CN206648610U - Three-dimensional laser scanner - Google Patents
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- CN206648610U CN206648610U CN201720404724.1U CN201720404724U CN206648610U CN 206648610 U CN206648610 U CN 206648610U CN 201720404724 U CN201720404724 U CN 201720404724U CN 206648610 U CN206648610 U CN 206648610U
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Abstract
Scanning device technical field is the utility model is related to, more particularly to a kind of three-dimensional laser scanner, including support, industrial camera, linear laser and power source, industrial camera and linear laser are arranged on support；Power source and support are connected, for drive industrial camera and linear laser coaxially it is horizontal and or vertical direction on synchronous rotary motion；Linear laser is used for object table surface-emission laser to be measured, and industrial camera is used to obtain the laser from target surface to be measured reflection.It is by the way of linear laser and industrial camera combine, laser is projected to target surface to be measured by linear laser, industrial camera obtains the laser image of target surface to be measured, industrial camera and linear laser can be rotated synchronously in the horizontal and vertical directions simultaneously, therefore whole space can be scanned, final process obtains the three-dimensional data in whole space, and precision is high and simple to operate, scan and reconstruct suitable for the interior space, be easy to the positioning of robot.
Description
Technical field
Scanning device technical field is the utility model is related to, more particularly to a kind of three-dimensional laser scanner.
Background technology
In traditional interior decoration, various techniques are typically manually realized.Beaten in some renovation process such as wall surface putty
Mill, occurs the uneven phenomenon of construction quality, therefore would is that by the realization of robot if being completed if manually
Inevitable trend.In the automatic metope polishing of finishing robot, there is the positioning that a key technology is exactly robot.So-called machine
The positioning of device people be exactly sometime robot room where, relative to metope where.Robot determines
Position needs alignment sensor, finishing robot is obtained the information of indoor positioning.Technical scheme about robot indoor positioning
Have：Ultrasonic positioning system, infrared ray location system, wireless network positioning system etc..
But the positioning method precision of above-mentioned alignment system is relatively low, and three-dimensional reconstruction can not be carried out, i.e., can not obtain wall
The three-dimensional information of obvious characteristic thing on the profile information and metope in face.There is a sensor that can be used as indoor positioning at present
Kinect, it can also carry out three-dimensional reconstruction to indoor profile, but its measurement accuracy is than relatively low.
Utility model content
Based on this, it is necessary to for traditional positioning method precision it is relatively low the problem of, there is provided one kind can be used in robot
Positioning, the higher three-dimensional laser scanner of precision.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of three-dimensional laser scanner, including support, industrial camera, linear laser and power source, industrial camera and line
Property laser is arranged on support；Power source is connected with support, for driving industrial camera and linear laser in water
It is gentle or vertical direction on do synchronous rotary motion；
Linear laser is used for object table surface-emission laser to be measured, and it is anti-from target surface to be measured that industrial camera is used for acquisition
The laser penetrated.
In one of the embodiments, industrial camera is arranged at intervals with linear laser, optical axis and the industry of industrial camera
Camera, the rotary shaft of linear laser in the vertical direction are vertical.
In one of the embodiments, industrial camera and the distance at linear laser interval are more than or equal to 144mm.
In one of the embodiments, the angular range of the optical axis of the plane of departure of linear laser and industrial camera is
8.64 °~32.94 °.
In one of the embodiments, the rotary shaft of industrial camera and linear laser in the horizontal direction with vertical side
The intersection point of upward rotary shaft is pivot；
Industrial camera and linear laser are located at the both sides of pivot respectively.
In one of the embodiments, support includes horizontal head and pitching rotary, and pitching rotary is arranged on horizontal head
On, horizontal head can drive pitching rotary to horizontally rotate in the horizontal direction；
Industrial camera and linear laser are arranged on pitching rotary；Pitching rotary can drive industrial camera and linear
Laser in the vertical direction pitch rotation.
In one of the embodiments, support also includes supporting plate；Pitching rotary is arranged on supporting plate, and can be relative
In supporting plate in the vertical direction pitch rotation；
Horizontal head can be horizontally rotated to drive support plate level by connecting rod connecting bracket plate, horizontal head itself
Rotate；
Or connecting rod can be horizontally rotated relative to horizontal head to drive supporting plate to horizontally rotate.
In one of the embodiments, pitching rotary includes pitch rotation plate and two support shafts, industrial camera and linear
Laser is arranged on pitch rotation plate；Two support shafts are separately positioned on the both ends of pitch rotation plate；
Two bearing blocks are provided with supporting plate；Pitch rotation plate is rotated with two bearing blocks respectively by two support shafts
Connect and be rotatably connected on supporting plate.
In one of the embodiments, power source includes the first power source and the second power source, and the first power source is arranged on
On horizontal head, for driving supporting plate to horizontally rotate；
Second power source is arranged on supporting plate, for driving pitch rotation plate pitch rotation.
In one of the embodiments, it is provided with level vial on horizontal head and pitch rotation plate.
Above-mentioned three-dimensional laser scanner, by the way of linear laser and industrial camera combine, pass through linear laser
Laser is projected to target surface to be measured, and industrial camera obtains the laser image of target surface to be measured, while industrial camera and linear
Laser can be rotated synchronously in the horizontal and vertical directions, therefore can scan whole space, and final process obtains whole
The three-dimensional data in individual space, precision is high and simple to operate, scans and reconstructs suitable for the interior space.
Brief description of the drawings
Fig. 1 is the structural representation for the three-dimensional laser scanner that the utility model embodiment provides；
Fig. 2 is the schematic diagram for the three-dimensional laser scanner that the utility model embodiment provides.
Wherein：
100- supports；
The horizontal heads of 110-；
120- pitching rotaries；121- pitch rotation plates；122- support shafts；
130- supporting plates；131- bearing blocks；
140- connecting rods；
150- level vials；
200- industrial cameras；
300- linear lasers；
The power sources of 400- first；
The power sources of 500- second.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, by the following examples, and tie
Accompanying drawing is closed, three-dimensional laser scanner of the present utility model is further elaborated.It should be appreciated that tool described herein
Body embodiment only to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element be referred to as " directly existing " another element " on " when,
In the absence of intermediary element.Term as used herein " vertical ", " horizontal ", "left", "right" ", " on ", " under " it is and similar
Statement for illustrative purposes only.
Three-dimensional laser scanner of the present utility model, spatial scene can be scanned, and then can realized to whole
The three-dimensional reconstruction of spatial scene, the information accurately positioned is provided for the positioning of robot, it has scanning accuracy high, and cost is low
The advantages that.Certainly, the scanner, which also can be suitably used for other, needs to scan, builds in the application of three-dimensional scenic.
As shown in figure 1, the three-dimensional laser scanner that the embodiment of the utility model one provides, including support 100, industrial camera
200th, linear laser 300 and power source, industrial camera 200 and linear laser 300 are arranged on support 100；Power source
Be connected with support 100, for drive industrial camera 200 and linear laser 300 it is horizontal and or vertical direction on do it is same
Walk rotary motion；
Linear laser 300 is used for object table surface-emission laser to be measured, and industrial camera 200 is used to obtain from target to be measured
The laser of surface reflection.
Wherein, linear laser 300 is used to send laser, preferably by a word linear laser, you can in mesh to be measured
The striation of a wordline shape is formed on mark surface, line width is about 0.4mm.The optical maser wavelength of linear laser 300 can be 635nm.
