CN103438829A - Intelligent laser three-dimensional information measurement instrument - Google Patents
Intelligent laser three-dimensional information measurement instrument Download PDFInfo
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Abstract
The invention relates to an intelligent laser three-dimensional information measurement instrument which comprises a scan positioning system, a video monitoring system, a driving system, a computer control system and a wireless transmitting and receiving system, wherein the scan positioning system comprises a GPS positioning system used for determining the position of an observation point, a laser ranging sensing system used for measuring the straight-line distance between the observation point and a target point, an electronic compass used for measuring the horizontal rotating angle of the laser ranging sensing system, and an oblique sensing system used for measuring the elevation angle of the laser ranging sensing system. The intelligent laser three-dimensional information measurement instrument has multiple functions and is low in manufacturing cost, capable of conducting measurement automatically, continuously and efficiently, capable of conducting collimation and dynamic object tracking through remote video monitoring in all weathers and feeding back data to rear staff in real time after scanning, simple and efficient in work.
Description
Technical field
The present invention relates to technique of computer measurement and control and instrument field, particularly a kind of intelligent laser three-dimensional information measuring instrument.
Background technology
The three-dimensional laser scanning technique outdoor scene reproduction technology that is otherwise known as is the technological revolution of survey field after the GPS technology.It has broken through traditional spot measurement method, has high-level efficiency, high-precision unique advantage. and three-dimensional laser scanning technique can provide the three dimensional point cloud on scanning object surface, therefore can be for obtaining the digital terrain model of high-accuracy high-resolution.
Three-dimensional laser scanning technique is the new technology occurred in recent years, more and more causes at home the concern of research field.It is the principle of utilizing laser ranging, by recording the information such as three-dimensional coordinate, reflectivity and texture of a large amount of intensive point in testee surface, can rebuild out fast the various figure event data such as the three-dimensional model of measured target and line, face, body.Because three-dimensional laser scanning system can obtain the data point of destination object thick and fast in a large number, therefore with respect to traditional spot measurement, three-dimensional laser scanning technique is also referred to as the revolutionary technological breakthrough of evolving to planar survey from spot measurement.This technology building, planning, civil engineering work, building monitoring, Disaster Assessment, etc. field a lot of application has also been arranged.The software section that the hardware components that three-dimensional laser scanning system comprises data acquisition and data are processed.
Total powerstation or three-dimensional laser scanner for existing mapping on market have following problem:
1, can only under static state, measure static object, can't on dynamic platform, survey dynamic object.Existing mapping can only be after the instrument leveling with total powerstation or scanner, manually aim at object with telescope and carry out static spot measurement, the inefficiency of scanning survey, and the surveying instrument main body continuous high speed measurement of having no idea to carry out in the process rotatablely moved up and down, therefore in the meticulous three-dimensional scanning measurement process of carrying out as large-sized object, artificial aiming can expend huge time cost; And at dynamic object when (as the aircraft of airflight aims at), artificial aiming there will be again and obviously lags behind moving object, can't aim in real time the situation that object is measured; If instrument is placed on the aircraft of measuring motion on the ship of motion, is also the difficult problem that can't realize for traditional three-dimensional laser scanner or total powerstation.
2, need artificial execute-in-place to carry out the positioning and directing of scanner, and can't Long-distance Control.Because existing scanner can't be realized real-time coordinate setting and the orientation of scanner self, need manually by other utility appliance, to position and orientation, and in real work, usually run into because of environmental hazard, the long-time operation instrument of can't sending someone, or situation that can't round-the-clock uninterrupted measurement, traditional instrument is because be unableing to do without people's execute-in-place, and all have certain limitation.
Therefore, just need a kind of self device with high-precision GPS and electronic compass (or gyrocompassing), can be under all weather conditions, by monitoring remote video, aim at and the dynamic object tracking, simultaneously by the controlled in wireless motor running, can also carry out the 3-D scanning equipment of high precision scanning survey, after been scanned, can also in real time data be beamed back to office.
Summary of the invention
The problems referred to above that exist for prior art, the invention discloses a kind of multiple functional, cheap, and the laser three-D information measurement instrument measured of robotization continuous high-efficient.
