CN206514019U - Live standing tree 3 D laser scanning hoistable platform and live standing tree there-dimensional laser scanning device - Google Patents

Abstract

Live standing tree 3 D laser scanning hoistable platform, the utility model is not high for the scanning survey data precision for solving live standing tree, the problems such as optical imagery acquired is smudgy, propose a kind of live standing tree 3 D laser scanning hoistable platform, it has base portion, elevating mechanism and scanning platform, installed in the base portion and scanning platform is installed on elevating mechanism, elevating mechanism, by controlling elevating mechanism that scanning platform can be made to carry out horizontal lifting motion relative to base portion；Base portion has opening and the u-shaped plane of plane, and base portion includes base body and the pedestal left arm and pedestal right arm that are oppositely arranged.The beneficial effects of the utility model are：Complete live standing tree trunk surface topography scan cloud data is resulted in, enables complete live standing tree trunk surface 3-D view in a computer by accurate reproduction, the workload of later image splicing is reduced, while improving the speed and stably of signal acquisition.The invention also discloses a kind of live standing tree there-dimensional laser scanning device.

Description

Live standing tree 3 D laser scanning hoistable platform and live standing tree there-dimensional laser scanning device

Technical field

The utility model is related to 3-D scanning technical field, and in particular to a kind of live standing tree 3 D laser scanning lifting is flat Platform, is additionally related to a kind of live standing tree there-dimensional laser scanning device.

Background technology

Forest tree resource is the class valuable source closely bound up with human being's production life, how rationally to cultivate the forest reserves outstanding It is to cultivate artificial forest resource, and how rationally effectively to utilize forest tree resource, and being one is worth the important topic of research.It is living Standing tree refers in forest land, opening or the scattered trees lived.Evaluation by carrying out science to live standing tree is conducive to judging Forest quality, protection and utilization to forest tree resource have important value.It is well known that trees need the life by the longer time limit It is long, it can be only achieved the diameter suitable for human use；In addition trees in growth climate condition, Changes in weather, artificial disturbance with And the influence of animal and microorganism to it, cause its taperingness, flexibility, cracking, knot, it is rotten, empty situations such as each not phase Together；On the premise of not influenceing forest continued growth and not damaging tested forest, being detected, detected a flaw to live standing tree of science, Assess and rationally foster, be the important channel for improving forest felling license and quality.According to the shape of each different live standing tree outlines The concrete condition of shape, size and various defects, carries out the tending of woods and timber processing, can both ensure that the forest reserves were sent out in order Exhibition, is beneficial to the grade for improving the woodworks such as sawn timber, glued board, realizes the reasonable utilization to timber resources again.

People to obtain the basic parameter of live standing tree outline and internal flaw, once generally employed visually observe, machinery The measuring methods such as measurement, because this method too relies on the experience of operator and measurement error is larger, and taperingness, bending The information such as degree and internal flaw is difficult to obtain, therefore measurement effect is not satisfactory；With the progress of e measurement technology, Ren Menkai Begin to study using the non-contact measurement that the method for acoustics, optics, calorifics and electromagnetism carries out object external outline, but due to work The height of standing tree is different, upgrowth situation and growing environment otherness are big, surface topography is easily affected by environment and changes, and wild External pelivimetry difficulty is big, along with reasons such as the anisotropism of timber, concrete dynamic modulus and anisotropy, causes these measuring methods not It is completely suitable for the measurement of live standing tree；How to realize the shape to live standing tree outline, size and various defects analyzed and Problem of the selection as lumber field；Traditional Laser Scanning Equipment can not be done directly live standing tree trunk full surface pattern 3 D laser scanning, it is necessary to take multiple scan, then the scan image on different directions is spliced, such as in a plurality of directions A kind of mechanical device of synchronization lifting that can realize many three-dimensional laser scanners around live standing tree synchronous scanning of what design, is realized Direct scanning to complete live standing tree surface topography, it is to avoid complicated later stage splicing work, is also to be currently needed for what is solved Major issue.

Using laser, measurement distance has that simple in construction, test speed is fast, processing capability in real time is strong in a non-contact manner Advantage, but due to live standing tree trunk is higher and the easy driven device poor rigidity precision low limit of laser testing process itself System, causes that scanner overall precision is low, accuracy is poor；Live standing tree growing environment otherness is larger in addition, often because wild The factor of external environment makes scanning device unstable in scanning process, makes the pattern error of capture larger and smudgy, therefore The mode of laser ranging can not directly apply to the measurement of live standing tree outline in the prior art.

