CN202710003U - Electromagnetic positioning splicing device for coded light three-dimensional measurement - Google Patents
Electromagnetic positioning splicing device for coded light three-dimensional measurement Download PDFInfo
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- CN202710003U CN202710003U CN 201220405665 CN201220405665U CN202710003U CN 202710003 U CN202710003 U CN 202710003U CN 201220405665 CN201220405665 CN 201220405665 CN 201220405665 U CN201220405665 U CN 201220405665U CN 202710003 U CN202710003 U CN 202710003U
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- encoded light
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- measured object
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Abstract
The utility model provides an electromagnetic positioning splicing device for the coded light three-dimensional measurement. The electromagnetic positioning splicing device includes a measurement unit frame, a splicing unit frame, a circular holding table, a supporting column and a base. The upper surface of the circular holding table is provided with a groove, and the bottom of the groove is provided with a through hole. The splicing device is concise in structure, can realize the multi-visual angle measurement only by the rotation and lifting of the holding table, and can basically measure each local part of a measured object. The electromagnetic positioning splicing device adopts a scheme in which the measured object moves (motion coordinate system) and the coded light three-dimensional measurement system is fixed (static coordinate system), so the volume and complexity of the splicing device are reduced, and the structural strength of the splicing device is also reduced. The electromagnetic positioning splicing device is suitable for rotation splicing and vertical splicing (y direction), and can measure the measured object more comprehensively.
Description
(1) technical field
The utility model relates to encoded light three-dimensional measurement field, relates in particular to a kind of high precision of various visual angles cloud data, quick splicing.
(2) background technology
Typical encoded light three-dimension measuring system comprises a projector and a video camera, and projector is incident upon measured surface with encoded light, and video camera is taken the image of measured surface simultaneously.Image information is combined with direction parameter between projector, the video camera, can calculate the shape data of measured surface.
Encoded light three-dimension measuring system single can only be measured the part surface of object, obtain the shape data of complete object, needs from different perspectives (from various visual angles) measurement.Because the coordinate system when different angles are measured is different, the cloud data that each angle must be recorded carries out coordinate conversion, synthesizes the data of the same coordinate system, namely puts cloud.The key of some cloud is its precision, speed, and on the impact of measured surface.
At present, the point cloud method and the device that are used for the encoded light three-dimension measuring system mainly can be summarized as following two classes: 1. encoded light three-dimension measuring system and precision optical machinery or precision optical instrument are rigidly connected, determine transformational relation between each coordinate system by precision optical machinery or precision optical instrument.The advantage of these class methods is splicing precision high (bearing accuracy that depends on precision optical machinery or precision optical instrument).Deficiency is that precision optical machinery or precision optical instrument are regulated the speed slowly, namely splices speed slow.2. near the target on the measured surface or the measured surface monumented point is set, determines the transformational relation between each coordinate system take monumented point as medium.The advantage of these class methods is splicing speed relatively very fast (can finish splicing according to measurement image).Deficiency is that splicing relies on image to process, and wherein must use match, iterative algorithm, therefore splices precision low.In addition, the monumented point on the measured surface also can exert an influence to measured surface.
To sum up, existing joining method and device fail to fail to make both to reach simultaneously existing highest level in conjunction with the separately advantage of splicing precision and splicing speed.
(3) utility model content
The purpose of this utility model is to provide a kind of can overcome existing joining method and device fails to make splicing precision and splicing speed to reach simultaneously the deficiency of existing highest level, realized the real-time splicing that the encoded light three-dimension measuring system is real, the electromagnetic location precision is the electromagnetic location splicing apparatus of the encoded light three-dimensional measurement between 0.00x mm～0.0x mm.
The purpose of this utility model is achieved in that it comprises measuring unit frame 1, concatenation unit frame 2, circular stage 3 and base station 5, measuring unit frame 1, concatenation unit frame 2, circular stage 3 all is arranged on the base station 5, the encoded light three-dimension measuring system is installed on the measuring unit frame 1, the electromagnetic location main frame is installed on the concatenation unit frame 2, place measured object on the circular stage 3, circular stage 3 is installed on the base station 5 by support column 4, the upper surface of circular stage 3 is provided with 1 groove 6 that the location gauge head is installed, the bottom surface of groove 6 is provided with 1 through hole 7, the location gauge head is installed in the groove 6, the location gauge head is electrically connected by data cable 8 with the electromagnetic location main frame, and data cable 8 is passed by through hole 7.
The utility model also has like this some technical characterictics:
1, described support column 4 is made of two sections, and epimere and circular stage 3 lower surfaces are connected and fixed, and hypomere is fixed on the base station 5, between epimere and the hypomere by the knob flexible connection of capable of regulating epimere with hypomere relative angle and height;
2, described encoded light three-dimension measuring system comprises a projector and a video camera, projector is fixed on measuring unit frame 1 bottom, video camera is movably connected in measuring unit frame 1 top by knob, video camera on measuring unit frame 1 vertical height (y direction) and can regulate and locking by knob around the angle of Z-axis (gyratory directions t), projector, video camera are electrically connected the ARM9 system that finishes the control of encoded light three-dimension measuring system and data operation by data line.
The utility model kind support column 4 and can be regulated circular stage 3 liftings by adjusting knob can be locked angle and the height of circular stage 3.Measured object on circular stage, location gauge head, the objective table has consisted of moving coordinate system; Position relation between rest frame and the moving coordinate system is the position relation between encoded light three-dimension measuring system and the measured object, is jointly recorded by electromagnetic location main frame and location gauge head.All mechanisms make by non-metallic material in the utility model.
Existing splicing apparatus, for example aforesaid precision optical machinery precision optical instrument method, monumented point method, mostly be measured object fixed (rest frame), the encoded light three-dimension measuring system is moved (moving coordinate system) measures to realize various visual angles.And the mode of motion of the utility model method and device in contrast, and namely measured object moves (moving coordinate system), and the encoded light three-dimension measuring system is fixed (rest frame).The measuring unit frame 1 of encoded light three-dimension measuring system, the concatenation unit frame 2 that the electromagnetic location main frame has been installed, base station 5 have been installed have been consisted of rest frame; Measured object on circular stage 3, location gauge head, the objective table has consisted of moving coordinate system.Position relation between rest frame and the moving coordinate system is the position relation between encoded light three-dimension measuring system and the measured object.This orientation relation is recorded jointly by electromagnetic location main frame and location gauge head, can realize a cloud.The utility model changes the position relation between measured object and the encoded light three-dimension measuring system by adjusting rotation and the lifting of circular stage 3, realizes measuring from various visual angles.
The beneficial effects of the utility model have:
1. splicing apparatus of the present utility model is simple for structure, only relies on the rotation of objective table and lifting can realize the various visual angles measurement, and substantially can measure each part of measured object.The utility model design measured object moves the scheme that (moving coordinate system), encoded light three-dimension measuring system are fixed (rest frame), is conducive to reduce volume, the complicacy of splicing apparatus, requires low to structural strength.The utility model is taken into account revolution splicing and vertical direction (y direction) splicing, can more fully measure measured object.
2. all mechanisms of the present utility model make by non-metallic material, can not produce electromagnetic interference (EMI) to electromagnetic positioning system, can not produce the extra positioning error of being brought by electromagnetic interference (EMI).
3. by adjusting the placement location of measuring unit frame 1 on base station 5, can adjust the distance between encoded light three-dimension measuring system and the measured object.
4. the data cable between the utility model location gauge head and the electromagnetic location main frame is passed by through hole, and data cable is soft and have sufficient length, in 360 ° of scopes and in the altitude range, can not restrict rotation, the lifting of objective table.
5. the utility model location gauge head is installed in the groove of objective table upper surface, can not affect the placement of measured object on objective table.
6. the utility model is jointly to record position relation between encoded light three-dimension measuring system and the measured object by electromagnetic location main frame and location gauge head.The electromagnetic location time is Millisecond, directly obtain coordinate transformation relation, with respect to the single-view Measuring Time of encoded light three-dimension measuring system, can ignore positioning time, therefore with respect to existing joining method, the utility model has been realized the real-time splicing that the encoded light three-dimension measuring system is real; The electromagnetic location precision is between 0.00x mm～0.0x mm, and is approximate with the bearing accuracy of aforementioned precision optical machinery or precision optical instrument, therefore splices precision and reaches existing highest level and can further improve.To sum up, the utility model joining method and device can make splicing precision and splicing speed reach simultaneously existing highest level.
The volume and weight of encoded light three-dimension measuring system is much larger than measured object, and the relative motion relation of encoded light three-dimension measuring system and measured object is that the encoded light three-dimension measuring system is made circular motion, measured object rotates in the center of circle.Based on above-mentioned 2 reasons, relative motion mode of the present utility model is conducive to reduce volume, the complicacy of splicing apparatus, requires low to structural strength.Existing joining method and device substantially only consider 360 ° of revolution splicings, and the utility model method and apparatus are taken into account the height splicing of revolution and vertical direction (y direction) simultaneously, can more fully measure measured object.
(4) description of drawings
Fig. 1 is the structural representation of the utility model splicing apparatus.
(5) embodiment
Below in conjunction with the drawings and specific embodiments the utility model is further described:
In conjunction with Fig. 1, the electromagnetic location splicing apparatus of the present embodiment encoded light three-dimensional measurement comprises measuring unit frame 1, concatenation unit frame 2, circular stage 3, support column 4, base station 5.The upper surface of objective table 5 has 1 groove 6, and there is 1 through hole 7 bottom surface of groove 6.All mechanisms of the present embodiment make by non-metallic material.In the splicing, electromagnetic location main frame and the location data cable 8 between the gauge head is passed by through hole.Position relation between rest frame and the moving coordinate system is the position relation between encoded light three-dimension measuring system and the measured object, is jointly recorded by electromagnetic location main frame and location gauge head.Electromagnetic positioning system is comprised of electromagnetic location main frame and location gauge head two parts.Electromagnetic positioning system is determined electromagnetic location main frame and the relative position relation of locating between the gauge head by data cable 8 transmission and radio communication.In the use procedure of the present embodiment splicing apparatus, the measuring unit frame 1 of encoded light three-dimension measuring system has been installed, the concatenation unit frame 2 that the electromagnetic location main frame has been installed is placed on the base station 5 simultaneously, and the holding position is fixed, so encoded light three-dimension measuring system, electromagnetic location main frame, base station 5 are in the same rest frame; And the measured object on the circular stage 3, circular stage 3, location gauge head are in the same moving coordinate system.Therefore, the position relation between electromagnetic location main frame and the location gauge head, i.e. position relation between encoded light three-dimension measuring system and the measured object.Measured object rotates under the drive of circular stage 3, lifting, and position relation all can be recorded by electromagnetic positioning system between the tested part of each of measured object and the encoded light three-dimension measuring system.
Support column 4 can be regulated circular stage 3 360 ° of rotations (the gyratory directions t among Fig. 1) take support column 4 as axle, encoded light three-dimension measuring system single-view measurement range is about 60 °, then carry out at least 6 single-view and measure (objective table rotates 6 times), can obtain 360 ° of rotating whole cloud datas.
If the measured object height is excessive, (the y direction among Fig. 1) surpasses the single-view measurement range of encoded light three-dimension measuring system in the vertical direction, then support column (4) can be regulated objective table (3) lifting, changes the height and position relation between measured object and the encoded light three-dimension measuring system.For example encoded light three-dimension measuring system measurement range in the vertical direction is about 0.5m, measured object height 1m, and then vertical direction is carried out 2 single-view measurements at least, can obtain whole cloud datas of vertical direction.
The present embodiment support column 4 is made of two sections, and epimere and circular stage 3 lower surfaces are connected and fixed, and hypomere is fixed on the base station 5, can lock by knob between epimere and the hypomere.After loosening knob, the relative angle of capable of regulating epimere and hypomere and height, thus adjust circular stage 3 rotation and liftings.
Electromagnetic location main frame and the location data cable 8 between the gauge head is passed by through hole 7, and data cable 8 is soft and have sufficient length, can not restrict circular stage 3 rotations, lifting.
The lower end of the support column 4 of the present embodiment splicing apparatus is fixed on the base station 5, by adjusting the placement location of measuring unit frame 1 on base station 5, can adjust the distance between encoded light three-dimension measuring system and the measured object.Distance between encoded light three-dimension measuring system and the measured object is large, and then the single-view measurement range is large; Distance between encoded light three-dimension measuring system and the measured object is little, and then the single-view measurement range is little.Suitable distance is decided on the volume of measured object.
The present embodiment encoded light three-dimension measuring system comprises an Infocus82 3DLP projector and a HV-F22F 3CCD video camera.Infocus82 3DLP projector is fixed on measuring unit frame 1 bottom, adopts screw to fix.HV-F22F 3CCD video camera is movably connected in the vertical rod of measuring unit frame 1 by knob, HV-F22F 3CCD video camera in the vertical rod of measuring unit frame 1 vertical height (y direction) and can regulate and locking by knob around the angle of Z-axis (gyratory directions t), therefore can regulate the position relationship (being vertical height relation and primary optical axis angle relation) between Infocus82 3DLP projector and the HV-F22F 3CCD video camera, thus the measurement range of regulating the encoded light three-dimension measuring system.Difference in height range of adjustment between the Infocus82 3DLP projector of the present embodiment and the HV-F22F 3CCD video camera is 0～400mm, and the angle of regulation range of HV-F22F 3CCD camera intrinsic Z-axis (gyratory directions t) is 0～360 °.The present embodiment adopts the ARM9 system to finish the control of encoded light three-dimension measuring system and data operation, is electrically connected by data line between Infocus82 3DLP projector, HV-F22F 3CCD video camera and the ARM9 system.
Claims (3)
1. the electromagnetic location splicing apparatus of an encoded light three-dimensional measurement, it is characterized in that it comprises the measuring unit frame, the concatenation unit frame, circular stage and base station, the measuring unit frame, the concatenation unit frame, circular stage all is arranged on the base station, the encoded light three-dimension measuring system is installed on the measuring unit frame, the electromagnetic location main frame is installed on the concatenation unit frame, place measured object on the circular stage, circular stage is installed on the base station by support column, the upper surface of circular stage is provided with 1 groove that the location gauge head is installed, the bottom surface of groove is provided with 1 through hole, the location gauge head is installed in the groove, the location gauge head is electrically connected by data cable with the electromagnetic location main frame, and data cable is passed by through hole.
2. the electromagnetic location splicing apparatus of a kind of encoded light three-dimensional measurement according to claim 1, it is characterized in that described support column is made of two sections, epimere and circular stage lower surface are connected and fixed, hypomere is fixed on the base station, and the knob by capable of regulating epimere and hypomere relative angle and height between epimere and the hypomere is flexibly connected.
3. the electromagnetic location splicing apparatus of a kind of encoded light three-dimensional measurement according to claim 1 and 2, it is characterized in that described encoded light three-dimension measuring system comprises a projector and a video camera, projector is fixed on measuring unit frame bottom, video camera is movably connected in measuring unit frame top by knob, video camera on the measuring unit frame vertical height and can regulate and locking by knob around the angle of Z-axis, projector, video camera are electrically connected the ARM9 system that finishes the control of encoded light three-dimension measuring system and data operation by data line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220405665 CN202710003U (en) | 2012-08-16 | 2012-08-16 | Electromagnetic positioning splicing device for coded light three-dimensional measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220405665 CN202710003U (en) | 2012-08-16 | 2012-08-16 | Electromagnetic positioning splicing device for coded light three-dimensional measurement |
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| Publication Number | Publication Date |
|---|---|
| CN202710003U true CN202710003U (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220405665 Withdrawn - After Issue CN202710003U (en) | 2012-08-16 | 2012-08-16 | Electromagnetic positioning splicing device for coded light three-dimensional measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102818535A (en) * | 2012-08-16 | 2012-12-12 | 哈尔滨理工大学 | Electromagnetic positioning splicing apparatus and method for coded light three-dimensional measurement |
-
2012
- 2012-08-16 CN CN 201220405665 patent/CN202710003U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102818535A (en) * | 2012-08-16 | 2012-12-12 | 哈尔滨理工大学 | Electromagnetic positioning splicing apparatus and method for coded light three-dimensional measurement |
| CN102818535B (en) * | 2012-08-16 | 2014-11-05 | 哈尔滨理工大学 | Electromagnetic positioning splicing apparatus and method for coded light three-dimensional measurement |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130130 Effective date of abandoning: 20141105 |
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| RGAV | Abandon patent right to avoid regrant |