CN219301516U - Measuring system - Google Patents

Abstract

The embodiment of the utility model discloses a measuring system which comprises a rotating base, a control and processor, a first scanning device and a second scanning device, wherein the first scanning device and the second scanning device are respectively and movably connected with the rotating base; the rotating base is used for driving the first scanning equipment and the second scanning equipment to rotate; the first scanning equipment is used for acquiring information of the space to be measured to obtain point cloud data; the control and processor is used for respectively controlling the rotating base, the first scanning device and the second scanning device; the method is also used for generating an initial three-dimensional model according to the point cloud data, selecting a point to be measured based on the initial three-dimensional model, and controlling the second scanning equipment to accurately scan the point to be measured to obtain a local model, so that the initial three-dimensional model and the local model are integrated to obtain a measurement result of the space to be measured. By the implementation of the utility model, the information acquired by the space to be measured is more comprehensive.

Description

Measuring system

Technical Field

The utility model relates to the technical field of measurement, in particular to a measurement system.

Background

Along with the rapid development of social economy, intelligent design for decoration is becoming more and more popular. The demand for three-dimensional digitization is increasing, and various industries such as BIM modeling, digital preservation of cultural relics and architecture, and on-line exhibition halls of VR need to perform three-dimensional digital modeling preservation on live-action rooms.

However, before the three-dimensional digital modeling and storage of the live-action room, not only the whole size of the room, the positions of the door, the window, the opening, the pipeline and other parts, the size and the position of the beam column and the like are measured three-dimensionally, but also the verticality, the levelness, the flatness, the room yin-yang angle and the like of the wall body, the ground, the ceiling and other planes of the house are measured three-dimensionally, and the difference between the actual site and the drawing is confirmed, so that the modeling accuracy can be ensured. However, the existing measuring equipment is not accurate enough in measurement, so that modeling data is inaccurate, and construction or decoration efficiency is affected.

Disclosure of Invention

The main object of the embodiments of the present utility model is to provide a measurement system, which can at least solve the problem of inaccurate measurement in the related art.

In order to achieve the above object, an embodiment of the present utility model provides a measurement system, including a rotating base, a control and processor, a first scanning device and a second scanning device, which are respectively movably connected with the rotating base; the rotating base is used for driving the first scanning device and the second scanning device to rotate; the first scanning equipment is used for acquiring information of the space to be measured to obtain point cloud data; the control and processor is used for respectively controlling the rotating base, the first scanning device and the second scanning device; the method is also used for generating an initial three-dimensional model according to the point cloud data, selecting a point to be measured based on the initial three-dimensional model, controlling the second scanning equipment to perform fixed-point scanning on the point to be measured to obtain a local model, and integrating the initial three-dimensional model and the local model to obtain a measurement result of the space to be measured.

According to the measuring system provided by the embodiment of the utility model, the space to be measured is scanned through the two scanning devices, after one scanning device finishes scanning, the other scanning device performs supplementary scanning, and the information acquired by the first scanning device is integrated with the information acquired by the second scanning device, so that a measuring result is obtained, and the accuracy of the measuring result is improved.

Additional features and corresponding effects 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

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model and that other drawings may be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a part of a measuring system according to an embodiment of the present utility model;

FIG. 2 is a diagram of the overall architecture of an embodiment of the measurement system of the present utility model;

FIG. 3 is a schematic diagram of a fitted intersection point of an embodiment of the measurement system of the present utility model;

FIG. 4 is a schematic diagram of a preset curve of an embodiment of the measurement system of the present utility model;

FIG. 5 is a schematic diagram of a partial BIM model of an embodiment of the measurement system of the present utility model;

FIG. 6 is a schematic diagram of reference points of an embodiment of the measuring system of the present utility model.

Detailed Description

In order to make the objects, features and advantages of the present utility model more comprehensible, the technical solutions in the embodiments of the present utility model will be clearly described in conjunction with the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

Fig. 1 is a schematic partial structure of a measurement system according to the present utility model. In one embodiment, the measurement system comprises a rotating base 10, a first scanning device 11 and a second scanning device 12, each of which is movably connected to the rotating base 10; the first scanning device 11 and the second scanning device 12 are used for collecting information of a space to be detected and respectively generating an initial three-dimensional model and a local model; the rotating base 10 has a control and processor 13 (not shown) built therein for controlling the rotating base 10, the first scanning device 11 and the second scanning device 12, respectively, and integrating the initial three-dimensional model and the partial model to obtain measurement results. It should be noted that the control and processor 13 may also be provided independently of the rotating base 10, which is not limited herein.

More specifically, the control and processor 13 sends a first control signal to the rotating base 10 and the first scanning device 11, the first scanning device 11 rotates under the driving of the rotating base 10 to collect information of the space to be measured, the control and processor 13 generates a second control signal according to the information collected by the first scanning device 11 and preset azimuth information and sends the second control signal to the rotating base 10 and the second scanning device 12, and the second scanning device 12 rotates under the driving of the rotating base 10 to collect information of the space to be measured, wherein the preset azimuth information indicates the positional relationship between the first scanning device 11 and the second scanning device 12.

In one embodiment, the first scanning device 11 is a single-line laser radar and the second scanning device 12 is a single-point laser range finder. More specifically, the first scanning device 11 is used to perform rapid scanning, such as 5 seconds to 3 minutes, on a plurality of stations in the space to be measured, including horizontal 360 ° x vertical 360 ° scanning, so as to obtain dense point cloud data, thereby controlling the processor 13 to perform denoising, plane fitting and other algorithm processing on the dense point cloud data in the space to be measured to obtain a plane with a larger area, a ridge line where two planes intersect, and a yin-yang angle where a plurality of planes intersect, so as to obtain a basic shape (i.e., an initial three-dimensional model) of the space to be measured. In order to quickly output a complete and accurate CAD drawing of the space to be tested, the control and processor 13 can control the second scanning device 12 to measure the coordinates of a small number of points near the edges and corners of the yin and yang, and form a line by connecting points and a plane by enclosing lines (namely, a local model), so that the information acquired by the first scanning device and the second scanning device is integrated to output the accurate CAD drawing of the room, namely, a measurement result.

In another embodiment, the first scanning device 11 is a low-precision, high-point frequency three-dimensional depth measuring device, such as a single-point radar of the triangulation method, wherein the point frequency is the number of measurement points obtained per unit time of the measuring device. The first scanning equipment 11 is driven by the rotating base 10 to scan the space to be measured and acquire point cloud data of the space to be measured to generate an initial three-dimensional model of the space to be measured; the scanning mode can be two-dimensional scanning, namely scanning is performed in the horizontal direction and the vertical direction; a one-dimensional scan, i.e. a scan in the horizontal or vertical direction, is also possible. The first scanning device 11 may be a monocular/binocular structured light camera, or an iToF (Indirect TOF) depth camera, or a dtif (Direct TOF) depth camera, which is not limited herein.

Further, the second scanning device 12 is a high-precision single-point laser range finder with higher precision than the first scanning device 11, and it is preferable that the measurement error is smaller than 1mm (millimeter) within a distance of 100m (meters), so as to obtain the measurement distance to the space to be measured. Specifically, the first scanning device 11 scans the space to be measured to obtain point cloud data corresponding to the space to be measured, and generates an initial three-dimensional model of the space to be measured based on the point cloud data; determining a point to be measured according to the initial three-dimensional model scanned by the first scanning device 11, and independently scanning the point to be measured in the space to be measured by the second scanning device 12 to obtain the measurement distance of the point to be measured; fitting the initial three-dimensional model with the measured distance of the point to be measured to obtain a more accurate measurement result; wherein, the point to be measured is a small number of points near the intersecting edge line and the yin-yang angle of the plane.

