CN209230652U - A kind of scene scanner - Google Patents
A kind of scene scanner Download PDFInfo
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- CN209230652U CN209230652U CN201920075972.5U CN201920075972U CN209230652U CN 209230652 U CN209230652 U CN 209230652U CN 201920075972 U CN201920075972 U CN 201920075972U CN 209230652 U CN209230652 U CN 209230652U
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Abstract
The utility model discloses a kind of scene scanners, including sensor module, the first rotating mechanism and the second rotating mechanism；First rotating mechanism can drive the sensor module to rotate around first axle by the first telescopic shaft, and first telescopic shaft can stretch on first axle direction；Second rotating mechanism can drive the sensor module to rotate around second axis by the second telescopic shaft, and second telescopic shaft can stretch on second axis direction；When sensor module stops working, first telescopic shaft, the second telescopic shaft are connect with the sensor module.The utility model does not need rotating bracket, and rotating mechanism load mitigates, and the service life is longer for rotating mechanism, assembling is simpler；It is provided with the structures such as limiting device, rotation stop switch, inductive switch on first rotating mechanism and/or the second rotating mechanism of the utility model, greatly improves rotation control precision.
Description
Technical field
The utility model relates to computer vision field, especially a kind of scene scanner.
Background technique
Current scene scanner is scanned using 3D sensor.3D sensor can allow hardware device to possess a pair of perception
" eye of wisdom " of environment is, it can be achieved that recognition of face, gesture identification, human skeleton identification, three-dimensional measurement, environment sensing, three-dimensional
Tens of functions such as map reconstruction, in artificial intelligence, mobile phone, TV, robot, VR/AR, smart home, intelligent security guard, automobile
Drive the multi-field extensive uses such as auxiliary.
Since current 3D sensor sensing region and visible angle are limited, Yao Shixian multi-sensor panoramic and depth scan are existing
It is achieved in that 3 sensor modules are distributed according to 40~45 degree of fixed angle in mainstream, forming a radiation angle is
80~90 degree of mould group.Then 360 degree are rotated horizontally to realize panorama and depth scan.Such implementation needs 3 biographies
Sensor module, at high cost, equipment is heavy.
Application No. is 201720899340.1 utility model patents on the basis of 360 degree of horizontal rotation of freedom degree, increases
The freedom degree for adding a vertical direction to rotate, panorama and depth scan are realized merely with the rotation of 1 sensor module, are radiated
Than three fixed modules of angle are bigger, and cost is lower, and equipment is light, convenient for disassembly and assembly.But this patent has following defects that rotating machine
Structure needs that rotating bracket is driven to rotate together, and load is larger, leads to the reduced service life of rotating mechanism, and structure assembling compared with
It is complicated.
Utility model content
Technical problem to be solved in the utility model is, in view of the shortcomings of the prior art, providing a kind of scene scanner, to subtract
Light rotating mechanism load, extends rotating mechanism service life, improves rotation control precision.
A kind of in order to solve the above technical problems, the technical scheme adopted by the utility model is: scene scanner, including pass
Sensor module, the first rotating mechanism and the second rotating mechanism；Described in first rotating mechanism can be driven by the first telescopic shaft
Sensor module is rotated around first axle, and first telescopic shaft can stretch on first axle direction；Second rotation
Mechanism can drive the sensor module to rotate around second axis by the second telescopic shaft, and second telescopic shaft can be second
It stretches on axis direction；The first axle and the second axis are at predetermined angle.
The sensor module offers mounting hole with respect to the position of the first telescopic shaft, the second telescopic shaft；When described
When one telescopic shaft is connect with the sensor module, first telescopic shaft protrudes into the installation of the sensor module corresponding position
In hole；When second telescopic shaft is connect with the sensor module, second telescopic shaft protrudes into the sensor module
In the mounting hole of corresponding position.
First rotating mechanism is set to the sensor module side；Second rotating mechanism is set to the sensor
Module either above or below.
The other side of the sensor module is provided with supporting element, and the supporting element and first rotating mechanism are located at
The two opposite sides of the sensor module；When first telescopic shaft is connect with the sensor module, the supporting element is logical
The stretching of third telescopic shaft is crossed to connect with the sensor module；When second rotating mechanism drives the sensor module around the
When two axis rotate, the third telescopic shaft is retracted.
The utility model further includes limiting device；The limiting device includes catapult circle；Catapult circle outer ring be equipped with to
The resilient ratchet of outer stretching；The resilient ratchet is engaged with the internal tooth ratchet on gear ring inner ring；The gear ring outer ring is equipped with multiple
Limiting slot；Limit switches nearby are arranged in the gear ring, and when the limit switch stretches out, the protrusion of limit switch with it is corresponding
The limiting slot of position engages；
Wherein, the catapult circle is installed on the first telescopic shaft and can rotate with first telescopic shaft；Or the bullet
Bow circle is installed on the second telescopic shaft and can rotate with second telescopic shaft；Or first telescopic shaft, the second telescopic shaft
On be mounted on the catapult circle；Or the catapult circle is installed in the sensor module；
For the first rotating mechanism, when the protrusion of the limit switch is engaged with the limiting slot of corresponding position, the biography
Sensor module stops rotating around first axle；For the second rotating mechanism, when protrusion and the corresponding position of the limit switch
When limiting slot engages, the sensor module stops rotating around second axis.
Preferably, rotation stop switch is installed on first rotating mechanism and/or the second rotating mechanism；For the first rotation
Mechanism, when the sensor module is in the first predeterminated position, on the rotation stop switch and sensor module corresponding position
Limiting component contact；For the second rotating mechanism, when the sensor module is in the second predeterminated position, the rotation stop switch
It is contacted with the limiting component on sensor module corresponding position.
The limiting component is L shape, which is fixedly connected with the sensor module；For the first rotation
Mechanism, when the sensor module is in the first predeterminated position, the L-shaped vertical component effect end and rotation stop switch contact；It is right
In the second rotating mechanism, when the sensor module is in the second predeterminated position, the L-shaped vertical component effect end is opened with rotation stop
Close contact.
The sensor module is fixed with magnetic transmitter on the side end face far from first rotating mechanism, and described
Mounting disc is provided in magnetic transmitter transmitting range；Multiple inductive switches are installed in the mounting disc；When the magnetic hair
When emitter position is opposite with any inductive switch position, the inductive switch of the position issues posture information instruction.
The sensor module includes at least one sensor unit；The sensor unit includes that three dimensional data collection passes
Sensor and/or color image data acquire sensor.
The sensor module is sphere or polyhedron.
Compared with prior art, the utility model sensor module needs are had the beneficial effect that possessed by the utility model
When rotation, only a telescopic shaft is connect with sensor module, and in addition a telescopic shaft retracts, and does not need rotating bracket, is rotated
Mechanism load mitigates, and the service life is longer for rotating mechanism, assembling is simpler；First rotating mechanism of the utility model and/or
It is provided with the structures such as limiting device, rotation stop switch, inductive switch on second rotating mechanism, greatly improves rotation control essence
Degree.
Detailed description of the invention
Fig. 1 is 1 structural schematic diagram of the utility model embodiment；
Fig. 2 is 2 structural schematic diagram of the utility model embodiment；
Fig. 3 is the utility model telescopic shaft structural schematic diagram；
Fig. 4 is the utility model holder part structural schematic diagram；
Fig. 5 is the utility model resetting structure partial schematic diagram；
Fig. 6 is the utility model limit device structure schematic diagram；
Fig. 7 is a kind of sensor module schematic diagram of the utility model；
Fig. 8 is the utility model another kind sensor module schematic diagram.
Specific embodiment
As shown in Figure 1, the scene scanner of the utility model embodiment 1 includes sensor module 1, the first rotating mechanism 2
With the second rotating mechanism 3；First rotating mechanism 2 can drive the sensor module 1 around first axle by the first telescopic shaft 6
Line rotation, and first telescopic shaft 6 can stretch on first axle direction；Second rotating mechanism 3 can be stretched by second
Contracting axis 5 drives the sensor module 1 to rotate around second axis, and second telescopic shaft 5 can be stretched on second axis direction
Contracting；The first axle and the second axis are at predetermined angle.