The content of the invention

The utility model for solve prior art present in live standing tree carry out laser measurement data precision it is not high, can not Carry out laser three-dimensional scanning to live standing tree, and the optical imagery that acquires in the prior art is ambiguous a series of asks Topic, and then a kind of live standing tree 3 D laser scanning hoistable platform and a kind of live standing tree there-dimensional laser scanning device are proposed, the work is stood Wooden 3 D laser scanning hoistable platform has installs the lifting in base portion, elevating mechanism and scanning platform, the base portion The scanning platform is installed on mechanism, the elevating mechanism, by controlling the elevating mechanism to make the scanning platform phase Horizontal lifting motion is carried out for the base portion；The base portion has opening and the u-shaped plane of plane, the base portion Including base body, pedestal left arm and pedestal right arm, the base body is connected with pedestal left arm and pedestal right arm respectively, described Pedestal left arm and the pedestal right arm are oppositely arranged and are mutually not connected to, and the opening is right positioned at the pedestal left arm and the pedestal Between arm；The scanning platform at least has a scanning entrance, the direction of the scanning entrance and the direction phase of the opening Together.

Further, the elevating mechanism has power-equipment, performs equipment and platform pole, and the power-equipment is with performing Equipment is connected, and the platform pole is connected with base portion and the scanning platform respectively, and the platform pole makes the scanning flat Platform keep level, it is described execution equipment in the presence of the scanning platform make on the platform pole horizontal ascending motion or Horizontal descending motion.

Further, the power-equipment is air compressor or hydraulic press, and the execution equipment is expansion link, the platform Pole is scissors type elevating bar assembly, and the scissors type elevating bar assembly has the solid bar in bottom, the solid bar in top and pivot, the bottom The solid bar of the solid bar in end and the top is connected with each other by the pivot, and the solid bar in the bottom be connected with the base portion rotating shaft with The scanning platform is slidably connected, and the solid bar in the top is connected to slide with the base portion with the scanning platform rotating shaft and connected Connect；The scissors type elevating bar assembly is two groups, and one of which connection pedestal left arm and scanning platform, another group of connection pedestal are right Arm and scanning platform, the expansion link are at least connected with any group of scissors type elevating bar assembly and top can be promoted to consolidate bar and base One end horizontal movement that portions are slidably connected, and then realize lifting or reduction of the scissors type elevating bar assembly to scanning platform.

Further, the power-equipment be motor, the execution equipment be lift, the platform pole be screw mandrel or The combination of screw mandrel and smooth shaft, one end of the screw mandrel is connected with nut thread, and the nut is fixedly connected with scanning platform, institute State the screw mandrel other end to be connected with the lift, connected between the motor and the lift by connecting rod and shaft coupling； Have also to have between steering gear, the lift between the motor and the lift when the lift is multiple and connect Extension bar and shaft coupling；The screw mandrel is more than three, and the tie point that screw mandrel is connected with lift is not located along the same line entirely.

Further, the lift has worm gear reducer mechanism, and the worm gear reducer mechanism includes worm gear and worm screw, described Worm screw is connected with shaft coupling, and the center of the worm gear is fixedly connected with the screw mandrel, the worm gear and worm screw intermeshing, works as institute The worm gear and screw mandrel when worm screw rotates is stated to rotate simultaneously, and described in being fixedly connected with scanning platform when the screw mandrel is rotated Nut rises or falls on elevating lever；The motor can drive multiple liftings by shaft coupling, connecting rod and steering gear Machine synchronous axial system, when multiple lift synchronous axial systems, then the screw mandrel drives multiple nuts to move simultaneously, and together When drive that scanning platform level rises or level declines.

Further, the elevating mechanism also has control device, and the control device has human-computer interface control unit, number According to transmission unit and CPU, the CPU includes control system, and the control system has host computer Software and slave computer software；The upper computer software is used to realize that the kinematic axis of non real-time nature to be managed, communication failure is shown, spacing Status display and motion state are shown；The slave computer software is used for position control, spacing detection and the motor for realizing real-time Fault detect；After the control device is obtained by human-computer interface control unit starts information, data transmission unit will start Information transfer is to CPU, and the CPU drives institute after handling startup information by control system Power-equipment motion is stated, and then execution equipment and platform pole are moved by power-equipment, is realized in the level of scanning platform Rise or level declines.

Further, the elevating mechanism also has control device, and the control device has human-computer interface control unit, number According to transmission unit and CPU, the CPU includes control system, and the control system has host computer Software and slave computer software；The upper computer software is used to realize that the kinematic axis of non real-time nature to be managed, communication failure is shown, spacing Status display and motion state are shown；The slave computer software is used for position control, spacing detection and the motor for realizing real-time Fault detect；Encoder is also equipped with the elevating mechanism, the encoder is connected with motor, is connected during the motor work Bar, which is rotated, drives the code-disc on the encoder to rotate and obtain working signal, and the encoder is by data transmission unit by work CPU is passed to as signal, the CPU is driven after handling working signal by control system The power-equipment motion, and then move execution equipment and platform pole by power-equipment, realize the level of scanning platform Rise or level declines.

Further, the base portion is to have neck, the liter in detachable connection, the base portion with elevating mechanism The bottom of descending mechanism has the tongue and groove coordinated with the neck, the movable connection of neck and tongue and groove；The base portion bottom Pulley system is provided with, the pulley system can make the base portion and the other part common horizontals being fixed in base portion It is mobile.

