CN219179599U - Panoramic three-dimensional inspection equipment - Google Patents
Panoramic three-dimensional inspection equipment Download PDFInfo
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- CN219179599U CN219179599U CN202223450367.2U CN202223450367U CN219179599U CN 219179599 U CN219179599 U CN 219179599U CN 202223450367 U CN202223450367 U CN 202223450367U CN 219179599 U CN219179599 U CN 219179599U
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- panoramic
- dimensional inspection
- laser radar
- motor
- inspection apparatus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The utility model discloses panoramic three-dimensional inspection equipment, which comprises: support shell, cloud platform motor, roating seat, laser radar, sliding ring and encoder, the cloud platform motor is established on the support shell, the cloud platform motor with the roating seat links to each other, laser radar detachably establishes on the roating seat, the axis of rotation axis of laser radar with have the contained angle between the axis of rotation of the output shaft of cloud platform motor, the sliding ring is established in the support shell, the sliding ring with laser radar links to each other, the encoder with the cloud platform motor links to each other. According to the panoramic three-dimensional inspection equipment, the 360-degree visual angle laser radar is arranged on the pan-tilt motor, so that the other rotating shaft is added to the transmitter of the laser radar, and therefore more comprehensive and three-dimensional laser point cloud information is obtained.
Description
Technical Field
The utility model relates to the technical field of coal mine inspection, in particular to panoramic three-dimensional inspection equipment.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle is that the laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after proper processing, the related information of the target, such as the parameters of the distance, the azimuth, the height, the speed, the gesture, the even the shape and the like of the target, can be obtained.
In the related art, the laser radar has no panoramic view angle, and because the fully mechanized mining face space is limited, the equipment is relatively more, and the laser radar can not scan all the space around the equipment, so that the production safety can not be effectively ensured.
Disclosure of Invention
The present utility model aims to solve at least one of the technical problems in the related art to some extent.
Therefore, the embodiment of the utility model provides high-precision panoramic three-dimensional inspection equipment.
The panoramic three-dimensional inspection equipment of the embodiment of the utility model comprises: support shell, cloud platform motor, roating seat, laser radar, sliding ring and encoder, the cloud platform motor is established on the support shell, the cloud platform motor with the roating seat links to each other, laser radar detachably establishes on the roating seat, the axis of rotation axis of laser radar with have the contained angle between the axis of rotation of the output shaft of cloud platform motor, the sliding ring is established in the support shell, the sliding ring with laser radar links to each other, the encoder with the cloud platform motor links to each other.
According to the panoramic three-dimensional inspection equipment, the 360-degree visual angle laser radar is arranged on the pan-tilt motor, so that the other rotating shaft is added to the transmitter of the laser radar, and therefore more comprehensive and three-dimensional laser point cloud information is obtained.
In some embodiments, the angle between the central axis of the rotation axis of the lidar and the central axis of the output shaft of the pan-tilt motor is 90 °.
In some embodiments, inertial navigation is also included, the inertial navigation being disposed within the support housing.
In some embodiments, the camera further comprises a coloring assembly, wherein the coloring assembly comprises a support rod and a panoramic camera arranged on the support rod, and the support rod is connected with the support shell.
In some embodiments, an assembly hole is formed in the upper wall surface of the support shell, and the pan-tilt motor penetrates through the assembly hole and is connected with the support shell.
In some embodiments, the pan-tilt motor comprises a stator assembly, a rotor assembly and a motor shaft, wherein the stator assembly is connected with the hole wall of the assembly hole, the rotating seat is connected with the rotor assembly, and at least part of the motor shaft is positioned in the support shell.
In some embodiments, the slip ring includes a fixed portion and a rotating portion, the fixed portion is provided with a first through hole, the rotating portion is rotatably provided in the first through hole, the rotating portion is provided with a second through hole, and the motor shaft penetrates through the second through hole and is connected with the rotating portion.
In some embodiments, a bearing is sleeved on the motor shaft, and the encoder is connected with the bearing.
In some embodiments, the laser radar device further comprises a connecting piece, wherein a first mounting hole is formed in the rotating seat, a second mounting hole corresponding to the first mounting hole is formed in the laser radar, and the connecting piece is sequentially matched in the first mounting hole and the second mounting hole.
In some embodiments, the connector, the first mounting hole, and the second mounting hole are all multiple and in one-to-one correspondence.
Drawings
Fig. 1 is a schematic diagram of a panoramic three-dimensional inspection apparatus according to an embodiment of the utility model.
Fig. 2 is a schematic cross-sectional view of a panoramic three-dimensional inspection apparatus according to an embodiment of the utility model.
Reference numerals:
Detailed Description
Reference will now be made in detail to embodiments of the present utility model, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.
The following describes panoramic three-dimensional inspection equipment according to an embodiment of the present utility model with reference to the accompanying drawings.
As shown in fig. 1 and 2, the panoramic three-dimensional inspection apparatus according to an embodiment of the present utility model includes: support shell 1, cloud platform motor 2, roating seat 3, laser radar 4, sliding ring 5 and encoder 6. The cradle head motor 2 is arranged on the supporting shell 1, the cradle head motor 2 is connected with the rotating seat 3, the laser radar 4 is detachably arranged on the rotating seat 3, an included angle is formed between the central axis of a rotating shaft of the laser radar 4 and the central axis of an output shaft of the cradle head motor 2, the slip ring 5 is arranged in the supporting shell 1, the slip ring 5 is connected with the laser radar 4, and the encoder 6 is connected with the cradle head motor 2.
Wherein the lidar 4 itself may be scanned 360 ° around its own axis of rotation. An included angle is formed between the central axis of the rotating shaft of the laser radar 4 and the central axis of the output shaft of the pan-tilt motor 2, that is, the axial direction of the laser radar 4 and the axial direction of the pan-tilt motor 2 can be mutually perpendicular, or can be at a certain angle, and the angle can be selected according to specific measurement conditions.
The supporting shell 1 is used as a main body of equipment to support, the cradle head motor 2 is arranged on the supporting rod 81 shell, the laser radar 4 is arranged on the cradle head motor 2 through the rotating seat 3, the cradle head motor 2 drives the rotating seat 3 to rotate at a certain rotating speed, so that the laser radar 4 is driven to rotate, the transmitter of the laser radar 4 rotates around the output shaft of the cradle head motor 2 besides rotating around the rotating shaft of the laser radar 4, an included angle is formed between two rotating planes, and therefore more comprehensive and three-dimensional laser point cloud information is obtained.
The lidar 4 is connected to the support case 1 via a slip ring 5, and the slip ring 5 is activated to transmit a rotation signal to the support case 1. The encoder 6 is used for precisely measuring the rotation angle of the pan-tilt motor 2 and transforming the point cloud of the laser scanning to a starting coordinate system.
Therefore, according to the panoramic three-dimensional inspection equipment provided by the embodiment of the utility model, the laser radar 4 with a 360-degree visual angle is arranged on the pan-tilt motor 2, so that the transmitter of the laser radar 4 is added with another rotating shaft, and the more comprehensive and three-dimensional laser point cloud information is obtained.
In some embodiments, the angle between the central axis of the rotation shaft of the lidar 4 and the central axis of the output shaft of the pan-tilt motor 2 is 90 °.
Alternatively, the rotation axis of the lidar 4 is arranged in the horizontal direction, and the output shaft of the pan-tilt motor 2 is arranged in the vertical direction. It will be appreciated that the transmitter of the laser radar 4 may perform a 360 ° scan in the vertical direction, and the pan-tilt motor 2 may drive the laser radar 4 to perform a 360 ° rotation in the horizontal direction, thereby realizing a 360X360 panoramic view.
In some embodiments, as shown in fig. 1 and 2, further comprising an inertial navigation 7, the inertial navigation 7 being provided within the support shell 1. Inertial navigation 7 is used to move the measured pose in the mapping domain and to supplement the disturbance of the intense motion to the lidar 4.
In some embodiments, as shown in fig. 1 and 2, the coloring assembly 8 further includes a support rod 81 and a panoramic camera 82 provided on the support rod 81, the support rod 81 being connected to the support housing 1.
Alternatively, the supporting rod 81 is arranged in the vertical direction, the supporting rod 81 is connected with the side wall of the supporting shell 1, the panoramic camera 82 is arranged at the upper end of the supporting rod 81, and the panoramic camera 82 is located above the laser radar 4. Therefore, the laser radar 4 and the panoramic camera 82 realize one-to-one correspondence of spherical coordinates through external parameter calibration, so that the conversion from laser point cloud to panoramic image and the conversion from panoramic image to laser point cloud are realized, and the scale information such as the coloring of the laser point cloud and the supplementation of coordinates to the panoramic image is also realized.
In some embodiments, as shown in fig. 1 and 2, an upper wall surface of the support case 1 is provided with an assembly hole, and the pan/tilt motor 2 penetrates the assembly hole and is connected to the support case 1.
Alternatively, the upper wall surface of the support case 1 has an assembling portion having a thickness (height in the up-down direction) greater than that of the upper wall surface of the support case 1. The assembly hole is arranged on the assembly part and is communicated with the inner cavity of the supporting shell 1. The part of the tripod head motor 2 is clamped at the assembly hole, and the central axis of the assembly hole and the central axis of the output shaft of the tripod head motor 2 are coaxially arranged.
Further, as shown in fig. 1 and 2, the pan-tilt motor 2 includes a stator assembly, a rotor assembly and a motor shaft (referring to an output shaft of the pan-tilt motor 2 in the above embodiment), the stator assembly is connected to a wall of the assembly hole, the rotating base 3 is connected to the rotor assembly, and at least part of the motor shaft is located in the support housing 1.
In some embodiments, as shown in fig. 1 and 2, the slip ring 5 includes a fixed portion and a rotating portion, the fixed portion is provided with a first through hole, the rotating portion is rotatably provided in the first through hole, the rotating portion is provided with a second through hole, and the motor shaft penetrates through the second through hole and is connected with the rotating portion.
Specifically, the fixing portion is connected to the inner peripheral wall of the support case 1, and the center axis of the first through hole, the center axis of the second through hole, and the center axis of the motor shaft are all coaxially disposed.
In some embodiments, as shown in fig. 1 and 2, the motor shaft is sleeved with a bearing, and the encoder 6 is connected with the bearing. The bearing is located below the rotating part and the encoder 6 is provided at the bottom inside the support housing 1. It will be appreciated that the encoder 6 is connected to the rotating part of the pan-tilt motor 2 by bearings, ensuring that the precise rotation angle is measured in real time for coordinate system transformation.
In some embodiments, as shown in fig. 1 and 2, the laser radar device further comprises a connecting piece, a first mounting hole is formed in the rotating seat 3, a second mounting hole corresponding to the first mounting hole is formed in the laser radar 4, and the connecting piece is sequentially matched in the first mounting hole and the second mounting hole.
For example, the first mounting hole and the second mounting hole are screw holes, the connecting piece is a bolt, and the bolt is sequentially matched in the screw hole on the rotating seat 3 and the screw hole of the laser radar 4, so that the detachable connection function is achieved.
Further, the connecting pieces, the first mounting holes and the second mounting holes are all multiple and in one-to-one correspondence, so that the stability of connection between the rotating base 3 and the laser radar 4 is ensured.
In the description of the present utility model, it should 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", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean 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 utility model. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While the above embodiments have been shown and described, it should be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives, and variations of the above embodiments may be made by those of ordinary skill in the art without departing from the scope of the utility model.
Claims (10)
1. A panoramic three-dimensional inspection apparatus, comprising:
a support case;
the cradle head motor is arranged on the supporting shell;
the cradle head motor is connected with the rotating seat;
the laser radar is detachably arranged on the rotating seat, and an included angle is formed between the central axis of the rotating shaft of the laser radar and the central axis of the output shaft of the pan-tilt motor;
the sliding ring is arranged in the supporting shell and is connected with the laser radar;
the encoder is connected with the cradle head motor.
2. The panoramic three-dimensional inspection apparatus of claim 1, wherein an included angle between a central axis of a rotation shaft of said lidar and a central axis of an output shaft of said pan-tilt motor is 90 °.
3. The panoramic three-dimensional inspection apparatus of claim 1, further comprising an inertial navigation disposed within said support housing.
4. The panoramic three-dimensional inspection apparatus of claim 1, further comprising a coloring assembly comprising a support bar and a panoramic camera disposed on said support bar, said support bar being coupled to said support housing.
5. The panoramic three-dimensional inspection apparatus of claim 1, wherein an assembly hole is formed in an upper wall surface of the support housing, and the pan-tilt motor penetrates through the assembly hole and is connected with the support housing.
6. The panoramic three-dimensional inspection apparatus of claim 5 wherein said pan-tilt motor includes a stator assembly, a rotor assembly and a motor shaft, said stator assembly being coupled to a wall of said assembly aperture, said rotary base being coupled to said rotor assembly, at least a portion of said motor shaft being positioned within said support housing.
7. The panoramic three-dimensional inspection apparatus of claim 6, wherein said slip ring comprises a fixed portion and a rotating portion, said fixed portion having a first through hole therein, said rotating portion rotatably disposed within said first through hole, said rotating portion having a second through hole therein, said motor shaft extending through said second through hole and being connected to said rotating portion.
8. The panoramic three-dimensional inspection apparatus of claim 6, wherein said motor shaft is sleeved with a bearing, and said encoder is coupled to said bearing.
9. The panoramic three-dimensional inspection apparatus of claim 1, further comprising a connector, wherein a first mounting hole is formed in the swivel base, a second mounting hole corresponding to the first mounting hole is formed in the lidar, and the connector is sequentially fitted in the first mounting hole and the second mounting hole.
10. The panoramic three-dimensional inspection apparatus of claim 9, wherein said connector, said first mounting hole, and said second mounting hole are all plural and in one-to-one correspondence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223450367.2U CN219179599U (en) | 2022-12-21 | 2022-12-21 | Panoramic three-dimensional inspection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223450367.2U CN219179599U (en) | 2022-12-21 | 2022-12-21 | Panoramic three-dimensional inspection equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219179599U true CN219179599U (en) | 2023-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223450367.2U Active CN219179599U (en) | 2022-12-21 | 2022-12-21 | Panoramic three-dimensional inspection equipment |
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| Country | Link |
|---|---|
| CN (1) | CN219179599U (en) |
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- 2022-12-21 CN CN202223450367.2U patent/CN219179599U/en active Active
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