In the structure of Fig. 1, when scanner stops working, the first telescopic shaft 6, the second telescopic shaft 5 can and sensor
Module 1 connects, and can also only have the first telescopic shaft 6 to connect with sensor module, or only the second telescopic shaft 5 and sensor die
Block connection, or sensor module is supported with remaining mode, two telescopic shafts are not connect with sensor module.
In the utility model, first axle 01 can be the axis of horizontal direction, and second axis 02 can be the axis of vertical direction
Line, second axis and first axle can angles in 90 °.
First direction alleged by the utility model refers to sensor module around the direction that first axle rotates；Second direction is
Refer to sensor module around the direction that second axis rotates.For example, sensor module can rotate clockwise or inverse around first axle
Hour hands rotation, the direction for rotating clockwise or rotating counterclockwise around first axle at this time are first direction；Sensor module can be with
It rotates clockwise or rotates counterclockwise around second axis, the direction for rotating clockwise or rotating counterclockwise around second axis at this time is
Second direction.
The sensor module offers mounting hole with respect to the position of the first telescopic shaft, the second telescopic shaft；When described
When one telescopic shaft is connect with the sensor module, first telescopic shaft protrudes into the installation of the sensor module corresponding position
It in hole, is fixedly connected with sensor module, and sensor module can be driven to rotate；When second telescopic shaft and the sensing
When device module connects, second telescopic shaft is protruded into the mounting hole of the sensor module corresponding position, with sensor module
It is fixedly connected, and sensor module can be driven to rotate.
Preferably, in the utility model, the second rotating mechanism 3 is set to the below or above in the middle part of sensor module.
When scanner works, if the needs of sensor module 1 horizontally rotate (i.e. sensor module is rotated around second axis),
First telescopic shaft is retracted into the first rotating mechanism 2 (the first telescopic shaft and sensor module disconnect at this time), revolves to level
After rotating back into predeterminated position, the second telescopic shaft is reached in sensor module 1, and control sensor module 1 rotates；If sensor die
Block needs vertical rotation (i.e. sensor module is rotated around first axle), then the second telescopic shaft is retracted into the second rotating mechanism 3
(the second telescopic shaft and sensor module disconnect at this time), after vertical rotary returns to predeterminated position, the rotation of the second telescopic shaft 5
It protrudes into sensor module 1, prepares to control it.First telescopic shaft, the second telescopic shaft are connected with sensor module
Position can be polygon hole, such as regular hexagon hole, the shape that telescopic shaft protrudes into sensor module portion is also positive six
Side shape may be implemented to rotate control well in this way.The position that two telescopic shafts are connected with sensor module 1 is also possible to screw thread
Also there are threaded hole in hole, the part that telescopic shaft protrudes into sensor module, the screw thread on threaded hole and sensor module on telescopic shaft
Hole can fit like a glove, by rotating into sensor module screw thread hole.
Preferably, the first rotating mechanism, the second rotating mechanism are all made of motor；The output shaft of motor and corresponding telescopic shaft
Connection.
Such as Fig. 2, in order to guarantee that structure is more firm, in the scene scanner of the utility model embodiment 2, sensor module
Side is provided with supporting element 8, and supporting element 8 and the first rotating mechanism 2 are located at the two opposite sides of sensor module；It stretches when described first
When contracting axis is connect with the sensor module, the supporting element 8 is connect by the stretching of third telescopic shaft 7 with the sensor module
(it should be noted that sensor module can also be flexible around third in the driving sensor module rotation of the first rotating mechanism 2
Axis 7 rotates)；When second rotating mechanism drives the sensor module to rotate around second axis, the third telescopic shaft
It retracts, retraction herein need to guarantee to disconnect between third telescopic shaft and sensor.
When scanner stops working, third telescopic shaft can be connect with sensor module, utilize supporting element 8 and third telescopic shaft
Support sensor module.
Preferably, the third telescopic shaft of the utility model and the axis of the first telescopic shaft are located along the same line.Preferably,
The straight line is parallel with first axle.
It is fixed with motor in supporting element 8, passes through the flexible of motor driven third telescopic shaft.
Such as Fig. 3, telescopic shaft of the invention includes pars contractilis 61, and the fixed part 62 being located at outside pars contractilis can drive flexible
The output axis connection of the rotating part 63 that portion rotates and stretches, the rotating part and motor.When needing to connect with sensor module, stretch
The pars contractilis of contracting axis protrudes into the mounting hole in sensor module.
