CN207528916U - A kind of laser radar three-dimensional scanning device - Google Patents
A kind of laser radar three-dimensional scanning device Download PDFInfo
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- CN207528916U CN207528916U CN201721647909.1U CN201721647909U CN207528916U CN 207528916 U CN207528916 U CN 207528916U CN 201721647909 U CN201721647909 U CN 201721647909U CN 207528916 U CN207528916 U CN 207528916U
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- vertical
- cylinder
- connecting cylinder
- horizontal
- laser radar
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Abstract
The utility model discloses a kind of laser radar three-dimensional scanning devices, have and rotate horizontally connecting cylinder, rotate horizontally connecting cylinder and are connect with horizontal drive mechanism, and horizontal drive mechanism, which drives, rotates horizontally connecting cylinder rotation；Vertical rotatable connection cylinder is further included, the vertical cylinder that is rotatably connected is connect with vertical transmission mechanism, and vertical transmission mechanism drives the vertical rotatable connection cylinder rotation；Horizontal flap is fixedly arranged on the upper surface for rotating horizontally connecting cylinder；First mirror support is set on the top of horizontal flap, and a vertical end face for being rotatably connected cylinder is fixedly arranged on first mirror support, and other end is fixedly arranged on the second mirror support；Two mirror tilts and what is be mutually parallel be set on two mirror support sides, into rotating horizontally the light beam of connection tube inner chamber by being projected after two speculums reflections.The utility model provides a kind of stability by force and need not do the three-dimensional scanner of vertical direction velocity compensation.
Description
Technical field
The utility model is related to laser radar technique fields, and in particular to a kind of laser radar three-dimensional scanning device.
Background technology
Infrared and visible light wave range is operated in, the radar using laser as working beam is known as laser radar, it is by laser
Electric pulse is become light pulse emission and gone out by the compositions such as transmitter, optical receiver, turntable and information processing system, laser,
Photoreceiver electric pulse is reduced into from the reflected light pulse of target, is sent to display again；And three-dimensional laser radar needs
The laser echo signal in multiple sites is detected, needs laser three-dimensional scanning system that there is swashing for multidigit point in order to achieve the above object
Optical scanning head.
Existing probe technology can only realize the 360 degree of rotations of probe horizontal direction, Chinese patent literature mostly
CN204534023U discloses a kind of three-D electric probe, specifically discloses：It rotates horizontally unit and passes through motor shaft band moving teeth
One rotation of wheel, gear pass through the drive connection of gear two and worm screw and turbine again and again so that entire transmission mechanism can be in level
It is rotated to 360 degree, above-mentioned technical proposal design structure is complicated, by multistage conducting structure so that probe realizes horizontal direction 360
Degree rotation, undoubtedly increases production cost and the requirement to drive mechanism stability, above patent document, which further includes, to be rotated up and down
Unit, this is rotated up and down unit and is independently arranged with horizontal direction rotary unit, there are problems that horizontally rotating unit exists, and cannot
Realize vertical 360 degree of rotations.
The prior art further includes, probe by between rotating cylinder and multiple gears mutually transmission realize horizontal direction with vertically to
360 degree of rotations, since its structure design is unreasonable, opposite can be slided, and pass through such as between two connectors or two shafts
Flange prevents from slipping each other, and the abrasion at flange position can be caused after long-time use or even loses anti-drop function, meanwhile, scanning
Head overall structure stability is poor, and is further added by component on this basis and changes structure to improve system stability, undoubtedly increases again
A large amount of unnecessary costs and more uncertainties are added；Probe system bulk and weight can be brought big with gear drive
Problem.
The patent CN206419431U of my company discloses a kind of laser three-dimensional scanning head system, specifically discloses horizontal biography
Dynamic system and vertical power train and corresponding optical module, during 3-D scanning, since the setting of structure causes probe to turn in level
While dynamic, the rotating cylinder of vertical direction also due to the drive of linkage structure and rotate, therefore, when calculating sweep speed and also
Velocity compensation need to be done.
Utility model content
Therefore, in order to overcome deficiency of the prior art, the utility model provides a kind of stability by force and need not do vertically
The laser radar three-dimensional scanning device of direction velocity compensation.
