CN215728849U - Point cloud three-dimensional imager - Google Patents
Point cloud three-dimensional imager Download PDFInfo
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- CN215728849U CN215728849U CN202121393486.1U CN202121393486U CN215728849U CN 215728849 U CN215728849 U CN 215728849U CN 202121393486 U CN202121393486 U CN 202121393486U CN 215728849 U CN215728849 U CN 215728849U
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Abstract
The utility model provides a point cloud three-dimensional imager, which comprises a shell, a laser radar, a forward camera, an inclined camera, a control module, a rotating module, an angle measuring module and a positioning module, wherein the laser radar, the forward camera and the inclined camera are arranged on the shell; the control module is connected with the laser radar, the forward camera, the inclined camera, the rotating module, the angle measuring module and the positioning module; the rotating module is also connected with the inclined camera and the laser radar respectively and used for adjusting the angle of the inclined camera and the angle of the laser radar; the laser radar is used for collecting space three-dimensional scanning data and transmitting the space three-dimensional scanning data to the control module; the forward camera and the inclined camera are used for respectively acquiring corresponding space images and transmitting the space images to the control module; the angle measurement module is used for detecting spatial attitude data and transmitting the spatial attitude data to the control module; the positioning module is used for recording the position information and transmitting the position information to the control module; the control module is used for outputting a point cloud three-dimensional model.
Description
Technical Field
The utility model belongs to the field of imaging equipment, and particularly relates to a point cloud three-dimensional imager.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Laser-based three-dimensional imaging techniques and oblique photography techniques have found increasingly widespread use in the mapping field. The laser three-dimensional imaging technology directly measures the time difference between a laser emission signal and an echo signal of each pixel point by using an area array detector so as to obtain a distance image of a target, and has the advantages of high imaging speed, high frame frequency, high resolution and the like; the oblique photography technology is characterized in that a plurality of cameras are carried on the same flight platform, images are collected on the ground from five different angles such as one vertical angle, four oblique angles and the like, and a real three-dimensional model reflecting the actual situation of the terrain can be established by matching with matched post-image processing software. In real surveying and mapping, efficient surveying and mapping is often performed by using a flight platform carrying a laser three-dimensional imaging technology or an oblique photography technology.
The inventor finds that the unmanned aerial vehicle carrying the laser radar only has certain precision errors due to the fact that the scanning distance is increased, the resolution ratio of point positions is reduced, three-dimensional imaging is not clear; oblique photography adopts visible light for measurement, so the weather requirement is high, and the problem of low modeling precision exists in the terrain with dense vegetation.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems in the background art, the utility model provides a point cloud three-dimensional imager which can realize more dense data acquisition and accurately reflect the geometric shape of a measured object under the condition of dense vegetation coverage.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a point cloud three-dimensional imager comprises a shell, a laser radar, a forward camera, an inclined camera, a control module, a rotating module, an angle measuring module and a positioning module, wherein the laser radar, the forward camera and the inclined camera are arranged on the shell;
the control module is connected with the laser radar, the forward camera, the inclined camera, the rotating module, the angle measuring module and the positioning module; the rotating module is also connected with the inclined camera and the laser radar respectively and used for adjusting the angle of the inclined camera and the angle of the laser radar;
the laser radar is used for collecting space three-dimensional scanning data and transmitting the space three-dimensional scanning data to the control module; the forward camera and the inclined camera are used for respectively acquiring corresponding space images and transmitting the space images to the control module; the angle measurement module is used for detecting spatial attitude data and transmitting the spatial attitude data to the control module; the positioning module is used for recording position information and transmitting the position information to the control module; the control module is used for receiving the space three-dimensional scanning data, the space image, the space attitude data and the position information and outputting a point cloud three-dimensional model.
As an embodiment, the control module includes a camera control module and a laser radar control module, the camera control module is connected to the forward camera and the tilt camera respectively, and the laser radar control module is connected to the laser radar.
