CN212903049U - Portable three-dimensional laser scanning system - Google Patents
Portable three-dimensional laser scanning system Download PDFInfo
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- CN212903049U CN212903049U CN202021434826.6U CN202021434826U CN212903049U CN 212903049 U CN212903049 U CN 212903049U CN 202021434826 U CN202021434826 U CN 202021434826U CN 212903049 U CN212903049 U CN 212903049U
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Abstract
The utility model discloses a portable three-dimensional laser scanning system, including laser instrument, image sensor, actuating mechanism, elevating system, the supporting part, the laser instrument with image sensor installs in the support both ends, image sensor installation frame is equipped with to support one end, and the laser instrument installation frame is equipped with to the other end, support center department installs the pivot, the actuating mechanism drive shaft with the pivot is connected in order to drive its rotation, actuating mechanism installs in the draw-in groove of support bottom, the laser instrument is used for transmitting laser beam, image sensor gathers the three-dimensional coordinate data of measured object surface point and sends this data to the host computer, the host computer calculates this data according to laser triangle range finding principle to obtain the three-dimensional model of measured object. The utility model discloses simple structure, it is with low costs, it is miniaturized, portable, measurement accuracy is high, but quick non-contact measurement.
Description
Technical Field
The utility model relates to a three-dimensional scanning technical field specifically is a portable three-dimensional laser scanning system.
Background
The three-dimensional scanning technology is a high and new technology integrating light, mechanical, electrical and computer technologies, and is mainly used for scanning the spatial appearance, structure and color of an object to obtain the spatial coordinates of the surface of the object. The three-dimensional scanning technology is based on the acquisition of three-dimensional point cloud data, namely, a data set of the coordinates of the appearance surface points of an object is obtained through a measuring instrument. Conventional acquisition methods include contact three-dimensional measurement and non-contact three-dimensional measurement.
Contact three-dimensional measurement is the calculation of depth by actually touching the surface of an object, such as a coordinate measuring machine. The method has high measurement accuracy, but is difficult to operate aiming at the measured object with soft texture or precious and vulnerable texture. In addition, the method also has the problems of low measurement speed, high cost, incapability of realizing automatic measurement and the like.
Non-contact three-dimensional measurement is mainly performed by means of electromagnetic waves such as laser, X-ray, and the like, and is classified into a projection grating type, a Computed Tomography (CT) type, a laser scanning type, and the like according to a difference in measurement method. The projection grating type three-dimensional measuring method is that a sinusoidal grating or a rectangular grating is projected on the surface of a measured object, and then the coordinates of the surface points of the measured object are finally obtained by means of a certain algorithm. The method has high measurement efficiency, but has little defect in measurement precision. The computed tomography technology is based on the principle that X-rays generate attenuation when passing through an object, and then measurement of tomographic data is realized by means of a certain algorithm. The method is not influenced by the surface of the measured object, but has the problems of health hazard, low measurement precision, low speed, high manufacturing cost and the like. The laser scanning type three-dimensional measurement is to record the information of three-dimensional coordinates, reflectivity, texture and the like of the surface point of the measured object by utilizing the laser ranging principle, and finally realize the reconstruction of the three-dimensional model of the measured object.