A kind of laser radar three-dimensional scanning device provided by the utility model, including：
Horizontal conveyor system has and rotates horizontally connecting cylinder, and the horizontal rotation connecting cylinder is connect with horizontal drive mechanism, institute
It states horizontal drive mechanism and drives the horizontal rotation connecting cylinder rotation；
Vertical power train has vertical rotatable connection cylinder, and the vertical rotatable connection cylinder is connect with vertical transmission mechanism, institute
It states vertical transmission mechanism and drives the vertical rotatable connection cylinder rotation；
Horizontal flap is fixedly arranged on the upper surface for rotating horizontally connecting cylinder, has one with rotating horizontally connecting cylinder nozzle
The matched through-hole of diameter；
Two mirror supports, the first mirror support are set on the top of the horizontal flap, the vertical rotatable connection
One end face of cylinder is fixedly arranged on first mirror support, and other end is fixedly arranged on the second mirror support；
Speculum, at least provided with two, what is tilted and be mutually parallel is set on two mirror support sides, into water
The light beam of flat rotatable connection tube inner chamber after two speculum reflections by projecting.
Optionally, the mirror support is both direction on the contrary, being stitched together into the framework of parallelogram.
Optionally, the side wall of the vertical rotatable connection cylinder is equipped with angular transducer.
Optionally, the horizontal drive mechanism and/or vertical transmission mechanism are motor-driven turbine and worm pair.
Optionally, the slip ring for being fixedly arranged on the horizontal rotation connecting cylinder lower face is further included, by rotating horizontally connecting cylinder
The signal of side wall conduction is transmitted in outside by the slip ring.
Optionally, connection drum outer wall is rotated horizontally equipped with pedestal described in the lower part of the horizontal flap and ring, by described
Pedestal is connected and fixed on pedestal.
Optionally, the connecting cylinder and the internal diameter of vertical rotatable connection cylinder of rotating horizontally is 310mm~330mm.
Optionally, a rain-proof shell is further included.
Technical solutions of the utility model have the following advantages that：
1. laser radar three-dimensional scanning head mechanism provided by the utility model, horizontal conveyor system are phase with vertical power train
Mutually independent drive mechanism avoids one of power train and the linkage of another power train is acted on, thus reduction brings journey
The complexity of sequence algorithm.
2. the horizontal and vertical Scan Architecture of the utility model ensure that the stability of connection rotation process, while be driven knot
Structure uses turbine and worm transmission mechanism, using it with larger reduction ratio so that compact overall structure effectively reduces driver
The occupied space of structure, compared to the use of gear wheel, overall structure weight is also relatively light, particularly when laser radar belongs to large aperture three
When tieing up Scan Architecture, rotating cylinder internal diameter reaches 320mm, with greater need for the optimization mitigation weight from structure.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution of the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness
Under the premise of labour, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the cross-sectional view of Fig. 1.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model part of the embodiment, instead of all the embodiments.Based on the embodiment in the utility model, sheet
Field those of ordinary skill all other embodiments obtained without making creative work, belong to this practicality
Novel protected range.
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instructions such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
The utility model must have specific with the device or element for simplifying description rather than instruction or hint meaning for ease of description
Orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to the utility model.In addition, term " the
One ", " second ", " third " are only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally
Connection；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, can above-mentioned art be understood with concrete condition
Concrete meaning of the language in the utility model.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Not forming conflict can be combined with each other.
Embodiment 1
A kind of laser radar three-dimensional scanning head device provided in this embodiment, ginseng is seen figure 1 and figure 2, including probe
Horizontal conveyor system 1 and vertical power train 2, horizontal conveyor system 1 and vertical power train 2 cooperation complete radar 3-D scanning,
In, horizontal conveyor system 1 is set on the lower part of entire probe device, including rotating horizontally connecting cylinder 13, the horizontal rotation connecting cylinder
13 drive it to horizontally rotate vertically to for axis by the transmission of horizontal turbine worm gear pair 12, rotate horizontally the upper end of connecting cylinder 13
Portion is fixedly connected by fixing piece such as screw with horizontal flap 14, when rotating horizontally connecting cylinder rotation 13, horizontal flap 14
It rotates together.
First mirror support 4 is a right angle trigonometry outer frame body, is fixed on horizontal flap 14, side where bevel edge
Face is equipped with speculum 7, and vertical rotatable connection cylinder 20 is horizontal, and water is fixed in one of end by vertical connecting plate
On flat turn plate 14, another end is fixedly connected with the second mirror support 5, and the external form of the second mirror support 5 is anti-with first
Mirror support 4 is penetrated, setting direction is with the first mirror support 4 on the contrary, another speculum 8 is set on 5 bevel edge institute of the second mirror support
In side, laser enter through the reflections of two speculums 7,8 from the inner cavity for rotating horizontally connecting cylinder 13 after from the second speculum
The window 6 at top projects where the right-angle surface of stent, and the vertical cylinder 20 that is rotatably connected is driven by 22 transmission of vertical turbine and worm pair
It is horizontally moved for shaft rotation, and above-mentioned horizontal direction or vertical turbine and worm pair are respectively driven by 2 motors 11,17.Separately
Outside, sensor 21 is additionally provided in the side wall of rotatable connection cylinder 20 vertically, to ensure the scanning precision of probe.
By the setting of above structure, in 3-D scanning, probe can complete water under the drive of horizontal conveyor system 1
Square to 360 degree rotation, while horizontal direction rotate, can pass through the driving of vertical power train 2 drive probe completion
360 rotations of vertical direction, the rotation of both direction is respectively by different power train drive controls, can be according to need during scanning
The velocity of rotation of both direction is controlled respectively.
In the above-mentioned scanning means of device, specifically, first by angular contact bearing 18 and bearing spacer 15, assembly tool is utilized
Assembling installation is carried out with trunnion axis bearing 19, mounted component is fixed on pedestal 3, then by thrust ball bearing 16 and bearing pressure
Lid 30 and its auxiliary component are assembled using tooling, will rotate horizontally that connecting cylinder 13 is matched to be installed in place after assembling,
The component assembled before is assembled into horizontal rotary mechanism；There is mounting hole on connecting cylinder 13 is rotated horizontally, by horizontal turbine
Worm gear pair 12 and conducting slip ring 10 are installed in place；14 and first mirror support 4 of horizontal flap and speculum 7 are installed, after will be perpendicular
Direct rotary turns connecting cylinder 20 and bearing and vertical direction angle calibration system sensor 21, passes through the installation being rotatably connected vertically on cylinder 20
Vertical turbine and worm pair 22 is installed in place by hole；Reflecting optics 8 with the second mirror support 5 are combined, are installed to vertical rotation
On connecting cylinder 20；The motor 11,17 that controlled level and vertical direction rotate finally is installed into connection respectively, then by rain-proof shell 9
It is installed with dust cover.
The following detailed description once electrical control pattern of vertical direction sweep mechanism and rotation mechanism in vertical shaft, works as laser
During the requirement vertical direction rotation of radar three-dimensional scanning means, the driver of vertical electric rotating machine is controlled by computer, to vertical
Motor send electric signal, it is desirable that turn an angle (0 ° -360 °), vertical electric rotating machine by being driven turbine and worm pair 3 vertically,
Vertical rotatable connection cylinder 10 is driven to rotate, and then the second mirror support 2 is rotated to set angle, is passed by reflecting optics 6
Pass optical signal, more than for vertical direction rotation sequence.
When laser radar three-dimensional scanning device requirement horizontal direction rotation, pass through computer controlled level electric rotating machine
Driver sends electric signal to horizontal motor 31, it is desirable that turn an angle (0 ° -360 °), rotates horizontally motor 31 and passes through water
It flates pass dynamic turbine and worm pair 15, drives and rotate horizontally connecting cylinder 10 and rotate, and then the first mirror support 8 is revolved with speculum 6
Go to set angle, by 6 communicating optical signals of reflecting optics, more than sequence for horizontal direction rotation.
Obviously, the above embodiments are merely examples for clarifying the description, and is not intended to limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And the obvious variation thus extended out or
Among the protection domain that variation is created still in the utility model.