As shown in Figure 4 and Figure 5, the sensor module of the utility model, the first rotating mechanism are mounted on bracket 15；This
The mounting disc of utility model is mounting flange 12；Wherein sensor module is installed on 15 side of bracket, sensor module one end with
Mounting flange 12 connects, and mounting flange 12 is fixedly connected with bracket 15；The sensor module other end is close to the first rotating mechanism, and
One rotating mechanism is fixedly connected with bracket 15.
First rotating mechanism further includes flange 16, and for the flange 16 close to sensor module 1, which is U-shaped (or C
Type), rotation stop switch 10 (such as mouse microswitch, other touch keys switch) is set on the flange 16, and sensor module is leaned on
One end of nearly first rotating mechanism is fixed with limiting component 9, which is L shape, which includes horizontal part and vertical component effect,
It is signified herein when sensor module 1 is in predeterminated position (including sensor module 1 around the final position that first axle rotates)
Predeterminated position refers to the first predeterminated position, and the L-shaped vertical component effect end is contacted with the rotation stop switch 10, and rotation stop is opened at this time
10 are closed to controller (such as single-chip microcontroller) output reset signal rotated for control the first rotating mechanism, the controller is made to control the
One rotating mechanism driving sensor module is reset to sensor module around the initial position that first axle rotates.
Above-mentioned end refers to the one end of L-shaped vertical component effect far from horizontal part.
In the utility model, rotation stop switch, which can also be installed on remaining position of the first rotating mechanism, (need to guarantee that rotation stop switchs
Do not rotate, i.e., rotation stop switch should be installed on the first rotating mechanism fixed part (fixed part refers to relative to rotating part,
The part of change in location will not occur, for example, output shaft can rotate for motor, then fixed part, that is, motor of motor
Body part in addition to output shaft)), as long as guaranteeing that rotation stop switch does not rotate, and convenient for being used cooperatively i.e. with limiting component 9
It can.
It is equally possible that installing rotation stop switch on the second rotating mechanism (need to guarantee that rotation stop switch does not rotate, i.e. rotation stop
Switch should be installed on the fixed part of the second rotating mechanism, and (fixed part refers to relative to rotating part, and position will not occur
The part of variation, for example, output shaft can rotate for motor, then fixed part, that is, motor of motor is in addition to output shaft
Body part)), sensor module corresponding position install limiting component, be convenient for sensor die block reset.
In the utility model, rotation stop switch, sensor module corresponding position can be installed on two rotating mechanisms simultaneously
Installation switchs the limiting component being used cooperatively with rotation stop.For the second rotating mechanism 3, preset when sensor module 1 is in second
When position (including sensor module 1 around the final position that second axis rotates), the position corresponding with sensor module 1 of rotation stop switch 10
The limiting component 9 set contacts.At this time rotation stop switch 10 to for control the second rotating mechanism rotate controller (such as monolithic
Machine) output reset signal, so that the controller is controlled the second rotating mechanism driving sensor module and is reset to sensor module around the
The initial position of two axis rotation.
In the utility model, rotation stop switch, limiting component are used for reseting sensor module, for the first rotating mechanism, only
When turning on pass, limiting component for rotating in sensor module around first axle, and needing to be reset, sensor module is answered
Position；For the second rotating mechanism, rotation stop switch, limiting component are used to rotate in sensor module around second axis, and need multiple
When position, sensor module is resetted.
In the utility model, the first rotating mechanism drives sensor die block reset, refers to sensor module from current location
Rotating to predeterminated position around first axle (can be sensor module around the initial position that first axle rotates or terminal position
It sets)；Second rotating mechanism drives sensor die block reset, and it is pre- to refer to that sensor module is rotated to from current location around second axis
Position if (can be sensor module around the initial position that second axis is revolved or final position).