The three-dimensional laser scanning is a full-automatic three-dimensional high-precision scanning technology, can efficiently and quickly measure the space three-dimensional data of a target, can perform data acquisition and scanning work in any complex field environment, directly acquires various complex, irregular, standard or nonstandard entity three-dimensional space data to a computer, and forms the space three-dimensional geometrical shape through software automatic fitting. Three-dimensional laser scanning has played a huge role in the related fields of cultural relics protection, precision machining and manufacturing of airplanes and ships and the like, building measurement, topographic and mine surveying and mapping, disaster monitoring, road construction, tunnel and bridge engineering, three-dimensional model establishment of small-range or independent objects and landforms and the like. Three-dimensional laser scanning systems are scanning devices designed based on this technology to address certain specific requirements. At present, the prices of the three-dimensional laser scanning systems generally sold in the market are thousands to tens of thousands or even hundreds of thousands, the selling prices are expensive, and the problems that part of large-range tracking type three-dimensional laser scanning systems are large in size and not easy to carry exist.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a portable three-dimensional laser scanning system to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
a portable three-dimensional laser scanning system comprises a laser, an image sensor, a bracket rotating shaft, a driving mechanism, a clamping groove, a lifting mechanism, a supporting part, an upper computer, an image sensor mounting frame, a laser mounting frame, a driving mechanism driving shaft and a lifting mechanism mounting platform; the laser and the image sensor are arranged at two ends of a support, one end of the support is provided with an image sensor mounting frame, the other end of the support is provided with a laser mounting frame, a rotating shaft is arranged at the center of the support, a driving shaft is arranged on a driving mechanism, the driving shaft is connected with the rotating shaft to drive the rotating shaft to rotate, the driving mechanism is arranged in a clamping groove at the bottom of the support, a preformed hole of the driving shaft of the driving mechanism is arranged at the top of the clamping groove, the bottom of the clamping groove is fixed on a lifting mechanism mounting platform, the lifting mechanism mounting platform is arranged at the top of the lifting mechanism to fix and drive the fine adjustment lifting of; the laser, the image sensor and the measured object form a triangle, the light emitted by the laser irradiates the measured object and is reflected, and the reflected light is received by the image sensor; the driving mechanism drives the support to rotate to gradually scan the surface of the measured object, the image sensor transmits collected information data of the surface of the measured object to the upper computer, and the upper computer is used for processing the received three-dimensional coordinate data of the surface of the measured object and displaying a three-dimensional model of the measured object.
Preferably, the laser is used for emitting laser beams to reach the surface of a measured object, and lasers with different wavelengths and different powers can be selected according to actual environments.
Preferably, the image sensor is used for acquiring three-dimensional coordinate data of surface points of a measured object, transmitting the data to the upper computer, and selecting the image sensor with a proper focal length according to an actual scanning angle and a scanning distance.
Preferably, the upper computer sends an instruction to control the rotation of the driving mechanism, receives data acquired by the image sensor, processes the data according to a certain algorithm, and finally obtains a three-dimensional model of the object to be measured, displays and stores the three-dimensional model
Preferably, the image sensor mounting frame is installed at one end of the support, mounting holes are formed in four corners of the frame, so that the image sensors with different focal lengths can be conveniently replaced and fixed, the laser mounting frame is installed at the other end of the frame, and the laser mounting hole with the adjustable angle is formed in the center of the frame.
Preferably, a rotating shaft is installed in the center of the support and connected with a driving shaft of the driving mechanism.
Preferably, the driving mechanism is arranged in the clamping groove, and a driving shaft of the driving mechanism is connected with the support rotating shaft through a preformed hole in the top of the clamping groove, so that the support is driven to rotate for 360 degrees, panoramic data acquisition is realized, and different driving devices can be selected according to specific scanning precision.
Preferably, the clamping groove is matched with the driving mechanism in size so as to realize miniaturization and simplified installation. The top of the clamping groove is provided with the driving mechanism driving shaft preformed hole, and the bottom of the clamping groove is fixed on the lifting mechanism mounting platform.
Preferably, the top of the lifting mechanism is provided with a lifting mechanism mounting platform for fixing the clamping groove, and meanwhile, the lifting mechanism mounting platform can drive the upper structure of the lifting mechanism to perform fine adjustment lifting so as to obtain the optimal measurement position, and the bottom of the lifting mechanism is connected with the supporting part.
Preferably, the top of the supporting part is connected with the lifting mechanism to fix the whole scanning system, and the supporting part is arranged in a telescopic or foldable manner and can drive the upper structure of the supporting part to perform coarse lifting.
Compared with the prior art, the beneficial effects of the utility model are that the utility model discloses can realize the panoramic scanning and the data acquisition to the measured object fast, the three-dimensional model display of modeling in order to realize the measured object based on the data of gathering simultaneously. The utility model has the characteristics of simple structure, it is with low costs, it is miniaturized, portable, measurement accuracy is high, can realize quick non-contact measurement.
