CN217559506U - Three-dimensional scene acquisition trolley - Google Patents

Abstract

The utility model discloses a dolly is gathered to three-dimensional scene, include: the device comprises a moving device, a supporting table, a controller, a rotating device, a 3D depth camera and a lifting device; the supporting table is arranged on the moving device; the lifting device is arranged above the supporting platform and used for driving the supporting platform to lift; the rotating device is fixedly arranged at the top of the lifting device; the 3D depth camera is mounted on top of the rotating device; the output end of the controller is electrically connected with the moving device, the rotating device and the lifting device. The utility model has the advantages that the whole structure is simple it is single, effectively realize the rotation of the lift of 3D degree of depth camera through elevating gear and rotating device, have with low costs, characteristics that the practicality is strong.

Description

Three-dimensional scene acquisition trolley

Technical Field

The utility model relates to a mobile robot technical field especially relates to a dolly is gathered to three-dimensional scene.

Background

At present, a picture taken by a common color camera can see and record all objects within the camera view angle, but the recorded data does not contain the distance of the objects from the camera. It can only be judged by semantic analysis of the image which objects are farther away from us and which are closer, but there is no exact data. The 3D depth camera just solves the problem, the distance between each point in the image and the camera can be accurately known through data acquired by the 3D depth camera, so that the three-dimensional space coordinates of each point in the image can be acquired by adding the (x, y) coordinates of the point in the 2D image, and the real scene is restored through the three-dimensional coordinates.

Because the process of manually carrying out three-dimensional scanning is complex, the time consumption is long, the manual operation is slow, and for special places, such as disaster sites, closed caves and other places which are not suitable for people to enter, a machine is required to replace a person to enter the site to complete the reconstruction of the three-dimensional scene.

The prior art discloses an intelligent omnidirectional mobile trolley, which comprises a chassis, wherein a driving mechanism and a power supply system are arranged in the chassis; the connecting part comprises a first connecting plate and a second connecting plate which are connected through bolts; the first connecting plate cover is fixedly connected with the chassis on the chassis, hydraulic cylinders are arranged at four corners below the first connecting plate, and the fixed ends of the hydraulic cylinders are fixedly connected with the first connecting plate; the device also comprises a control box, a hydraulic pump, a laser scanner and a switching platform which are fixedly arranged on the second connecting plate, wherein a 3D navigation system is arranged in the switching platform; actuating mechanism, hydraulic pump, laser scanner and 3D navigation are connected with the control box through the cable respectively, and the hydraulic pump passes through oil pipe and is connected with four pneumatic cylinders respectively. This dolly is advancing the in-process and can realizing apart from the control, automatic identification object, automatic navigation, anticollision etc. after the dolly reachs the assigned position, carry out jacking work through the pneumatic cylinder to fix the dolly in required position, but this travelling car laser scanner is liftable not.

SUMMERY OF THE UTILITY MODEL

The utility model provides a dolly is gathered to three-dimensional scene for realize the free rotation of 3D degree of depth camera.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

a three-dimensional scene acquisition cart comprising: the device comprises a moving device, a supporting table, a controller, a rotating device, a 3D depth camera and a lifting device; the method comprises the following steps: the device comprises a moving device, a supporting table, a controller, a rotating device, a 3D depth camera and a lifting device; the supporting platform is arranged on the moving device; the lifting device is arranged above the supporting platform and used for driving the supporting platform to lift; the rotating device is fixedly arranged at the top of the lifting device; the 3D depth camera is mounted on top of the rotating device; the output end of the controller is electrically connected with the moving device, the rotating device and the lifting device.

Further, the rotating device consists of a rotating plate, a horizontal rotating motor and a vertical rotating motor; the rotating plate is fixedly connected with the 3D depth camera, and an output shaft of the horizontal rotating motor is fixedly connected with the rotating plate; and the output end of the controller is respectively connected with the control ends of the horizontal rotating motor and the vertical rotating motor.

In the above aspect, the rotating plate is made of a metal material.

Further, the second support plate, the small knob and the protection plate are made of an aluminum alloy material.

Further, the lifting device comprises a hollow pipe, a transmission belt, a resistance block, a double-end motor, a driving belt wheel, a second supporting plate and a driven belt wheel; two rotation axes of the double-end motor are connected with a rotation shaft of the driving belt wheel, the driving belt is wound between the driving belt wheel and the driven belt wheel, the driven belt wheel is arranged at one end of the hollow pipe, the resistance block is arranged at the other end of the hollow pipe and fixed on the second supporting plate, and the second supporting plate is fixed on the trolley.

In the scheme, the resistance block is fixedly connected with one end of the hollow pipe and used for fixing the hollow pipe. The hollow pipe, the resistance block and the second supporting plate are made of aluminum alloy materials, and the aluminum alloy has the advantages of high strength and difficulty in deformation.