In order to mention high control precision, multiple inductive switches 14 are installed on mounting flange 12, and (induction of the utility model is opened
Closing is Hall switch), sensor module installs magnetic transmitter 13 on the end face of mounting flange, and (mounting flange should be located at magnetic
Property transmitter 13 effective launching zone in), when sensor module rotation when, magnetic transmitter is revolved with sensor module
Turn, when magnetic transmitter is rotated to it is opposite with a certain inductive switch position when, inductive switch triggering, issue posture information instruct to
Peripheral control unit, peripheral control unit can instruct the posture for determining sensor module according to the posture information, and according to sensor
The motor rotational angle of the first rotating mechanism of pose adjustment of module.Hall switch and magnetic transmitter are contactless, phases
The problem of than mechanical return and limit, precision is higher, and element is not in fatigue decaying, longer life expectancy is more reliable.
Above-mentioned magnetic transmitter is opposite with a certain inductive switch position, refers to the midpoint of magnetic transmitter and the sense of the position
Line between the midpoint of inductive switch is parallel to first axle.
As shown in fig. 6, the scene scanner of the utility model further includes limiting device, which includes catapult circle
51；51 outer ring of catapult circle is equipped with outwardly directed resilient ratchet 511；On the resilient ratchet 511 and 52 inner ring of gear ring
The engagement of internal tooth ratchet；52 outer ring of gear ring is equipped with multiple limiting slots 522；Limit switches 53 are arranged in 52 side of gear ring,
And when the limit switch 53 stretches out, the protrusion of limit switch 53 is engaged with the limiting slot 522 of corresponding position.Limiting slot 522
Number according to field angle size, number of probes determine.Limit switch 53 includes a vertical portion and connect with the vertical portion
Horizontal part (i.e. raised), the horizontal part can stretch (when gear ring 52 rotates, the outer ring of gear ring and the horizontal part end of limit switch
Contact, horizontal part is in compressive state at this time, and when limit switch is engaged with limiting slot, horizontal part is in stretching state), work as water
When flat portion protrudes into limiting slot, rotating mechanism stops rotating.
In the utility model, catapult circle 51 can be installed on the first telescopic shaft, can also be installed on the second telescopic shaft,
Or catapult circle is respectively mounted on first telescopic shaft, the second telescopic shaft.
In the case of catapult circle is installed on the first telescopic shaft, limit switch can be installed on bracket 15；For bullet
The situation that bow circle is installed on the second telescopic shaft, limit switch can be installed on the fixed part of the second rotating mechanism.
Alternatively, above-mentioned catapult circle can also be installed (for example, can be with close to the position of the first rotating mechanism in sensor module
An installation axle is added close to one end of the first rotating mechanism in sensor module, catapult circle is installed in the installation axle, when
So, catapult snare directly can also be located at sensor module close to one end of the first rotating mechanism)；Alternatively, in sensor die
Block adds fixing axle close to the position of the second rotating mechanism, and catapult circle is installed in the fixing axle；It can also be in sensor die
Block is respectively mounted above-mentioned catapult circle close to the first rotating mechanism, close to the position of the second rotating mechanism.
In the case of catapult circle is installed in sensor module, limit switch is installed on the fixed part of the first rotating mechanism
On point；In the case of catapult circle is installed in fixing axle, limit switch is installed on the fixed part of the second rotating mechanism.
The catapult circle of the utility model can also be installed on motor output shaft 20 by support casing 512, for example, for
One rotating mechanism comprising first motor, support casing are sheathed on the output shaft of first motor, and catapult snare is set to support casing
On, limit switch can be installed on remaining position of the first rotating mechanism at this time, can also be installed on consolidating for the first telescopic shaft
Determine in portion, as long as guaranteeing that limit switch will not be rotated with the output shaft of first motor, and can when the horizontal part stretching of limit switch
To be engaged with the limiting slot on gear ring；For the second rotating mechanism comprising the second motor, support casing are sheathed on the second electricity
On the output shaft of machine, catapult snare is set on support casing, and limit switch can be installed on remaining position of the second rotating mechanism at this time
It sets, can also be installed on the fixed part of the second telescopic shaft, as long as guaranteeing that limit switch will not be with the output shaft of first motor
Rotation, and can be engaged with the limiting slot on gear ring when the horizontal part stretching of limit switch.