Drawings
Figure 1 is a schematic diagram of a portable three-dimensional laser scanning system,
FIG. 2 is a schematic diagram of a single-point ranging model by a laser triangulation ranging method
FIG. 3 is a schematic diagram of a three-dimensional measurement model by laser triangulation
FIG. 4 is a schematic diagram of a coordinate system transformation model
In the figure: 1-laser, 2-image sensor, 3-bracket, 4-bracket rotating shaft, 5-driving mechanism, 6-clamping groove, 7-lifting mechanism, 8-supporting part, 9-upper computer, 10-image sensor mounting frame, 11-laser mounting frame, 12-driving mechanism driving shaft and 13-lifting mechanism mounting platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: the utility model provides a portable three-dimensional laser scanning system, includes the laser instrument, image sensor, actuating mechanism, elevating system, the supporting part, 1 laser of laser instrument launches a branch of laser to the testee, and this light beam is in through formation of image after the testee reflection on image sensor 2's the photosensitive array, according to laser triangle range finding principle, image sensor 2 sends the testee surface point three-dimensional coordinate data of gathering to host computer 9, host computer 9 calculates the data of receiving according to certain algorithm to obtain the three-dimensional model of testee, and show. During operation, the support part 8 is roughly adjusted and the lifting mechanism 7 is finely adjusted to obtain the optimal scanning height. After the system is stable, host computer 9 sends the instruction and makes actuating mechanism 5 rotates, actuating mechanism drive shaft 12 with support pivot 4 is connected, thereby drives support 3 rotates, 3 one ends of support are equipped with image sensor installation frame 10, and the other end is equipped with laser installation frame 11, laser instrument 1 is fixed in on the laser installation frame 11, image sensor 2 is fixed in on the image sensor installation frame 10 under actuating mechanism 5's the drive, image sensor 2 can acquire the three-dimensional complete data information of testee, and with this information transmission extremely host computer 9 handles and shows.
The system adopts a device which is realized based on a three-dimensional laser scanning technology, acquires quantitative information by detecting an external environment or an object and acquires a measured digital model by combining computer modeling. In the working process, the three-dimensional laser scanning system emits laser beams to the measured object, and the three-dimensional coordinates of the surface points of the measured object are calculated through the received reflection signals, so that point cloud data are obtained. The system adopts a laser triangulation ranging method to realize the acquisition of the three-dimensional coordinates of the surface points of the measured object, and firstly introduces the working principle of measuring single points in a plane.
As shown in fig. 2, the laser a, the image sensor linear photosensitive element EF, and the target object B form a triangle. The light emitted by the laser A is reflected after being irradiated to the object B to be measured, and the reflected light finally falls on the photosensitive surface EF of the linear photosensitive element of the image sensor after passing through the focal point C of the image sensor. Where AC is the length between the laser and the image sensor, both are typically fixed to the support, so AC is the length of the support.
In fig. 2, x is a distance between any laser sensing point G on the linear photosensitive element and the edge effective pixel point E (equal to the length of the photosensitive unit × the number of the photosensitive units), f is a focal length of the image sensor, s is a length of the support AC, q is a vertical distance between the measured object B and the support AC, l is a distance between the measured object B and the laser a, β is an included angle between an emitted beam of the laser and the support AC, and is also an included angle between a straight line EC from the focal point C to the edge effective pixel point E and the linear photosensitive element EF, which is determined by physical parameters of the image sensor, and is regarded as a known quantity during calculation. Therefore, the two lines AB and EC are in parallel relationship, and the triangle ABC and the triangle ECF form a similar triangle, that is, the following correspondence is satisfied:
the vertical distance q between the object to be measured B and the support AC is:
along with the change of the position of the point B, the position of the corresponding point D is also changed, and finally the distance l between the object B to be measured and the laser A is obtained:
how to extend the single point plane measurement to the three-dimensional space measurement is described next.
Fig. 3 shows a three-dimensional distance measurement model by laser triangulation, which uses line laser as a light source, i.e. the light emitted by the light source is a straight line, and therefore, the position of each point on the line needs to be measured. Assuming that the line projected on the wall by the laser is AD, points B and C are all on the straight line AD, and the distance CE from point C to the laser can be calculated by referring to the formula (3). Defining the height of the scanning platform to be 0 in three-dimensional space, namely the height of the point C to be 0, and then describing a calculation method of the position of the point B.
The amount of computation of the BE length in three-dimensional space is large, here in turn the length of BE' is computed. Since the line EE 'is perpendicular to the plane CEF, and assuming that the laser line BC is also perpendicular to the plane CEF, the images B' and C 'of the B and C points on the photosensitive array are also perpendicular to the plane, so the lengths of the B' and C 'to the edge effective pixel points B "and C" are the same, i.e. B' B "is equal to C 'C", and similarly the lengths of the CE and BE' are also the same. In other words, the distance of each point to the line EE' is independent of the height of the point and only of its horizontal position, i.e. the x and y coordinate values of each point can be determined. Then only the z coordinate value needs to be calculated, and the relation of the similar triangles is utilized to obtain:
in the above equation, f is the focal length of the image sensor, the β angle is determined by the physical parameters of the image sensor, and is considered as a known quantity during calculation, d is the distance from the measured object to the line EE', so the z-coordinate value of the point B is:
b ' C ' is the length of the image B ' from point B to the middle row of the photosensitive array of the image sensor, which is the number of pixels of the image sensor multiplied by the width of a single pixel.
Based on this, three xyz coordinate values can be obtained for any point on the laser line, but these three coordinate values are relative to a coordinate system with the laser as the origin. During the actual scanning process, the position of the laser O 'is constantly changing along with the rotation of the support AO', see fig. 4, so that the coordinates need to be converted into a static coordinate system with the origin O as the origin.
As shown in FIG. 4, AO 'represents the support, the position O' is the laser, A is the image sensor, O is the middle point of the support, and B is the position of the object to be measured. The scanning direction is 180 ° along the circular arc CD, α is the scanned angle, β is determined by the physical parameters of the image sensor, and is calculated as a known quantity, OO 'is half of the gantry AO'. From equation (4) one can obtain2I.e. the length of the BO',
where f is the focal length of the image sensor, and K is the distance between the laser sensing point on the linear photosensitive element and the effective pixel point at the edge (equal to the length of the photosensitive unit x the number of the photosensitive units), which can be obtained by processing software.
According to the cosine law, l can be obtained1I.e. length of BO:
finishing to obtain:
wherein, N corresponds to B 'C' in formula (5), which is the length from the image formed by the object B to the middle line of the photosensitive array of the image sensor, and can be obtained by multiplying the number of pixels of the image sensor by the width of a single pixel.
Therefore, the coordinates of point B can be written as:
where α is the scanned angle and can be obtained by multiplying the step angle of the stepping motor by the number of steps. And finally, obtaining the (x, y, z) coordinate values of each point on the surface of the measured object after conversion.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (1)
1. A portable three-dimensional laser scanning system, comprising: the device comprises a laser, an image sensor, a bracket rotating shaft, a driving mechanism, a clamping groove, a lifting mechanism, a supporting part, an upper computer, an image sensor mounting frame, a laser mounting frame, a driving mechanism driving shaft and a lifting mechanism mounting platform; the method is characterized in that: the laser and the image sensor are arranged at two ends of a support, one end of the support is provided with an image sensor mounting frame, the other end of the support is provided with a laser mounting frame, a rotating shaft is arranged at the center of the support, a driving shaft is arranged on a driving mechanism, the driving shaft is connected with the rotating shaft to drive the rotating shaft to rotate, the driving mechanism is arranged in a clamping groove at the bottom of the support, a preformed hole of the driving shaft of the driving mechanism is arranged at the top of the clamping groove, the bottom of the clamping groove is fixed on a lifting mechanism mounting platform, the lifting mechanism mounting platform is arranged at the top of the lifting mechanism to fix and drive the fine adjustment lifting of; the laser, the image sensor and the measured object form a triangle, light emitted by the laser is reflected after being irradiated to the measured object, and the reflected light is received by the image sensor; the driving mechanism drives the support to rotate so as to scan the surface of the measured object, the image sensor transmits collected information data of the surface of the measured object to the upper computer, and the upper computer is used for processing the received three-dimensional coordinate data of the surface of the measured object and displaying a three-dimensional model of the measured object.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116465376A (en) * | 2023-04-24 | 2023-07-21 | 济宁慧谷空间测绘技术有限公司 | Laser mapping system based on three-dimensional is used for building engineering monitoring |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116465376A (en) * | 2023-04-24 | 2023-07-21 | 济宁慧谷空间测绘技术有限公司 | Laser mapping system based on three-dimensional is used for building engineering monitoring |
| CN116465376B (en) * | 2023-04-24 | 2024-01-12 | 济宁慧谷空间测绘技术有限公司 | Laser mapping system based on three-dimensional is used for building engineering monitoring |
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