Industrial camera 200 is used to obtain the laser from target surface to be measured reflection, and it can be resolution ratio 3072 × 2048, frame per second 30
The video camera of frame/second., can be according to linear on industrial camera 200 in order to reduce environmental disturbances, obtain more accurate scanning result
The wavelength that laser 300 launches laser correspondingly sets filter, and the filter is used to carry out the light for entering industrial camera 200
Filtering, so that the light consistent with the optical maser wavelength that linear laser 300 exports enters in industrial camera 200.In the present embodiment,
The filter makes industrial camera 200 only receive the spectrum that specific wavelength is 635nm.If the it is appreciated that linear laser 300 of selection
When launching the light of other wavelength, industrial camera 200 changes filter accordingly.
In addition, industrial camera 200 and linear laser 300 can be disposed on support 100, spacing distance can basis
The optical plane angle and the visual angle of industrial camera 200 that linear laser 300 is launched are set, to ensure regarding for industrial camera 200
Angle can get the image that the ray plane that linear laser 300 is sent is formed in target surface to be measured, prevent linear sharp
The mounting means of light device 300 and industrial camera 200 causes to obtain less than laser rays inside the visual field of industrial camera 200, avoids
Scan function can not be realized.
For example, it is mainly visual angle by industrial camera 200, mounting means that can industrial camera 200, which get laser image,
And the mounting means of linear laser 300 determines, and both mounting means differences do not cause the scope of scanner ranging also not
Equally, during practical application, both setting angles can be adjusted as needed.When the direction and linear laser of the camera lens of industrial camera 200
When the optical plane that device 300 is launched is parallel to each other, i.e., both of which is vertical with target surface to be measured, now the survey of three-dimensional laser scanner
It is larger away from scope, substantially 500mm~6000mm.The light that the direction of the camera lens of industrial camera 200 is launched with linear laser 300 is put down
Face can also be mutually perpendicular to, now the finding range of three-dimensional laser scanner substantially 187mm~746mm.The mirror of industrial camera 200
The optical plane that the direction of head is launched with linear laser 300 can also be set in obtuse angle, the now ranging of three-dimensional laser scanner
Scope is smaller.
When using three-dimensional laser scanner, scanner support 100 should be placed on first pre- away from target surface to be measured
If position, adjust support 100, industrial camera 200 and linear laser 300 is turned an angle straight up, connect
Horizontally rotates industrial camera 200 and linear laser 300, realizes the scanning to target surface top half to be measured；Afterwards
Industrial camera 200 and linear laser 300 are turned an angle straight down, similarly makes industrial camera 200 and linearly swashs
Light device 300 horizontally rotates, and realizes the scanning to target surface the latter half to be measured, and then completes to whole target surface to be measured
Scanning, the image that can be finally shot by software processing industrial camera 200, the profile of the whole target surface to be measured of acquisition
Information.In concrete application, such as during scanning applied to the interior space, industrial camera 200 and linear laser 300 can be made horizontal
360 ° are rotated, completes the three-dimensional reconstruction of whole interior space profile.
It is appreciated that above-mentioned " on " " under " be relative to the horizontal plane where industrial camera 200 and linear laser 300 and
The relative concept of speech；In addition, spatial digitizer can also be used to as needed be scanned the target to be measured of any direction, obtain
The three-dimensional information of target to be measured.
For example, in other embodiments, the occupation mode of scanner, which can also be, first makes industrial camera 200 and linear laser
The level of device 300 turns left certain angle, then make industrial camera 200 and linear laser 300 rotate vertically 360 ° or other
Angle, realize the scanning to target surface left part to be measured；Afterwards by industrial camera 200 and linear laser 300 it is horizontal to
The right side turns an angle, and industrial camera 200 and linear laser 300 is rotated 360 ° or other angles vertically, realizes
Scanning to target surface right part to be measured, it so can also realize the scanning to whole target surface to be measured.
As a kind of enforceable mode, support 100 includes horizontal head 110 and pitching rotary 120, pitching rotary 120
It is arranged on horizontal head 110, horizontal head 110 can drive pitching rotary 120 to horizontally rotate in the horizontal direction；Industrial phase
Machine 200 and linear laser 300 are arranged on pitching rotary 120；Pitching rotary 120 can drive industrial camera 200 and line
The property in the vertical direction pitch rotation of laser 300.
Further, three-dimensional laser scanner also includes supporting plate 130；Pitching rotary 120 is arranged on supporting plate 130,
And can be relative to the in the vertical direction pitch rotation of supporting plate 130；Horizontal head 110 passes through the connecting bracket plate of connecting rod 140
130, horizontal head 110 itself can be horizontally rotated to drive supporting plate 130 to horizontally rotate.
In one embodiment, connecting rod 140 can be horizontally rotated relative to horizontal head 110 to drive supporting plate 130
Horizontally rotate.
Wherein, support 100 may also include the supporting constructions such as tripod, for support level head 110 and pitching rotary
120 etc., tripod etc. can adjust height so that scanner be in the suitable scan position of height, tripod etc. can be with water
Flat head 110 connects.
Power source can include the first power source 400 and the second power source 500, and the first power source 400 is used to drive level
Head 110 or connecting rod 140 horizontally rotate in the horizontal direction, to drive supporting plate 130 to horizontally rotate so that be arranged on branch
Pitching rotary 120 on frame plate 130 horizontally rotates in the horizontal direction, and the second power source 500 is used to drive pitching rotary 120 to exist
In the vertical direction pitch rotation.First power source 400 can be that stepper motor or motor match somebody with somebody turbine and worm decelerator, stepping
Motor can be 42 serial stepper motors, and the speed reducing ratio of turbine and worm decelerator can be 1：90.Supporting plate 130 horizontally rotates
There can be a variety of implementations, such as horizontal head 110 itself can rotate, specifically, horizontal head 110 can include base
And floating bearing, one end of connecting rod 140 are connected with floating bearing, the other end is connected with supporting plate 130.Motor is installed on base
With turbine and worm decelerator, motor output shaft is connected with the worm screw of turbine and worm decelerator, the turbine of turbine and worm decelerator with
Floating bearing connects, and motor operating drives worm screw to rotate so that and turbine can drive gyroaxis to make horizontal rotation motion, so as to
Supporting plate 130 can horizontally rotate.
Or horizontal head 110 can not rotate itself, enable connecting rod 140 horizontal relative to horizontal head 110
Rotate to drive supporting plate 130 to horizontally rotate.Specifically, horizontal head 110 can include base, and axle is provided with base center
Hole, base lower section are fixedly installed stepper motor, and the output shaft of stepper motor is connected through axis hole with connecting rod 140, stepping electricity
Machine operating drives connecting rod 140 to rotate, and then drives supporting plate 130 to horizontally rotate.Certainly, supporting plate 130 horizontally rotates simultaneously
It is not limited to above form.
The structure type of pitching rotary 120 can have a variety of, and as a kind of enforceable mode, pitching rotary 120 includes
Pitch rotation plate 121 and two support shafts 122, industrial camera 200 and linear laser 300 are arranged at pitch rotation plate 121
On；Two support shafts 122 are separately positioned on the both ends of pitch rotation plate 121；
Two bearing blocks 131 are provided with supporting plate 130；Pitch rotation plate 121 is by two support shafts 122 respectively with two
Individual bearing block 131 is rotatablely connected and is rotatably connected on supporting plate 130.
Second power source 500 can use stepper motor, such as 42 serial stepper motors, and be furnished with planetary reduction gear, its
Speed reducing ratio is 1：27.Stepper motor is fixedly mounted on supporting plate 130, and its output shaft can pass through shaft coupling and a support shaft
122 connections, stepper motor operating directly drive pitch rotation plate 121 so, to be arranged on relative to the pitch rotation of supporting plate 130
Industrial camera 200 and linear laser 300 on pitch rotation plate 121 can either horizontally rotate in the horizontal direction, and and can is enough
In the vertical direction pitch rotation, to realize that the comprehensive scanning to scanning space records.By using 42 serial stepper motors,
And not only torque is big but also rotation precision is high equipped with planetary reduction gear.
Above-mentioned motion can be realized by controller, such as can be by stm32 microcontroller implementations to horizontally rotating
With the control of pitch rotation, and stm32 connects PC by serial ports so that spatial digitizer can be by setting program step on PC
Suddenly be automatically performed scanning, operating personnel only need scanner being positioned over interior, set respectively on PC bow, elevation angle degree
Start scanner to start to scan.From linear laser 300 to scene simulation laser rays, turn by the way that controlled level head 110 is horizontal
Dynamic 360 ° get two groups of cloud datas, by get two groups of Point-clouds Registrations to can obtain the three of whole room together
Cloud data is tieed up, and then completes the reconstruct of indoor three-dimensional environment, resulting cloud data is handled by software, can be with
The negative and positive linea angulata of metope is obtained, and then the profile in the house can be drawn.
Industrial camera 200 can directly be bolted and be fixed on pitch rotation plate 121, can also pass through mounting bracket
It is fixedly mounted on pitch rotation plate 121, linear laser 300 can be fixedly mounted on pitching using a fixed support 100
On rotor plate 121.
, it is necessary to consider that three-dimensional laser scanner respectively forms the position pass of structure on the premise of raising precision is taken into full account
System, it is necessary first to determine the distance being spaced between industrial camera 200 and linear laser 300, the distance can fill according to scanner
The size put, and scanning accuracy are required to calculate and obtained.Industrial camera 200 and linear laser 300 can turn positioned at pitching respectively
At the close both ends of dynamic plate 121, the requirement of distance had both been ensure that, in turn ensure that the overall design rationality of device.
Next, it needs to be determined that industrial camera 200 and mounting means of the linear laser 300 on support 100, that is,
How industrial camera 200 and linear laser 300 are installed relative to pitch rotation plate 121.Wherein, industrial camera 200 can be
Install along the length direction of pitch rotation plate 121, either turn along the width installation of pitch rotation plate 121 or with pitching
The length direction of dynamic plate 121 is installed at an angle；Similarly, linear laser 300 can also have above-mentioned three kinds of mounting means.
As a kind of enforceable mode, width of the industrial camera 200 along pitch rotation plate 121 can be installed
(i.e. the optical axis of industrial camera 200 is vertical with the rotary shaft of industrial camera 200, the in the vertical direction of linear laser 300), now
The optical axis (directions of camera lens in other words) of industrial camera 200 is vertical with the length direction of pitch rotation plate 121, and linearly swashs
The optical plane that light device 300 is launched need to guarantee to reach on target surface to be measured to form light image, and the light image can be by
Acquired in industrial camera 200.In other embodiments, the plane of departure of linear laser 300 can also be made along pitch rotation
The width of plate 121 installs linear laser 300, or, optical axis, the hair of linear laser 300 of industrial camera 200
Penetrate length direction of the plane with pitch rotation plate 121 to set in angle, as long as ensureing that industrial camera 200 can obtain mesh to be measured
Mark the laser of surface reflection.
Further, when by the way of width installation of the industrial camera 200 along pitch rotation plate 121, work
The distance at industry camera and linear laser interval can be more than or equal to 144mm, such as can be 300mm, linear laser
The angular range of 300 plane of departure and the optical axis of industrial camera 200 can be 8.64 °~32.94 °, in the range of this, sweep
The ranging requirement that instrument disclosure satisfy that maximum measure distance is 6000mm is retouched, and measurement range is bigger, measurement accuracy is also higher.
When using three-dimensional laser scanner, horizontal head 110 and pitch rotation plate 121 should be adjusted first,
Make horizontal 121 equal keep level of head 110 and pitch rotation plate.Therefore can be on horizontal head 110 and pitch rotation plate 121
Level vial 150 is respectively provided with, judges whether to be adjusted to horizontality by observing level vial 150.When being adjusted to water
During level state, using the position of the scanner center of this state benchmark, wherein scanner center of the three-dimensional point cloud of generation as after
Put the point of intersection (pivot) in the rotating shaft of pitching rotary 120 and the horizontal rotating shaft of head 110, industrial camera 200 and linear laser
Device 300 can be located at the both sides of pivot respectively.
