CN209629577U - A kind of interior 3-D scanning real-time displaying device - Google Patents
A kind of interior 3-D scanning real-time displaying device Download PDFInfo
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- CN209629577U CN209629577U CN201821602099.2U CN201821602099U CN209629577U CN 209629577 U CN209629577 U CN 209629577U CN 201821602099 U CN201821602099 U CN 201821602099U CN 209629577 U CN209629577 U CN 209629577U
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Abstract
A kind of interior 3-D scanning real-time displaying device, including walking arrangement and hand-held display control apparatus, wherein walking arrangement includes the running gear of driving equipment walking, with the processing unit of the hand-held display control apparatus communication connection, the three-dimensional scanner of 3-dimensional image in collection room, three-dimensional scanner is installed and is allowed to rotatable rotating circular disc, and support and its adjustable height lifting device, processing unit is by way of wireless telecommunications by image transmitting to hand-held display control apparatus, running gear, three-dimensional scanner, lifting device and rotating circular disc are electrically connected with processing unit, the processing unit is equipped with the placing groove for hiding three-dimensional scanner；User controls processing unit by hand-held display control apparatus in the utility model, and then control the movement of running gear and three-dimensional scanner, after the completion of the scanning of each scanning element, processing unit will also upload to simultaneously in the database in the corresponding room when transmitting the image to long-range user about the data of the scanning element.
Description
Technical field
The utility model belongs to 3-D scanning field, and in particular to a kind of interior 3-D scanning real-time displaying device.
Background technique
In current indoor 3-D scanning, the mode of structural light three-dimensional scanning survey is mostly used, fixed point is put indoors
Double photographic devices are set, cross to obtain the three-dimensional coordinate information of body using the triangle of double photographic devices.With traditional measurement method phase
Than, it has many advantages, such as that contactless, detection speed is fast, data volume is big, but simultaneously as what indoor 3-D scanning needed to arrange
Point is excessive, needs manual mobile measuring equipment to detect each test point, the house of lower 100 square meters of ordinary circumstance
Sweep time need one to two hours, sweep time is longer.In addition, the selection due to scanning element is limited, observer
It can only be observed, can not freely be observed according to the position of scanning element.
Utility model content
The purpose of the utility model is to provide a kind of indoor 3-D scanning real-time displaying devices, to solve the prior art to room
Long technical problem the time required to interior carry out 3-D scanning；And solve what the prior art can not observe in real time surface sweeping image
Problem.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of interior 3-D scanning real-time displaying device, it is characterised in that: set including walking arrangement and hand-held display control
Standby, wherein walking arrangement includes the running gear of driving equipment walking, the place with the hand-held display control apparatus communication connection
Reason device, the three-dimensional scanner of 3-dimensional image in collection room are equipped with three-dimensional scanner and are allowed to rotatable rotating circular disc,
And support and its adjustable height lifting device, the processing unit by way of wireless telecommunications by image transmitting to hold
Display control apparatus, the running gear, three-dimensional scanner, lifting device and rotating circular disc are electrically connected with the processing unit
It connects, the processing unit is equipped with the placing groove for hiding three-dimensional scanner.
It is further preferred that the running gear is additionally provided with infrared ray avoiding device, the infrared ray avoiding device detours
The circle setting of walking apparatus one.
Further, the processing unit then passes through service by after image transmission server by way of wireless telecommunications
Device is transmitted to hand-held display control apparatus.
Further, the hand-held display control apparatus is VR equipment or mobile phone.
Further, the running gear is sweeping robot.
Further, the running gear include be used to support the support plate of processing unit and set on support plate bottom extremely
Few three pulleys, at least one described pulley are equipped with locking device, and the locking device is controlled by processing unit.
Further, the three-dimensional scanner is structural light three-dimensional scanning means, the structural light three-dimensional scanning means
Depth map is produced by the scanning to 360 degree of spaces, and image mosaic is got up, forms indoor three-dimensional figure.
In addition, its included binocular camera is formed stereo-picture by the three-dimensional scanner is transferred to processing unit,
And then it is transferred to hand-held display control apparatus.
It is further preferred that the hand-held display control apparatus is stereoscopic vision equipment.
Implement the utility model can achieve it is following the utility model has the advantages that
Three-dimensional scanner can be contracted to placing groove by the contraction pole in the utility model, and running gear can be by walking
Device control completes it in addition to the other function for the walking for driving three-dimensional scanner, while running gear passes through processing unit control
System carries out fixed point stop, and user controls processing unit by hand-held display control apparatus, and then controls running gear and three-dimensional
The movement of scanning means, after the completion of the scanning of each scanning element, processing unit will also be closed when transmitting the image to long-range user
It is uploaded in the database in the corresponding room simultaneously in the data of the scanning element, it is convenient to check offline, while also other being facilitated to make
User calls the data direct viewing, is scanned again without recalling the three-dimensional scanning device.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of indoor 3-D scanning real-time displaying device of utility model；
Fig. 2 be the utility model relates to three-dimensional scanner 2 work when state diagram；
Fig. 3 be the utility model relates to three-dimensional scanner 2 be hidden in placing groove when state diagram.