Furthermore, the number of the hollow pipes in the lifting device is multiple, and the hollow pipes are symmetrically distributed at two ends of the trolley.

Furthermore, the moving device comprises a crawler device and an electric driving device which are positioned on two sides of the trolley, and the crawler device comprises a crawler, a driving wheel, a driven wheel and a bogie wheel; the crawler belt is wound among the driving wheel, the driven wheel and the bogie wheel, and the bogie wheel is positioned between the driving wheel and the driven wheel.

Further, the electric driving device comprises a first supporting plate, a differential, a speed reduction motor and a power supply; an output shaft of the speed reducing motor is connected with a half shaft of a differential mechanism, and an output shaft of the differential mechanism is connected with a driving wheel; differential mechanism, gear motor, power are all installed on first backup pad.

In the scheme, the support frame is made of aluminum alloy.

Furthermore, the bogie wheels are provided with a plurality of groups.

Furthermore, the inside rubber layer that is equipped with mutually with the bogie wheel of track for increase the frictional force between track and the bogie wheel.

Furthermore, the power supply is a lithium battery, and the power supply is respectively connected with the controller, the horizontal rotating motor, the vertical rotating motor and the electricity.

In the scheme, the power supply is 24V10Ah, has moderate endurance capacity, and is connected with a switch electrically connected with the anode and the cathode of the power supply.

Further, the controller is a single chip microcomputer.

Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:

the utility model has the advantages that the whole structure is simple, effectively realize the rotation of the lift of 3D degree of depth camera through elevating gear and rotating device, have with low costs, characteristics that the practicality is strong.

Drawings

The drawings are for illustrative purposes only and are not to be construed as limiting the invention;

for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;

it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Fig. 1 is a schematic view of an overall structure of a cart according to an embodiment of the present invention;

fig. 2 is a schematic top view of a cart according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a lifting device according to an embodiment of the present invention;

fig. 4 is a schematic view of a first viewing angle structure of a rotating device according to an embodiment of the present invention;

fig. 5 is a schematic view of a second perspective structure of a rotating device according to an embodiment of the present invention;

description of reference numerals: 1. a mobile device; 101. a crawler belt; 102. a first support plate; 103. a driving wheel; 104. a driven wheel; 105. a loading wheel; 106. a differential mechanism; 107. a reduction motor; 108. a power source; 109. a hydraulic cylinder; 110. a support frame; 2. a support table; 3. a controller; 4. a rotating device; 401. a rotating plate; 402. a horizontal rotation motor; 403. a vertical rotation motor; 404. a small knob; 405. a protection plate; 5. a 3D depth camera; 6. a lifting device; 601. a hollow tube; 602. a transmission belt; 603. a resistance block; 604. a double-ended generator; 605. a driving pulley; 606. a second support plate; 607. a driven pulley.

Detailed Description

Example 1

For easy understanding, please refer to fig. 1-5, the present invention provides an embodiment of a three-dimensional scene capturing cart, including:

a three-dimensional scene acquisition cart, comprising: the device comprises a moving device 1, a support table 2, a controller 3, a rotating device 4, a 3D depth camera 5 and a lifting device 6; the supporting table 2 is arranged on the mobile device 1; the lifting device 6 is arranged above the support platform 2 and is used for driving the support platform 2 to lift; the rotating device 4 is fixedly arranged at the top of the lifting device 6; the 3D depth camera 5 is mounted on top of the rotating device 4; the output end of the controller 3 is electrically connected with the moving device 1, the rotating device 4 and the lifting device 6.

The utility model has the advantages that the whole structure is simple, effectively realize the rotation of the lift of 3D degree of depth camera through elevating gear and rotating device.

Example 2

Specifically, in addition to embodiment 1, the following description will be given of a scheme in conjunction with a specific embodiment, and the technical effects of the scheme will be further demonstrated. The method specifically comprises the following steps:

specifically, the rotating device 4 is composed of a rotating plate 401, a horizontal rotating motor 402 and a vertical rotating motor 403; the rotating plate 401 is fixedly connected with the 3D depth camera 5, and an output shaft of the horizontal rotating motor 402 is fixedly connected with the rotating plate 401; the output end of the controller 3 is connected with the control ends of the horizontal rotating motor 402 and the vertical rotating motor 403 respectively.

In the above scheme, the rotating device 4 further comprises a small rotating button 404 and a protective plate 405; the rotating plate 401 is arranged below the small rotating button 404 and the protective plate 405; a plurality of small knobs 402 are arranged on the protective plate 405; the protective plate 405 is placed at the edge of the 3D depth camera 5. The rotating plate 401 is made of a metal material. The second support plate 2, the small knob 404 and the protective plate 405 are made of an aluminum alloy material. The small knob 404 is penetrated through by a screw, and then the screw is fixed above the U-shaped aluminum alloy plate. The small knob 402 is used to stabilize the 3D depth camera 5.

Specifically, the lifting device 6 comprises a hollow pipe 601, a transmission belt 602, a resistance block 603, a double-head motor 604, a driving pulley 605, a second support plate 606 and a driven pulley 607; two rotating shafts of the double-head motor 604 are both fixedly connected with a driving belt pulley 605, and the driven belt pulley 607 drives the driving belt pulley 605 to move through a transmission belt 602; the driven pulley 607 is arranged in the hollow tube 601, and the resistance block 603 is arranged at one end of the hollow tube 601 far away from the transmission belt 602 and is arranged on the second support plate 606.

Specifically, the hollow tube 601, the resistance block 603 and the second support plate 606 are made of aluminum alloy materials.

Specifically, the number of the hollow pipes 601 in the lifting device 6 is multiple, and the hollow pipes are symmetrically distributed at two ends of the trolley.

In the above scheme, the material of hollow tube 601 comprises the aluminum alloy, and intensity is high difficult deformation, light in weight, four hollow aluminum alloy combinations are a set of formation X type among the elevating gear 6, and 2 both sides of second backup pad all set up three groups of hollow tubes 601 for elevating gear 6 realizes the lift of take the altitude.

Specifically, the moving device 1 comprises an electric driving device and crawler devices positioned on two sides of the trolley, wherein the electric driving device comprises a differential 106, a speed reducing motor 107, a power supply 108, a hydraulic cylinder 109 and a support frame 110; an output shaft of the reduction motor 107 is connected with a half shaft of the differential 106, an output shaft of the differential 106 is connected with the driving wheel 103, and the support frame 110 is used for connecting a hydraulic cylinder 109; the crawler device comprises a crawler 101, a driving wheel 103, a driven wheel 104 and a bogie wheel 105; the crawler belt 101 is wound around a driving wheel 103, a driven wheel 104, and a bogie wheel 105, and the bogie wheel 105 is located between the driving wheel 103 and the driven wheel 104.

In the scheme, the two sides of the driving wheel 103 are matched with the thickness of the crawler belt 101, so that the driving of the trolley is not influenced; the driving wheel 103 is used for driving the trolley to run. The differential 106 is composed of an output shaft, a planetary gear, a half shaft, a sun gear and basin teeth, when the trolley rotates, the resistance force on the left wheel and the right wheel of the driving wheel 103 is different, the planetary gear revolves around the half shaft and rotates at the same time, and therefore resistance difference is absorbed, and the crawler 101 rotates at different speeds. The lowermost layer between the caterpillar tracks 101 is a first layer of aluminum alloy plate, a plurality of groups of mutually matched sealing elements are arranged in oil cylinders/pistons in the hydraulic cylinders 109, the effect of preventing hydraulic oil from leaking is achieved, and the support frame 110 is connected with the first layer of aluminum alloy plate; the four support frames 110 are distributed at four corners of the edge of the trolley, and each support frame 110 is controlled to lift through a hydraulic cylinder 109. The power of the reducing motor 107 is 250W, and the interior of the reducing motor is formed by connecting an encoder, an output shaft, a sun wheel, a planet wheel, a bearing, a box body and the output shaft. The controller 3 is connected with the power supply 108, the 3D depth camera 5 and the rotating device 4; the controller 3 is arranged in the middle of the top of the second support plate 2. The second support plate 2 is positioned on the second layer of the trolley. The hydraulic cylinder 109 is used for adapting the trolley to different road surfaces, and the hydraulic cylinder 109 is used for adjusting the height of the hub of the bogie wheel 105 to adapt to the road surface when the trolley meets a stone ground or a pothole under the cooperation of the crawler belt 101.

The 3D depth camera 5 scans by adopting MEMS (micro electro mechanical systems) coded grating structured light, and reconstructs real three-dimensional point cloud data of an object according to an image recovery algorithm, thereby meeting the three-dimensional visual application requirements of industrial-grade high-resolution and submillimeter-grade measurement. And the 3D depth camera 5 has small volume, large depth of field, high measurement accuracy, low cost and simple operation. The 3D depth camera 5 can realize 360 degrees rotations, is externally provided with three layers of aluminum alloy protection plates, is connected to form a U-shaped aluminum alloy plate, the opening of the U-shaped aluminum alloy plate is consistent with the direction of the lens of the 3D depth camera 5, and all the aluminum alloy plates are welded.

