CN2650064Y - Measuring device for obtaining three-dimensional data of close range object by laser scanning - Google Patents
Measuring device for obtaining three-dimensional data of close range object by laser scanning Download PDFInfo
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- CN2650064Y CN2650064Y CN 03275757 CN03275757U CN2650064Y CN 2650064 Y CN2650064 Y CN 2650064Y CN 03275757 CN03275757 CN 03275757 CN 03275757 U CN03275757 U CN 03275757U CN 2650064 Y CN2650064 Y CN 2650064Y
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Abstract
The utility model discloses a laser scan measurement device to obtain the surface 3D data of object nearby. The device comprises a high precision real-time 3D laser scan distance measurement device, an optical reflective system, a control unit for automatic controlling the optical reflective system continuously rotate in horizontal and vertical directions with a stepper motor and a CCD digital camera. The 3D laser scan distance measurement device, the CCD digital camera are connected with a computer system. The device has the advantages of ultra-high measurement speed, no heavy labor for measurement preparations and rapid modelling, and high quality imaging.
Description
Technical field
The utility model relates to a kind of close shot terrestrial photogrammetry imaging device, particularly relates to the measurement mechanism that closer object surface three dimension data are obtained in a kind of laser scanning.
Background technology
The prior art that is used for this purpose at present adopts the method for close-range photogrammetry usually.Close-range photogrammetry belongs to the category of terrestrial photogrammetry, photo distance is generally in 100 meters, it can use metric camera and non metric camera, and the range of application of close-range photogrammetry mainly is that present situation mapping (3) human body mapping (4) of deformation measurement (2) ancient building of (1) works needs accurately to survey other Surveying and Mapping Project of asking object size, shape or volume.
The close-range photogrammetry principle is as follows: use from ground and measure camera shot object photo.Measure for making the object photo of obtaining to be used on special instrument, setting up stereoscopic model, take simultaneously with two parallel cameras during photography, to obtain object photo with certain degree of overlapping.Press the verticality of video camera object lens primary optical axis, can be divided into photography of near normal object and tilting body photography with respect to object.Utilize the measurement in space instrument to use then and resolve mathematical relation calculates object on stereograph three-dimensional coordinate, thereby obtain the three-dimensional coordinate of body surface.
The shortcoming of close-range photogrammetry principle is that speed is slow, and the environment of Measuring Object is had requirement (place that must the people can arrive, and need manually build a framework).
Summary of the invention
The purpose of this utility model provides a kind of real-time, high-precision surveying instrument that obtains 100 meters with interior visible object three-dimensional data that is used for.
A kind of laser scanning described in the utility model is obtained the measurement mechanism of closer object surface three dimension data and is realized that the above-mentioned purpose technical scheme is as follows:
3 D laser scanning distance measuring equipment when this device comprises a high-precision real, reflective optical system, one are controlled control module and the CCD digital camera that reflective optical system rotates continuously by horizontal direction and vertical direction automatically by stepper motor; Described 3 D laser scanning distance measuring equipment, reflective optical system and object are scanned incident, the reflected light path of mutual alignment relation formation laser beam a little; Described reflective optical system links with corresponding stepper motor respectively by an x-y coordinate rotation axis; Described stepper motor is connected with the control end of computing machine by driver; Described 3 D laser scanning distance measuring equipment is connected with the data-in port of computing machine; Described CCD digital camera is connected with computing machine USB mouth by the reading card.
The measurement mechanism of closer object surface three dimension data is obtained in aforesaid a kind of laser scanning, and described reflective optical system is a level crossing.
The measurement mechanism of closer object surface three dimension data is obtained in aforesaid a kind of laser scanning, and described laser range finder is connected with the RS232 communication port of computing machine.
The measurement mechanism of closer object surface three dimension data is obtained in aforesaid a kind of laser scanning, and described x-y coordinate rotation axis is that x direction rotation axis and y direction rotation axis connect composition, and scanning angle is at 40 ° * 40 °.
The utility model is compared with the method for traditional close-range photogrammetry, has following advantage and positive effect:
Adopt the real-time three-dimensional laser scanning device can overcome the slow problem of measuring speed in the classic method, it has, and hypervelocity measures, need not repeat, remove from that framing scaffold, rapid modeling, high quality information, minimizing are done over again, the advantage of circulation fast, safety, easy operating.In the place that the operating personnel can not directly arrive, can measure object.This device is measurement target to be carried out data obtain quick effective way.
Description of drawings
Fig. 1 is the real-time three-dimensional laser scanning schematic diagram of a kind of laser scanning described in the utility model measurement mechanism of obtaining closer object surface three dimension data;
Fig. 2 is the composition frame chart that the measurement mechanism of closer object surface three dimension data is obtained in a kind of laser scanning described in the utility model;
Fig. 3 is the stepper motor of a kind of laser scanning described in the utility model measurement mechanism of obtaining closer object surface three dimension data and the wiring schematic diagram of driver;
Fig. 4 is the laser ranging and the computing machine wiring schematic diagram of a kind of laser scanning described in the utility model measurement mechanism of obtaining closer object surface three dimension data;
Fig. 5 is the CCD digital camera and the computing machine wiring schematic diagram of a kind of laser scanning described in the utility model measurement mechanism of obtaining closer object surface three dimension data;
Fig. 6 is the optical mirror and the revolute axes configuration synoptic diagram of a kind of laser scanning described in the utility model measurement mechanism of obtaining closer object surface three dimension data;
Fig. 7 is the optical mirror of a kind of laser scanning described in the utility model measurement mechanism of obtaining closer object surface three dimension data and the light path synoptic diagram of laser beam.
Embodiment
The utility model is to utilize laser distance measuring principle, as seen Fig. 7, be that laser beam is advanced flat scanning to 100 meters with interior visible object, obtain the distance that is scanned a little to scanning real-time three-dimensional laser scanning device, the laser beam direct irradiation is on a reflective optical system, reflective optical system is controlled automatically by stepper motor, rotate continuously by horizontal direction and vertical direction, according to the distance of object that is measured and optical mirror and stepper motor in the horizontal direction with the stepping angle of vertical direction just can determine by object optical mirror be initial point three-dimensional cartesian coordinate system in three-dimensional coordinate, thereby obtain the three-dimensional coordinate of body surface.Behind gains surface three-dimensional coordinate and the image, handle by computer packages, can the product body three-dimensional models, three-dimensional model shows dual mode, the one, three-dimensional view, the 2nd, utilize virtual technology to generate, can observe real stereoscopic model by the stereoscopy device.As shown in Figure 1.
The technical scheme that realizes is to adopt high-precision laser range-finding instrument, CCD digital camera, stepper motor and control module thereof and computing machine organically to constitute a device.Its connection layout is seen shown in Figure 2.The example connection layout is seen shown in Figure 3.
In this example connection layout, laser range finder adopts the DISTO hand-held laser rangefinder of Switzerland Leica; Optical mirror is a level crossing; The CCD digital camera adopts the INDOORPAN/TILT camera of Japan; Stepper motor and driver adopt the 90BC340CH model stepper motor of the dynamo-electric development in science and technology of Beijing Si Date company limited, and supporting driver is SH-3F090M, and other controls and reading device are from grinding.
Optical reflection level crossing x-y rotation shaft structure synoptic diagram in this device is seen Fig. 6, and wherein feathering axis 3 is fixed on the pedestal 4 by activity, by not shown step motor drive, finishes horizontally rotating.Activity is fixed with vertical rotating shaft 2 on feathering axis 3, and this vertical rotating shaft 2 by another not shown step motor drive, is finished vertical rotation equally.Optical mirror 1 connects with vertical rotating shaft 2 by link, and rotation synchronous with it.Present embodiment only provides a simplest device of finishing x-y rotation described in the utility model, does not get rid of the control module with the rotation of x-y direction that uses other in actual use.The scanning angle of this x-y direction rotation control unit is within 40 ° * 40 ° scopes, and speed can reach 80 points in an average second.
The computer hardware system that this device connected requires as follows:
(1) computing machine:
Chip: Intel Pentium III, dominant frequency is not less than 800MHz;
Internal memory: be not less than 256MB;
Hard disk: be not less than 60GB, preferably be not less than 30GB;
CD-ROM:48 is speed doubly;
Colour display screen: be not less than 17 ", at 1024*768, under the 24bit pattern, vertical refresh 〉=100Hz (preferably reaching 120Hz);
Graphics card: video memory 64MB, the vertical refresh of support 〉=100Hz (, preferably supporting 120Hz under the 24bit display mode) at 1024*768;
Keyboard, Genius mouse etc.
(2) stereoscopy equipment
Basic demand to three-dimensional facilities for observation is as follows:
A. require the stereoscopy flicker free, require refreshing frequency should reach 100Hz for this reason, preferably can reach 120Hz;
B. can be applicable to chromatic image, but this moment, range of observation can dwindle;
C. can contract, put observation.
D. active stereoscopy subsystem
By colour display screen (be not less than 17 "; at 1024*768; under the 24bit display mode, vertical refresh 〉=100Hz), infrared transmitter, polarization and synchro control adapter; active liquid crystal glasses; graphics card (video memory 64MB at 1024*768, under the 24 bit display modes; vertical refresh 〉=100Hz, preferably reaches 120Hz) and drive software are formed; When with wired mode operation without infrared emission, receiving-member;
The computer software that this device connected comprises:
(1) the ligh-ranging data are obtained the software interface software package.
It mainly is the communication that guarantees between laser instrument and the computer software and hardware that laser ranging data obtains the software interface software package.
(2) dimension coordinate generates software package
Three-dimensional coordinate generate software package be according to the distance of object that is measured and optical mirror and stepper motor in the horizontal direction with the stepping angle of vertical direction just can determine by object optical mirror be initial point three-dimensional cartesian coordinate system in three-dimensional coordinate, thereby obtain the software of the three-dimensional coordinate of body surface.
(3) stereoscopic model automatic generating software bag.
Stereoscopic model automatic generating software bag is the key of system, and it is the three-dimensional data of obtaining applying virtual reality technology generation on computers three-dimensional object model.
(4) development of image processing software system.
The image processing software system handles the image of the image that the object of surveying that the CCD digital camera obtains is arranged.And it is carry out Flame Image Process, so that supporting with stereoscopic model automatic generating software bag.
Claims (4)
1. the measurement mechanism of closer object surface three dimension data is obtained in a laser scanning, it is characterized in that: 3 D laser scanning distance measuring equipment when this device comprises a high-precision real, reflective optical system, one are controlled control module and the CCD digital camera that reflective optical system rotates continuously by horizontal direction and vertical direction automatically by stepper motor; Described 3 D laser scanning distance measuring equipment, reflective optical system and object are scanned incident, the reflected light path of mutual alignment relation formation laser beam a little; Described reflective optical system links with corresponding stepper motor respectively by an x-y coordinate rotation axis; Described stepper motor is connected with the control end of computing machine by driver; The data input pin of described 3 D laser scanning distance measuring equipment is connected with the RS232 port of computing machine; Described CCD digital camera is connected with computing machine USB mouth by the reading card.
2. the measurement mechanism of closer object surface three dimension data is obtained in a kind of laser scanning as claimed in claim 1, it is characterized in that: described reflective optical system is a level crossing.
3. the measurement mechanism of closer object surface three dimension data is obtained in a kind of laser scanning as claimed in claim 1, it is characterized in that: described laser range finder is connected with the RS232 communication port of computing machine.