Claims (8)
1. a kind of laser radar three-dimensional scanning device, which is characterized in that including：
Horizontal conveyor system (1) has and rotates horizontally connecting cylinder (13), the horizontal rotation connecting cylinder (13) and horizontal drive mechanism
Connection, the horizontal drive mechanism drive the horizontal rotation connecting cylinder (13) to rotate；
Vertical power train (2) has vertical rotatable connection cylinder (20), the vertical rotatable connection cylinder (20) and vertical transmission mechanism
Connection, the vertical transmission mechanism drive the vertical rotatable connection cylinder (20) to rotate；
Horizontal flap (14) is fixedly arranged on the upper surface of the horizontal rotation connecting cylinder (13), has one with rotating horizontally connecting cylinder
(13) the matched through-hole of nozzle diameter；
Two mirror supports (4,5), the first mirror support (4) are described vertical set on the top of the horizontal flap (14)
One end face of rotatable connection cylinder (20) is fixedly arranged on first mirror support (4), and it is anti-that other end is fixedly arranged on second
It penetrates on mirror support (5)；
Speculum (7,8), at least provided with two, what is tilted and be mutually parallel is set on two mirror support (4,5) sides,
It is projected after being reflected into the light beam for rotating horizontally connecting cylinder (13) inner cavity by two speculums.
2. laser radar three-dimensional scanning device according to claim 1, which is characterized in that the mirror support (4,5)
For both direction on the contrary, being stitched together into the framework of parallelogram.
3. laser radar three-dimensional scanning device according to claim 1 or 2, which is characterized in that the vertical rotatable connection
The side wall of cylinder (20) is equipped with angular transducer (21).
4. laser radar three-dimensional scanning device according to claim 3, which is characterized in that the horizontal conveyor system (1) and/
Or vertical power train (2) is secondary (12,22) for the turbine and worm of motor (11,17) driving.
5. laser radar three-dimensional scanning device according to claim 4, which is characterized in that further include and be fixedly arranged on the level
The slip ring (10) of rotatable connection cylinder (13) lower face, the signal conducted by rotating horizontally connecting cylinder (13) side wall pass through the cunning
Ring (10) is transmitted in outside.
6. laser radar three-dimensional scanning device according to claim 4 or 5, which is characterized in that the horizontal flap (14)
Lower part and ring described in rotate horizontally connecting cylinder (13) outer wall be equipped with pedestal (3), pedestal is connected and fixed on by the pedestal (3)
On.
7. laser radar three-dimensional scanning device according to claim 1, which is characterized in that the horizontal rotation connecting cylinder
(13) and the internal diameter of vertical rotatable connection cylinder (20) is 310mm~330mm.
8. laser radar three-dimensional scanning device according to claim 6, which is characterized in that further include a rain-proof shell (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721647909.1U CN207528916U (en) | 2017-12-01 | 2017-12-01 | A kind of laser radar three-dimensional scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721647909.1U CN207528916U (en) | 2017-12-01 | 2017-12-01 | A kind of laser radar three-dimensional scanning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207528916U true CN207528916U (en) | 2018-06-22 |
Family
ID=62577401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721647909.1U Expired - Fee Related CN207528916U (en) | 2017-12-01 | 2017-12-01 | A kind of laser radar three-dimensional scanning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207528916U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991589A (en) * | 2018-12-29 | 2019-07-09 | 同方威视技术股份有限公司 | Scanning angle adjusts device, laser radar system, carrier and auto-correction method |
| CN110031863A (en) * | 2019-05-21 | 2019-07-19 | 安徽蓝科信息科技有限公司 | A kind of scanning means based on two wavelength aerosol radars |
-
2017
- 2017-12-01 CN CN201721647909.1U patent/CN207528916U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991589A (en) * | 2018-12-29 | 2019-07-09 | 同方威视技术股份有限公司 | Scanning angle adjusts device, laser radar system, carrier and auto-correction method |
| CN110031863A (en) * | 2019-05-21 | 2019-07-19 | 安徽蓝科信息科技有限公司 | A kind of scanning means based on two wavelength aerosol radars |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180622 Termination date: 20211201 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |