtained first contour is revised from different directions, the influence of the measuring direction and the measuring angle on the contour is reduced, and the measuring precision is improved.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the market, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (6)

1. A spatial data measuring device is characterized by comprising a tripod and a measuring component;
the measuring assembly comprises a base, a first moving part, a second moving part and a laser scanner, wherein the laser scanner is arranged on the outer surfaces of the first moving part and the second moving part;
the top of the base is fixedly provided with a first sliding block, the bottom of the first moving part is provided with a first guide rail, and the first sliding block is connected with the first guide rail in a sliding manner; a third guide rail is arranged at the top of the first moving part, a second guide rail is arranged at the bottom of the second moving part, a second sliding block is arranged between the first moving part and the second moving part, and the bottom and the top of the second sliding block are respectively in sliding connection with the third guide rail and the second guide rail;
a first screw rod is arranged in the first moving part, one end of the first screw rod is connected with a first motor, the other end of the first screw rod is connected with one side wall of the first moving part through a bearing, a bolt block penetrates through the first screw rod, and the top of the bolt block is fixedly connected with the inner wall of the top of the first moving part and used for driving the first moving part to slide along a first guide rail; a second screw rod is arranged in the second moving part, one end of the second screw rod is connected with a second motor, the other end of the second screw rod is connected with one side wall of the second moving part through a bearing, a bolt block penetrates through the second screw rod, and the top of the bolt block is fixedly connected with the inner wall of the top of the second moving part and used for driving the second moving part to slide along a second guide rail;
a supporting platform is arranged at the top of the tripod, a rotating part is arranged at the top of the supporting platform, a level gauge is arranged at the bottom of the supporting platform, one end of the rotating part is rotatably connected with the supporting platform, and the other end of the rotating part is fixedly connected with the base;
the control assembly is electrically connected with the first motor, the second motor and the laser scanner respectively;
the control assembly comprises a cabinet body, wherein a control device, a power supply, a receiver and a driver which are respectively connected with the control device are arranged in the cabinet body; a display and a touch screen are arranged on the surface of the cabinet body, and the display screen and the touch screen are respectively electrically connected with the control device;
the receiver is used for receiving the measurement result of the laser scanner;
the driver is used for controlling the movement speed and the movement direction of the first motor and the second motor;
the control device has:
a clock unit configured to provide standard clock timing for reception of data;
the processor is used for detecting the rotation angle component of the rotation part corresponding to each group of first image sets in the received first measurement data in real time based on the time sequence, wherein the rotation angle component is based on the coordinate origin;
a control command generating section that forms a control signal in response to the rotation angle component and based on the rotation angle component;
an actuator coupled to the driver, for causing the driver to control a rotation rate of the rotating portion based on the control signal, thereby controlling the first image set corresponding to each rotation angle component;
an object detector for inputting the acquired first set of images to an object detector to detect the presence of an object;
3DSOM software, inputting a plurality of first image sets containing the target into the 3DSOM software in sequence for modeling so as to obtain a first outline of the target;
during measurement, a three-dimensional coordinate system is established by taking the bottom of the level gauge as a coordinate origin; the measuring component is driven to rotate by a rotating part at the top of the tripod, first measuring data are obtained by a receiver, the receiver transmits the first measuring data to a processor arranged in a control device in real time on the basis of time sequence, wherein the processor is used for detecting a rotating angle component, based on a coordinate origin, of the rotating part corresponding to each group of first image sets in the received first measuring data in real time on the basis of the time sequence, the control device forms a control signal on the basis of the rotating angle component and sends the control signal to a driver to control the rotating speed of the rotating part, so that the first image set corresponding to each rotating angle component is controlled, and the laser scanner can obtain the image set within a set range every time the first image set rotates; and inputting the first image sets into an object detector in real time to detect the object, and when the object is detected to exist, sequentially inputting a plurality of the first image sets containing the object into 3D SIMM software for modeling so as to obtain a first contour of the object.
2. The spatial data measuring device of claim 1, wherein the first moving portion and the second moving portion have the same structure and are both bottomless rectangular cavity structures, and the first lead screw is located inside the cavity and is rotatably connected with the cavity.
3. The spatial data measuring device as set forth in claim 1, wherein a three-dimensional coordinate system is established with a bottom of the level as a coordinate origin, such that the coordinate origin coincides with the bottom of the level, and the first moving plate moves in the same direction as the Y-axis direction and the second moving plate moves in the same direction as the X-axis direction.
4. The spatial data measuring device as set forth in claim 3, wherein the Z-axis coordinate is a scalar from the bottom of the level to the ground to be measured when the three-dimensional coordinate system is established with the bottom of the level as the origin of coordinates.
5. A method for measuring spatial data, wherein the method employs the apparatus of any one of claims 1-4; the method comprises the following steps:
step 1: adjusting the tripod to enable a supporting platform of the tripod to be in a horizontal state;
step 2: establishing a three-dimensional coordinate system by taking the bottom of the level gauge as a coordinate origin;
and step 3: the method comprises the steps that a laser scanner is started, a rotating part at the top of a tripod drives a measuring assembly to rotate, first measuring data are obtained through a receiver, the receiver transmits the first measuring data to a processor arranged in a control device in real time on the basis of time sequence, the processor is used for detecting the rotating angle component, based on a coordinate origin, of the rotating part corresponding to each group of first image sets in the received first measuring data in real time on the basis of the time sequence, and the control device forms a control signal on the basis of the rotating angle component and sends the control signal to a driver to control the rotating speed of the rotating part, so that the first image set corresponding to each rotating angle component is controlled; inputting the first image sets into a target detector in real time to detect a target, and when the target is detected to exist, sequentially inputting a plurality of first image sets containing the target into 3DSOM software for modeling so as to obtain a first contour of the target;
and 4, step 4: the driver is used for controlling the first motor and/or the second motor to rotate, respectively driving the first moving plate to move along the Y-axis direction and/or driving the second moving plate to move along the X-axis direction, and driving the rotating part to rotate by a set angle so as to change the initial scanning position of the laser scanner; repeating the steps 2) and 3) to obtain a plurality of second measurement data through scanning the target from different orientations, and sequentially inputting a plurality of second image sets containing the target into 3D COM software for modeling based on a second image set containing the target obtained through scanning the target from the second measurement data so as to revise the obtained first contour from different orientations.
6. The method of claim 5, wherein a driving motor is provided at the rotating portion, and the driving motor is electrically connected to a driver.
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