The case where motor output shaft is installed on for catapult circle, it is notable that we are by motor in this case
The a part (i.e. telescopic shaft include motor output shaft) of output shaft as telescopic shaft, such as the output shaft of first motor is
The output shaft of first motor (specifically, one of the first telescopic shaft rotating part can be regarded as by a part of one telescopic shaft
Point), the output shaft of the second motor is a part of the second telescopic shaft (specifically, the output shaft of the second motor can be regarded as
A part of second telescopic shaft rotating part).
Certainly, for installing catapult circle on above-mentioned first telescopic shaft, installing catapult circle, sensor module on the second telescopic shaft
The all situations that catapult circle is installed on upper installation catapult circle, sensor module fixing axle, can also be in remaining position close to gear ring
It sets and separately sets a fixed bracket installation limit switch, it can be corresponding on gear ring when the horizontal part of limit switch stretches out as long as guaranteeing
The limiting slot of position engages.
The utility model sensor module includes a sensor unit 1-2, and sensor unit 1-2 may include depth phase
Machine, alternatively, depth camera and color camera；Specifically, the sensor unit can be depth transducer, alternatively, depth sensing
Depth camera in device adds common RGB camera.If certain sensor module only includes a sensor unit, relatively
For the sensor module being made of multiple sensor units, cost wants much lower, and (including but unlimited by repeatedly rotation
Rotate and horizontally rotate in vertically) equally it is able to achieve whole scene scanning.
As shown in Figure 7 and Figure 8, sensor module can also include multiple sensor units, and each sensor unit can wrap
Include three dimensional data collection sensor and/or color image data acquisition sensor；Specifically, the sensor unit can be depth
Sensor, alternatively, the depth camera in depth transducer adds common RGB camera.Wherein, in the utility model, three-dimensional data
Acquisition sensor can be depth transducer, laser radar, Kinect sensor etc., and color image data acquires sensor can be with
It is color camera etc..
As shown in figure 8, the entire sensor module of the utility model can be with spherical in shape.It certainly can also be other multi-panels
The form of body, but regardless of the form of entire sensor module, the number for the sensor unit for not included to sensor module
Amount is defined, because, to meet whole scene scanning, if the field angle of single sensor unit is enough big, then can subtract
The quantity of few sensor unit.It may include 12 sensor units by taking spherical morphology as an example, two neighboring sensor list at this time
The angle of member can be 90 degree；It can also include 18 sensor units, the angle of two neighboring sensor unit can be at this time
It is 60 degree；It can also include 21 sensor units, the angle of two neighboring sensor unit can be 51.42 degree at this time；Also
It may include 24 sensor units, the angle of two neighboring sensor unit can be 45 degree at this time.
The sensor module being made of multiple sensor units, relative to the sensor die being made of single sensor unit
For block, the region of single acquisition image information is bigger, thus can be reduced the number of revolutions of sensor module, and then shortens and sweep
Retouch the time.
Claims (10)
1. a kind of scene scanner, including sensor module (1), the first rotating mechanism (2) and the second rotating mechanism (3)；It is special
Sign is that first rotating mechanism (2) can drive the sensor module (1) around first axle by the first telescopic shaft (6)
Rotation, and first telescopic shaft (6) can stretch on first axle direction；Second rotating mechanism (3) can pass through second
Telescopic shaft (5) drives the sensor module (1) to rotate around second axis, and second telescopic shaft (5) can be in second axis
It stretches on direction；The first axle and the second axis are at predetermined angle.
2. scene scanner according to claim 1, which is characterized in that the sensor module (1) opposite first is stretched
Axis (6), the second telescopic shaft (5) position offer mounting hole；When first telescopic shaft (6) and the sensor module
(1) when connecting, first telescopic shaft (6) is protruded into the mounting hole of the sensor module (1) corresponding position；When described second
When telescopic shaft (5) is connect with the sensor module (1), it is corresponding that second telescopic shaft (5) protrudes into the sensor module (1)
In the mounting hole of position.
3. scene scanner according to claim 1, which is characterized in that first rotating mechanism (2) is set to the biography
Sensor module (1) side；Second rotating mechanism (3) is set to the sensor module (1) either above or below.
4. scene scanner according to claim 3, which is characterized in that the other side of the sensor module (1) is arranged
Have supporting element (8), and the supporting element (8) and first rotating mechanism (2) are located at the two opposite of the sensor module (1)
Side；When first telescopic shaft (6) connect with the sensor module (1), the supporting element (8) passes through third telescopic shaft
(7) it stretches out and is connect with the sensor module (1)；When second rotating mechanism (3) drives the sensor module (1) around the
When two axis rotate, the third telescopic shaft (7) is retracted.
5. scene scanner described according to claim 1~one of 4, which is characterized in that further include limiting device；The limit
Device includes catapult circle (51)；Catapult circle (51) outer ring is equipped with outwardly directed resilient ratchet (511)；The resilient ratchet
(511) it is engaged with the internal tooth ratchet on gear ring (52) inner ring；Gear ring (52) outer ring is equipped with multiple limiting slots (522)；It is described
Limit switches (53) are nearby arranged in gear ring (52), and when the limit switch (53) are stretched out, the protrusion of limit switch (53)
It is engaged with the limiting slot (522) of corresponding position；
Wherein, the catapult circle (51) is installed on the first telescopic shaft (6) and can rotate with first telescopic shaft (6)；Or
The catapult circle (51) is installed on the second telescopic shaft (5) and can rotate with second telescopic shaft (5)；Or described first stretch
The catapult circle (51) is mounted on contracting axis (6), the second telescopic shaft (5)；Or the catapult circle (51) is installed on the biography
In sensor module (1)；
For the first rotating mechanism, when the protrusion of the limit switch (53) is engaged with the limiting slot (522) of corresponding position, institute
Sensor module (1) is stated to stop rotating around first axle；For the second rotating mechanism, when the limit switch (53) protrusion with
When limiting slot (522) engagement of corresponding position, the sensor module (1) stops rotating around second axis.
6. scene scanner described according to claim 1~one of 4, which is characterized in that first rotating mechanism (2) and/
Or second be equipped with rotation stop switch (10) on rotating mechanism (3)；For the first rotating mechanism (2), when the sensor module (1)
When in the first predeterminated position, the rotation stop switch (10) connects with the limiting component (9) on sensor module (1) corresponding position
Touching；For the second rotating mechanism (3), when the sensor module (1) is in the second predeterminated position, the rotation stop switchs (10)
It is contacted with the limiting component (9) on sensor module (1) corresponding position.
7. scene scanner according to claim 6, which is characterized in that the limiting component (9) is L shape, the L-shaped water
Flat portion is fixedly connected with the sensor module (1)；For the first rotating mechanism (2), when the sensor module (1) is in the
When one predeterminated position, the L-shaped vertical component effect end is contacted with rotation stop switch (10)；For the second rotating mechanism (3), when described
When sensor module (1) is in the second predeterminated position, the L-shaped vertical component effect end is contacted with rotation stop switch (10).
8. scene scanner according to claim 1, which is characterized in that the sensor module (1) is far from described first
It is fixed on one side end face of rotating mechanism (2) magnetic transmitter (13), and is set in the magnetic transmitter (13) transmitting range
It is equipped with mounting disc；Multiple inductive switches (14) are installed in the mounting disc；When the magnetic transmitter (13) position with it is any
When inductive switch (14) position is opposite, the inductive switch (14) of the position issues posture information instruction.
9. scene scanner according to claim 1, which is characterized in that the sensor module (1) includes at least one
Sensor unit；The sensor unit includes three dimensional data collection sensor and/or color image data acquisition sensor.
10. scene scanner according to claim 9, which is characterized in that the sensor module (1) is sphere or multi-panel
Body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920075972.5U CN209230652U (en) | 2019-01-17 | 2019-01-17 | A kind of scene scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920075972.5U CN209230652U (en) | 2019-01-17 | 2019-01-17 | A kind of scene scanner |
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| CN209230652U true CN209230652U (en) | 2019-08-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109596152A (en) * | 2019-01-17 | 2019-04-09 | 湖南拓视觉信息技术有限公司 | A kind of scene scanner |
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- 2019-01-17 CN CN201920075972.5U patent/CN209230652U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109596152A (en) * | 2019-01-17 | 2019-04-09 | 湖南拓视觉信息技术有限公司 | A kind of scene scanner |
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