Three-dimensional laser scanner of the present utility model is designed according to the mathematical modeling of perspective projection principle.It is first
First try to achieve the optic plane equationses under camera coordinates system；Then the relation between calibration for cameras coordinate system and pivot coordinate；Most
Resolving three-dimensional coordinate is carried out by the mathematical modeling of perspective projection principle afterwards.Its mathematical modeling principles figure is as shown in Figure 2.
Specific calculation method is as follows：
If optical plane is (X, Y, Z) with certain coordinate of point under pivot coordinate system on target surface intersection to be measured；
Plane equation of the optical plane under pivot coordinate system be：AX+bY+cZ+d=0
Pivot coordinate system is to the spin matrix of camera coordinates system：
Pivot coordinate system is to the translation vector of camera coordinates system：
Then have, camera coordinates system (Xc, Yc, Zc) and the transformational relation of pivot coordinate system (X, Y, Z)：
Image coordinate system (x, y) and the transformational relation of camera coordinates system (Xc, Yc, Zc)：
It can be obtained by formula (2)：
It can be obtained by formula (1) and (3)：
Transformational relation between pixel coordinate system (u, v) and image coordinate system (x, y)：
It can be obtained by formula (4) and (5)：
Fx=x/dx in above formula；Fy=y/dy
Simultaneous Equations：
AX+bY+cZ+d=0
Four solution of equations, four unknown numbers, try to achieve X, Y, Z, Zc.
Three-dimensional laser scanner provided by the utility model, have it is easy to operate, automaticity is high, precision is high and cost
The advantages of low, by the way of linear laser and industrial camera combine, in use, operating personnel only need to be placed on room
It is interior, set respectively bow, elevation angle degree can start scanner and be scanned, by software processing obtain three dimensional point cloud, enter
And indoor three-dimensional environment is reconstructed, the negative and positive linea angulata of metope can be obtained by points cloud processing, that is, obtains the profile in house
Information, to provide house location information for robot.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses several embodiments of the present utility model, and its description is more specific and detailed,
But therefore it can not be interpreted as the limitation to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (10)
1. a kind of three-dimensional laser scanner, it is characterised in that described including support, industrial camera, linear laser and power source
Industrial camera and the linear laser are respectively provided with the bracket；The power source is connected with the support, is used for
Drive the industrial camera and the linear laser it is horizontal and or vertical direction on do synchronous rotary motion；
The linear laser is used for object table surface-emission laser to be measured, and the industrial camera is used to obtain from object table to be measured
The laser of face reflection.
2. three-dimensional laser scanner according to claim 1, it is characterised in that the industrial camera and the linear laser
Device is arranged at intervals, the rotation of the optical axis of the industrial camera and the industrial camera, the linear laser in the vertical direction
Axle is vertical.
3. three-dimensional laser scanner according to claim 2, it is characterised in that the industrial camera and the linear laser
The distance at device interval is more than or equal to 144mm.
4. three-dimensional laser scanner according to claim 3, it is characterised in that the plane of departure of the linear laser with
The angular range of the optical axis of the industrial camera is 8.64 °~32.94 °.
5. three-dimensional laser scanner according to claim 1, it is characterised in that the industrial camera and the linear laser
The intersection point of device rotary shaft in the horizontal direction and the rotary shaft of in the vertical direction is pivot；
The industrial camera and the linear laser are located at the both sides of the pivot respectively.
6. according to the three-dimensional laser scanner described in claim any one of 1-5, it is characterised in that the support includes horizontal cloud
Platform and pitching rotary, the pitching rotary are arranged on the horizontal head, and the horizontal head can drive the pitching to turn
Platform horizontally rotates in the horizontal direction；
The industrial camera and the linear laser are arranged on the pitching rotary；The pitching rotary can drive institute
State industrial camera and the linear laser in the vertical direction pitch rotation.
7. three-dimensional laser scanner according to claim 6, it is characterised in that the support also includes supporting plate；It is described
Pitching rotary is arranged on the supporting plate, and can be relative to the supporting plate in the vertical direction pitch rotation；
The horizontal head connects the supporting plate by connecting rod, and the horizontal head itself can be horizontally rotated to drive
Supporting plate is stated to horizontally rotate；
Or the connecting rod can be horizontally rotated relative to the horizontal head to drive the supporting plate to horizontally rotate.
8. three-dimensional laser scanner according to claim 7, it is characterised in that the pitching rotary includes pitch rotation plate
With two support shafts, the industrial camera and the linear laser are arranged on the pitch rotation plate；Two branch
Support axle is separately positioned on the both ends of the pitch rotation plate；
Two bearing blocks are provided with the supporting plate；The pitch rotation plate by two support shafts respectively with two institutes
State bearing block rotation connection and be rotatably connected on the supporting plate.
9. three-dimensional laser scanner according to claim 8, it is characterised in that the power source include the first power source and
Second power source, first power source is arranged on the horizontal head, for driving the supporting plate to horizontally rotate；
Second power source is arranged on the supporting plate, for driving the pitch rotation plate pitch rotation.
10. three-dimensional laser scanner according to claim 8, it is characterised in that the horizontal head and the pitching turn
Level vial is provided with dynamic plate.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107014307A (en) * | 2017-04-17 | 2017-08-04 | 深圳广田机器人有限公司 | The acquisition methods of three-dimensional laser scanner and three-dimensional information |
| CN107764206A (en) * | 2017-11-22 | 2018-03-06 | 哈尔滨理工大学 | A kind of optical grating projection formula object surface appearance measurement apparatus of adjustable measurement angle |
| CN108548486A (en) * | 2018-04-20 | 2018-09-18 | 程刚 | A kind of coal field Subsidence Area mapping three-dimensional laser scanner |
| CN110082739A (en) * | 2019-03-20 | 2019-08-02 | 深圳市速腾聚创科技有限公司 | Method of data synchronization and equipment |
| CN110411369A (en) * | 2019-07-26 | 2019-11-05 | 吉林大学 | A kind of simple there-dimensional laser scanning device |
| CN110487178A (en) * | 2019-07-29 | 2019-11-22 | 烟台南山学院 | A kind of space coordinate measuring instrument and its measurement method |
| CN111474530A (en) * | 2020-04-05 | 2020-07-31 | 武汉大云物移智科技有限公司 | Working distance measuring system based on laser radar platform and using method thereof |
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| CN112648944A (en) * | 2020-10-10 | 2021-04-13 | 嘉兴学院 | Rotary three-dimensional detector for measuring static flatness |
| CN113109827A (en) * | 2021-04-07 | 2021-07-13 | 北京徕达泰科科技有限公司 | Movable three-dimensional laser scanner based on laser radar and panoramic camera |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107014307A (en) * | 2017-04-17 | 2017-08-04 | 深圳广田机器人有限公司 | The acquisition methods of three-dimensional laser scanner and three-dimensional information |
| CN107764206A (en) * | 2017-11-22 | 2018-03-06 | 哈尔滨理工大学 | A kind of optical grating projection formula object surface appearance measurement apparatus of adjustable measurement angle |
| CN108548486A (en) * | 2018-04-20 | 2018-09-18 | 程刚 | A kind of coal field Subsidence Area mapping three-dimensional laser scanner |
| CN110082739B (en) * | 2019-03-20 | 2022-04-12 | 深圳市速腾聚创科技有限公司 | Data synchronization method and device |
| CN110082739A (en) * | 2019-03-20 | 2019-08-02 | 深圳市速腾聚创科技有限公司 | Method of data synchronization and equipment |
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