A kind of three-dimensional scanner, with the live standing tree 3 D laser scanning hoistable platform；The live standing tree three-dimensional swashs There is opening encircling type support body and circular orbit, the circular orbit is opened located at described on the scanning platform of optical scanning hoistable platform Between mouth encircling type support body bottom and scanning platform, the opening encircling type support body passes through the circular orbit and scanning platform connects Connect, the opening encircling type support body can be fixed or slided on the circular orbit；The opening encircling type support body is provided with Laser Scanning Equipment.

Further, the opening encircling type support body is double-decker, with upper strata support body and lower floor's support body, the upper bed rack Connected between body and lower floor's support body by column, the column includes fixed column and movable post, the upper strata support body and institute Stating the opposite inner side of lower floor's support body has the column dynamic rail being arranged in pairs；Lower floor's support body bottom, which has, embraces track slot, described armful of rail There is groove groove top surface, inner side to hook arm and outside hook arm, and described armful of track slot is clasped described by inner side hook arm and outside hook arm It is evenly distributed with circular orbit, the circular orbit with the opposite side of groove top surface in Pneumatic floating pearl, the circular orbit It is connected with compressed air；Also there is support body to slide part, the support body sliding part can make the opening on the circular orbit Sliding, the counterclockwise sliding or fixed clockwise on circular orbit of encircling type support body.

The beneficial effects of the utility model are：Base portion and the scanning of live standing tree 3 D laser scanning hoistable platform can be made flat Platform can encircle live standing tree, and lifting and the synchronous scanning of many three-dimensional laser instrument are realized while live standing tree is encircled, and then Complete live standing tree trunk surface topography scan cloud data is resulted in, enables complete live standing tree trunk surface 3-D view It is enough to reduce the workload of later image splicing in a computer by accurate reproduction, at the same improve signal acquisition speed and It is stable.

Brief description of the drawings

Fig. 1 is general structure schematic diagram of the present utility model；

Fig. 2 is a kind of side structure schematic diagram of embodiment of the utility model；

Fig. 3 is the side structure schematic diagram of the utility model another embodiment；

Fig. 4 is the general structure schematic diagram of another angle of the utility model；

Fig. 5 is the stereogram of the utility model live standing tree there-dimensional laser scanning device；

Fig. 6 is the utility model live standing tree 3 D laser scanning hoistable platform partial schematic diagram；

Fig. 7 is a kind of lifting schematic diagram of embodiment of the utility model live standing tree 3 D laser scanning hoistable platform；

Fig. 8 is a kind of schematic diagram of embodiment of the utility model live standing tree 3 D laser scanning hoistable platform；

Fig. 9 is the utility model live standing tree there-dimensional laser scanning device structural representation；

Figure 10 is the schematic diagram that the utility model live standing tree there-dimensional laser scanning device opening encircling type support body is slided；

Figure 11 is a kind of schematic diagram of embodiment of the utility model live standing tree there-dimensional laser scanning device；

Figure 12 is the structural representation of another angle of the utility model live standing tree there-dimensional laser scanning device；

Figure 13 is the structural representation of armful track slot and circular orbit in the utility model live standing tree there-dimensional laser scanning device；

Figure 14 is the structural representation of armful track slot and circular orbit working condition in the utility model；

Each several part implication is as follows in figure：1 base portion；11 base bodies；12 pedestal left arms；13 pedestal right arms；14 openings；2 Elevating mechanism；21 power-equipments；22 perform equipment；23 platform poles；24 control devices；25 encoders；3 scanning platforms；31 sweep Retouch entrance；32 opening encircling type support bodys；321 upper strata support bodys；322 lower floor's support bodys；323 fixed columns；324 movable posts；325 armfuls of rails Groove；326 groove top surfaces；327 inner sides hook arm；328 outsides hook arm；329 column dynamic rails；33 circular orbits；331 Pneumatic floating pearls；332 framves Body slides part；4 Laser Scanning Equipments.

Embodiment

Illustrate embodiment of the present utility model below in conjunction with the accompanying drawings.

Embodiment 1：Illustrate present embodiment, a kind of live standing tree described in present embodiment with reference to Fig. 1, Fig. 2 and Fig. 3 3 D laser scanning hoistable platform, with base portion 1, elevating mechanism 2 and scanning platform 3, the liter is installed in the base portion 1 The scanning platform 3 is installed on descending mechanism 2, the elevating mechanism 2, by controlling the elevating mechanism 2 to make the scanning Platform 3 carries out horizontal lifting motion relative to the base portion 1；The base portion 1 has opening 14 and plane is u-shaped flat Face, the base portion 1 include base body 11, pedestal left arm 12 and pedestal right arm 13, the base body 11 respectively with pedestal Left arm 12 and pedestal right arm 13 are connected, and the pedestal left arm 12 and the pedestal right arm 13 are oppositely arranged and be mutually not connected to, described Opening 14 is located between the pedestal left arm 12 and the pedestal right arm 13；The scanning platform 3 at least has one and is scanned into Mouth 31, the direction of the scanning entrance 31 is identical with the direction of the opening 14.

Present embodiment has the technical effect that：Base portion and the scanning of live standing tree 3 D laser scanning hoistable platform can be made flat Platform can encircle live standing tree, and lifting is realized while live standing tree is encircled and is scanned, and then results in and more accurately scans As a result, enable the high definition 3-D view of live standing tree in a computer by accurate reproduction, improve the speed and stably of signal acquisition Property.

Embodiment 2：Illustrate present embodiment, a kind of live standing tree described in present embodiment with reference to Fig. 1, Fig. 2 and Fig. 3 3 D laser scanning hoistable platform, the elevating mechanism 2 has power-equipment 21, performs equipment 22 and platform pole 23, described Power-equipment 21 is connected with performing equipment 22, and the platform pole 23 is connected with base portion 1 and the scanning platform 3 respectively, institute Stating platform pole 23 makes the holding level of scanning platform 3, and the scanning platform 3 is in institute in the presence of the execution equipment 22 State and make horizontal ascending motion or horizontal descending motion on platform pole 23；Other are identical with embodiment 1.

Present embodiment has the technical effect that：Coordinated as a result of power-equipment, execution equipment and platform pole, Scanning platform is steadily lifted by elevating mechanism, and then ensure that the three-dimensional laser on scanning platform is swept Retouch equipment smoothly to lift, it is also ensured that many stable synchronization liftings of 3 D laser scanning equipment and scanning simultaneously obtain living vertical Wood surface pattern Point Cloud of Laser Scanner, is conducive to improving the precision and image quality scanned.

Embodiment 3：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, a kind of live standing tree described in present embodiment is three-dimensional Laser scanning hoistable platform, the power-equipment 21 is air compressor or hydraulic press, and the execution equipment 22 is expansion link, institute Platform pole 23 is stated for scissors type elevating bar assembly, the scissors type elevating bar assembly has the solid bar in bottom, the solid bar in top and pivot Axle, the solid bar of the solid bar in the bottom and the top is connected with each other by the pivot, the solid bar in the bottom and 1 turn of the base portion Axle is connected and is slidably connected with the scanning platform 3, and the solid bar in the top is connected and the base with the rotating shaft of scanning platform 3 Portions 1 are slidably connected；The scissors type elevating bar assembly is two groups, one of which connection pedestal left arm 12 and scanning platform 3, separately One group of connection pedestal right arm 13 and scanning platform 3, the expansion link are at least connected and energy with any group of scissors type elevating bar assembly One end horizontal movement for enough promoting the solid bar in top to be slidably connected with base portion, and then realize that scissors type elevating bar assembly is flat to scanning The lifting or reduction of platform 3；Other are identical with embodiment 2.

Present embodiment has the technical effect that：As a result of air compressor or hydraulic press as power-equipment, do not make Cause that transmission is more flexible with machine driving, and due to that can be avoided using screw rod transmission using scissors type elevating bar assembly That brings mechanical part crosses quick-wearing；Scissors type elevating bar assembly can carry out lifting and reduction, and the scissor-type as needed Lifting rod component is two groups, one of which connection pedestal left arm and scanning platform, another group of connection pedestal right arm and scanning platform, So that both may insure that platform or so was lifted simultaneously, preferably live standing tree can be encircled again, it is ensured that to complete living vertical The realization of wood surface pattern 3 D laser scanning.

Embodiment 4：Illustrate present embodiment, present embodiment institute with reference to Fig. 1, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 8 A kind of live standing tree 3 D laser scanning hoistable platform is stated, the power-equipment 21 is motor, and the execution equipment 22 is lift, The platform pole 23 is the combination of screw mandrel or screw mandrel and smooth shaft, and one end of the screw mandrel is connected with nut thread, described Nut is fixedly connected with scanning platform 3, and the screw mandrel other end is connected with the lift, the motor and the lift it Between pass through connecting rod and shaft coupling and connect；Have when the lift is multiple between the motor and the lift and turn to Also there is connecting rod and shaft coupling between device, the lift；The screw mandrel is more than three, and screw mandrel is connected with lift Tie point is not located along the same line entirely；Other are identical with embodiment 2.

Present embodiment has the technical effect that：Screw mandrel is employed due to platform pole and coordinated with lift and screw mandrel, is made Obtaining the lifting process between multiple screw mandrels can effectively keep synchronous, make lifting platform more steady, be conducive to scanning device to exist It is easier to obtain clearly live standing tree view data on scanning platform；When Laser Scanning Equipment is many, many are conducive to swash The raising of the scanning synchronism of optical scanning device so that accurate live standing tree surface topography can be directly obtained in last handling process Three-dimensional reconstruction image, reduces the complexity of image mosaic.

Embodiment 5：Illustrate present embodiment with reference to Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 7, one described in present embodiment Live standing tree 3 D laser scanning hoistable platform is planted, the lift has worm gear reducer mechanism, and the worm gear reducer mechanism includes Worm gear and worm screw, the worm screw are connected with shaft coupling, and the center of the worm gear is fixedly connected with the screw mandrel, the worm gear and snail Bar is intermeshed, and when the worm screw rotates, the worm gear is rotated simultaneously with screw mandrel, and flat with scanning when the screw mandrel is rotated The nut that platform is fixedly connected rises or falls on elevating lever；The motor can by shaft coupling, connecting rod and steering gear Multiple lift synchronous axial systems are driven, when multiple lift synchronous axial systems, then the screw mandrel drives multiple described Nut is moved simultaneously, and drives scanning platform level to rise or level decline simultaneously；Other are identical with embodiment 4.