The drawing reference numeral of specific embodiment illustrates:
1- running gear；11- support plate；12- pulley；2- three-dimensional scanner；3- lifting device；4- rotating circular disc；5-
Processing unit；6- holds display control apparatus；7- placing groove；8- infrared ray avoiding device；
Specific embodiment
For a clearer understanding of the technical features, objectives and effects of the utility model, now control attached drawing is detailed
Illustrate specific embodiment of the present utility model.Obviously, the described embodiments are only a part of the embodiments of the utility model,
Instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, fall within the protection scope of the utility model.
According to a kind of indoor 3-D scanning real-time displaying device provided by the utility model, it can be used for indoor three-dimensional and sweep
It retouches, such as Fig. 1, including hand-held display control apparatus 6 and walking arrangement (1,2,3,5), wherein hand-held display control apparatus 6 can lead to
Network is crossed to connect with server communication.
As shown in Fig. 2, walking arrangement in Tthe utility model system include allow entire walking arrangement on the ground
The running gear 1 of walking, running gear 1 can realize controllable walking indoors by wheel system and driving unit, can
With using the walking mechanism of similar sweeper, at this point, the bottom surface of walking mechanism is opposite with ground, top surface is equipped with processing unit 5, In
In the utility model, entire walking arrangement is controlled by the processing unit 5 being arranged on running gear 1, which can
It is communicated wirelessly with hand-held display control apparatus 6, the walking arrangement in Tthe utility model system further includes using
In carrying three-dimensional scanner 2 rotating circular disc 4, be mounted in rotating circular disc 4 can with the three-dimensional scanner 2 of disk rotational,
And for adjusting the lifting of 2 height of disk 4 and three-dimensional scanner between running gear 1 and the rotating circular disc 4
Device 3.Wherein, processing unit 5 is set image transmitting to hand-held display control by bluetooth, WIFI or other wireless communication modes
Standby 6, running gear 1 and three-dimensional scanner 2 are electrically connected with processing unit 5, and processing unit 5 is equipped with for hiding three-dimensional
The placing groove 7 of scanning means；
Wherein: when using 3-D scanning function, user controls hand-held display control apparatus 6 and is sent to command information
Processing unit 5, processing unit 5 can be according to the lifting of the order control lifting device 3 received, and then controls 3-D scanning dress
2 3-D scanning height is set, processing unit 5 controls the walking of running gear 1 and according to the demand of user in corresponding measurement
Point stops, and processing unit 5 controls rotating circular disc 4 and three-dimensional scanner 2 is driven to rotate 360 ° scanning, when each measurement point
After the completion of scanning, processing unit 5 is while transmitting the image to hand-held display control apparatus 6 also by the data about the measurement point
The database that network uploads to the corresponding room is provided；As shown in figure 3, when being without the use of 3-D scanning function, user's control
It makes hand-held display control apparatus 6 and command information is fed back into processing unit 5, the control lifting device 3 of processing unit 5, which will be contracted to, to be put
Slot 7 is set, hides rotating circular disc 4 and three-dimensional scanner 2 to placing groove, so that running gear 1 is played other function, for example sweep the floor
The included floor sweeping function of robot, therefore, technical solutions of the utility model can support to sweep the floor shared with 3-D scanning it is same
Walking arrangement even shares the same hand-held display control apparatus.Running gear 1 is additionally provided with infrared ray avoiding device 8, processing dress
5 are set by way of wireless telecommunications by after image transmission server, then by server transport to hand-held display control apparatus 6,
Hand-held display control apparatus 6 is VR equipment or mobile phone, and running gear 1 is preferably chosen as sweeping robot, and running gear 1 can also be with
Including being used to support the support plate 11 of processing unit 5 and set at least three pulleys 12 of 11 bottom of support plate, at least one institute
Pulley 12 is stated equipped with locking device, locking device is controlled by processing unit 5, and three-dimensional scanner 2 is swept for structural light three-dimensional
Imaging apparatus, structural light three-dimensional scanning means produces depth map by the scanning to 360 degree of spaces, and image mosaic is got up,
Indoor three-dimensional figure is formed, stereo-picture only can also be formed by its included binocular camera and be transferred to processing unit 5, and
By processing unit 5 by way of wireless telecommunications by image transmitting to server, then by server transport to needing to watch room
The user of situation, holding display control apparatus 6 is stereoscopic vision equipment.
After scanning starts, running gear 1 is placed to space openr indoors first, user passes through VR equipment
Or other stereoscopic display apparatus or mobile phone are connected to server, the command information of user is sent processing by server
Device 5.Processing unit selects test point according to command information, and drives three-dimensional scanner 2 to reach test point by walking mechanism.