For achieving the above object, a kind of intelligent laser three-dimensional information of the present invention measuring instrument comprises Scan orientation system, video monitoring system, drive system, computer control system and wireless transmit and receiving system;
Described Scan orientation system comprises for determining the GPS positioning system of observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass that the laser ranging sensor-based system horizontally rotates angle, and for measuring the inclination sensor-based system of the upper and lower luffing angle of described laser ranging sensor-based system;
Described video monitoring system is for following the tracks of and gather the object image be observed;
Described drive system is for driving described Scan orientation system level to swing in the horizontal direction or upper and lower pitch rotation;
Described computer control system is found by described video monitoring system and the locking measured object, send the described Scan orientation system of order-driven and video monitoring system is rotated in the horizontal or up and down direction to described drive system, when video monitoring system is followed the tracks of measured object, the Scan orientation system is scanned measured object profile each point, and information is fed back to computer control system, computer control system is by described wireless transmit and receiving system is wireless sends and reception information.
Further, described laser ranging sensor-based system is the high frequency lasers distance measuring sensor.
Further, the light that described high frequency lasers distance measuring sensor sends is infrared light and green glow.
Further, described inclination sensor-based system is high frequency precision angle system.
Further, described video monitoring system is the automatic focusing high-definition camera; Described computer control system is small-size computer or single-chip microcomputer.
Further, described laser three-D information measurement instrument also comprises base, erecting bed, support; Described erecting bed can horizontally rotate and is arranged on base, and support can be arranged on the bearing of erecting bed up and down rotationally, and described Scan orientation system and video monitoring system are detachably rack-mount.
Further, described drive system comprises and horizontally rotates motor and upper and lower rotation motor, and the described motor that horizontally rotates is for driving described erecting bed to rotate in the horizontal direction, and described upper and lower rotation motor is for driving described support to rotate up and down.
Further, described support left and right sides mirror image is provided with coupling shaft, and these two coupling shafts are arranged in the mounting hole of corresponding setting on described bearing by ball bearing respectively; Described two coupling shafts arbitrary roots and tops transmission gear is installed, described upper and lower rotation motor drives the upper and lower pitch rotation of described support by transmission gear.
Further, described transmission gear is clearance elimination gear.
Further, described computer control system also comprises liquid crystal display control system and USB interface.
Further, the operating system of described computer control system is Windows operating system.
Further, some described measuring instruments are by a computer system control, and some measuring instruments are from different azimuth and synchronously measured object is carried out to tracking measurement, the information that obtains can obtain the three-dimensional information of measured object after by the computer system overall treatment.
The accompanying drawing explanation
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is mounting structure schematic diagram of the present invention;
Fig. 3 is many measuring instrument collaborative work schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in Figure 1, a kind of intelligent laser three-dimensional information of the present invention measuring instrument comprises Scan orientation system, video monitoring system, drive system, computer control system and wireless transmit and receiving system;
The Scan orientation system comprises for determining the GPS positioning system of observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass that the laser ranging sensor-based system horizontally rotates angle, and for measuring the inclination sensor-based system of the upper and lower luffing angle of laser ranging sensor-based system.
Drive system swings in the horizontal direction for driven sweep positioning system level or upper and lower pitch rotation;
Computer control system finds and locks measured object by video monitoring system, send order-driven Scan orientation system and video monitoring system is rotated in the horizontal or up and down direction to drive system, when video monitoring system is followed the tracks of measured object, the Scan orientation system is scanned measured object profile each point, and information is fed back to computer control system, computer control system is by wireless transmit and receiving system is wireless sends and reception information.The inclination sensor-based system is the high frequency precision goniometer.Video monitoring system is the automatic focusing high-definition camera; Computer control system is small-size computer or single-chip microcomputer.
Video monitoring system is for following the tracks of and gather the object image be observed; In the present embodiment, video monitoring system is the automatic focusing high-definition camera, its major function is in Long-distance Control, aim at testee by the crosshair in video, if object moves, computer control system can be by analyzing the video and graphic geometric configuration, determine that the central point of dynamic object is in Zhong position, visual field, carry out the horizontal and vertical rotation from the long-distance remote control motor, aim at testee and carry out the high frequency sweep measurement, then the intensity of comprehensive laser reflection signal is carried out coordinate data analysis and verification.This system can by live video data and corresponding image as calculated the machine control system process and wireless transmit utmost point receiving system sends to the staff at rear.
By obtaining the measurement numerical value of a line and two angles, can calculate at an easy rate the relative coordinate (X ＇, Y ＇, Z ＇) of impact point with respect to observation station, the coordinate figure (X that rear and GPS positioning system records
0, Y
0, Z
0) addition, can obtain the actual coordinate value (X, Y, Z) of impact point.Therefore with after electronic compass (or gyro) and high frequency precision goniometer and laser distance measuring system observation measured body multiple spot, just the profile of measured body and profile can be expressed with three-dimensional coordinate data.
The laser ranging sensor-based system is the high frequency lasers distance measuring sensor.The light that the high frequency lasers distance measuring sensor sends is infrared light and green glow.Traditional laser instrument is selected infrared light, but in the sun can be optionally poor, and the present invention has not only retained infrared light in the selection of laser instrument, and uses first green glow visual under visual, sunlight at a distance as the guiding light source.Make this system possess highly sensitive, far measuring distance and the high characteristics of resolution.
In addition, the GPS positioning system is mainly when test is initial, sets up the coordinate system of each test benchmark point (observation station), during for later arrangement three-dimensional information data, provides frame of reference information.Need to build a plurality of observation stations in measuring process, adopt the metering system of traditional reflective prism of placement not only to increase workload and measurement can produce cumulative errors, and GPS positioning system and the fusion of instrument own are not only simplified to in-site measurement personnel's work, and improved the precision of measuring.
Laser three-D information measurement instrument also comprises base 10, erecting bed 20, support 30; Erecting bed 20 can horizontally rotate and is arranged on base 10, and support 30 can be arranged on the bearing 21 of erecting bed 20 up and down rotationally, and Scan orientation system 40 and video monitoring system 50 detachably are arranged on support 30.
Drive system 60 comprises and horizontally rotates motor 61 and upper and lower rotation motor 65, horizontally rotates motor 61 and rotates in the horizontal direction for drive installation platform 20, and rotation motor 65 rotates up and down for driving arm 30 up and down.
Support 30 left and right sides mirror images are provided with coupling shaft 31, and these two coupling shafts 31 are arranged in the mounting hole of corresponding setting on bearing 21 by ball bearing 33 respectively; Two coupling shafts a roots and tops transmission gear 35 is installed, upper and lower rotation motor 65 is by transmission gear driving arm pitch rotation Shang Xia 30.Transmission gear 35 is clearance elimination gear.
In prior art, coupling shaft is semifloating vertical shaft structure, and the present invention is by adopting ball bearing make support more flexibly and be difficult for stuck.The present invention has adopted special clearance elimination gear in addition, this gear adopts two plate gears to stack with one heart, in two plate gear cracks, with spring, two plate gears are connected, before we install this clearance elimination gear, two gear dislocation are rotated to an angle, then with another ordinary gear interlock, clearance elimination gear one of toothed disc applies strength clockwise like this, another toothed disc applies strength counterclockwise, and the tooth of ordinary gear is clipped in the middle closely.This gear that disappears has been eliminated the error that cause in gear-driven gap, thereby can reach minimum error by the rotation of Electric Machine Control scanner precision, therefore rotate coordinating laser range sensor, electronic compass to measure can to reach constantly the high speed precision, thus by observation station the three dimensional space coordinate precision determine.
Computer control system also comprises liquid crystal display control system 80 and USB interface (not shown).
The operating system of computer control system is Windows operating system.This system can be processed outline line, the characteristic curve of surveyed object, with minimum observed reading, describes measured body, and calculates volume, area equivalence, and shows the measured body characteristic on screen.The design of electric touch screen makes operation become convenient simple, on-the-spotly without carrying notebook computer, just can carry out three-dimensional data processing and demonstration, is convenient to unreasonable in measuring adjusted in time.
As shown in Figure 3, the present invention can also allow some measuring instruments (after testee, face measuring apparatus is not shown) by a computer system control, some measuring instruments are from different azimuth and synchronously measured object is carried out to tracking measurement, the information that obtains can obtain the three-dimensional information of measured object after by the computer system overall treatment, especially for mobile object in the middle of laid some measuring instruments or middle overhead while passing through, many measuring instrument synchronous workings, can obtain the three-dimensional information of this mobile object moment.
The present invention is multiple functional, cheap, and the robotization continuous high-efficient is measured, and can be under all weather conditions, aim at and the dynamic object tracking by monitoring remote video, after been scanned, can also in real time data be beamed back to the rear area work personnel, simple and efficient.
Claims (10)
1. a kind of intelligent laser three-dimensional information of the present invention measuring instrument, is characterized in that, it comprises Scan orientation system, video monitoring system, drive system, computer control system and wireless transmit and receiving system;
Described Scan orientation system comprises for determining the GPS positioning system of observation station position, for measuring the laser ranging sensor-based system of observation station and impact point air line distance, for measuring the electronic compass that the laser ranging sensor-based system horizontally rotates angle, and for measuring the inclination sensor-based system of the upper and lower luffing angle of described laser ranging sensor-based system;
Described video monitoring system is for following the tracks of and gather the object image be observed;
Described drive system is for driving described Scan orientation system level to swing in the horizontal direction or upper and lower pitch rotation;
Described computer control system is found by described video monitoring system and the locking measured object, send the described Scan orientation system of order-driven and video monitoring system is rotated in the horizontal or up and down direction to described drive system, when video monitoring system is followed the tracks of measured object, the Scan orientation system is scanned measured object profile each point, and information is fed back to computer control system, computer control system is by described wireless transmit and receiving system is wireless sends and reception information.
2. laser three-D information measurement instrument as claimed in claim 1, is characterized in that, described laser ranging sensor-based system is the high frequency lasers distance measuring sensor.
3. laser three-D information measurement instrument as claimed in claim 2, is characterized in that, the light that described high frequency lasers distance measuring sensor sends is infrared light and green glow.
4. laser three-D information measurement instrument as claimed in claim 1, is characterized in that, described inclination sensor-based system is the high frequency precision goniometer.
5. laser three-D information measurement instrument as claimed in claim 1, is characterized in that, described video monitoring system is the automatic focusing high-definition camera; Described computer control system is small-size computer or single-chip microcomputer.
6. laser three-D information measurement instrument as claimed in claim 1, is characterized in that, it also comprises base, erecting bed, support; Described erecting bed can horizontally rotate and is arranged on base, and support can be arranged on the bearing of erecting bed up and down rotationally, and described Scan orientation system and video monitoring system are detachably rack-mount.
7. laser three-D information measurement instrument as claimed in claim 6, it is characterized in that, described drive system comprises and horizontally rotates motor and upper and lower rotation motor, the described motor that horizontally rotates is for driving described erecting bed to rotate in the horizontal direction, and described upper and lower rotation motor is for driving described support to rotate up and down.
8. laser three-D information measurement instrument as claimed in claim 6, is characterized in that, described support left and right sides mirror image is provided with coupling shaft, and these two coupling shafts are arranged on described bearing in the corresponding mounting hole arranged by ball bearing respectively; Described two coupling shafts arbitrary roots and tops transmission gear is installed, described upper and lower rotation motor drives the upper and lower pitch rotation of described support by transmission gear.
9. laser three-D information measurement instrument as claimed in claim 8, is characterized in that, described transmission gear is clearance elimination gear.
10. further, described computer control system also comprises liquid crystal display control system and USB interface.
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| CN103837095A (en) * | 2014-03-18 | 2014-06-04 | 华中科技大学 | Three-dimensional laser scanning method and device |
| CN103868504A (en) * | 2014-03-25 | 2014-06-18 | 许凯华 | Autonomous surveying and mapping machine |
| CN103925872A (en) * | 2013-12-23 | 2014-07-16 | 中国神华能源股份有限公司 | Laser scanning measurement device and method for acquiring spatial distribution of target objects |
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