Present embodiment has the technical effect that：Because motor passes through the multiple liftings of shaft coupling, connecting rod and steering gear drive Worm gear in machine synchronous axial system, multiple lifts drives the screw mandrel at respective lift center to rotate, and drives multiple screw mandrels multiple Nut is moved simultaneously, makes lifting platform more steady, improves the efficiency and synchronism of scanning, and then ensure that the essence of testing result Parasexuality, science.

Embodiment 6：Illustrate present embodiment with reference to Fig. 1, Fig. 3, Fig. 7, Fig. 9 and Figure 10, described in present embodiment A kind of live standing tree 3 D laser scanning hoistable platform, the elevating mechanism 2 also has control device 24, and the control device 24 has There are man-machine interface control unit, data transmission unit and CPU, the CPU includes control system, institute Stating control system has upper computer software and slave computer software；The upper computer software is used for the motion central siphon for realizing non real-time nature Manage, communication failure is shown, spacing status display and motion state are shown；The slave computer software is used for the position for realizing real-time Control, spacing detection and electrical fault detection；Start information when the control device 24 is obtained by human-computer interface control unit Afterwards, data transmission unit will start information transfer to CPU, and the CPU is to starting at information Drive the power-equipment 21 to move by control system after reason, and then execution equipment 22 and platform branch are made by power-equipment 21 Bar 23 is moved, and realizes that the level of scanning platform 3 rises or level decline；Other are identical with any one of embodiment 2-5.

Present embodiment has the technical effect that：Due to having used control device, control device includes human-computer interaction interface, Make equipment operation more directly perceived, reduce operation difficulty, reduce the technical requirements to device operator.Data transmission unit makes With enabling the whole service process Real-time Feedback of hoistable platform to control device, reported in real time by human-computer interaction interface To operator.In addition, the use of upper computer software and slave computer software, makes the range of hoistable platform rationally be controlled, Running status is monitored in real time, serves reduction equipment damage, the effect of delay apparatus life-span and monitoring device state.With this Meanwhile, the use of control device, it is to avoid the human error produced by artificial control improves Laser Scanning Equipment signal acquisition Stability and veracity, with improve scanning accuracy effect.

Embodiment 7：Illustrate present embodiment, present embodiment institute with reference to Fig. 3, Fig. 9, Figure 10, Figure 11 and Figure 12 A kind of live standing tree 3 D laser scanning hoistable platform is stated, the elevating mechanism 2 also has control device 24, the control device 24 With human-computer interface control unit, data transmission unit and CPU, the CPU includes control system, The control system has upper computer software and slave computer software；The upper computer software is used for the kinematic axis for realizing non real-time nature Manage, communication failure is shown, spacing status display and motion state are shown；The slave computer software is used for the position for realizing real-time Put control, spacing detection and electrical fault detection；Be also equipped with encoder 25 on the elevating mechanism 2, the encoder 25 with Motor is connected, and connecting rod, which is rotated, during the motor work drives the code-disc on the encoder to rotate and obtain working signal, institute State encoder and working signal is passed to by CPU by data transmission unit, the CPU is believed work Drive the power-equipment 21 to move by control system after number being handled, and then execution equipment 22 is made by power-equipment 21 Moved with platform pole 23, realize that the level of scanning platform 3 rises or level decline；Other and the phase of embodiment 4 or 5 Together.

Present embodiment has the technical effect that：Due to being provided with encoder, calculation code device rotating speed and leading screw can be passed through Relation between lifting speed is set after the sweep speed of three-dimensional laser scanner, electric motor starting by shaft coupling, connecting rod Encoder is also driven together to rotate while driving multiple lift synchronous axial systems with steering gear, coding passes through data transmission unit Computer is passed data to, computer control three-dimensional laser scanner is triggered with decoders-Synchronous, makes the lifting of platform is same to sweep Retouch instrument triggering synchronous, reach and improve scanning accuracy, reduce the effect of machine error.

Embodiment 8：Illustrate present embodiment with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 9 and Figure 10, described in present embodiment A kind of live standing tree 3 D laser scanning hoistable platform, the base portion 1 is detachable connection, the pedestal with elevating mechanism 2 There is neck, the bottom of the elevating mechanism 2 has the tongue and groove coordinated with the neck, neck and the tongue and groove activity in portion 1 Formula is connected；The base portion bottom is provided with pulley system, and the pulley system can make the base portion and be fixed on pedestal Other part common horizontals movement in portion；Other are identical with any one of embodiment 1-7.

Present embodiment has the technical effect that：Because the base portion and elevating mechanism are that detachable connection causes field Investigate and forest scientific research carries this equipment and become easier to, can preferably monitor the plant equipment such as automobile, tractor can not arrive The field reached or forest, result in more valuable scan data；Meanwhile, this Demountable is also more convenient laboratory Use and preserve, improve the utilization rate and service life of equipment.

Embodiment 9：Illustrate present embodiment, this reality with reference to Fig. 1, Fig. 3, Fig. 9, Figure 10, Figure 12, Figure 13 and Figure 14 A kind of live standing tree there-dimensional laser scanning device described in mode is applied, with live standing tree 3 D laser scanning hoistable platform, the work is stood Also there is opening encircling type support body 32 and circular orbit 33, the ring on the scanning platform 3 of wooden 3 D laser scanning hoistable platform Shape track 33 is between the bottom of opening encircling type support body 32 and scanning platform 3, and the opening encircling type support body 32 passes through The circular orbit 33 is connected with scanning platform, the opening encircling type support body 32 can be fixed on the circular orbit 33 or Slide；The opening encircling type support body 32 is provided with Laser Scanning Equipment 4；Other phases any one of with embodiment 1-8 Together.

Present embodiment has the technical effect that：Due to being provided with circular orbit, enable opening encircling type support body described Fixed or slip, is conducive to the progress of three laser scannings on circular orbit.

Embodiment 10：Illustrate present embodiment, this embodiment party with reference to Fig. 3, Fig. 4, Fig. 7, Fig. 9, Figure 13 and Figure 14 A kind of live standing tree there-dimensional laser scanning device described in formula, the opening encircling type support body 32 is double-decker, with upper strata support body 321 and lower floor's support body 322, connected between the upper strata support body 321 and lower floor's support body 322 by column, the column bag Fixed column 323 and movable post 324 are included, the upper strata support body 321 and the opposite inner side of lower floor's support body 322 have what is be arranged in pairs Column dynamic rail 329；The bottom of lower floor's support body 322, which has, embraces track slot 323, and described armful of track slot 323 has groove top surface 324, inner side Hook arm 325 and outside hooks arm 326, described armful of track slot 323 hooks arm 325 by the inner side and outside hooks arm 326 and clasps the ring On shape track 33, the circular orbit 33 Pneumatic floating pearl 331, the ring are evenly distributed with the opposite side of the groove top surface 324 Compressed air is connected with shape track 33；On the circular orbit 33 also there is support body to slide part 332, the support body slides part 332 can make the opening encircling type support body 32 sliding, counterclockwise sliding or fixed clockwise on circular orbit 33；Other with Embodiment 9 is identical.

Present embodiment has the technical effect that：Due to embracing, track slot hooks arm by inner side and outside hooks arm and clasps the circular rails Pneumatic floating pearl is evenly distributed with the opposite side of groove top surface on road, and the circular orbit, and pressure is connected with circular orbit Contracting air so that the opening encircling type support body on circular orbit can be floated over merrily and lightheartedly on the air cushion formed by compressed air, Opening encircling type support body flexibly can be slided without using lubricating oil on circular orbit, and without having to worry about opening encircling type Support body is deviate from from track；The encircling type support body that is open is provided with scanning means, and the scanning means can obtain apparent more steady Fixed image information.

The utility model effect is verified using following embodiments：

Embodiment one：A kind of live standing tree 3 D laser scanning hoistable platform is flat with base portion 1, elevating mechanism 2 and scanning Installed in platform 3, the base portion 1 and the scanning platform 3 is installed on the elevating mechanism 2, the elevating mechanism 2, pass through control The elevating mechanism 2 can make the scanning platform 3 carry out horizontal lifting motion relative to the base portion 1；The base portion 1 With opening 14 and the u-shaped plane of plane, the base portion 1 includes base body 11, pedestal left arm 12 and pedestal right arm 13, The base body 11 is connected with pedestal left arm 12 and pedestal right arm 13 respectively, the pedestal left arm 12 and the pedestal right arm 13 It is oppositely arranged and is mutually not connected to, the opening 14 is located between the pedestal left arm 12 and the pedestal right arm 13；The scanning Platform 3 has scanning entrance 31, and the direction of the scanning entrance 31 is identical with the direction of the opening 14；The elevating mechanism 2 With power-equipment 21, equipment 22 and platform pole 23 are performed, the power-equipment 21 is motor, and the execution equipment 22 is liter Drop machine, the platform pole 23 is the combination of screw mandrel or screw mandrel and smooth shaft, the motor and lift by connecting rod and Shaft coupling is connected, and the combination of the screw mandrel or screw mandrel and smooth shaft is connected with base portion 1 and the scanning platform 3 respectively, institute Stating the combination of screw mandrel or screw mandrel and smooth shaft makes the holding level of scanning platform 3；One end of the screw mandrel and nut thread Connection, the nut is fixedly connected with scanning platform 3, and the screw mandrel other end is connected with the lift, in the lift In the presence of the scanning platform 3 make in the combination of the screw mandrel or screw mandrel and smooth shaft under horizontal ascending motion or level Drop motion；Have when the lift is multiple between the motor and the lift between steering gear, the lift Also there is connecting rod and shaft coupling；The screw mandrel is three, and the tie point that screw mandrel is connected with lift is located at the three of triangle Individual summit.

