CN105758299B - New Two Dimensional Laser Scanning Equipment - Google Patents
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- CN105758299B CN105758299B CN201510523284.7A CN201510523284A CN105758299B CN 105758299 B CN105758299 B CN 105758299B CN 201510523284 A CN201510523284 A CN 201510523284A CN 105758299 B CN105758299 B CN 105758299B
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Abstract
一种新型二维激光扫描设备，具有基座、水平回转平台、支架和竖轴，支架上固定有水平的主横轴，主横轴的轴心线与竖轴的轴心线相交，在主横轴上固定有一号主观测装置，在主横轴上设有轴架，轴架上设有能围绕自身轴心线进行旋转的副轴，副轴的轴心线与主横轴的轴心线垂直相交，在副轴上固定有一号副观测装置，一号主观测线和一号副观测线处于同一平面；本发明可以直接用于扫描，无需事先进行繁琐费时的标定，外界温度等因素对设备的影响减少，完全能满足测距精度要求，且操作方便。
A new type of two-dimensional laser scanning equipment has a base, a horizontal rotary platform, a bracket and a vertical axis. A horizontal main horizontal axis is fixed on the bracket. The axis line of the main horizontal axis intersects with the axis line of the vertical axis. A No. 1 main observation device is fixed on the horizontal axis, and a shaft frame is arranged on the main horizontal shaft. The shaft frame is provided with a secondary shaft that can rotate around its own axis line. The axis line of the secondary shaft and the axis of the main horizontal axis The lines intersect vertically, a secondary observation device No. 1 is fixed on the secondary axis, and the primary observation line No. 1 and the secondary observation line No. 1 are in the same plane; the present invention can be directly used for scanning, without the need for tedious and time-consuming calibration in advance, external temperature and other factors The impact on the equipment is reduced, the distance measurement accuracy requirements can be fully met, and the operation is convenient.
Description
Technical field
The present invention relates to two dimensional laser scanning equipment.
Background technique
Laser scanning is a kind of technology that target panoramic view data and model are rebuild from complicated entity or outdoor scene.Laser
Scanner is used successfully to multiple fields, such as commercial measurement, topographic survey, historical relic's protection, City Modeling, parallel detection, reverse work
Journey and virtual reality etc..
Ranging information plays a significant role in laser scanning.According to range measurement principle, can be divided into trigonometry, impulse method,
Phase method.Trigonometry is that beam of laser is irradiated on object, part diffusing reflection laser by prism on photoelectric detection equipment at
Picture.Trigonometry above has many positional parameter requirements in application, very cumbersome and time-consuming in measuring device calibration, if when actual measurement
A certain parameter can not be obtained accurately in system, will be so that measurement data generates error.When measuring device has small variations, system
In each parameter must all re-scale.See that the intelligence Sun Changku that admires writes perhaps, " 3D reverse-engineering " (China Measuring Press 2002
April the 1st edition in year) p16.
He Baoxi chief editor, the Yellow River water conservancy publishing house in August, 2005 publish its " total station survey technology " second section of chapter 2,
The range measurement principle of current total station, mainly impulse method, ranging phase method are described, the Department of Electronics of corresponding complexity is required
System.The pulse that impulse method ranging, directly measurement rangefinder issue is tested the time of distance back and forth.It is military according to Ye Xiaoming, Ling Mozhu
Chinese university press publishes its " total station errors of principles " p8 in March, 2004, even if the clock frequency for timing have it is atomic small
Error, also result in very big measurement error.For example clock frequency is 100MHz, even if having the frequency error of ± 1Hz, ranging
Error is also up to ± 1.5m.So impulse method measurement accuracy is low, it is mainly used for long-range low precision measure.Ranging phase method,
Principle be by measuring the phase change that continuous modulated signal generates back and forth on testing distance come the indirect determination propagation time,
To acquire propagation distance.Ranging phase method is related to complicated control and operation, such as measurement ruler conversion and control, light path converting
Control, dim light automatically control, and survey phase rhythm (timing control), the conversion of phase distance, coarse-fine ruler apart from Linking operation etc. (see leaf
Know bright, Ling Mozhu, publishing house of Wuhan University publishes its " total station errors of principles " p15 in March, 2004).The electronic system of measurement
More than impulse method complexity.Thus many problems be will lead to.Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publish it in March, 2004
The 3rd chapter of " the total station errors of principles " p42 is analyzed, for example the same frequency photoelectricity in circuit harasses the mistake of period caused by signal
Difference, inner quartz crystal oscillator are affected by temperature caused error.Li Guangyun, Li Zongchun chief editor, Mapping Press 2011 1
" industrial measuring system principle and application " p134 of moon publication, caused by also referring to that practical range frequency and design frequency are inconsistent
Range error problem.
Have a problem most important to range accuracy, no matter pulse ranging or phase ranging, range accuracy all takes
Certainly in the precise measurement to the light velocity in atmosphere.And during actual measurement, the light velocity is by feelings such as atmospheric temperature, humidity, air pressures
Condition influences, and needs to measure these meteorologic parameters in advance, and carry out relevant atmospheric correction.It is edited according to Li Zeqiu, Wuhan science and engineering
University press publishes its " total station survey technology " p22 in July, 2012, and the atmospheric correction of total station is also and used in the total station
The wavelength of ranging light wave is related.
Summary of the invention
It is an object of the invention to propose a kind of to measure accurate, easy to operate New Two Dimensional Laser Scanning Equipment.
In order to achieve the above objectives, the present invention takes one of technical solution as follows: the present invention has pedestal, horizontal rotation flat
Platform, bracket and vertical pivot, bracket are fixed on horizontal rotation platform, and vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in base
Axial line on seat and around vertical pivot rotates, and is fixed with horizontal main horizontal axis, the axial line of main horizontal axis and the axis of vertical pivot on bracket
The intersection of heart line, forms main intersection point, and main observation device is fixed on main horizontal axis, and main observation device is an in-built CCD digital camera
Telescope, collimation axis is known as subjective survey line, and subjective survey line passes through main intersection point and axial line and master both perpendicular to vertical pivot
The axial line of horizontal axis is equipped with pedestal on main horizontal axis, and pedestal is equipped with can be around the countershaft that self-axis line is rotated, countershaft
Axial line and subjective survey line intersect vertically at spatial vertical, and with the axial line of main horizontal axis, form auxiliary intersection point, it is solid on countershaft
Surely there is secondary observation device, secondary observation device is a laser, and optical axis is known as the secondary line of observation, and the secondary line of observation passes through auxiliary intersection point and hangs down
Directly same plane is in the axial line of countershaft, subjective survey line and the secondary line of observation；It is equipped between vertical pivot and horizontal rotation platform
Horizontal limb installs scale between countershaft and pedestal corresponding site；Rotating to be for above-mentioned horizontal rotation platform and countershaft is electronic；It is main
The line of observation is adjusted to scanned plane, and horizontal rotation platform turns to initial sweep position, and secondary observation device is driven, until
In-built CCD digital camera observes that secondary observation device is irradiated to the illuminated laser spot on scanned object on subjective survey line, complete
It is measured at first point, horizontal rotation platform rotates some angle automatically, repeats the above process, and second point measurement is completed, until complete
It is scanned at the layer.
In order to achieve the above objectives, the present invention takes the two as follows of technical solution: the present invention has pedestal, horizontal rotation flat
Platform, bracket and vertical pivot, bracket are fixed on horizontal rotation platform, and vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in base
Axial line on seat and around vertical pivot rotates, and is fixed with horizontal main horizontal axis, the axial line of main horizontal axis and the axis of vertical pivot on bracket
The intersection of heart line, forms main intersection point, and main observation device is fixed on main horizontal axis, and main observation device is a laser, and optical axis claims
For the main line of observation, subjective survey line is by main intersection point and the axial line of axial line and main horizontal axis both perpendicular to vertical pivot, in main cross
Axis is equipped with pedestal, and pedestal is equipped with can be around the countershaft that self-axis line is rotated, the axial line of countershaft and subjective survey line
It intersects vertically at spatial vertical, and with the axial line of main horizontal axis, forms auxiliary intersection point, secondary observation device is fixed on countershaft, it is secondary
Observation device is the telescope of an in-built CCD digital camera, and collimation axis is known as the secondary line of observation, the secondary line of observation by auxiliary intersection point and
Perpendicular to the axial line of countershaft, subjective survey line and the secondary line of observation are in same plane；It is installed between vertical pivot and horizontal rotation platform
There is horizontal limb, scale is installed between countershaft and pedestal corresponding site；Rotating to be for above-mentioned horizontal rotation platform and countershaft is electronic；
Subjective survey line is adjusted to scanned plane, and horizontal rotation platform turns to initial sweep position, and secondary observation device is driven, until
In-built CCD digital camera observes that main observation device is irradiated to the illuminated laser spot on scanned object on the secondary line of observation, complete
It is measured at first point, horizontal rotation platform rotates some angle automatically, repeats the above process, and second point measurement is completed, until complete
It is scanned at the layer.
In order to achieve the above objectives, the present invention takes the three as follows of technical solution: the present invention has pedestal, horizontal rotation flat
Platform, bracket and vertical pivot, bracket are fixed on horizontal rotation platform, and vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in base
Axial line on seat and around vertical pivot rotates, and is fixed with horizontal main horizontal axis, the axial line of main horizontal axis and the axis of vertical pivot on bracket
The intersection of heart line, forms main intersection point, and main observation device is fixed on main horizontal axis, and main observation device is a laser, and optical axis claims
For the main line of observation, subjective survey line is by main intersection point and the axial line of axial line and main horizontal axis both perpendicular to vertical pivot, in main cross
Axis is equipped with pedestal, and pedestal is equipped with can be around the countershaft that self-axis line is rotated, the axial line of countershaft and subjective survey line
It intersects vertically at spatial vertical, and with the axial line of main horizontal axis, forms auxiliary intersection point, secondary observation device is fixed on countershaft, it is secondary
Observation device is a laser, and optical axis is known as the secondary line of observation, and the secondary line of observation passes through auxiliary intersection point and the axial line perpendicular to countershaft；
Subjective survey line and the secondary line of observation are in same plane；CCD digital camera is equipped on bracket；Between vertical pivot and horizontal rotation platform
Horizontal limb is installed, scale is installed between countershaft and pedestal corresponding site；Above-mentioned horizontal rotation platform and countershaft rotate to be
It is electronic；Subjective survey line is adjusted to scanned plane, and horizontal rotation platform turns to initial sweep position, and secondary observation device is driven
It is dynamic, until CCD digital camera only observes a laser point, illustrate subjective survey line and secondary line of observation intersection to a bit, completing the
It a little measures, horizontal rotation platform rotates some angle automatically, repeats the above process, and second point measurement is completed, until completing should
Layer scanning.
The present invention has following good effect: opposite trigonometry, the present invention are used directly for scanning, without carrying out in advance
Cumbersome time-consuming calibration；Relative pulse method and phase method, electronic equipment of the present invention greatly simplify, and the factors such as ambient temperature are to equipment
Influence greatly reduce；The present invention can satisfy range accuracy requirement completely；And ranging of the present invention is unrelated with the light velocity, therefore use
Before, without carrying out the measurement such as temperature, air pressure, it is not necessarily to atmospheric correction, is provided conveniently for operation.
Detailed description of the invention
Fig. 1 is the front schematic view of embodiment 1.
Fig. 2 is the side schematic view of embodiment 1.
Fig. 3 is the angle measurement schematic diagram of embodiment 1.
Fig. 4 is the front schematic view of embodiment 2.
Fig. 5 is the side schematic view of embodiment 2.
Fig. 6 is the angle measurement schematic diagram of embodiment 2.
Fig. 7 is the front schematic view of embodiment 3.
Fig. 8 is the side schematic view of embodiment 3.
Fig. 9 is the angle measurement schematic diagram of embodiment 3.
Specific embodiment
Embodiment 1
See Fig. 1 to Fig. 3, embodiment 1 has pedestal 1, horizontal rotation platform 2, bracket 4 and vertical pivot 9, and bracket 4 is fixed on water
On flat revolving platform 2, vertical pivot 9 is fixedly connected with pedestal 1, and horizontal rotation platform 2 is in the axle center on pedestal 1 and surrounding vertical pivot 9
Line 9a rotation, is equipped with horizontal limb 3, horizontal main horizontal axis 5 is fixed on bracket 4 between vertical pivot 9 and horizontal rotation platform 2；
The axial line 5a of main horizontal axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；Main observation device is fixed on main horizontal axis 5
6-1, main observation device 6-1 are the telescope of an in-built CCD digital camera, and collimation axis is known as subjective survey line 6-1a；Subjectivity is surveyed
Line 6-1a passes through main intersection point and the axial line 5a of axial line 9a and main horizontal axis 5 both perpendicular to vertical pivot 9；It is set on main horizontal axis 5
There is pedestal 10, pedestal 10 is equipped with can be around the countershaft 8 that self-axis line is rotated；The axial line 8a of countershaft 8 and subjective survey
Line 6-1a intersects vertically at spatial vertical, and with the axial line 5a of main horizontal axis 5, forms auxiliary intersection point；Secondary sight is fixed on countershaft 8
Device 7-1 is surveyed, secondary observation device 7-1 is a laser, and optical axis is known as secondary line of observation 7-1a；Secondary line of observation 7-1a is handed over by secondary
It puts and perpendicular to the axial line 8a of countershaft 8；Subjective survey line 6-1a and pair line of observation 7-1a are in same plane；In countershaft 8 and axis
Scale 12 is installed between 10 corresponding site of frame；The rotation of above-mentioned horizontal rotation platform 2 and countershaft 8 is respectively driven by motor.Motor or
It is servo motor or ultrasound electric machine.
Horizontal limb 3 is used to measure the horizontal rotation angle of horizontal rotation platform 2.Scale 12 is for measuring secondary line of observation 7-
Angle, that is, pivot angle β size between 1a and the axial line 5a of main horizontal axis 5.
Under the action of horizontal rotation platform 2, main observation device 6-1 and pair observation device 7-1 can be turned round simultaneously.Main horizontal axis
5 rotational energy drives main observation device 6-1 pitching synchronous with pair observation device 7-1 work, and the rotation of countershaft 8 drives secondary observation device
7-1 rotation, subjective survey line 6-1a and pair line of observation 7-1a are to be in conplane, and secondary line of observation 7-1a is in above-mentioned plane
Rotation, so subjectivity survey line 6-1a and pair line of observation 7-1a can be intersected at a bit.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In certain scanned external point, the present embodiment is placed on tripod, is flattened.Subjective survey line 6-1a is adjusted to be swept
Plane is retouched, horizontal rotation platform 2 turns to initial sweep position.Horizontal limb 3 provides initial angle.Secondary observation device 7-1 quilt
Driving, until observing that secondary observation device 7-1 is irradiated to scanned object on subjective survey line 6-1a in in-built CCD digital camera
On illuminated laser spot, scale 12 provides pivot angle β value, completes first point of measurement.Then, horizontal rotation platform 2 rotates certain automatically
A angle, repeats the above process, and completes second point measurement.And so on, until completing layer scanning.
According to the value of pivot angle β value and the value of the distance between known main intersection point and auxiliary intersection point h, finally by data
Processing unit separately wins to obtain each scanning element and main intersection point distance S value.
Embodiment 2
See that fig. 4 to fig. 6, embodiment 2 have pedestal 1, horizontal rotation platform 2, bracket 4 and vertical pivot 9, bracket 4 is fixed on water
On flat revolving platform 2, vertical pivot 9 is fixedly connected with pedestal 1, and horizontal rotation platform 2 is in the axle center on pedestal 1 and surrounding vertical pivot 9
Line 9a rotation, is equipped with horizontal limb 3, horizontal main horizontal axis 5 is fixed on bracket 4 between vertical pivot 9 and horizontal rotation platform 2；
The axial line 5a of main horizontal axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；Main observation device is fixed on main horizontal axis 5
6-2, main observation device 6-2 are a laser, and optical axis is known as subjective survey line 6-2a；Subjective survey line 6-2a passes through main intersection point and same
When perpendicular to the axial line 9a of the vertical pivot 9 and axial line 5a of main horizontal axis 5；Pedestal 10 is equipped on main horizontal axis 5, pedestal 10 is equipped with
It can be around the countershaft 8 that self-axis line is rotated；The axial line 8a and subjectivity survey line 6-2a of countershaft 8 at spatial vertical, and with
The axial line 5a of main horizontal axis 5 intersects vertically, and forms auxiliary intersection point；Secondary observation device 7-2, secondary observation device are fixed on countershaft 8
7-2 is the telescope of an in-built CCD digital camera, and collimation axis is known as secondary line of observation 7-2a；Secondary line of observation 7-2a is handed over by secondary
It puts and perpendicular to the axial line 8a of countershaft 8；Subjective survey line 6-2a and pair line of observation 7-2a are in same plane；In countershaft 8 and axis
Scale 12 is installed between 10 corresponding site of frame；The rotation of above-mentioned horizontal rotation platform 2, countershaft 8 is respectively driven by motor.Motor or
Servo motor or ultrasound electric machine.
Horizontal limb 3 is used to measure the angle of revolution of horizontal rotation platform 2.Scale 12 for measure secondary line of observation 7-2a with
Angle, that is, pivot angle β size between the axial line 5a of main horizontal axis 5.
Under the action of horizontal rotation platform 2, main observation device 6-2 and pair observation device 7-2 can be turned round simultaneously.Main horizontal axis
5 rotational energy drives main observation device 6-2 pitching synchronous with pair observation device 7-2 work, and the rotation of countershaft 8 makes secondary observation device 7-
2 rotations, subjective survey line 6-2a and pair line of observation 7-2a are to be in conplane, and secondary line of observation 7-2a turns in above-mentioned plane
It is dynamic, so subjectivity survey line 6-2a and pair line of observation 7-2a can be intersected at a bit.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In certain scanned external point, the present embodiment is placed on tripod, is flattened.Subjective survey line 6-2a is adjusted to be swept
Plane is retouched, horizontal rotation platform 2 turns to initial sweep position.Horizontal limb 3 provides initial angle.Secondary observation device 7-2 quilt
Driving, until in-built CCD digital camera observes that main observation device 6-2 is irradiated on scanned object on secondary line of observation 7-2a
Illuminated laser spot, scale 12 provides pivot angle β value, completes first point of measurement.Then, horizontal rotation platform 2 rotates some automatically
Angle repeats the above process, and completes second point measurement.And so on, until completing layer scanning.
According to the value of pivot angle β value and the value of the distance between known main intersection point and auxiliary intersection point h, finally by data
Processing unit separately wins to obtain each scanning element and main intersection point distance S value.
Embodiment 3
See Fig. 7 to Fig. 9, embodiment 3 has pedestal 1, horizontal rotation platform 2, bracket 4 and vertical pivot 9, and bracket 4 is fixed on water
On flat revolving platform 2, vertical pivot 9 is fixedly connected with pedestal 1, and horizontal rotation platform 2 is in the axle center on pedestal 1 and surrounding vertical pivot 9
Line 9a rotation, is equipped with horizontal limb 3, horizontal main horizontal axis 5 is fixed on bracket 4 between vertical pivot 9 and horizontal rotation platform 2；
The axial line 5a of main horizontal axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；Main observation device is fixed on main horizontal axis 5
6-3, main observation device 6-3 are a laser, and optical axis is known as subjective survey line 6-3a；Subjective survey line 6-3a passes through main intersection point and same
When perpendicular to the axial line 9a of the vertical pivot 9 and axial line 5a of main horizontal axis 5；Pedestal 10 is equipped on main horizontal axis 5, pedestal 10 is equipped with
It can be around the countershaft 8 that self-axis line is rotated；The axial line 8a and subjectivity survey line 6-3a of countershaft 8 at spatial vertical, and with
The axial line 5a of main horizontal axis 5 intersects vertically, and forms auxiliary intersection point；Secondary observation device 7-3, secondary observation device are fixed on countershaft 8
7-3 is a laser, and optical axis is known as secondary line of observation 7-3a；Secondary line of observation 7-3a is by auxiliary intersection point and perpendicular to the axis of countershaft 8
Heart line 8a；Subjective survey line 6-3a and pair line of observation 7-3a are in same plane；CCD digital camera 14 is equipped on bracket 4；In pair
Scale 12 is installed between 10 corresponding site of axis 8 and pedestal；The rotation of above-mentioned horizontal rotation platform 2, countershaft 8 is respectively driven by motor.
Motor servo motor or ultrasound electric machine.
Horizontal limb 3 is used to measure the horizontal rotation angle of horizontal rotation platform 2.Scale 12 is for measuring secondary line of observation 7-
Angle, that is, pivot angle β size between 3a and the axial line 5a of main horizontal axis 5.
Under the action of horizontal rotation platform 2, main observation device 6-2 and pair observation device 7-2 can be turned round simultaneously.Main horizontal axis
5 rotational energy drives main observation device 6-3 pitching synchronous with pair observation device 7-3 work, and the rotation of countershaft 8 makes secondary observation device 7-
3 rotations, subjective survey line 6-3a and pair line of observation 7-3a are to be in conplane, and secondary line of observation 7-3a turns in above-mentioned plane
It is dynamic, so subjectivity survey line 6-3a and pair line of observation 7-3a can be intersected at a bit.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In certain scanned external point, the present embodiment is placed on tripod, is flattened.Subjective survey line 6-3a is adjusted to be swept
Plane is retouched, horizontal rotation platform 2 turns to initial sweep position.Horizontal limb 3 provides initial angle.Secondary observation device 7-3 quilt
Driving illustrates subjective survey line 6-3a and pair line of observation 7-3a intersection until CCD digital camera 14 only observes a laser point
To a bit, scale 12 provides pivot angle β value, completes first point of measurement.Then, horizontal rotation platform 2 rotates some angle automatically, weight
The multiple above process completes second point measurement.And so on, until completing layer scanning.
According to the value of pivot angle β value and the value of the distance between known main intersection point and auxiliary intersection point h, finally by data
Processing unit separately wins to obtain each scanning element and main intersection point distance S value.
In-built CCD digital camera telescope is mentioned in above-described embodiment, it is seen that He Baoxi chief editor, the Yellow River water conservancy publishing house
In August, 2005 publishes its " total station survey technology " chapter 2.See also plum text victory, Yang Hongzhu, publishing house of Wuhan University 2011
Publish its " robot measurement exploitation and application " the 2nd chapter November.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108801174A (en) * | 2018-05-25 | 2018-11-13 | 江苏理工学院 | A kind of detection device and its detection method for measuring not rounded internal bore profile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108895980A (en) * | 2018-05-23 | 2018-11-27 | 江苏理工学院 | A kind of detection device and its detection method of conical bore profile |
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| CN204142253U (en) * | 2014-07-11 | 2015-02-04 | 刘雁春 | Duplex measurement instrument |
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| WO2008153127A1 (en) * | 2007-06-15 | 2008-12-18 | Kabushiki Kaisha Toshiba | Instrument for examining/measuring object to be measured |
| CN101114402A (en) * | 2007-07-16 | 2008-01-30 | 金连河 | Full-station instrument automatically accurate collimating system |
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