After reaching test point, running gear 1 locks the castor of bottom, and three-dimensional scanner 2 is raised to specified altitude assignment by lifting device 3,
Rotating circular disc 4 starts to rotate, and three-dimensional scanner 2 is driven to rotate, and standing the Image Real-time Transmission taken to user
In body vision equipment, make user that indoor situation can be observed in real time.Since image is real-time Transmission, so not needing clear
Empty indoor people and pet.After the completion of the scanning of the point, user can add second scanning element.According to this method according to
All scanning elements in secondary addition room.It is provided with infrared avoiding device 8 on running gear 1, room can be avoided in the process of walking
Interior object prevents to collide.After the completion of the scanning of each scanning element, when transmitting the image to long-range user, swept about this
The data of described point are uploaded to simultaneously in the database in the corresponding room, convenient to check offline, while also facilitating other user's tune
With the data direct viewing, do not have to thus recall the three-dimensional scanning device.Under normal circumstances, several users use completion
Afterwards, the data in the room are just abundant enough, can satisfy the requirement of the most people viewing each position details in room.When the three-dimensional
Scanning means 2 when not in use, can play other effects, such as make running gear using sweeping robot, can be not
The work swept the floor is completed when carrying out 3-D scanning, when floor sweeping function is used only, lifting device 3 is shunk, by three-dimensional scanner 2
It is hidden in placing groove 7.
The embodiments of the present invention are described above in conjunction with attached drawing, but the utility model is not limited to
The specific embodiment stated, the above mentioned embodiment is only schematical, rather than restrictive, this field it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under the enlightenment of the utility model
Under, many forms can be also made, these are belonged within the protection of the utility model.
Claims (9)
1. a kind of interior 3-D scanning real-time displaying device, it is characterised in that: including walking arrangement and hand-held display control apparatus
(6), wherein walking arrangement include driving equipment walking running gear (1), with hand-held display control apparatus (6) communication link
The three-dimensional scanner (2) of 3-dimensional image in the processing unit (5) that connects, collection room, be equipped with that three-dimensional scanner (2) is allowed to can
The rotating circular disc (4) of rotation, and the lifting device (3) of support and its adjustable height, the processing unit (5) passes through channel radio
The mode of news three-dimensional scanner (2), goes up and down image transmitting to hand-held display control apparatus (6), the running gear (1)
Device (3) and rotating circular disc (4) are electrically connected with the processing unit (5), and the processing unit (5) is equipped with for hiding three
Tie up the placing groove (7) of scanning means.
2. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the running gear
(1) it is additionally provided with infrared ray avoiding device (8), the infrared ray avoiding device (8) is enclosed around running gear one to be arranged.
3. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the processing unit
(5) by way of wireless telecommunications by after image transmission server, then pass through server transport to hand-held display control apparatus
(6)。
4. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the hand-held display control
Control equipment (6) is VR equipment or mobile phone.
5. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the running gear
It (1) is sweeping robot.
6. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the running gear
(1) include be used to support processing unit (5) support plate (11) and be set to support plate (11) bottom at least three pulleys (12),
At least one described pulley (12) is equipped with locking device, and the locking device is controlled by processing unit (5).
7. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the 3-D scanning dress
Setting (2) is structural light three-dimensional scanning means, and the structural light three-dimensional scanning means produces depth by the scanning to 360 degree of spaces
Degree figure, and image mosaic is got up, form indoor three-dimensional figure.
8. a kind of indoor 3-D scanning real-time displaying device as described in claim 1, it is characterised in that: the 3-D scanning dress
It sets (2) and its included binocular camera formation stereo-picture is transferred to processing unit (5), and then be transferred to hand-held display control
Equipment (6).
9. a kind of indoor 3-D scanning real-time displaying device as described in claim 1~8 any one, it is characterised in that: institute
Stating hand-held display control apparatus (6) is stereoscopic vision equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821602099.2U CN209629577U (en) | 2018-09-29 | 2018-09-29 | A kind of interior 3-D scanning real-time displaying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821602099.2U CN209629577U (en) | 2018-09-29 | 2018-09-29 | A kind of interior 3-D scanning real-time displaying device |
Publications (1)
| Publication Number | Publication Date |
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| CN209629577U true CN209629577U (en) | 2019-11-15 |
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ID=68471492
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821602099.2U Active CN209629577U (en) | 2018-09-29 | 2018-09-29 | A kind of interior 3-D scanning real-time displaying device |
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| CN (1) | CN209629577U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110960148A (en) * | 2018-09-29 | 2020-04-07 | 深圳市掌网科技股份有限公司 | Indoor three-dimensional scanning real-time display system and use method thereof |
| CN115202369A (en) * | 2022-09-14 | 2022-10-18 | 深圳市信诚创新技术有限公司 | Path control method, device and equipment of dust collection robot and storage medium |
-
2018
- 2018-09-29 CN CN201821602099.2U patent/CN209629577U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110960148A (en) * | 2018-09-29 | 2020-04-07 | 深圳市掌网科技股份有限公司 | Indoor three-dimensional scanning real-time display system and use method thereof |
| CN115202369A (en) * | 2022-09-14 | 2022-10-18 | 深圳市信诚创新技术有限公司 | Path control method, device and equipment of dust collection robot and storage medium |
| CN115202369B (en) * | 2022-09-14 | 2022-11-18 | 深圳市信诚创新技术有限公司 | Path control method, device and equipment of dust collection robot and storage medium |
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