CN204154271U - A kind of Portable there-dimensional laser scanning instrument - Google Patents

A kind of Portable there-dimensional laser scanning instrument Download PDF

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Publication number
CN204154271U
CN204154271U CN201420391433.XU CN201420391433U CN204154271U CN 204154271 U CN204154271 U CN 204154271U CN 201420391433 U CN201420391433 U CN 201420391433U CN 204154271 U CN204154271 U CN 204154271U
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CN
China
Prior art keywords
laser
output shaft
fixed mount
camera
shooting
Prior art date
Application number
CN201420391433.XU
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Chinese (zh)
Inventor
吴羽
陈虹
龙晓莉
黄文恺
徐皓伟
黄志安
何唐梅
张倩
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广州大学
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Priority to CN201420391433.XU priority Critical patent/CN204154271U/en
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Publication of CN204154271U publication Critical patent/CN204154271U/en

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Abstract

A kind of Portable there-dimensional laser scanning instrument, comprise casing, camera-shooting scanning device, loading whirligig, camera-shooting scanning device and loading whirligig are located in storage box, this device controls the rotating speed of two output shaft electric machine thus the rotation of control objective table by absolute value encoder, scanned physical efficiency is made to carry out the comprehensive scanning of 360 degree, the height of adjustment camera and line laser transmitter and angle, release line generating laser makes it launch linear laser, the direction of laser rays is perpendicular to desktop and be radiated on scanned object, laser rays can produce bending along with the concavo-convex of body surface, along with the rotation of loading universal stage, the image camera-shot that laser rays is radiated at all angles of body surface obtains the three-dimensional data of body surface thus, these data are undertaken processing the 3-D view restoring body surface by being sent to computing machine, not only structure is simple for it, easy to operate, required cost is low, and, error is little, effective, be convenient to promote and use.

Description

A kind of Portable there-dimensional laser scanning instrument
Technical field
The utility model relates to a kind of laser scanner, particularly relates to a kind of Portable there-dimensional laser scanning instrument.
Background technology
3-D scanning technology can obtain the three-dimensional coordinate information of body surface point, belongs to a kind of stereo measuring technology of image.Compared with conventional measurement techniques, this technology can complete the measurement to complex object, and precision is high, speed is fast, can significantly save time and cost.
The paper Machine perception of three-dimensional solids that L.Robert delivered in nineteen sixty-five, possibility for obtaining three-dimensional information data in two dimensional image in paper provides the foundation of science and effective computational, start the research understood for the purpose of three-dimensional scenic, 20 century 70s start, and three-dimensional reconstruction occurs abroad successively.
Meanwhile, the theory of vision computing that Marr proposes, for three-dimensional reconstruction research provides basic theory framework.After this, the various theoretical research fast developments that regarding three-dimensional is rebuild, the method that the fields such as image procossing, pattern-recognition, computer vision are new and theory continue to bring out, and theoretical foundation has been established in the development for three-dimensional reconstruction.
After this, relevant three-dimensional reconstruction continues to bring out, and has spectroscopic methodology, Moire the Schlieren method, Fourier to convert consistency profiles, image radar method, position phasor approach, focusing telemetry, binocular camera shooting method, initiatively triangulation method and time-of-flight method etc.
But domestic majority still rests on laboratory stage for the research of 3 D laser scanning method and innovative approach, and therefore, industrialization and business-like degree are also not too high, monopolize at present primarily of external imported product.So expensive price has great limitation to its application and popularization.
Utility model content
For the deficiency that prior art exists, the purpose of this utility model is to provide a kind of Portable there-dimensional laser scanning instrument, and not only structure is simple for it, and easy to operate, required cost is low, and error is little, effective, is convenient to promote and use.
For achieving the above object, the utility model can be achieved by the following technical programs:
A kind of Portable there-dimensional laser scanning instrument, comprise casing, camera-shooting scanning device, loading whirligig, described camera-shooting scanning device and described loading whirligig are located in storage box;
Described camera-shooting scanning device comprises support, shooting headstock, camera, fixed mount, slip fixed mount, draw runner, laser fixed mount, generating laser, described support is provided with guide rail, described guide rail is provided with chute, described draw runner is located in described chute and can be slided up and down, described slip fixed mount is located at described support side and is fixedly connected with described draw runner, described fixed mount is located at described support opposite side and is fixedly connected with described slip fixed mount, described shooting headstock is fixedly connected on described fixed mount, described camera is located on described shooting headstock, described laser fixed mount side is movably connected on described shooting headstock, described generating laser is located on described laser fixed mount,
Described loading whirligig comprises two output shaft electric machine, bearing, bracing frame, absolute value encoder, objective table, described pair of output shaft electric machine is located on support frame as described above, described bearing and support frame as described above are fixed in described casing respectively, described pair of output shaft electric machine is provided with the first output shaft and the second output shaft, described absolute value encoder is connected to described second output shaft and is located in described bearing, and described objective table is connected to described first output shaft.
Further, described casing is provided with deposits mouth, described in deposit mouth be provided with operation lid, described wall box is also provided with start button, initialization button, pause button, demarcation button.
Further, be provided with stationary shaft in described shooting headstock, described laser fixed mount side is movably connected on described shooting headstock by described stationary shaft.
Further, described absolute value encoder is connected to described second output shaft by the second adapter sleeve.
Further, described objective table is connected to described first output shaft by the first adapter sleeve.
Further, described first adapter sleeve is embedded in the lower end of described objective table.
In sum, the utility model has the advantages that: control the rotating speed of two output shaft electric machine thus the rotation of control objective table by absolute value encoder, scanned physical efficiency is made to carry out the comprehensive scanning of 360 degree, the height of adjustment camera and line laser transmitter and angle, release line generating laser makes it launch linear laser, the direction of laser rays is perpendicular to desktop and be radiated on scanned object, laser rays can produce bending along with the concavo-convex of body surface, along with the rotation of loading universal stage, the image camera-shot that laser rays is radiated at all angles of body surface obtains the three-dimensional data of body surface thus, these data are undertaken processing the 3-D view restoring body surface by being sent to computing machine, not only structure is simple for it, easy to operate, required cost is low, and, error is little, effective, be convenient to promote and use.
Accompanying drawing explanation
Fig. 1 is the cross-sectional schematic of the utility model one embodiment front view;
Fig. 2 is the cross-sectional schematic of the utility model one embodiment rear view;
Fig. 3 is the structural representation of loading whirligig in the utility model one embodiment;
Fig. 4 is the cross-sectional schematic of Fig. 3 along A-A line;
Fig. 5 is body structure schematic diagram in the utility model one embodiment.
In figure: 1, casing, 101, operation lid, 102, start button, 103, initialization button, 104, pause button, 105, demarcate button, 2, support, 3, shooting headstock, 4, camera, 5, fixed mount, 6, slip fixed mount, 7, draw runner, 8, stationary shaft, 9, laser fixed mount, 10, generating laser, 11, guide rail, 12, two output shaft electric machine, the 121, second output shaft, the 122, first output shaft, 123, the second adapter sleeve, 124, the first adapter sleeve, 13, bearing, 14, bracing frame, 15, absolute value encoder, 16, objective table.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is further described:
As Fig. 1, Fig. 2, Fig. 3, shown in Fig. 4 and Fig. 5, a kind of Portable there-dimensional laser scanning instrument, comprise casing 1, camera-shooting scanning device, loading whirligig, described camera-shooting scanning device and described loading whirligig are located in storage box, described camera-shooting scanning device comprises support 2, shooting headstock 3, camera 4, fixed mount 5, slip fixed mount 6, draw runner 7, laser fixed mount 9, generating laser 10, described support is provided with guide rail 11, described guide rail 11 is provided with chute, described draw runner 7 is located in described chute and can be slided up and down, described slip fixed mount 6 is located at described support 2 side and is fixedly connected with described draw runner 7, described fixed mount 5 is located at described support 2 opposite side and is fixedly connected with described slip fixed mount 6, described shooting headstock 3 is fixedly connected on described fixed mount 5, described camera 4 is located on described shooting headstock 3, described laser fixed mount 9 side is movably connected on described shooting headstock 3, described generating laser 10 is located on described laser fixed mount 9, described loading whirligig comprises two output shaft electric machine 12, bearing 13, bracing frame 14, absolute value encoder 15, objective table 16, described pair of output shaft electric machine 12 is located on support frame as described above 14, described bearing 13 and support frame as described above 14 are fixed in described casing 1 respectively, described pair of output shaft electric machine 12 is provided with the first output shaft 122 and the second output shaft 121, described absolute value encoder 15 is connected to described second output shaft 121 and is located in described bearing 13, described objective table 16 is connected to described first output shaft 122.
Described casing 1 is provided with deposits mouth, described in deposit mouth be provided with operation lid 101, described casing 1 sidewall is also provided with start button 102, initialization button 103, pause button 104, demarcate button 105.Stationary shaft 8 is provided with in described shooting headstock 3, described laser fixed mount 9 side is movably connected on described shooting headstock 3 by described stationary shaft 8, produce revolute pair, be convenient to the angle regulating camera 4 and generating laser 10, described absolute value encoder 15 is connected to described second output shaft 121 by the second adapter sleeve 123, described objective table 16 is connected to described first output shaft 122 by the first adapter sleeve 124, and described first adapter sleeve 122 is embedded in the lower end of described objective table 16.
During work, scanned object is placed on objective table 16, controls the rotating speed of two output shaft electric machine 12 thus the rotation of control objective table 16 by absolute value encoder 15, make scanned physical efficiency carry out the comprehensive scanning of 360 degree; Adjust height and the angle of camera 4 and generating laser 10 again, opening generating laser 10 makes it launch linear laser, the direction of laser rays perpendicular to objective table 16 table top and be radiated on scanned object, laser rays can produce bending along with the concavo-convex of body surface; Along with the rotation of objective table 16, the image that laser rays is radiated at all angles of body surface is caught on camera the three-dimensional data that 4 shooting obtains body surface thus, and these data are undertaken processing the 3-D view restoring body surface by being sent to computing machine.
Processed offline method is taked in experimentation, scanning process is recorded and becomes video, first use Matlab to clapping scaling board carries out camera interior and exterior parameter demarcation, then OpenCV is used to process frame of video, process rear generation X-Y scheme picture point, give Matlab and carry out three-dimensional computations (chapter 5 joint), the three-dimensional point finally obtained saves as .obj file layout, gives AutoMax display.Use offline video method, carry out scanning to body surface and effectively can reduce the error that extra factor causes because hardware, laser irradiate, object is put etc.
For a person skilled in the art, according to above technical scheme and design, other various corresponding change and distortion can be made, and all these change and distortion all should belong within the protection domain of the utility model claim.

Claims (6)

1. a Portable there-dimensional laser scanning instrument, comprises casing (1), camera-shooting scanning device, loading whirligig, and described camera-shooting scanning device and described loading whirligig are located in storage box, it is characterized in that:
Described camera-shooting scanning device comprises support (2), shooting headstock (3), camera (4), fixed mount (5), slip fixed mount (6), draw runner (7), laser fixed mount (9), generating laser (10), described support is provided with guide rail (11), described guide rail (11) is provided with chute, described draw runner (7) is located in described chute and can be slided up and down, described slip fixed mount (6) is located at described support (2) side and is fixedly connected with described draw runner (7), described fixed mount (5) is located at described support (2) opposite side and is fixedly connected with described slip fixed mount (6), described shooting headstock (3) is fixedly connected on described fixed mount (5), described camera (4) is located on described shooting headstock (3), described laser fixed mount (9) side is movably connected on described shooting headstock (3), described generating laser (10) is located on described laser fixed mount (9),
Described loading whirligig comprises two output shaft electric machine (12), bearing (13), bracing frame (14), absolute value encoder (15), objective table (16), described pair of output shaft electric machine (12) is located on support frame as described above (14), described bearing (13) and support frame as described above (14) are fixed in described casing (1) respectively, described pair of output shaft electric machine (12) is provided with the first output shaft (122) and the second output shaft (121), described absolute value encoder (15) is connected to described second output shaft (121) and is located in described bearing (13), described objective table (16) is connected to described first output shaft (122).
2. a kind of Portable there-dimensional laser scanning instrument according to claim 1, it is characterized in that: described casing (1) is provided with deposits mouth, described mouth of depositing is provided with operation lid (101), described casing (1) sidewall is also provided with start button (102), initialization button (103), pause button (104), demarcates button (105).
3. a kind of Portable there-dimensional laser scanning instrument according to claim 1, it is characterized in that: be provided with stationary shaft (8) in described shooting headstock (3), described laser fixed mount (9) side is movably connected on described shooting headstock (3) by described stationary shaft (8).
4. a kind of Portable there-dimensional laser scanning instrument according to claim 1, is characterized in that: described absolute value encoder (15) is connected to described second output shaft (121) by the second adapter sleeve (123).
5. a kind of Portable there-dimensional laser scanning instrument according to claim 1, is characterized in that: described objective table (16) is connected to described first output shaft (122) by the first adapter sleeve (124).
6. a kind of Portable there-dimensional laser scanning instrument according to claim 5, is characterized in that: described first adapter sleeve (122) is embedded in the lower end of described objective table (16).
CN201420391433.XU 2014-07-15 2014-07-15 A kind of Portable there-dimensional laser scanning instrument CN204154271U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105157565A (en) * 2015-05-07 2015-12-16 徐州工程学院 Volume measuring instrument for object difficult to reach
CN105223562A (en) * 2015-10-20 2016-01-06 中国科学院遥感与数字地球研究所 A kind of laser radar footprint overlapping scan device and scan method
CN105635516A (en) * 2016-02-23 2016-06-01 西安电子科技大学 Desktop type 3D scanner
CN105721736A (en) * 2016-04-08 2016-06-29 南京工程学院 Folding 3D scanner device
CN106679590A (en) * 2016-12-29 2017-05-17 中国科学院长春光学精密机械与物理研究所 Three-dimensional scanning equipment and three-dimensional scanner
CN110132165A (en) * 2019-04-23 2019-08-16 先临三维科技股份有限公司 Spatial digitizer in the caliberating device and mouth of spatial digitizer

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105157565A (en) * 2015-05-07 2015-12-16 徐州工程学院 Volume measuring instrument for object difficult to reach
CN105223562A (en) * 2015-10-20 2016-01-06 中国科学院遥感与数字地球研究所 A kind of laser radar footprint overlapping scan device and scan method
CN105635516A (en) * 2016-02-23 2016-06-01 西安电子科技大学 Desktop type 3D scanner
CN105635516B (en) * 2016-02-23 2018-02-23 西安电子科技大学 Table top type 3D scanners
CN105721736A (en) * 2016-04-08 2016-06-29 南京工程学院 Folding 3D scanner device
CN105721736B (en) * 2016-04-08 2018-06-01 南京工程学院 A kind of folding 3D scanner devices
CN106679590A (en) * 2016-12-29 2017-05-17 中国科学院长春光学精密机械与物理研究所 Three-dimensional scanning equipment and three-dimensional scanner
CN110132165A (en) * 2019-04-23 2019-08-16 先临三维科技股份有限公司 Spatial digitizer in the caliberating device and mouth of spatial digitizer

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