Embodiment two：There is steering gear between the motor and the lift when the lift is multiple, it is described Also there is connecting rod and shaft coupling between lift；The screw mandrel is four, and the tie point that screw mandrel is connected with lift is located at Four summits of quadrangle；Remaining is identical with embodiment one.

Embodiment three：A kind of live standing tree 3 D laser scanning hoistable platform is flat with the lifting of live standing tree 3 D laser scanning Also there are opening encircling type support body 32 and circular rails on platform, the scanning platform 3 of the live standing tree 3 D laser scanning hoistable platform Road 33, the circular orbit 33 is between the bottom of opening encircling type support body 32 and scanning platform 3, the opening encircling type Support body 32 is connected by the circular orbit 33 with scanning platform, and the opening encircling type support body 32 can be in the circular orbit Fixed or slip on 33；The opening encircling type support body 32 is provided with Laser Scanning Equipment 4, in the opening encircling type support body 32 On orientation equipment is installed, on the circular orbit 33 be provided with scale；The orientation equipment is compass；Remaining and embodiment One or embodiment two it is identical.

The full surface pattern laser scanning data of scanned object can be preferably obtained by above-described embodiment, Go out the two dimension or 3-D view of object by these data restructurals；The synchronous scanning of three laser scanners can directly obtain compared with Accurate complete object surface topography scan data, reduces the workload of later image splicing；Pass through support in orbit Slide to gather the speed and stability that the data message of live standing tree improves signal acquisition；The use of orientation equipment can ensure Measuring different objects or repeatedly measuring same object has identical initial alignment direction, it is ensured that even all in same forest land Unified inceptive direction is all demarcated in live standing tree scanning, the image initial side in the live standing tree three-dimensional reconstruction image storehouse so set up To being all consistent.

It should be appreciated that above-mentioned embodiment of the present utility model and being given for example only property of embodiment explanation or solution Principle of the present utility model is released, without constituting to limitation of the present utility model.Therefore, without departing from it is of the present utility model spirit and Any modification, equivalent substitution and improvements done in the case of scope etc., should be included in protection domain of the present utility model it It is interior.In addition, the utility model appended claims are intended to fall into scope and border or this scope Example is changed and modifications with the whole in the equivalents on border.

Claims (10)

1. a kind of live standing tree 3 D laser scanning hoistable platform, it is characterised in that：With base portion (1), elevating mechanism (2) and sweep Retouch and install that the scanning is installed on the elevating mechanism (2), the elevating mechanism (2) is flat on platform (3), the base portion (1) Platform (3), by controlling the elevating mechanism (2) that the scanning platform (3) can be made to carry out level relative to the base portion (1) Elevating movement；The base portion (1) has opening (14) and the u-shaped plane of plane, and the base portion (1) includes base body (11), pedestal left arm (12) and pedestal right arm (13), the base body (11) respectively with pedestal left arm (12) and pedestal right arm (13) connect, the pedestal left arm (12) and the pedestal right arm (13) are oppositely arranged and be mutually not connected to, described opening (14) position Between the pedestal left arm (12) and the pedestal right arm (13)；The scanning platform (3) at least has a scanning entrance (31), the direction of the scanning entrance (31) is identical with the direction of the opening (14).

2. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 1, it is characterised in that：The elevating mechanism (2) there is power-equipment (21), equipment (22) and platform pole (23) is performed, the power-equipment (21) is with performing equipment (22) Connection, the platform pole (23) is connected with base portion (1) and the scanning platform (3) respectively, and the platform pole (23) makes The scanning platform (3) keeps level, and the scanning platform (3) is in the platform branch in the presence of the execution equipment (22) Make horizontal ascending motion or horizontal descending motion on bar (23).

3. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 2, it is characterised in that：The power-equipment (21) it is air compressor or hydraulic press, the execution equipment (22) is expansion link, and the platform pole (23) is scissor-type liter Bar assembly drops, and the scissors type elevating bar assembly has the solid bar in bottom, the solid bar in top and pivot, the solid bar in the bottom and the top The solid bar in end is connected with each other by the pivot, the solid bar in the bottom and the base portion (1) and rotating shaft be connected is put down with described scan Platform (3) is slidably connected, the solid bar in the top and the scanning platform (3) and rotating shaft is connected and is slidably connected with the base portion (1)； The scissors type elevating bar assembly is two groups, one of which connection pedestal left arm (12) and scanning platform (3), another group of linker Seat right arm (13) and scanning platform (3), the expansion link are at least connected and can promoted with any group of scissors type elevating bar assembly One end horizontal movement that the solid bar in top is slidably connected with base portion, and then realize scissors type elevating bar assembly to scanning platform (3) Lifting or reduction.

4. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 2, it is characterised in that：The power-equipment (21) it is motor, the execution equipment (22) is lift, and the platform pole (23) is screw mandrel or screw mandrel and smooth shaft Combination, one end of the screw mandrel is connected with nut thread, and the nut is fixedly connected with scanning platform (3), and the screw mandrel is another End is connected with the lift, is connected between the motor and the lift by connecting rod and shaft coupling；When the lifting Having when machine is multiple between the motor and the lift also has connecting rod and shaft coupling between steering gear, the lift Device；The screw mandrel is more than three, and the tie point that screw mandrel is connected with lift is not located along the same line entirely.

5. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 4, it is characterised in that：The lifting equipment There is worm gear reducer mechanism, the worm gear reducer mechanism includes worm gear and worm screw, and the worm screw is connected with shaft coupling, the worm gear Center is fixedly connected with the screw mandrel, the worm gear and worm screw intermeshing, the worm gear and screw mandrel when the worm screw rotates Rotate simultaneously, and the nut being fixedly connected when the screw mandrel is rotated with scanning platform rises or falls on elevating lever； The motor can drive multiple lift synchronous axial systems by shaft coupling, connecting rod and steering gear, when multiple liftings During machine synchronous axial system, then the screw mandrel drives multiple nuts move simultaneously, and drive scanning platform level rising simultaneously or Level declines.

6. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 2,3,4 or 5, it is characterised in that：It is described Elevating mechanism (2) also has control device (24), and the control device (24) has human-computer interface control unit, data transfer list Member and CPU, the CPU include control system, and the control system has upper computer software with Position machine software；The upper computer software is used to realize that the kinematic axis of non real-time nature to be managed, communication failure is shown, spacing status display And motion state is shown；The slave computer software is used to realize the position control of real-time, spacing detection and electrical fault detection； After the control device (24) is obtained by human-computer interface control unit starts information, data transmission unit will start information and pass CPU is defeated by, the CPU drives the power after handling startup information by control system Equipment (21) is moved, and then moves execution equipment (22) and platform pole (23) by power-equipment (21), realizes that scanning is flat The level of platform (3) rises or level declines.

7. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 4 or 5, it is characterised in that：The lifting Mechanism (2) also have control device (24), the control device (24) have human-computer interface control unit, data transmission unit and CPU, the CPU includes control system, and the control system has upper computer software and slave computer Software；The upper computer software be used to realizing the kinematic axis management of non real-time nature, communication failure show, spacing status display and fortune Dynamic status display；The slave computer software is used to realize the position control of real-time, spacing detection and electrical fault detection；It is described Encoder (25) is also equipped with elevating mechanism (2), the encoder (25) is connected with motor, connecting rod during the motor work Rotate and drive the code-disc on the encoder to rotate and obtain working signal, the encoder (25) will by data transmission unit Working signal passes to computer, and computer control 3 D laser scanning equipment (4) triggering synchronous with encoder (25) makes scanning The triggering of the same scanning device of lifting (4) of platform (3) reaches synchronization.

8. a kind of live standing tree 3 D laser scanning hoistable platform according to claim 7, it is characterised in that：The base portion (1) it is that there is neck, the bottom of the elevating mechanism (2) on detachable connection, the base portion (1) with elevating mechanism (2) With the tongue and groove coordinated with the neck, the movable connection of neck and tongue and groove；The base portion bottom is provided with pulley system System, the pulley system can move the base portion and the other part common horizontals being fixed in base portion.

9. a kind of live standing tree there-dimensional laser scanning device, it is characterised in that：With live standing tree any one of claim 1-8 3 D laser scanning hoistable platform；There is split ring on the scanning platform (3) of the live standing tree 3 D laser scanning hoistable platform Formula support body (32) and circular orbit (33) are embraced, the circular orbit (33) is located at described opening encircling type support body (32) bottom with sweeping Retouch between platform (3), the opening encircling type support body (32) is connected by the circular orbit (33) with scanning platform, described to open Mouth encircling type support body (32) can be fixed or slided on the circular orbit (33)；Set on the opening encircling type support body (32) There is Laser Scanning Equipment (4).

10. a kind of live standing tree there-dimensional laser scanning device according to claim 9, it is characterised in that：The opening encircling type Support body (32) is double-decker, with upper strata support body (321) and lower floor's support body (322), the upper strata support body (321) and it is described under Layer frame body is connected between (322) by column, and the column includes fixed column (323) and movable post (324), the upper strata support body And the opposite inner side of lower floor's support body (322) has the column dynamic rail (329) being arranged in pairs (321)；Lower floor's support body (322) Bottom, which has, embraces track slot (325), and there is described armful of track slot (325) groove top surface (326), inner side to hook arm (327) and outside hook arm (328), described armful of track slot (325) hooks arm (327) by the inner side and outside hooks arm (328) and clasps the circular orbit (33) Pneumatic floating pearl (331), is evenly distributed with the opposite side of the groove top surface (326) on the circular orbit (33), it is described Compressed air is connected with circular orbit (33)；Also there is support body sliding part (332), the support body on the circular orbit (33) Sliding part (332) can make the opening encircling type support body (32) slide, be slided counterclockwise clockwise on circular orbit (33) Move or fixed.