CN208903280U - A kind of three-dimensional reconstruction robot system - Google Patents
A kind of three-dimensional reconstruction robot system Download PDFInfo
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- CN208903280U CN208903280U CN201920438540.6U CN201920438540U CN208903280U CN 208903280 U CN208903280 U CN 208903280U CN 201920438540 U CN201920438540 U CN 201920438540U CN 208903280 U CN208903280 U CN 208903280U
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- dimensional reconstruction
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- laser radar
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Abstract
The utility model discloses a kind of three-dimensional reconstruction robot systems, the three-dimensional reconstruction system data acquisition device for including: robot chassis and being connected on robot chassis, two-dimensional laser radar on three-dimensional reconstruction system data acquisition device is put upside down and is installed on rotating platform by the utility model, merely add a swing, efficiency can be higher, and vertical scanning range can be wider；In conjunction with by the installation of the binocular camera on three-dimensional reconstruction system data acquisition device, real-time ambient image can be acquired, three-dimensional reconstruction addition real-texture information and data supplement after being；Differential control may be implemented in the wheeled robot chassis of use, and structure is simple, adaptable；The entire three-dimensional reconstruction robot system of the utility model, execution efficiency is high, and scanning in all directions can be carried out to object to be reconstructed.
Description
Technical field
The utility model relates to a kind of robot systems, and in particular to a kind of three-dimensional reconstruction robot system.
Background technique
With the development of three-dimensional reconstruction, three-dimensional reconstruction is had become for a popular research direction.Three-dimensional Gravity
It builds and environmental data, such as camera, laser radar is mainly acquired by environment sensing sensor.Wherein, because laser radar has
Monochromaticjty, correlation are good, high directivity, visual field is big, operating distance is remote, flexible working mode and the external environments such as are not illuminated by the light
The features such as influence, is used frequently as the main sensors in three-dimensional reconstruction.There are three-dimensional laser radar and two dimension to swash on the market now
It is two kinds of optical radar, at high cost since three-dimensional laser radar price is more expensive, many scholars two dimension relatively cheap using price
Laser radar carries out data acquisition.
Environmental data is acquired using two-dimensional laser radar, is the mechanical knot for installing a pitching and a rotation additional mostly now
Structure allows to carry out the acquisition of three-dimensional data to two-dimensional laser radar.This method joined two freedom degrees, to two electricity
The control accuracy requirement of machine can be higher, and data acquisition efficiency is not high.But environmental information is only acquired by laser radar, it cannot
A truer, more intuitive reconstruction model is obtained, needs to rebuild the image data of environment using camera acquisition, carries out data benefit
It fills to assign with texture and add.
Also, artificial mobile data scanning means is needed to carry out three-dimensional data the three-dimensional model reconfiguration of building now
Acquisition.A kind of trend, a kind of machine being adapted to three-dimensional reconstruction are had become using the autonomous robot for carrying out three dimensional data collection
People chassis is just particularly important.
Utility model content
One purpose of the utility model is to solve at least the above problems and/or defect, and provide and at least will be described later
The advantages of.
In order to realize these purposes and other advantages according to the present utility model, three-dimensional reconstruction robot system is provided,
Include:
Robot chassis comprising:
Bottom plate is provided with radar mounting hole and suspension installing hole；Cabin is provided with below the bottom plate；The bottom
The front-end and back-end of plate are provided with anti-collision baffle plate outwardly；The angle of the anti-collision baffle plate and bottom plate is greater than 90 degree；The radar
Laser radar is connected in mounting hole；
Two suspensions are connected to the lower section of the bottom plate and are located at the two sides of cabin；Two it is described suspension include:
Main board connects four thereon and supports；The two sides of the main board are provided with restriction plate；It is arranged on four support columns
There is damping spring；And four support columns are connected on bottom plate after suspension installing hole；
Four wheels are located at the end of two suspensions；Four wheels are connect with wheel drive motors respectively,
And the wheel drive motors are connected by motor mount and suspension；
On the bottom plate on three-dimensional reconstruction system data acquisition device, connection and the robot chassis；The three-dimensional reconstruction
System data acquisition device includes:
Pedestal；
Rotating platform is connected to one end of pedestal；
Two-dimensional laser radar mounting bracket, is connected on the rotating electric machine of rotating platform；Two-dimensional laser radar is put upside down peace
In two-dimensional laser radar mounting bracket；
Binocular camera mounting bracket is connected to the other end of pedestal, is connected with phase in the binocular camera mounting bracket
Machine pitches motor；Binocular camera is mounted in binocular camera mounting bracket.
Preferably, the underbody control panel for power module being placed in the cabin and being connect with power module；And
The binocular camera, two-dimensional laser radar, laser radar are connect with the power module；The wheel drive motors are and vehicle
The connection of body Control of floor plate.
Preferably, data acquisition control plate is provided on the bottom plate；The data acquisition control plate and power module
Connection；The rotating electric machine and camera pitch motor and are connected to data acquisition control plate；There are two cabling channels for the pedestal tool,
Positioned at pedestal side, one of them is the cabling channel of two-dimensional laser radar, another is the cabling channel of binocular camera.
Preferably, the main board of the suspension and restriction plate are integrally formed；The limitation plate surface is connected with rubber pad.
Preferably, support column mounting hole is provided at the top of four support columns；Four support columns pass through outstanding
Suspension is connected on bottom plate using bolt or long bolt in support column mounting hole after hanging mounting hole.
Preferably, the motor mount is L-type mounting base, and fixation is bolted with suspension in one side, another
Face is connect with driving motor.
Preferably, the driving motor is servo motor or decelerating motor；The angle of the anti-collision baffle plate and bottom plate is
120 degree.
Preferably, the pedestal of the three-dimensional reconstruction system data acquisition device connects by the way that four aluminum profile support columns are fixed
It connects on the bottom plate on robot chassis.
Preferably, the binocular camera mounting bracket includes:
Binocular camera mounting base；
Camera pitches motor mount, is connected on binocular camera mounting base；The camera pitches motor and is connected to
Camera pitches in motor mount；
T-type camera installing plate, installs binocular camera thereon；The T-type camera installing plate and camera pitch the motor of motor
Axis is fixedly connected；
U-type groove pedestal is connected on binocular camera mounting base；And the U-type groove pedestal and camera pitch motor
Motor shaft rotation connection；The vertical end of the T-type camera installing plate is located in the U-type groove of U-type groove pedestal.
Preferably, the two-dimensional laser radar mounting bracket includes:
Circular base plate, connection is on the rotating platform；
Cylindrical support column, is connected in circular base plate；
Rack platform is connected on cylindrical support column, and the two-dimensional laser radar is mounted on rack platform.
The utility model is include at least the following beneficial effects: two-dimensional laser radar is put upside down and is installed on rotation by the utility model
On platform, a swing is merely added, efficiency can be higher, and vertical scanning range can be wider；It, can in conjunction with the installation of binocular camera
Three-dimensional reconstruction addition real-texture information and data supplement to acquire real-time ambient image, after being；The wheeled machine used
Differential control may be implemented in device people chassis, and structure is simple, adaptable；The system, entire three-dimensional reconstruction robot of the utility model
System, execution efficiency is high, and scanning in all directions can be carried out to object to be reconstructed.
The further advantage, target and feature of the utility model will be partially reflected by the following instructions, and part will also pass through
Research and practice to the utility model and be understood by the person skilled in the art.
Detailed description of the invention:
Fig. 1 is the overall structure diagram of three-dimensional reconstruction robot system described in the utility model；
Fig. 2 is the overall structure diagram of three-dimensional reconstruction system data acquisition device described in the utility model；
Fig. 3 is the structural schematic diagram of three-dimensional reconstruction system data acquisition device described in the utility model；
Fig. 4 is the structural schematic diagram of binocular camera mounting bracket described in the utility model；
Fig. 5 is the structural schematic diagram on robot chassis described in the utility model；
Fig. 6 is the structural schematic diagram of the bottom plate on robot chassis described in the utility model；
Fig. 7 is the structural schematic diagram of suspension described in the utility model；
Fig. 8 is the structural schematic diagram of motor mount described in the utility model；
Fig. 9 is the power supply structure schematic diagram of power module described in the utility model；
Figure 10 is the control structure schematic diagram of three-dimensional reconstruction robot system described in the utility model.