As an embodiment, the rotation module includes a camera rotation module and a lidar rotation module, the camera rotation module is connected to the tilt camera, and the lidar rotation module is connected to the lidar.
In one embodiment, the angle measurement module comprises a dip angle monitor and a recorder, and the dip angle detector is connected with a laser radar; the recorder is connected with the positioning module, the laser radar, the forward camera and the inclined camera.
As an embodiment, the point cloud three-dimensional imager further comprises a storage unit, and the storage unit is used for storing spatial three-dimensional scanning data, spatial images, spatial attitude data and position information.
As an implementation mode, the point cloud three-dimensional imager further comprises an angle scale and a transmission gear, the angle scale is respectively connected with the rotating module and the angle measuring module, and the transmission gear is connected with the control module.
As an implementation manner, the oblique cameras are uniformly arranged on the housing along the circumferential direction, and the lens direction of the oblique cameras and the lens direction of the positive camera are arranged at a preset angle.
In one embodiment, the housing is mounted on a flying platform.
In one embodiment, the laser of the lidar is directed vertically downward.
In one embodiment, the lens direction of the forward camera is vertically downward.
The utility model has the beneficial effects that:
compared with the method of only adopting the laser three-dimensional technology as the point cloud data acquisition means, the method is influenced by the flying height of the flying platform, the scanning distance is increased, the resolution ratio of the point location is reduced, and the acquisition precision cannot meet the measurement requirement; effectively realized that oblique photography technique can be not good in weather conditions, and light luminance is not enough, and under the intensive circumstances of covering of vegetation, realized denser data acquisition, accurate response measurand's geometric shape.
Advantages of additional aspects of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the utility model, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model.
Fig. 1 is a schematic structural diagram of a point cloud three-dimensional imager according to an embodiment of the utility model.
Detailed Description
The utility model is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the utility model as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
As shown in fig. 1, the point cloud three-dimensional imager of the embodiment includes a housing 1, a laser radar 2, a forward camera 3 and an oblique camera 4 mounted on the housing, and a control module 11, a rotation module 12, an angle measurement module 14 and a positioning module 18 mounted in the housing;
the control module 11 is connected with the laser radar 2, the forward camera 3, the inclined camera 4, the rotating module 12, the angle measuring module 14 and the positioning module 18; the rotating module 12 is also connected with the tilt camera 4 and the laser radar 2 respectively and is used for adjusting the angle of the tilt camera and the angle of the laser radar;
the laser radar 2 is used for collecting space three-dimensional scanning data and transmitting the space three-dimensional scanning data to the control module 11; the forward camera 3 and the inclined camera 4 are used for respectively collecting corresponding space images and transmitting the space images to the control module 11; the angle measurement module 14 is used for detecting spatial attitude data and transmitting the spatial attitude data to the control module 11; the positioning module 18 is used for recording position information and transmitting the position information to the control module 11; the control module 11 is used for receiving the spatial three-dimensional scanning data, the spatial image, the spatial attitude data and the position information and outputting a point cloud three-dimensional model.
In a specific implementation, the control module 11 includes a camera control module 112 and a laser radar control module 113, the camera control module 112 is connected to the forward camera 3 and the tilt camera 4, respectively, and the laser radar control module 113 is connected to the laser radar 2.
Specifically, the rotating module 12 includes a camera rotating module 121 and a lidar rotating module 122, the camera rotating module 121 is connected to the tilt camera 4, and the lidar rotating module 122 is connected to the lidar 2. The laser radar 2 can be pitched and turned right and left by an angle of-30 to 30. The tilt camera can be rotated at an angle of 30 ° to 60 °.
Specifically, the angle measurement module 14 includes a tilt monitor 142 and a recorder 141, and the tilt monitor 142 is connected to the laser radar 2; the recorder 141 is connected with the positioning module 18, the laser radar 2, the forward camera 3 and the tilt camera 4.
