CN217687111U - Pose control device and three-dimensional scanning equipment - Google Patents
Pose control device and three-dimensional scanning equipment Download PDFInfo
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- CN217687111U CN217687111U CN202221689444.7U CN202221689444U CN217687111U CN 217687111 U CN217687111 U CN 217687111U CN 202221689444 U CN202221689444 U CN 202221689444U CN 217687111 U CN217687111 U CN 217687111U
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Abstract
The application discloses position appearance controlling means and three-dimensional scanning equipment belongs to three-dimensional scanning technical field. The pose control device comprises a support and a pose controller, wherein the pose controller comprises a cover, a shell, a distance measuring assembly and a circuit board arranged in the shell. The ranging assembly comprises a first ranging sensor group and a second ranging sensor group, wherein the first ranging sensor group and the second ranging sensor group are arranged on the circuit board in the first horizontal direction and the vertical direction respectively and are used for measuring the distance between the pose controller and the target object and the distance between the pose controller and the ground respectively. The position and pose control device provided by the application acquires distance parameters between the position and pose controller and the target object and between the position and pose controller and the ground through the first ranging sensor group and the second ranging sensor group respectively, so that the accurate positioning of the position and the height of the three-dimensional scanning equipment is realized, and errors generated when the three-dimensional scanning equipment scans the target object repeatedly are reduced.
Description
Technical Field
The application relates to the technical field of three-dimensional scanning, in particular to a pose control device and three-dimensional scanning equipment.
Background
With the rapid development of computer information technology and mechanical manufacturing technology, the ground three-dimensional scanner is applied to a plurality of fields, such as building surveying and mapping, cultural relic protection field and the like, and can rapidly acquire point cloud data of an object so as to construct a three-dimensional model, and the ground three-dimensional scanner is high in precision and simple to operate. The constructed three-dimensional model data can be used for monitoring and analyzing the deformation of the object and providing data support for monitoring the structural stability of the object. However, when the scanner is installed at different heights and positions, the coordinate values of the point cloud data of the object obtained by the scanner are different according to the measurement principle, in other words, certain measurement errors exist in the data scanned at different positions and heights during deformation analysis.
The existing ground three-dimensional scanner is matched with a triangular support, the scanning position and the erection height of the scanner are controlled manually, and therefore, when repeated scanning is carried out at intervals for a period of time, the scanner can not be accurately erected at the position and height which are erected for the first time, namely, accurate positioning cannot be achieved, so that the acquired data have large errors and are not beneficial to monitoring and analyzing of object deformation.
In view of this, the present application aims to design a pose controller for implementing high-precision repositioning of a three-dimensional scanner, so as to reduce measurement errors caused by manual operations and the three-dimensional scanner, improve the precision of three-dimensional model fitting data, and enable the judgment of object structure deformation monitoring to be more accurate.
SUMMERY OF THE UTILITY MODEL
In view of this, an object of the present application is to overcome the defects in the prior art, and provide a pose control device and a three-dimensional scanning apparatus, so as to solve the technical problem in the prior art that the repeated scanning error of a three-dimensional scanner is large.
In order to solve the technical problem, the application provides:
a posture control device is applied to a three-dimensional scanning device and comprises:
the bracket is used for being vertically placed on the ground;
the pose controller comprises a cover, a casing, a ranging assembly and a circuit board, wherein the casing is connected with the support, the circuit board is installed in the casing, the ranging assembly comprises a first ranging sensor group and a second ranging sensor group, the first ranging sensor group is arranged on the circuit board along a first horizontal direction and is electrically connected with the circuit board, and the first ranging sensor group is at least used for measuring the distance between the pose controller and a target object; the second distance measuring sensor group is arranged on the circuit board in the vertical direction and electrically connected with the circuit board, and the second distance measuring sensor group is used for measuring the distance between the pose controller and the ground.
In a possible implementation manner, the ranging assembly further comprises a third ranging sensor group, the third ranging sensor group is arranged on the circuit board along the second horizontal direction and is electrically connected with the circuit board, and the third ranging sensor group is used for measuring the distance between the pose controller and the obstacle.
In a possible implementation manner, a positioning module is further disposed on the circuit board, the positioning module is electrically connected to the circuit board, and the positioning module is configured to acquire geographic location information.
In one possible implementation, the positioning module is one of a compass locator, a GPS locator, and a compass/GPS dual-mode locator.
In a possible implementation manner, the circuit board is further provided with a data integration management module, the data integration management module is electrically connected with the circuit board, the pose control device further comprises an operation panel, the operation panel is arranged on the machine cover, and the operation panel is electrically connected with the circuit board.
In a possible embodiment, a gyroscope is further disposed on the circuit board, and the gyroscope is electrically connected to the circuit board.
In one possible embodiment, the support is a telescoping tripod support.
In addition, the present application also provides a three-dimensional scanning apparatus including a three-dimensional scanner configured to perform three-dimensional scanning on the target object, and the pose control device according to any one of the above embodiments, the three-dimensional scanner being connected to the set cover by a connection member.
In a possible embodiment, the connector includes a connector body, a threaded connection portion and a boss connection portion, the threaded connection portion and the boss connection portion are respectively disposed at two end portions of the connector body, the threaded connection portion is in threaded connection with the cover, and the mounting portion of the three-dimensional scanner is rotatably disposed at the boss connection portion.
In a possible implementation mode, a plurality of angle scale marks are arranged at intervals along the circumferential direction of the connecting piece body, and an indicating line is arranged on the circumferential direction of the mounting part and corresponds to the position of the angle scale marks.
The beneficial effect of this application:
the application provides a position appearance controlling means, including support and position appearance controller, the position appearance controller includes cover, casing, range finding subassembly and installs the circuit board in the casing. The ranging assembly comprises a first ranging sensor group and a second ranging sensor group, wherein the first ranging sensor group and the second ranging sensor group are arranged on the circuit board in the first horizontal direction and the vertical direction respectively and are used for measuring the distance between the pose controller and the target object and the distance between the pose controller and the ground respectively.
The position and pose control device provided by the application acquires distance parameters between the position and pose controller and the target object and between the position and pose controller and the ground through the first ranging sensor group and the second ranging sensor group respectively, so that the accurate positioning of the position and the height of the three-dimensional scanning equipment is realized, and errors generated when the three-dimensional scanning equipment scans the target object repeatedly are reduced.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 shows a schematic structural diagram of a three-dimensional scanning device in an embodiment of the present application;
FIG. 2 shows an exploded view of a three-dimensional scanning device in an embodiment of the present application;
fig. 3 shows an exploded view of a pose controller in an embodiment of the present application;
fig. 4 shows a first view structural diagram of the interior of the pose controller in the embodiment of the present application;
fig. 5 shows a second internal view structural diagram of the pose controller in the embodiment of the present application;
fig. 6 shows a schematic application scenario of a three-dimensional scanning device in an embodiment of the present application.
Description of the main element symbols:
100-a three-dimensional scanning device; 10-a scaffold; 20-a pose controller; 21-a housing; 22-a machine cover; 23-a circuit board; 24-a ranging assembly; 241-a first ranging sensor group; 2411-a first ranging sensor; 2412-a second ranging sensor; 242-a second ranging sensor group; 243-a third ranging sensor group; 2431-a third ranging sensor; 2432-a fourth ranging sensor; 25-a power supply module; 26-a gyroscope; 27-a positioning module; 28-a data integration management module; 30-an operation panel; 40-a connector; 41-connector body; 411-angular scale lines; 42-a threaded connection; 43-boss connection; 50-a three-dimensional scanner; 200-virtual three-dimensional space.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, for convenience of description, a cartesian coordinate system is established, and a first horizontal direction is defined to be parallel to a direction indicated by an X axis, a second horizontal direction is defined to be parallel to a direction indicated by a Y axis, and a vertical direction is defined to be parallel to a direction indicated by a Z axis. It is to be understood that the above definitions are only for facilitating understanding of the relative position relationship of the structures of the parts in the three-dimensional scanning apparatus 100, and should not be construed as limiting the present application.
Referring to fig. 1 and 4, an embodiment of the present application provides a three-dimensional scanning device 100, which belongs to the technical field of three-dimensional scanning, and is mainly used for three-dimensional scanning of target objects such as buildings and historical relics, and providing technical support for monitoring deformation of the target objects.
The three-dimensional scanning apparatus 100 provided by the present embodiment may include a pose control device and a three-dimensional scanner 50. The posture control device can include a support 10 and a posture controller 20, the support 10 can be used for being vertically placed on the ground, the posture controller 20 can include a cover 22, a casing 21, a distance measuring assembly 24 and a circuit board 23, the cover 22 is buckled on the casing 21, the circuit board 23 can be installed in the casing 21, and the casing 21 is connected with the support 10.
The distance measuring assembly 24 may include a first distance measuring sensor group 241 and a second distance measuring sensor group 242, the first distance measuring sensor group 241 may be disposed on the circuit board 23 in the first horizontal direction and electrically connected to the circuit board 23, the second distance measuring sensor group 242 may be disposed on the circuit board 23 in the vertical direction and electrically connected to the circuit board 23, the first distance measuring sensor group 241 may be used to measure at least a distance between the posture controller 20 and the target object, and the second distance measuring sensor group 242 may be used to measure a distance between the posture controller 20 and the ground. The three-dimensional scanner 50 can be connected to the set cover 22 of the attitude controller 20 by a connection 40.
In this embodiment, the first distance measuring sensor group 241 is provided on the circuit board 23 in the first horizontal direction, and can measure not only the distance between the pose controller 20 and the target object, but also the distance between the pose controller 20 and an obstacle (a peripheral object other than the target object and the ground) on the side of the pose controller 20 away from the target object, and the distance between the pose controller 20 and the ground through the second distance measuring sensor group 242, and these distance parameters are recorded and stored, thereby achieving height positioning and position positioning in the first horizontal direction. In this way, when the three-dimensional scanning apparatus 100 scans the target object again, it can be accurately erected at the position and height of the initial scanning.
Continuing to refer to fig. 2, in particular, the first ranging sensor group 241 may include a first ranging sensor 2411 and a second ranging sensor 2412, which may be disposed on the circuit board 23 in opposite directions in the first horizontal direction and electrically connected to the circuit board 23, respectively, for measuring the distance in the first horizontal direction. The second ranging sensor group 242 may include a second ranging sensor 2412 disposed on the circuit board 23 in a vertical direction, and the second ranging sensor 2412 may be electrically connected to the circuit board 23.
Referring to fig. 2 and 3, in some embodiments, the ranging assembly 24 further includes a third ranging sensor group 243, the third ranging sensor group 243 is disposed on the circuit board 23 along the second horizontal direction and electrically connected to the circuit board 23, and the third ranging sensor group 243 is used for measuring the distance between the pose controller 20 and the obstacle.
With reference to fig. 2, in detail, the third distance measuring sensor group 243 includes a third distance measuring sensor 2431 and a fourth distance measuring sensor 2432, which are respectively disposed at two sides of the first distance measuring sensor group 241 in the second horizontal direction, and the third distance measuring sensor 2431 and the fourth distance measuring sensor 2432 are respectively electrically connected to the circuit board 23, so as to implement distance measurement in the second horizontal direction.
Further, the second horizontal direction is perpendicular to the first horizontal direction, that is, the third distance measuring sensor group 243 and the first distance measuring sensor group 241 are disposed perpendicular to each other.
Referring to fig. 6, in the present embodiment, for convenience of description, the obstacle, the ground, and the target object may be regarded as one virtual three-dimensional space 200, the target object is located on the front side of the three-dimensional scanning apparatus 100 in the first horizontal direction, the first obstacle is located on the rear side of the three-dimensional scanning apparatus 100 in the first horizontal direction, the second obstacle and the third obstacle are respectively located on the ground on the left and right sides of the three-dimensional scanning apparatus 100 in the second horizontal direction, and the ground is located below the three-dimensional scanning apparatus 100 in the vertical direction.
When only the target object exists around the three-dimensional scanning apparatus 100, the first ranging sensor group 241 may measure the distance between the pose controller 20 and the target object, the second ranging sensor group 242 may measure the distance between the pose controller 20 and the ground, and the third ranging sensor group 243 does not participate in the acquisition of distance data, thereby achieving spatial localization of the three-dimensional scanning apparatus 100 in two orientations.
When a target object, a first obstacle, a second obstacle and a third obstacle exist around the three-dimensional scanning device 100 at the same time, three ranging sensor groups participate in distance measurement at the same time, so that spatial positioning of the three-dimensional scanning device 100 in three directions is realized, and the three-dimensional scanning device 100 can be accurately erected at an initially erected position and height when repeatedly scanning the target object.
In some embodiments, at least one of the first and second ranging sensors 2411 and 2412 is a laser ranging sensor.
Specifically, the principle of the laser ranging sensor is as follows: the laser diode first emits laser pulses directed at the target. The laser light is scattered in all directions after being reflected by the target. Part of the scattered light returns to the sensor receiver, is received by the optical system and is imaged onto the avalanche photodiode. The avalanche photodiode is an optical sensor having an amplification function therein, and thus it can detect an extremely weak optical signal. The time from the emission of the light pulse to the return to be received is recorded and processed, i.e. the target distance can be determined.
In other embodiments, the first distance measuring sensor 2411 and the second distance measuring sensor 2412 may also be distance measuring sensors such as ultrasonic distance measuring sensors or infrared distance measuring sensors, which can achieve the technical effects of the above embodiments, and are not limited herein.
Referring to fig. 5, in some embodiments, a positioning module 27 is further disposed on the circuit board 23, and the positioning module 27 is electrically connected to the circuit board 23 and is configured to acquire geographic position information of the pose controller 20.
In this embodiment, the positioning module 27 is integrated on the circuit board 23, so that the three-dimensional scanning apparatus 100 has a geographical positioning function, and the three-dimensional scanning apparatus 100 can be quickly positioned to a geographical position where the three-dimensional scanning apparatus 100 is erected for the first time when repeatedly scanning.
In some embodiments, the positioning module 27 may be a beidou locator or a GPS locator to obtain the geographic location information of the three-dimensional scanning device 100.
In other embodiments, the positioning module 27 may also be a beidou/GPS dual-mode positioner, and each of the three positioners has its advantages and disadvantages, and can realize geographical position positioning, and a user can select or combine them according to actual requirements.
Referring to fig. 4, in some embodiments, a gyroscope 26 is further disposed on the circuit board 23, and the gyroscope 26 is electrically connected to the circuit board 23 and is used for monitoring the deflection condition of the pose controller 20, so that the three-dimensional scanning apparatus 100 can maintain a horizontal state.
Illustratively, gyroscope 26 may be a sensing gyroscope, an indicating gyroscope, or the like.
Referring to fig. 5, in some embodiments, a data integration management module 28 is further disposed on the circuit board 23, the data integration management module 28 is electrically connected to the circuit board 23, the pose control apparatus further includes an operation panel 30, the operation panel 30 is disposed on the cover 22, and the operation panel 30 is electrically connected to the circuit board 23.
In this embodiment, the operation panel 30 is connected to the circuit board 23 and configured to control the whole pose controller 20 to work, the operation panel 30 includes a display screen, and the data integration management module 28 processes the distance data measured by the distance measurement component 24 and displays the processed distance data on the display screen of the operation panel 30 in real time, so that a user can observe and operate the data conveniently.
In some embodiments, the pose controller 20 further includes a power supply module 25, and the power supply module 25 is configured to supply power to the circuit board 23 and the ranging assembly 24.
In some embodiments, the operation panel 30 is electrically connected to a main control circuit board of the three-dimensional scanner 50 for controlling the three-dimensional scanner 50 to operate.
Referring to fig. 2, in some embodiments, the connector 40 includes a connector body 41, a threaded connection portion 42, and a boss connection portion 43, the threaded connection portion 42 and the boss connection portion 43 are respectively provided at both end portions of the connector body 41, the threaded connection portion 42 is threadedly connected to the cover 22 of the posture controller 20, and the mounting portion of the three-dimensional scanner 50 is rotatably provided at the boss connection portion 43.
In this embodiment, the three-dimensional scanner 50 is rotatably disposed on the boss connection portion 43, so that a user can adjust the angle of the three-dimensional scanner 50, and the connection member 40 is detachably connected to the cover 22 of the pose controller 20 through the screw connection portion 42, thereby achieving a stable structure and high reliability.
Specifically, a guide hole is formed in the boss connecting portion 43, a rotating shaft is arranged on the mounting portion, the rotating shaft penetrates through the guide hole in a sliding mode, and the three-dimensional scanner 50 can rotate around the rotating shaft to achieve adjustment of a scanning angle.
With continued reference to fig. 2, in some embodiments, a plurality of angle marks 411 are provided at intervals along the circumference of the connector body 41, and an indication line is provided along the circumference of the mounting portion, the indication line corresponding to the position of the angle mark 411.
Illustratively, the plurality of angle scale lines 411 may respectively identify angles of 1 °, 5 °, 30 °, 90 °, 180 °, 360 °, and so on. The user determines the rotation angle of the three-dimensional scanner 50 by pointing the position of the angle scale 411 with the indicator line, so as to realize the precise adjustment of the scanning angle.
Referring to fig. 1, in some embodiments, the stand 10 is a telescoping tripod stand to adjust the height of the three-dimensional scanner 50.
In summary, the embodiment of the present application provides a three-dimensional scanning device 100, which measures distances between the pose controller 20 and the target object, the ground and surrounding obstacles through the first ranging sensor group 241, the second ranging sensor group 242 and the third ranging sensor group 243, respectively, so as to realize high-precision repositioning of outdoor and indoor three-dimensional scanning, reduce errors generated by repeated scanning of the three-dimensional scanner 50, and further improve the precision of three-dimensional model fitting data, so that the judgment of target object deformation monitoring is more accurate.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A posture control device applied to a three-dimensional scanning device is characterized by comprising:
the bracket is used for being vertically placed on the ground;
the pose controller comprises a cover, a casing, a ranging assembly and a circuit board, wherein the casing is connected with the support, the circuit board is installed in the casing, the ranging assembly comprises a first ranging sensor group and a second ranging sensor group, the first ranging sensor group is arranged on the circuit board along a first horizontal direction and is electrically connected with the circuit board, and the first ranging sensor group is at least used for measuring the distance between the pose controller and a target object; the second distance measuring sensor group is arranged on the circuit board in the vertical direction and electrically connected with the circuit board, and the second distance measuring sensor group is used for measuring the distance between the pose controller and the ground.
2. A pose control apparatus according to claim 1, wherein the range finding assembly further comprises a third range sensor group provided to the circuit board in the second horizontal direction and electrically connected to the circuit board, the third range sensor group being configured to measure a distance between the pose controller and an obstacle.
3. The pose control device according to claim 1, wherein a positioning module is further arranged on the circuit board, the positioning module is electrically connected with the circuit board, and the positioning module is used for acquiring geographic position information.
4. A pose control apparatus according to claim 3, wherein the positioning module is one of a beidou positioner, a GPS positioner and a beidou/GPS dual-mode positioner.
5. A pose control apparatus according to claim 1, wherein a data integration management module is further provided on the circuit board, the data integration management module is electrically connected to the circuit board, the pose control apparatus further comprises an operation panel, the operation panel is provided on the cover, and the operation panel is electrically connected to the circuit board.
6. The pose control apparatus according to claim 1, characterized in that a gyroscope is further provided on the circuit board, and the gyroscope is electrically connected to the circuit board.
7. The pose control apparatus according to claim 1, characterized in that the support is a telescopic tripod support.
8. A three-dimensional scanning apparatus characterized by comprising a three-dimensional scanner for three-dimensionally scanning the target object and the attitude control device of any one of claims 1 to 7, the three-dimensional scanner being connected to the cover by a connecting member.
9. The three-dimensional scanning apparatus according to claim 8, wherein the connecting member includes a connecting member body, a threaded connection portion and a boss connection portion, the threaded connection portion and the boss connection portion are respectively provided at both end portions of the connecting member body, the threaded connection portion is threadedly connected with the cover, and the mounting portion of the three-dimensional scanner is rotatably provided at the boss connection portion.
10. The three-dimensional scanning apparatus according to claim 9, wherein a plurality of angle graduation lines are provided at intervals along a circumferential direction of the link body, and an indication line is provided along a circumferential direction of the mounting portion, the indication line corresponding to a position of the angle graduation line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221689444.7U CN217687111U (en) | 2022-06-30 | 2022-06-30 | Pose control device and three-dimensional scanning equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221689444.7U CN217687111U (en) | 2022-06-30 | 2022-06-30 | Pose control device and three-dimensional scanning equipment |
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| CN217687111U true CN217687111U (en) | 2022-10-28 |
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| CN202221689444.7U Active CN217687111U (en) | 2022-06-30 | 2022-06-30 | Pose control device and three-dimensional scanning equipment |
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