The utility model discloses according to the problem that faces when finding a view such as will consume a large amount of manpower time, utilize 3D degree of depth camera 5 to build scene reconstruction technique dolly to automatic find a view is the purpose, and the tracked trolley that will adapt to the topography can the reinforce and 3D degree of depth camera 5 through elevating gear 6 and mobile device 1's cooperation, and then when given procedure, functions such as automatic view finding, storage are accomplished to the dolly, thereby improve the work efficiency of dolly greatly.

Example 3

Specifically, the technical effects of the present solution will be further demonstrated by describing the solution in conjunction with a specific embodiment on the basis of embodiment 1. The method comprises the following specific steps:

the inside of the crawler belt 101 is provided with a rubber layer attached to the bogie wheel 105 for increasing the friction force between the crawler belt 101 and the bogie wheel 105.

The power supply 108 is a lithium battery, and the power supply 108 is electrically connected with the differential 106 and the reduction motor 107 respectively.

The utility model discloses simple structure effectively realizes the 3D scene reconstruction technique of invisible topography, and dolly duration is high, and moving speed is moderate, and the sampling precision is high, and is with low costs, and the practicality is strong.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A three-dimensional scene acquisition trolley is characterized by comprising: the device comprises a moving device (1), a support table (2), a controller (3), a rotating device (4), a 3D depth camera (5) and a lifting device (6); the supporting table (2) is arranged on the moving device (1); the lifting device (6) is arranged above the supporting platform (2) and is used for driving the supporting platform (2) to lift; the rotating device (4) is fixedly arranged at the top of the lifting device (6); the 3D depth camera (5) is mounted on top of the rotating device (4); the output end of the controller (3) is electrically connected with the moving device (1), the rotating device (4) and the lifting device (6).

2. The three-dimensional scene acquisition trolley according to claim 1, characterized in that the rotating device (4) is composed of a rotating plate (401), a horizontal rotating motor (402) and a vertical rotating motor (403); the rotating plate (401) is fixedly connected with the 3D depth camera (5), and an output shaft of the horizontal rotating motor (402) is fixedly connected with the rotating plate (401); the output end of the controller (3) is respectively connected with the control ends of the horizontal rotating motor (402) and the vertical rotating motor (403).

3. The three-dimensional scene acquisition trolley according to the claim 1, characterized in that said lifting device (6) comprises a hollow pipe (601), a transmission belt (602), a resistance block (603), a double-head motor (604), a driving pulley (605), a second support plate (606) and a driven pulley (607); two rotating shafts of the double-end motor (604) are connected with a rotating shaft of a driving belt wheel (605), a driving belt (602) is wound between the driving belt wheel (605) and a driven belt wheel (607), the driven belt wheel (607) is arranged at one end of the hollow pipe (601), and the resistance block (603) is arranged at the other end of the hollow pipe (601); the hollow pipe (601), the transmission belt (602), the resistance block (603), the double-head motor (604), the driving belt wheel (605) and the driven belt wheel (607) are all arranged on a second support plate (606), and the second support plate (606) is fixed on the trolley.

4. The three-dimensional scene acquisition trolley according to claim 3, wherein the lifting device (6) comprises a plurality of hollow pipes (601) which are symmetrically distributed at two ends of the trolley.

5. The three-dimensional scene acquisition trolley according to claim 1, characterized in that said moving means (1) comprise crawler means and electric driving means located on both sides of the trolley, said crawler means comprising a crawler (101), a driving wheel (103), a driven wheel (104) and a bogie wheel (105); the crawler belt (101) is wound among the driving wheel (103), the driven wheel (104) and the bogie wheel (105), and the bogie wheel (105) is located between the driving wheel (103) and the driven wheel (104).

6. The three-dimensional scene acquisition trolley according to claim 5, characterized in that said electric drive means comprise a first support plate (102), a differential (106), a reduction motor (107) and a power supply (108); an output shaft of the speed reducing motor (107) is connected with a half shaft of the differential (106), and an output shaft of the differential (106) is connected with the driving wheel (103); the differential (106), the speed reducing motor (107) and the power supply (108) are all mounted on the first supporting plate (102).

7. The three-dimensional scene acquisition trolley according to claim 5, characterized in that said bogie wheels (105) are provided with a plurality of sets.

8. The three-dimensional scene acquisition trolley as claimed in claim 5, wherein a rubber layer attached to the bogie wheel (105) is arranged inside the crawler (101) and is used for increasing the friction force between the crawler (101) and the bogie wheel (105).

9. The three-dimensional scene acquisition trolley according to claim 6, wherein the power supply (108) is a lithium battery, and the power supply (108) is electrically connected with the controller (3), the horizontal rotation motor (402), the vertical rotation motor (403) and the speed reduction motor (107).

10. The three-dimensional scene acquisition trolley according to any one of claims 1-9, wherein the controller (3) is a single chip microcomputer.

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