4. the measurement mechanism of closer object surface three dimension data is obtained in a kind of laser scanning as claimed in claim 1, it is characterized in that: described x-y coordinate rotation axis is that x direction rotation axis and y direction rotation axis connect composition, and scanning angle is at 40 ° * 40 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03275757 CN2650064Y (en) | 2003-07-15 | 2003-07-15 | Measuring device for obtaining three-dimensional data of close range object by laser scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03275757 CN2650064Y (en) | 2003-07-15 | 2003-07-15 | Measuring device for obtaining three-dimensional data of close range object by laser scanning |
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| CN2650064Y true CN2650064Y (en) | 2004-10-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101103248B (en) * | 2005-01-14 | 2010-08-11 | 莱卡地球系统公开股份有限公司 | Method and geodetic device for surveying at least one target |
| CN101832911A (en) * | 2010-04-13 | 2010-09-15 | 中国科学院长春光学精密机械与物理研究所 | Photomechanical equipment of vehicular infrared detection system |
| CN101852607A (en) * | 2010-05-21 | 2010-10-06 | 崔一 | Rotary laser visual linear array space identification and positioning system |
| CN102192727A (en) * | 2010-03-19 | 2011-09-21 | 阿尔卡特朗讯 | Mobile handheld device and method |
| CN103335630A (en) * | 2013-07-17 | 2013-10-02 | 北京航空航天大学 | Low-cost three-dimensional laser scanner |
| CN104132639A (en) * | 2014-08-15 | 2014-11-05 | 上海思岚科技有限公司 | Miniature optical scanning and ranging device and method |
| CN104732042A (en) * | 2015-04-13 | 2015-06-24 | 中国工程物理研究院激光聚变研究中心 | Rapid modeling method for light path of large laser device |
| CN105446051A (en) * | 2015-12-30 | 2016-03-30 | 武汉嘉铭激光有限公司 | Laser acousto-optical scanning method and device thereof |
| CN107478434A (en) * | 2016-11-04 | 2017-12-15 | 宝沃汽车（中国）有限公司 | Auto car rear silencer observability detection method, device and detecting system |
| CN107747910A (en) * | 2017-09-19 | 2018-03-02 | 浙江大学 | The tunnel mark point coordinates laser measurement system and method for a kind of vision guide |
| CN108398694A (en) * | 2017-02-06 | 2018-08-14 | 苏州宝时得电动工具有限公司 | Laser range finder and laser distance measurement method |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
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2003
- 2003-07-15 CN CN 03275757 patent/CN2650064Y/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101103248B (en) * | 2005-01-14 | 2010-08-11 | 莱卡地球系统公开股份有限公司 | Method and geodetic device for surveying at least one target |
| CN102192727A (en) * | 2010-03-19 | 2011-09-21 | 阿尔卡特朗讯 | Mobile handheld device and method |
| CN101832911A (en) * | 2010-04-13 | 2010-09-15 | 中国科学院长春光学精密机械与物理研究所 | Photomechanical equipment of vehicular infrared detection system |
| CN101832911B (en) * | 2010-04-13 | 2011-09-28 | 中国科学院长春光学精密机械与物理研究所 | Photomechanical equipment of vehicular infrared detection system |
| CN101852607A (en) * | 2010-05-21 | 2010-10-06 | 崔一 | Rotary laser visual linear array space identification and positioning system |
| CN103335630B (en) * | 2013-07-17 | 2015-11-18 | 北京航空航天大学 | low-cost three-dimensional laser scanner |
| CN103335630A (en) * | 2013-07-17 | 2013-10-02 | 北京航空航天大学 | Low-cost three-dimensional laser scanner |
| CN104132639A (en) * | 2014-08-15 | 2014-11-05 | 上海思岚科技有限公司 | Miniature optical scanning and ranging device and method |
| CN104732042A (en) * | 2015-04-13 | 2015-06-24 | 中国工程物理研究院激光聚变研究中心 | Rapid modeling method for light path of large laser device |
| CN104732042B (en) * | 2015-04-13 | 2017-12-08 | 中国工程物理研究院激光聚变研究中心 | A kind of large scale laser instrument light path fast modeling method |
| CN105446051A (en) * | 2015-12-30 | 2016-03-30 | 武汉嘉铭激光有限公司 | Laser acousto-optical scanning method and device thereof |
| CN107478434A (en) * | 2016-11-04 | 2017-12-15 | 宝沃汽车（中国）有限公司 | Auto car rear silencer observability detection method, device and detecting system |
| CN107478434B (en) * | 2016-11-04 | 2020-01-17 | 宝沃汽车（中国）有限公司 | Method and device for detecting visibility of automobile rear silencer and detection system |
| CN108398694A (en) * | 2017-02-06 | 2018-08-14 | 苏州宝时得电动工具有限公司 | Laser range finder and laser distance measurement method |
| CN108398694B (en) * | 2017-02-06 | 2024-03-15 | 苏州宝时得电动工具有限公司 | Laser range finder and laser range finding method |
| CN107747910A (en) * | 2017-09-19 | 2018-03-02 | 浙江大学 | The tunnel mark point coordinates laser measurement system and method for a kind of vision guide |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
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| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |