CN214951112U - Measuring equipment based on laser ranging and visual auxiliary recognition - Google Patents
Measuring equipment based on laser ranging and visual auxiliary recognition Download PDFInfo
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- CN214951112U CN214951112U CN202022617120.XU CN202022617120U CN214951112U CN 214951112 U CN214951112 U CN 214951112U CN 202022617120 U CN202022617120 U CN 202022617120U CN 214951112 U CN214951112 U CN 214951112U
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Abstract
The utility model relates to a measuring equipment based on laser rangefinder and supplementary discernment of vision is applied to surveying and mapping technical field, computer technology field and automation technology field. The utility model discloses combine together laser rangefinder technique and computer vision technique, realize indoor wall, ground, top surface roughness and levelness, door and window position and its relevant size measurement with low costs, high accuracy. The user only needs to place the equipment in the indoor relative center position, adjusts the tripod knob and makes the bubble mark on the platform place the center position in order to guarantee that whole measuring equipment is at the space level, starts the switch, and the operation equipment just can measure. Compare in having had three-dimensional scanner, the utility model discloses the advantage lies in: the indoor space point cloud number is few, single-point laser ranging sensor measurement accuracy is high, equipment cost advantage such as lower.
Description
Technical Field
The utility model relates to a survey and drawing technical field, computer technology field and automation technology field specifically are one kind and are applied to indoor room measuring equipment, also can be used to outdoor parameter measurement.
Background
Along with the development of current intelligent science and technology, the human cost on the mapping engineering can greatly be reduced by computer technology and automation equipment. Efficient and accurate room data acquisition has become a research hotspot. The traditional automatic measurement technology for indoor space data mainly adopts a three-dimensional laser scanner, and the three-dimensional coordinate value of a measurement surface can be obtained, so that space information is obtained, and the precision is high. However, there are still some problems with this type of device: the equipment cost is high, the data acquisition noise points of the laser scanner are more, the hardware positioning accuracy is low, and the like. Therefore, a scheme of measuring equipment with high-precision pose control and low cost is provided, and the measuring equipment is based on laser ranging and vision auxiliary identification.
SUMMERY OF THE UTILITY MODEL
For solving the background problem, the utility model provides an indoor electrometric survey equipment is used for serving real estate engineering development survey and drawing, solves the indoor dimensional data detection or the outdoor relevant scene measurement problem in room among the building work process. Can replace the manpower to carry out data measurement through this equipment, including room space size, levelness, plane degree, straightness and door and window size etc. use manpower sparingly the cost.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an electromechanical device based on laser rangefinder and visual identification auxiliary measurement, measuring component installs on motor (2) through threaded connection, motor two (4) install on motor assembly component (3) through threaded connection. The upper end of the second motor (4) is installed on the motor assembling component (3) through threaded connection. The lower end of the motor II (4) is fixed with the horizontal plane of the tripod platform (5) through threaded connection. The point cloud data processor (6) is fixed on the inner side of the motor assembling component in a threaded connection mode. The measuring component (1) is connected with the point cloud data processor (6) through a wire. The first motor (2) and the second motor (4) are connected with a motor driver component (7) through wires. The motor driver assembly (7) is connected with a motor controller (8) through a lead. The motor driver assembly (7) and the motor controller (8) are fixed on the side position of the tripod platform (5) through bolts.
Preferably, the measuring assembly (1) should be built-in with a plurality of laser ranging sensors (q) with point light sources1~qn) And two or more machine vision cameras (c)1、c2……cn）。
Preferably, a plurality of laser sensors (q)1~qn) Are arranged at certain angle intervals theta and are fixed inside the component (1) through bolt connection, and the laser sensor (q)1~qn) The center of the cross point of the motor I (2) is positioned at the center point of the circle of the motor I (2). The measuring component (1) is horizontally fixed with two machine vision cameras (c) through bolts1、c2) The intersection point of the two cameras and the circle center of the second motor (4) are kept collinear, and the camera (c)1、c2) Can rotate along with the second motor.
Preferably, a leveling device is arranged on the horizontal tripod platform (5) to realize that the tripod platform is horizontal to the ground.
Preferably, the motor assembling component (3) is provided with a central concave hole for fixing the first motor (2) and the second motor (4) and a thread positioning and mounting hole which surrounds the central concave hole and is used for mounting.
Preferably, the first motor (2) and the second motor (4) are both direct-drive motors, and the positioning resolution of the motors is very high.
Compared with the prior art, the beneficial effects of the utility model are that: laser ranging equipment of point light source has high single-point measurement precision and a plurality of laser ranging sensors (q) in the measurement process1~qn) May be arranged crosswise. FIG. 4 shows a schematic diagram of a measuring assembly, a plurality of laser sensors (q)1~qn) Arranged at an equal angle theta, and the direction of the emitted rays of the laser is expressed as: gi(i = 1-n), two machine vision cameras (c) are placed in the horizontal direction of the figure1、c2) To take a photographThe image head shooting direction is expressed as: pi(i =1, 2), equipment can be rotatory through motor one (2) and motor two (4) to can let laser measuring head and vision camera scan whole space, two machine vision cameras are convenient for gather this kind of size data that are not convenient for adopt single-point laser measurement of door and window position.
Drawings
Fig. 1 is a schematic front view of the principle of the present invention.
Fig. 2 is a partially enlarged front view of the key structure of the present invention.
Fig. 3 is a partially enlarged side view of the key structure of the present invention.
Fig. 4 is a schematic view of the measuring principle of the measuring assembly of the present invention.
In the figure: 1. measuring component, 2, motor I, 3, motor assembling component, 4, motor II, 5, tripod platform, 6, point cloud data processor equipment, 7, driver component, 8 and motor controller
In fig. 4: multiple laser sensors q iAnd q is i+1Form an adjacent angle theta, and the direction of the emitted ray of the laser is expressed as: gi(i = 1-n), and the two machine vision cameras are c1、c2The camera shooting direction is expressed as: pi（i=1，2）。
Detailed Description
The technical solution in the implementation of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the whole invention. Based on the utility model provides an in the indoor outer measurement is used, all other embodiments that relevant field technical personnel did not have creative work and obtain all belong to the utility model discloses in the protection scope.
Referring to fig. 1 and fig. 2, the present invention provides a technical solution: the utility model provides a measuring equipment based on laser rangefinder and vision assistance-based discernment which characterized in that: the measuring assembly (1) comprises one or more laser sensor arrangements, in the case of a plurality of laser sensors (q)1~qn) Is arranged toAnd the centers of the cross points of the laser sensors are positioned at the center of the circle of the first motor (2). Two machine vision cameras (c) are fixedly arranged on the measuring component (1) in the horizontal direction through bolts1、c2) And the intersection point of the two cameras and the circle center of the second motor (4) are kept collinear. The measuring component 1 is installed on the motor I (2) through threaded connection, and the motor II (4) is installed on the motor assembling component (3) through threaded connection. The upper end of the second motor (4) is installed on the motor assembling component (3) through threaded connection. The lower end of the motor II (4) is fixed with the horizontal plane of the tripod platform (5) through threaded connection, and a levelness adjusting knob is arranged on the motor II. The point cloud data processor (6) is fixed on the inner side of the motor assembly mechanism (3) in a threaded connection manner. The measuring component (1) is connected with the point cloud data processor device (6) through a lead. The first motor (2) and the second motor (4) are connected with the driver component (7) through wires. The motor driver group (7) is connected with the motor controller (8) through a lead. The motor driver assembly (7) and the motor controller (8) are fixed on the side position of the tripod platform (5) through bolts. The first motor (2) and the second motor (4) both adopt direct-drive motors, and high-precision encoders are arranged in the direct-drive motors, so that high-precision pose control can be realized.
Claims (6)
1. The utility model provides a measuring equipment based on laser rangefinder and vision assistance-based discernment which characterized in that: the measuring assembly (1) comprises a single (q)1) Or a plurality of laser sensors (q)1~qn) When the structure is a plurality of laser sensors (q)1~qn) During the measurement, it is certain angle theta interval and arranges and fix inside the subassembly through bolted connection, and laser sensor's intersect center is located the centre of a circle point of motor (2), has settled vision camera (c) through the bolt fastening on the laser range sensor of measurement subassembly (1) horizontal direction1、c2) The measuring component (1) is installed on the motor I (2) through threaded connection, the motor I (2) is installed on the motor assembly component (3) through threaded connection, and the center line of the motor II (4) is perpendicularly intersected with the center line of the motor I (2)The fork, motor two (4) upper end is installed on motor assembly component (3) through threaded connection, motor two (4) lower extreme is fixed with the horizontal plane of tripod platform (5) through threaded connection, point cloud data processor equipment (6) threaded connection is fixed in motor assembly component (3) inboard, measuring component (1) is connected with point cloud data processor equipment (6) through the wire, motor one (2) are connected with driver subassembly (7) through the wire with motor two (4), motor driver subassembly (7) are through wire connection motor controller (8), motor driver subassembly (7) and motor controller (8) are through bolt fastening in tripod platform (5) side position.
2. The measuring device based on laser ranging and vision-aided identification as claimed in claim 1, wherein: the motor assembling component (3) is provided with a central concave hole for mounting the motor I (2) and the motor II (4) and a thread positioning hole surrounding the central concave hole, and the central line spaces of the motor I (2) and the motor II (4) are intersected and vertical.
3. The measuring device based on laser ranging and vision-aided identification as claimed in claim 1, wherein: the measuring assembly (1) is integrated into a unit comprising one or more laser sensors, when the structure is a plurality of laser sensors (q)1~qn) Two machine vision cameras (c) arranged at equal angles theta and placed in the horizontal direction1、c2) The bottom of the measuring component (1) is a circular base plate, and a threaded positioning hole for fixing to the motor I (2), a round hole for placing a lead connected with the point cloud data processor device (6) and a threaded positioning hole for fixing the laser ranging sensor are formed in the round base plate.
4. The measuring device based on laser ranging and vision-aided identification as claimed in claim 1, wherein: the measuring assembly (1) adopts the measuring principle of a plurality of laser sensors (q)1~qn) Direction indicator of laser emitted rays arranged at equal angles thetaShown as Gi(i = 1-n), two machine vision cameras (c) are placed in the horizontal direction1、c2) The shooting direction of the camera is represented as Pi(i =1, 2), equipment can be rotatory through motor one (2) and motor two (4) to can let laser gauge head and vision camera scan whole space, realize more efficient laser and vision scanning and measure, arrange a plurality of range finding laser sensor and a plurality of camera and can improve measurement of efficiency.
5. The measuring device based on laser ranging and vision-aided identification as claimed in claim 1, wherein: and a levelness adjusting knob, a threaded positioning hole for fixing the second motor (4), and a threaded positioning hole for installing a motor controller (8) and a driver assembly (7) are arranged on the tripod platform (5).
6. The measuring device based on laser ranging and vision-aided identification as claimed in claim 1, wherein: the first motor (2) and the second motor (4) both adopt direct drive motors and have high encoder resolution.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022617120.XU CN214951112U (en) | 2020-11-12 | 2020-11-12 | Measuring equipment based on laser ranging and visual auxiliary recognition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022617120.XU CN214951112U (en) | 2020-11-12 | 2020-11-12 | Measuring equipment based on laser ranging and visual auxiliary recognition |
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| CN214951112U true CN214951112U (en) | 2021-11-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114964185A (en) * | 2022-08-01 | 2022-08-30 | 西安德普赛科计量设备有限责任公司 | Spatial data measuring device and measuring method thereof |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114964185A (en) * | 2022-08-01 | 2022-08-30 | 西安德普赛科计量设备有限责任公司 | Spatial data measuring device and measuring method thereof |
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