As a specific embodiment, the oblique cameras 4 are uniformly arranged on the housing 1 along the circumferential direction, and the lens direction of the oblique cameras 4 and the lens direction of the forward camera 3 are arranged at a preset angle. The housing 1 is mounted on a flying platform. The laser direction of the laser radar 2 is vertically downward. The lens direction of the forward camera 3 is vertically downward.
In another embodiment, the point cloud three-dimensional imager further comprises a storage unit 13, and the storage unit 13 is used for storing spatial three-dimensional scanning data, spatial images, spatial attitude data and position information.
It should be noted that the storage unit 13 may be a memory card (i.e., an SD card), or other storage device.
In other embodiments, the point cloud three-dimensional imager further comprises an angle scale and a transmission gear, the angle scale is respectively connected with the rotating module and the angle measuring module, and the transmission gear is connected with the control module.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A point cloud three-dimensional imager is characterized by comprising a shell, a laser radar, a forward camera, an inclined camera, a control module, a rotating module, an angle measuring module and a positioning module, wherein the laser radar, the forward camera and the inclined camera are arranged on the shell;
the control module is connected with the laser radar, the forward camera, the inclined camera, the rotating module, the angle measuring module and the positioning module; the rotating module is also connected with the inclined camera and the laser radar respectively and used for adjusting the angle of the inclined camera and the angle of the laser radar;
the laser radar is used for collecting space three-dimensional scanning data and transmitting the space three-dimensional scanning data to the control module; the forward camera and the inclined camera are used for respectively acquiring corresponding space images and transmitting the space images to the control module; the angle measurement module is used for detecting spatial attitude data and transmitting the spatial attitude data to the control module; the positioning module is used for recording position information and transmitting the position information to the control module; the control module is used for receiving the space three-dimensional scanning data, the space image, the space attitude data and the position information and outputting a point cloud three-dimensional model.
2. The point cloud three-dimensional imager of claim 1, wherein the control module includes a camera control module and a lidar control module, the camera control module being coupled to the forward camera and the tilt camera, respectively, and the lidar control module being coupled to the lidar.
3. The point cloud three-dimensional imager of claim 1, wherein the rotation module includes a camera rotation module and a lidar rotation module, the camera rotation module coupled to the oblique camera and the lidar rotation module coupled to the lidar.
4. The point cloud three-dimensional imager of claim 1, wherein the angle measurement module includes a tilt monitor and a recorder, the tilt detector being coupled to a lidar; the recorder is connected with the positioning module, the laser radar, the forward camera and the inclined camera.
5. The point cloud three-dimensional imager of claim 1, further comprising a storage unit for storing spatial three-dimensional scan data, spatial images, spatial pose data, and position information.
6. The point cloud three-dimensional imager of claim 1, further comprising an angle scale and a transmission gear, wherein the angle scale is connected to the rotation module and the angle measurement module, respectively, and the transmission gear is connected to the control module.
7. The point cloud three-dimensional imager of claim 1, wherein the tilted cameras are circumferentially and uniformly arranged on the housing, and a lens direction of the tilted cameras and a lens direction of the forward camera are arranged at a preset angle.
8. The point cloud three-dimensional imager of claim 1, wherein the housing is mounted on a flying platform.
9. The point cloud three-dimensional imager of claim 1, wherein the laser of the lidar is directed vertically downward.
10. The point cloud three-dimensional imager of claim 1, wherein the lens direction of the forward camera is vertically downward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121393486.1U CN215728849U (en) | 2021-06-22 | 2021-06-22 | Point cloud three-dimensional imager |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121393486.1U CN215728849U (en) | 2021-06-22 | 2021-06-22 | Point cloud three-dimensional imager |
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| Publication Number | Publication Date |
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| CN215728849U true CN215728849U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121393486.1U Active CN215728849U (en) | 2021-06-22 | 2021-06-22 | Point cloud three-dimensional imager |
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| CN (1) | CN215728849U (en) |
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2021
- 2021-06-22 CN CN202121393486.1U patent/CN215728849U/en active Active
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