Specific embodiment:
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
Fig. 1~8 show a kind of three-dimensional reconstruction robot system of the utility model, comprising:
Robot chassis comprising:
Bottom plate 23 is provided with radar mounting hole 23-1 and suspension installing hole 23-2；The lower section of the bottom plate 23 is arranged
There is cabin 23-3；The front-end and back-end of the bottom plate 23 are provided with anti-collision baffle plate 23-4 outwardly；The anti-collision baffle plate 23-4 with
The angle of bottom plate 23 is greater than 90 degree；Laser radar 22 is connected in the radar mounting hole 23-1；
Two suspensions 28 are connected to the lower section of the bottom plate 23 and are located at the two sides of cabin 23-3；Described in two
Suspension 28 includes: main board 28-5, connects four thereon and supports 28-1；The two sides of the main board 28-5 are provided with restriction plate
28-2；Damping spring 25 is arranged on four support column 28-1；And four support column 28-1 pass through suspension installation
It is connected to after the 23-2 of hole on bottom plate 23；
Four wheels 24 are located at the end of two suspensions 28；Four wheels 24 drive electricity with wheel respectively
Machine 26 connects, and the wheel drive motors 26 are connect by motor mount 27 with suspension 28；
On the bottom plate 23 on three-dimensional reconstruction system data acquisition device, connection and the robot chassis；The Three-dimensional Gravity
Building system data acquisition device includes:
Pedestal 5；
Rotating platform 3 is connected to one end of pedestal 5；
Two-dimensional laser radar mounting bracket 2, is connected on the rotating electric machine of rotating platform 3；Two-dimensional laser radar 1 is put upside down
It is mounted in two-dimensional laser radar mounting bracket 2；Two-dimensional laser radar is put upside down and is installed on rotating platform, merely adds a rotation
Turn degree, efficiency can be higher, and vertical scanning range can be wider (range that " 8 " indicate in such as Fig. 2)；In conjunction with the installation of binocular camera,
Real-time ambient image can be acquired, three-dimensional reconstruction addition real-texture information and data supplement after being；
Binocular camera mounting bracket 6 is connected to the other end of pedestal 5, is connected in the binocular camera mounting bracket 6
Camera pitches motor 18；Binocular camera 7 is mounted in binocular camera mounting bracket 6 to obtain ambient image information.
In the above-mentioned technical solutions, rotation angle, the speed for driving rotating platform certain by the rotating electric machine of rotating platform
It spends and drives two-dimensional laser radar rotating acquisition three-dimensional environment data, after the angular range for rotating setting, and it is straight toward opposite direction rotation
To starting point, successively back and forth, motor driven binocular camera is pitched by camera and acquires ambient image in real time, to get in real time
The three-dimensional laser radar data and ambient image data of environment.
In the above-mentioned technical solutions, the vehicle body bottom for being placed with power module in the cabin 23-3 and being connect with power module
Plate control panel；And the binocular camera 7, two-dimensional laser radar 1, laser radar 22 are connect with the power module；The vehicle
Wheel drive motor 26 is connect with underbody control panel.In this way, as shown in Figures 9 and 10, electricity is inputted by battery
Source exports 12V, 5V DC power supply to power module, by linear voltage-stabilizing circuit in power module, respectively laser radar, PC,
The power supply of underbody control panel.It is communicated between laser radar and PC by network interface agreement；Underbody control panel and PC it
Between pass through serial port protocol communicate；Underbody control panel controls four brushless electricity by 4 road pwm control signals of output and adjusts, thus
Drive 4 wheel drive motors.
In the above-mentioned technical solutions, data acquisition control plate 4 is provided on the bottom plate 23；The data acquisition control plate
4 connect with power module；The rotating electric machine and camera pitch motor 18 and are connected to data acquisition control plate 4；The pedestal tool
There are two cabling channels, are respectively positioned on pedestal side, one of them is the cabling channel 13 of two-dimensional laser radar, another is binocular camera
Cabling channel 17；As shown in Figures 9 and 10, by battery input power to power module, by linear voltage stabilization electricity in power module
Road exports 12V, 5V DC power supply, respectively two-dimensional laser radar, PC, data acquisition control plate, binocular camera power supply；Two dimension swashs
It is communicated between optical radar and PC by network interface agreement；It is communicated between data acquisition control plate and PC by serial port protocol；It is double
Pass through usb communication between mesh camera and PC；Data acquisition control plate controls driving rotation by exporting 2 road pwm control signals respectively
Rotating motor and camera pitch motor.
In the above-mentioned technical solutions, after three-dimensional reconstruction robot system being powered on and working condition is confirmed, on control PC
Confirm connection status, setting robot driving path, data scanning point and single sweep operation range, then, robot is according to setting
Determine path and reach invisible scanning point, rotating platform drives the rotation angle of two-dimensional laser radar rotation setting, successively back and forth, binocular
Camera real-time perfoming pitching acquires the bigger ambient image of longitudinal extent, single three-dimensional weight building data acquisition is completed, secondly, passing through
Robot chassis drives three-dimensional reconstruction system data acquisition device to next number of scan points according to acquisition, until completing all scanning elements
Data；Finally, all three-dimensional datas are integrated, the whole three-dimensionalreconstruction model of scanned object is obtained.