In one embodiment, in order to better enable the second scanning device 12 to scan the point to be measured in the space to be measured separately, the relative transformation relationship between the first scanning device 11 and the second scanning device 12 needs to be calibrated in advance, including the relative translation x/y/z component and the relative rotation α/β/γ, that is, the preset azimuth information. Specifically, after the point to be measured is selected from the initial three-dimensional model, calculating the relative position of the point to be measured and the second scanning device 12 according to the relative transformation relation between the first scanning device 11 and the second scanning device 12, and recording the relative position as a target position; according to the current position of the second scanning device 12, calculating a motion trail reaching the target position; the control and processor 13 sends a second control signal to the rotating base 10, so that the rotating base 10 drives the second scanning device 12 to move towards the target azimuth according to the second control signal, and the independent measurement of the distance of the point to be measured is realized. It should be noted that the second scanning device 12 may also be manually controlled to move toward the target azimuth, which is not limited herein.

Fig. 2 is a diagram showing an overall configuration of a measurement system according to an embodiment of the present utility model. In one embodiment, the measurement system further includes a first transmission mechanism 102 and a second transmission mechanism 101 rotatably connected to the rotating base 10, where the first transmission mechanism 102 is configured to drive the first scanning device 11 to rotate according to a first control signal of the control and processor 13 so as to collect information in the space to be measured; the second transmission mechanism 101 is configured to drive the second scanning device 12 to rotate according to a second control signal of the control and processor 13 so as to collect information about the measurement point. It should be noted that, a position encoder may be attached to the second transmission mechanism 101, and the position encoder is used to feed back a relative rotation angle of the second scanning device 12 with respect to the rotating base 10, so as to ensure that the second scanning device 12 can perform fixed-point scanning on the point to be measured.

In one embodiment, the control and processor 13 may be a microprocessor, configured to replace, according to preset azimuth information, a measured distance of a point to be measured in the initial three-dimensional model with a measured distance of a point to be measured acquired by the single-point laser range finder; in addition, the control and processor 13 may also perform calculations such as denoising of point cloud data, stitching of point cloud data, fitting of a preset shape, intersection of preset shapes, spatial coordinate transformation, and trajectory planning on the information collected by the first scanning device 11 and the second scanning device 12.

In one embodiment, the first transmission mechanism 102 and the second transmission mechanism 101 may be rotating shafts, which may be connected to the control and processor 13 through a motor, where the motor drives the rotating shafts to rotate according to a control signal sent by the control and processor 13, so as to drive the first scanning device 11 or the second scanning device 12 to rotate.

In one embodiment, the measurement system further comprises a display screen 15 electrically connected to the control and processor 13, the display screen 15 being mounted on a rotating base, the display screen 15 being adapted to present information acquired by the first scanning device 11 and the second scanning device 12. In addition, the display screen 15 may also be used to display the three-dimensional model and to zoom in on the local position in the initial three-dimensional model to facilitate targeting by the second scanning device 12.

In one embodiment, the display 15 is provided with a key 151 electrically connected to the control and processor 13 for selecting the content displayed on the display 15; more specifically, by sliding the edge of the display screen 15 with a finger, the display screen 15 may slide out to select a display function module, and the functions of displaying a measurement result, displaying a photographed picture, previewing a three-dimensional model, previewing a two-dimensional drawing, etc. may be selected through the key 151, or the corresponding display function module may be selected by touch.

In one embodiment, the measurement system further comprises an image capturing device 14 electrically connected to the control and processor 13, for capturing images of the space to be measured during the information acquisition by the first scanning device 11 to obtain texture information of the space to be measured or to assist in identifying objects. Specifically, the image capturing device 14 is an RGB camera, and is configured to collect RGB images of a space to be measured and transmit the RGB images to the control and processor 13, and the control and processor 13 attaches the initial three-dimensional model to the RGB images to obtain a texture three-dimensional model. Optionally, the RGB camera is controlled to capture RGB images of the space to be measured while scanning, for coloring of 3D point cloud data, or for VR (Virtual Reality) presentation mapping, or for careful inspection of field conditions after archiving the RGB images. It should be noted that, according to the application requirement, the RGB camera may use different resolutions; when the measurement system comprises an RGB camera, the RGB images it captures can aid in the identification of structures such as doors, windows, glass, etc.

In one embodiment, the measuring system further comprises a gravitational Accelerometer 17 (Accelerometer) electrically connected to the processor 13, the gravitational Accelerometer 17 is used for judging an included angle between a reference plane and a horizontal plane of the measuring system, and correcting azimuth information of a point to be measured when the first scanning device 11 and the second scanning device 12 are not parallel to the horizontal plane, so as to ensure three-dimensional reconstruction by using the point cloud data scanned by the first scanning device 11 and determine accuracy of the scanned point to be measured by the second scanning device 12.

In one embodiment, the measurement system further includes a storage unit 18, which may be disposed on the control and processor 13 or independent of the control and processor 13 and electrically connected with the control and processor 13, where the storage unit 18 is configured to store the point cloud data collected by the first scanning device 11, the information collected by the second scanning device 12, the information collected by the first scanning device 11 and the second scanning device 12 to form an image, the calculation result, and the relative transformation relationship between the first scanning device 11 and the second scanning device 12.

In an embodiment the measurement system further comprises a communication unit 16 electrically connected to the control and processor 13 for transmitting information collected by the first scanning device 11 and the second scanning device 12 to an external terminal. Preferably, the communication unit 16 may be a bluetooth module or a wireless WiFi module, and may transmit the measurement data to the external terminal in real time after being connected to the external terminal through the bluetooth module.

In one embodiment, the measurement system may be placed in a plurality of sites in the same space to be measured (e.g. house), and the specific working mode of the measurement system is as follows:

and a, firstly, erecting a measuring system at any position in a house, and taking the best intersection area between a scanning line of a first scanning device and a wall surface as a best point, or placing the measuring system at the geometric center position of a room according to a measuring range, carrying out full scene three-dimensional scanning on the room to obtain point cloud data, and transmitting the point cloud data to a control and processor so as to facilitate the follow-up three-dimensional digital modeling of the full scene of the room.

Step b, the control and processor performs preset shape fitting on the point cloud data scanned by the first scanning device to obtain an initial three-dimensional model, wherein the preset shape comprises but is not limited to: plane, cylinder, cone, sphere, ellipsoid.

It should be noted that, the point cloud data may be used for performing plane fitting on a large-area planar area, such as a wall surface, a ceiling, a floor, etc.; the control and processor can also obtain flatness, perpendicularity, levelness and other information from the point cloud data.

And c, the control and processor performs intersection on all the fitted preset shapes to obtain intersection lines and fixed points, or obtain curves and vertexes, wherein the vertexes are intersection points of a plurality of intersection lines, and particularly please refer to a schematic diagram of the fitted intersection points shown in fig. 3.

And d, selecting a point to be measured according to the initial three-dimensional model in the display screen by the control and processor or through user operation, and preferably selecting the point to be measured near the intersection line and the vertex of the initial three-dimensional model. For each point to be measured, calculating the relative position of the point to be measured and the second scanning device according to the relative transformation relation between the first scanning device and the second scanning device, and marking the relative position as a target position; according to the current azimuth of the second scanning device, calculating a motion trail of the second scanning device reaching the target azimuth; the control and processor controls the second transmission mechanism to move according to the movement track, so that the second scanning device faces the designated direction to measure the distance of the point to be measured in the designated direction.

It should be noted that, for a curved surface outside the preset shape, the measurement points may be inserted at intervals according to a custom mode, for example, at fixed angles, and a spline curve or a spline curved surface obtained by interpolation between the measurement points may be used as an accurate measurement result, specifically please refer to the preset curve schematic diagram shown in fig. 4.

Step e, after the control and processor obtains enough 3D coordinates of the point to be measured, a local BIM model (Building Information Modeling, building information model) is generated according to the method of forming a line by connecting points and forming a plane by enclosing the line, namely, a local result in the measurement result is shown in fig. 5. It should be noted that, each line of the BIM model includes at least two points to be measured to improve the measurement accuracy, as shown in fig. 6.

In one embodiment, when the point to be measured is a position to be measured accurately, such as a drain pipe, an electric wire, a floor drain and other structures on site need to be positioned accurately, the second scanning device can also be controlled manually. Specifically, the user may first move the second scanning device to the area to be measured, and then select a measurement mode, where the measurement mode may be single-point ranging, such as positioning of a hydropower point, or searching for a maximum/minimum value along a custom distance range of a horizontal line/vertical line, where the custom distance range may be a wall junction, a corner, or the like, or performing scanning and high-precision measurement along a path manually drawn by the user, where a path manually drawn is an irregular edge, or performing two-dimensional scanning with the point as a center in a custom shape range to generate denser and more accurate point cloud data to perfect a local area of the model, such as a low-inverse or special attention area.

In one embodiment, after measurement of one site is completed, the measurement system may be moved to the next nearby site. The first scanning device maintains a certain common field of view in the scanning range between the adjacent stations so as to ensure the correct orientation of the position and posture of the adjacent station device and the correct splicing of the point cloud data of the scanning of the adjacent stations. After the measurement of all the stations is completed, the measurement data of all the stations are synthesized, and the initial three-dimensional model is revised according to the local BIM model, so that a complete and accurate space structure diagram to be measured is output.

According to the measuring system provided by the embodiment of the utility model, the space to be measured is scanned through the two scanning devices, and after the first scanning device performs information acquisition, the second scanning device performs key information acquisition, and the information acquired by the first scanning device is integrated with the information acquired by the second scanning device to obtain a measuring result, so that the accuracy of the measuring result is improved.

The foregoing is a further detailed description of embodiments of the utility model in connection with the specific embodiments, and it is not intended that the utility model be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the utility model, and these should be considered to be within the scope of the utility model.

Claims (10)

1. The measuring system is characterized by comprising a rotating base, a control and processor, a first scanning device and a second scanning device, wherein the first scanning device and the second scanning device are respectively and movably connected with the rotating base; wherein:

the rotating base is used for driving the first scanning device and the second scanning device to rotate;

the first scanning equipment is used for acquiring information of a space to be measured to obtain point cloud data;

the control and processor is used for respectively controlling the rotating base, the first scanning device and the second scanning device; and the method is also used for generating an initial three-dimensional model according to the point cloud data, selecting a point to be measured based on the initial three-dimensional model, controlling the second scanning equipment to perform fixed-point scanning on the point to be measured to obtain a local model, and integrating the initial three-dimensional model and the local model to obtain a measurement result of the space to be measured.

2. The measurement system of claim 1, wherein the first scanning device is a single-line laser radar and the second scanning device is a single-point laser range finder; the single-line laser radar has lower measurement accuracy than the single-point laser range finder.

3. The measurement system of claim 1, further comprising a first transmission mechanism and a second transmission mechanism connected with the rotating base, wherein the first transmission mechanism is used for driving the first scanning device to rotate under the control of the control and processor so as to acquire information of the space to be measured; the second transmission mechanism is used for driving the second scanning device to perform fixed-point scanning on the point to be measured under the control of the control and processor.

4. A measuring system according to claim 3, wherein the second transmission mechanism carries a position encoder for feeding back the relative rotation angle of the second scanning device to ensure that the second scanning device can perform a fixed point scan of the point to be measured.

5. The measurement system of claim 1, further comprising a display screen electrically connected to the control and processor for displaying information acquired by the first scanning device and the second scanning device.

6. The measurement system of claim 5 wherein the display screen is provided with keys electrically connected to the control and processor for selecting content presented by the display screen.

7. The measurement system of claim 1, further comprising an imaging device electrically connected to the control and processor for capturing images of the space to be measured to obtain texture information of the space to be measured or to assist in identifying objects when the first scanning device is performing information acquisition.

8. The measurement system of claim 1, further comprising a gravitational accelerometer electrically coupled to the control and processor for measuring an angle of a reference surface on the rotating base to a predetermined horizontal plane.

9. The measurement system of claim 1, further comprising a memory unit electrically connected to the control and processor for storing information acquired by the first scanning device and the second scanning device.

10. The measurement system of claim 1, further comprising a communication unit electrically connected to the control and processor for transmitting information collected by the first scanning device and the second scanning device to an external terminal.

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