In the above-mentioned technical solutions, the main board 28-5 and restriction plate 28-2 of the suspension 8 are integrally formed；The restriction plate
The surface 28-2 is connected with rubber pad；In order to guarantee the intensity of suspension, suspension is bending shape after the steel plate cutting by one piece of entirety
At obtained from restriction plate, wherein restriction plate is mainly used for limiting the shake up and down that wheeled robot generates when violent mobile,
Rubber pad is connected in the limitation plate surface, can prevent from knocking bad.
In the above-mentioned technical solutions, support column mounting hole 28-3 is provided at the top of four support column 28-1；It is described
Four support column 28-1 will hang 28 using bolt or long bolt in support column mounting hole 28-3 after passing through suspension installing hole 23-2
It is connected on bottom plate 23；In this way, it can be convenient disassembly suspension.
In the above-mentioned technical solutions, the motor mount 27 is L-type mounting base, one side and the mounting hole in suspension 28
Fixation is bolted in 28-4, and another side is connect with wheel drive motors 26；And the motor mount 27 drives with wheel
Driving motor mounting hole 27-1 is provided on the face that motor 26 connects；Using the motor mount of the structure, driving can be convenient
The connection of motor and suspension, it is more efficient and convenient in more wheel change.
In the above-mentioned technical solutions, the driving motor is servo motor or decelerating motor；The anti-collision baffle plate and bottom plate
Angle be 120 degree.In this way, make the wheeled mobile robot chassis that there is wider anti-collision effect.
In the above-mentioned technical solutions, robot chassis uses wheeled independent vibration damping frame structure, and wheel drive motors are mounted on
While ensure that the power of wheel drive motors is transferred to wheel as far as possible in suspension with damping spring, when reducing traveling
The vibration of car body, four wheels faster than existing two power wheel chassis travel speed, smaller, the center of gravity of jolting that when start-stop occurs
It is more reasonable to be distributed；It can tend towards stability faster in robot manipulating task.
In the above-mentioned technical solutions, the pedestal 5 of the three-dimensional reconstruction system data acquisition device passes through four aluminum profile branch
Dagger 100 is fixedly connected on the bottom plate 23 on robot chassis.
In the above-mentioned technical solutions, the binocular camera mounting bracket 6 includes:
Binocular camera mounting base 11；
Camera pitches motor mount 21, is connected on binocular camera mounting base 11；The camera pitches motor 18
Camera is connected to pitch in motor mount 21；
T-type camera installing plate 19 installs binocular camera 7 by mounting hole 12；The T-type camera installing plate 19 and camera
The motor shaft for pitching motor 18 is fixedly connected；
U-type groove pedestal 20 is connected on binocular camera mounting base 11；And the U-type groove pedestal 20 is pitched with camera
The motor shaft of motor 18 is rotatablely connected；The vertical end of the T-type camera installing plate 19 is located in the U-type groove of U-type groove pedestal 20, adopts
With this technical solution, the rotation of the motor shaft of motor is pitched by camera, drives the rotation of T-type camera installing plate, and then adjust
The pitch angle of binocular camera 7, to obtain the wider array of ambient image of longitudinal extent.
In the above-mentioned technical solutions, the two-dimensional laser radar mounting bracket 2 includes:
Circular base plate 10 is connected on rotating platform 3；
Cylindrical support column 101 is connected in circular base plate 10；
Rack platform 9 is connected to 101 on cylindrical support column, and the two-dimensional laser radar is mounted on rack platform 9,
It, can be by being convenient for changing cylindrical support column, to adjust the height of two-dimensional laser radar using this technical solution.
Number of devices and treatment scale described herein are the explanations for simplifying the utility model.To the utility model
The application on wheeled mobile robot chassis, modifications and variations will be readily apparent to persons skilled in the art.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (10)
1. a kind of three-dimensional reconstruction robot system characterized by comprising
Robot chassis comprising:
Bottom plate is provided with radar mounting hole and suspension installing hole；Cabin is provided with below the bottom plate；The bottom plate
Front-end and back-end are provided with anti-collision baffle plate outwardly；The angle of the anti-collision baffle plate and bottom plate is greater than 90 degree；The radar installation
Laser radar is connected in hole；
Two suspensions are connected to the lower section of the bottom plate and are located at the two sides of cabin；Two suspensions include: main body
Plate connects four thereon and supports；The two sides of the main board are provided with restriction plate；It is arranged with and subtracts on four support columns
Shake spring；And four support columns are connected on bottom plate after suspension installing hole；
Four wheels are located at the end of two suspensions；Four wheels are connect with wheel drive motors respectively, and institute
Wheel drive motors are stated to connect by motor mount and suspension；
On the bottom plate on three-dimensional reconstruction system data acquisition device, connection and the robot chassis；The three-dimensional reconstruction system
Data acquisition device includes:
Pedestal；
Rotating platform is connected to one end of pedestal；
Two-dimensional laser radar mounting bracket, is connected on the rotating electric machine of rotating platform；Two-dimensional laser radar, which is put upside down, to be mounted on
In two-dimensional laser radar mounting bracket；
Binocular camera mounting bracket is connected to the other end of pedestal, is connected with camera in the binocular camera mounting bracket and faces upward
It bows motor；Binocular camera is mounted in binocular camera mounting bracket.
2. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that be placed with power module in the cabin
The underbody control panel being connect with power module；And the binocular camera, two-dimensional laser radar, laser radar with it is described
Power module connection；The wheel drive motors are connect with underbody control panel.
3. three-dimensional reconstruction robot system as claimed in claim 2, which is characterized in that be provided with data acquisition on the bottom plate
Control panel；The data acquisition control plate is connect with power module；The rotating electric machine and camera pitch motor and are connected to data
Acquisition control plate；There are two cabling channels for the pedestal tool, are respectively positioned on pedestal side, one of them is the cabling of two-dimensional laser radar
Slot, another is the cabling channel of binocular camera.
4. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the main board and restriction plate of the suspension
It is integrally formed；The limitation plate surface is connected with rubber pad.
5. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the top of four support columns is arranged
There is support column mounting hole；Four support columns will using bolt or long bolt in support column mounting hole after passing through suspension installing hole
Suspension is connected on bottom plate.
6. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the motor mount is L-type installation
Fixation is bolted with suspension in seat, one side, and another side is connect with driving motor.
7. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the driving motor be servo motor or
Decelerating motor；The angle of the anti-collision baffle plate and bottom plate is 120 degree.
8. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the three-dimensional reconstruction system data acquisition
The pedestal of device is fixedly connected on the bottom plate on robot chassis by four aluminum profile support columns.
9. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the binocular camera mounting bracket packet
It includes:
Binocular camera mounting base；
Camera pitches motor mount, is connected on binocular camera mounting base；The camera pitches motor and is connected to camera
It pitches in motor mount；
T-type camera installing plate, installs binocular camera thereon；The motor shaft that the T-type camera installing plate and camera pitch motor is solid
Fixed connection；
U-type groove pedestal is connected on binocular camera mounting base；And the U-type groove pedestal and camera pitch the motor of motor
Axis rotation connection；The vertical end of the T-type camera installing plate is located in the U-type groove of U-type groove pedestal.
10. three-dimensional reconstruction robot system as described in claim 1, which is characterized in that the two-dimensional laser radar installation branch
Frame includes:
Circular base plate, connection is on the rotating platform；
Cylindrical support column, is connected in circular base plate；
Rack platform is connected on cylindrical support column, and the two-dimensional laser radar is mounted on rack platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920438540.6U CN208903280U (en) | 2019-04-02 | 2019-04-02 | A kind of three-dimensional reconstruction robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920438540.6U CN208903280U (en) | 2019-04-02 | 2019-04-02 | A kind of three-dimensional reconstruction robot system |
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| CN208903280U true CN208903280U (en) | 2019-05-24 |
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| CN201920438540.6U Active CN208903280U (en) | 2019-04-02 | 2019-04-02 | A kind of three-dimensional reconstruction robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111179413A (en) * | 2019-12-19 | 2020-05-19 | 中建科技有限公司深圳分公司 | Three-dimensional reconstruction method and device, terminal equipment and readable storage medium |
| CN111251271A (en) * | 2020-03-17 | 2020-06-09 | 青岛大学 | SLAM robot for constructing and positioning rotary laser radar and indoor map |
-
2019
- 2019-04-02 CN CN201920438540.6U patent/CN208903280U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111179413A (en) * | 2019-12-19 | 2020-05-19 | 中建科技有限公司深圳分公司 | Three-dimensional reconstruction method and device, terminal equipment and readable storage medium |
| CN111179413B (en) * | 2019-12-19 | 2023-10-31 | 中建科技有限公司深圳分公司 | Three-dimensional reconstruction method, device, terminal equipment and readable storage medium |
| CN111251271A (en) * | 2020-03-17 | 2020-06-09 | 青岛大学 | SLAM robot for constructing and positioning rotary laser radar and indoor map |
| CN111251271B (en) * | 2020-03-17 | 2023-02-21 | 青岛聚远网络科技有限公司 | SLAM robot for constructing and positioning rotary laser radar and indoor map |
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