CN102338617A - Three-dimensional measuring system and three-dimensional scanning device thereof - Google Patents
Three-dimensional measuring system and three-dimensional scanning device thereof Download PDFInfo
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- CN102338617A CN102338617A CN2010102362723A CN201010236272A CN102338617A CN 102338617 A CN102338617 A CN 102338617A CN 2010102362723 A CN2010102362723 A CN 2010102362723A CN 201010236272 A CN201010236272 A CN 201010236272A CN 102338617 A CN102338617 A CN 102338617A
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Abstract
The invention relates to a three-dimensional measuring system. The system comprises: a positioning and attitude determining device; a laser scanner, which has a 360-degree scanning field and is used for obtaining geometric data of a measured target object by scanning; an electronic rotary table, which has a rotary center and makes horizontal rotation movements by circling the rotary center; a positioning and attitude determining device, which is used for obtaining absolute position data of the electronic rotary table; and a data processing device, which is used for carrying out fusion processing on the absolute position data of the electronic rotary table and the geometric data obtained by the laser scanner. The positioning and attitude determining devices and the laser scanner are installed on the electronic rotary table; and a specific angle is formed between a scanning surface of the laser scanner and the electronic rotary table. In addition, the invention also provides a three-dimensional scanning device. The three-dimensional measuring system and the three-dimensional scanning device thereof enable omnibearing scanning and measurement on a measured object to be realized.
Description
Technical field
The present invention relates to a kind of scanister, the three-dimension measuring system that relates in particular to three-dimensional scanner and use this device.
Background technology
Universal day by day along with three-dimensional spatial information service, people require increasingly high to the verisimilitude of virtual reality, move modeling and measuring technique and also more and more paid close attention to; The motion carrier of mobile measuring equipment is varied, can be land vehicle, ships, aviation aircraft, even can be portable knapsack; Therefore be used widely; Move the geological information that modeling and measuring technique utilization laser scanner directly obtains measurement target, its operating distance can reach the km level, and range finding also can reach the precision of millimeter; But because the laser scanner field range is limited; Often can only scan the object of specific direction, can't reach comprehensive scanning, this just can not satisfy the particular demands of certain user for scanning angle; For example, can not satisfy railway interests to railway top hi-line Testing requirement, be difficult to obtain the some cloud of traffic sign head-on or only can scan a side in alleyway and can not scan opposite side.
Summary of the invention
In view of the problems referred to above that exist in the prior art, fundamental purpose of the present invention is to address the deficiencies of the prior art, and a kind of three-dimensional measuring apparatus and the three-dimension measuring system of using this device that can comprehensive scanning be provided.
A kind of three-dimensional scanner; Comprise one have 360 degree scanning field of view laser scanner and have the electronics turntable of a rotation center; Said laser scanner is installed on the said electronics turntable; Have a special angle between the one scan face of said laser scanner and the said electronics turntable, said electronics turntable can horizontally rotate around its rotation center, to adjust the scanning angle of said laser scanner.
A kind of three-dimension measuring system; Comprise that one decides that the laser scanner, of 360 degree that appearance device, obtains the geometric data of a measured target object through scanning has a rotation center and decides the appearance device around the location that the electronics turntable, that said rotation center horizontally rotates obtains the absolute position data of said electronics turntable and a geometric data that the absolute position data and the said laser scanner of said electronics turntable are obtained carries out the data processing equipment of fusion treatment; Said location decides the appearance device and said laser scanner is installed on the said electronics turntable, has a special angle between the one scan face of said laser scanner and the said electronics turntable.
The beneficial effect that the present invention compares prior art is: said three-dimension measuring system and said three-dimensional scanner have adopted 360 degree laser scanners to scan; And said electronics turntable can be done 360 degree around its center and horizontally rotate; The scanning angle that scanning plane that also can be through laser scanner is set and the setting angle between the said electronics turntable are adjusted said laser scanner; Therefore said three-dimensional scanner and three-dimension measuring system can to from front and back, up and down, the said measured target thing of left and right sides all directions scanning survey; Realization is carried out comprehensive measurement to object, can satisfy the particular demands of user for scanning angle.
Description of drawings
Fig. 1 is installed in the structural representation on the motion carrier for first preferred embodiments of three-dimension measuring system of the present invention.
Fig. 2 is electronics turntable, the image collection device among Fig. 1 and decides appearance Unit Installation synoptic diagram.
Fig. 3 is the structural representation of second preferred embodiments of three-dimension measuring system of the present invention.
Embodiment
To combine accompanying drawing and specific embodiment that the present invention is described further below.
Please refer to Fig. 1 and Fig. 2; First preferred embodiments of three-dimension measuring system of the present invention is installed on the motion carrier 2; The three-dimensional model that is used to measure the three-dimensional data of a target object and sets up the measured target object, in this embodiment, said motion carrier 2 is a vehicle; In other embodiments, said motion carrier 2 can be aviation aircraft, ships, portable knapsack etc.
Said three-dimension measuring system comprises that an electronics turntable 10, an image collection device 20, decide an appearance device 30 and a data processing equipment 40.Said image collection device 20 comprises a laser scanner 210 and two CCD (Charge-coupled Device, charge coupled cell) camera 220.Said laser scanner 210 is one 360 degree laser scanners, and promptly it has the scanning field of view of 360 degree, can do ring-type scanning.
Said electronics turntable 10 levels are installed on the pallet of said motion carrier 2, and can move up and down with said pallet.
Said location is decided appearance device 30 and is installed on the said electronics turntable 10; Appearance device 30 is decided also as a bogey in said location; Be used to install said image collection device 20; Wherein, said laser scanner 210 is installed in said location through a lifting device 50 to be decided on the appearance device 30, and said two CCD cameras 220 are erected at the top of said laser scanner 210.Shown in Fig. 2 arrow; One plane at the common place of the sweep trace of many different directions of said laser scanner 210 is the one scan face of said laser scanner 210, and the lens direction of said two CCD cameras 220 is parallel with the scanning plane of said laser scanner 210, and promptly the lens direction of each CCD camera 220 is parallel at least one sweep trace; During installation; Can be according to the position of measured target object, size etc., and the setting angle between said laser scanner 210 and the said electronics turntable 10 is set through said lifting device 50, so that said laser scanner 210 and two CCD cameras 220 are installed in specific station; Like Fig. 1, shown in Figure 2; In this embodiment, the up-down of adjusting said lifting device 50 is installed in oblique 45 degree stations with said laser scanner 210, is about to said laser scanner 210 45 degree that tilt and is installed in said location and decides on the appearance device 30; Therefore, the angle between the scanning plane of said laser scanner 210 and the electronics turntable 10 is 45 degree (90 degree-45 degree).
Said electronics turntable 10 has a rotation center; Said electronics turntable 10 can be done 360 degree around its rotation center and horizontally rotate; When said electronics turntable 10 horizontally rotates, said laser scanner 210, two CCD cameras 220 and decide appearance device 30 and horizontally rotate with said electronics turntable 10.
Said laser scanner 210 obtains the geological information of measured target object through the mode of laser scanning, and like length, height etc., the image that said two CCD cameras 220 are used to take said measured target thing is to obtain the texture information of measured target object.
The absolute location information that appearance device 30 is used to obtain said electronics turntable 10 is decided in said location; Coordinate and the said electronics turntable 10 of the rotation center that said absolute location information comprises said electronics turntable 10 under global unified coordinate system is around the angle of its rotation center rotation; The appearance device is decided in said location can comprise an Inertial Measurement Unit (Inertial Measurement Unit; IMU) and a Global Positioning System (GPS) (Global Position System; GPS); Wherein said Inertial Measurement Unit is used to measure the anglec of rotation of said electronics turntable 10, and said GPS is used for the coordinate of rotation center under global unified coordinate system of acquisition time information and said electronics turntable 10, and appearance device 30 is decided in said location can be through sending PPS (Pulse per second; The per second pulse) and the serial ports time signal give said laser scanner 110 and said two CCD cameras 220, to synchronous working with said laser scanner 110 and two CCD cameras 220.
As shown in Figure 1; Said data processing equipment 40 is one to be installed in the computing machine in the said motion carrier 2; Said data processing equipment 40 is used to receive said location and decides the absolute location information of the said electronics turntable 10 that appearance device 30 obtains and geological information and the texture information that said image collection device 20 obtains; And the data that receive are carried out fusion treatment, and set up the three-dimensional model of measured target thing according to data processed result through the interior software of establishing.Said data processing equipment 40 can also can and be decided appearance device 30 radio communications with said image collection device 20 through signal cable with said image collection device 10 and decide appearance device 20 and be connected.
The shooting angle of the scanning angle of said laser scanner 210 and two said CCD cameras 220 can change with said laser scanner 210 is decided the installation station on the appearance device 30 in said location change; Therefore; Can be according to the installation station that the position of target location, size etc. is provided with said laser scanner 210, for example, in this embodiment; Said laser scanner 210 can be done 360 degree ring-type scannings in oblique 45 degree directions; When measuring the three-dimensional data in alleyway, said laser scanner can scan buildings of Hu the same side and the traffic sign that heads on, and also can adjust the scanning angle of said laser scanner 210 and the shooting angle of said CCD camera 220 through rotating said electronics turntable 10; For example; When said electronics turntable 10 Rotate 180s were spent, said laser scanner 210 can be done 360 degree scannings in oblique 135 degree directions, therefore can measure the opposite side in alleyway.
Please refer to Fig. 3, in second embodiment, said laser scanner 210 also can be directly installed on the said electronics turntable 10 and through lifting device 50 adjusting angles, be installed on the said electronics turntable 10 and do not decide appearance device 30 through said location.
Because said three-dimension measuring system 1 has adopted the laser scanner 210 of 360 degree scanning field of view to scan; Said laser scanner 210 and the installation station of two CCD cameras 220 on said electronics turntable 10 also can be set as required; And said electronics turntable 10 can be done 360 degree around its center and horizontally rotate; Therefore said mobile modeling and measuring system 1 can to from front and back, up and down, left and right sides all directions obtain the geometry and the texture information of measured target thing in real time; Realization is carried out comprehensive measurement to object, can satisfy the particular demands of user for scanning angle.
In other embodiments, can increase or reduce the quantity of said CCD camera 220 as required, as long as make the lens direction of said CCD camera 220 be parallel to the one scan direction of said laser scanner; Therefore; Said CCD camera 220 can be taken the said laser scanner 210 current positions of scanning, and need not to carry out follow-up image rectification, in the time of only need obtaining its geometric data when not obtaining the data texturing of measured target thing; Also the CCD camera can be installed; For example, when measuring hi-line, can need not to use the CCD camera.
Merge mutually with the geometric data and the data texturing of object with attitude data because said traverse measurement system decide the real-time position that appearance device 10 obtains with said location, avoided follow-up scanning assembly station problem.
Claims (10)
1. three-dimensional scanner; Comprise that one has laser scanner and the electronics turntable that has a rotation center and horizontally rotate around said rotation center of 360 degree scanning field of view; Said laser scanner is installed on the said electronics turntable, has a special angle between the one scan face of said laser scanner and the said electronics turntable.
2. three-dimensional scanner as claimed in claim 1 is characterized in that: said three-dimensional scanner also comprises the lifting device of the size of the said special angle of an adjustment, and said lifting device is installed between said laser scanner and the electronics turntable.
3. three-dimensional scanner as claimed in claim 1 is characterized in that: said special angle is 45 degree.
4. three-dimension measuring system; Comprise that one decides that the laser scanner, of 360 degree that appearance device, obtains the geometric data of a measured target object through scanning has a rotation center and decides the appearance device around the location that the electronics turntable, that said rotation center horizontally rotates obtains the absolute position data of said electronics turntable and a geometric data that the absolute position data and the said laser scanner of said electronics turntable are obtained carries out the data processing equipment of fusion treatment; Said location decides the appearance device and said laser scanner is installed on the said electronics turntable, has a special angle between the one scan face of said laser scanner and the said electronics turntable.
5. three-dimension measuring system as claimed in claim 4 is characterized in that: said special angle is 45 degree.
6. three-dimension measuring system as claimed in claim 4 is characterized in that: said three-dimension measuring system also comprises the lifting device of the size of the said special angle of an adjustment, and said lifting device is installed between said laser scanner and the electronics turntable.
7. three-dimension measuring system as claimed in claim 4 is characterized in that: said laser scanner is fixed on said location with the complementary angle of said special angle on said electronics turntable decides on the appearance device.
8. three-dimension measuring system as claimed in claim 4 is characterized in that: coordinate and the said electronics turntable of the rotation center that the absolute location information of said electronics turntable comprises said electronics turntable under global unified coordinate system is around angle that its rotation center rotated.
9. three-dimension measuring system as claimed in claim 4; It is characterized in that: said three-dimension measuring system also comprises at least one camera that is used to obtain the data texturing of said measured target object; Said at least one cameramount is located on the said laser scanner; And the lens direction of said at least one camera is parallel with the scanning plane of said laser scanner, and the data texturing that said data processing equipment also obtains said camera carries out fusion treatment with the absolute position data of said geometric data and said electronics turntable.
10. three-dimension measuring system as claimed in claim 9 is characterized in that: said location is decided the appearance device and is given said laser scanner and said at least one camera to synchronous working with said laser scanner and said camera through sending a per second pulse signal and a serial ports time signal.
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| CN201010236272.3A CN102338617B (en) | 2010-07-22 | 2010-07-22 | Three-dimension measuring system |
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| CN201010236272.3A CN102338617B (en) | 2010-07-22 | 2010-07-22 | Three-dimension measuring system |
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| CN102338617B CN102338617B (en) | 2016-06-29 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103090791A (en) * | 2013-01-08 | 2013-05-08 | 中联重科股份有限公司 | Measuring system, method and device for bulk materials and material piling and taking control system |
| CN103196366A (en) * | 2013-03-08 | 2013-07-10 | 爱司帝光电科技(苏州)有限公司 | Measurement device and measurement method |
| CN103292697A (en) * | 2013-05-27 | 2013-09-11 | 深圳先进技术研究院 | Three-dimensional scanning system |
| CN104215198A (en) * | 2014-08-25 | 2014-12-17 | 南京天睿朗自动化科技有限公司 | Scanner for scanning three-dimensional profile of internal surface of tubular object |
| CN104260673A (en) * | 2014-10-21 | 2015-01-07 | 北京四维远见信息技术有限公司 | Vehicle-mounted measuring system |
| CN104296653A (en) * | 2014-07-18 | 2015-01-21 | 无锡新吉凯氏测量技术有限公司 | Geometrical-feature-based two-dimensional industrial identification and positioning system |
| CN104501780A (en) * | 2015-01-09 | 2015-04-08 | 中国测绘科学研究院 | Vehicle-mounted data acquisition system based on digital camera and laser scanner |
| CN104819718A (en) * | 2015-04-09 | 2015-08-05 | 上海大学 | 3D photoelectric sensing localization system |
| CN106123798A (en) * | 2016-03-31 | 2016-11-16 | 北京北科天绘科技有限公司 | A kind of digital photography laser scanning device |
| CN107505629A (en) * | 2017-08-16 | 2017-12-22 | 北京拓维思科技有限公司 | Airborne lidar instrument apparatus |
| CN107608876A (en) * | 2017-08-04 | 2018-01-19 | 上海交通大学 | For 3-D scanning and the rotating platform control system of visual identity evaluation and test |
| CN108810424A (en) * | 2018-06-27 | 2018-11-13 | 淄博丙合商贸有限公司 | A kind of full-automatic mobile phone photograph ring object methods of exhibiting |
| TWI651687B (en) * | 2017-11-24 | 2019-02-21 | 財團法人工業技術研究院 | Three-dimensional model construction method and system thereof |
| CN109692002A (en) * | 2019-02-25 | 2019-04-30 | 湖南大学 | A kind of handheld three-dimensional laser scanner based on background quickly scans manpower method |
| CN110411361A (en) * | 2019-05-15 | 2019-11-05 | 首都师范大学 | A kind of mobile tunnel laser detection data processing method |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103090791B (en) * | 2013-01-08 | 2015-06-10 | 中联重科股份有限公司 | Measuring system, method and device for bulk materials and material piling and taking control system |
| CN103090791A (en) * | 2013-01-08 | 2013-05-08 | 中联重科股份有限公司 | Measuring system, method and device for bulk materials and material piling and taking control system |
| CN103196366A (en) * | 2013-03-08 | 2013-07-10 | 爱司帝光电科技(苏州)有限公司 | Measurement device and measurement method |
| CN103292697A (en) * | 2013-05-27 | 2013-09-11 | 深圳先进技术研究院 | Three-dimensional scanning system |
| CN103292697B (en) * | 2013-05-27 | 2016-02-03 | 深圳先进技术研究院 | A kind of 3 D scanning system |
| CN104296653A (en) * | 2014-07-18 | 2015-01-21 | 无锡新吉凯氏测量技术有限公司 | Geometrical-feature-based two-dimensional industrial identification and positioning system |
| CN104215198A (en) * | 2014-08-25 | 2014-12-17 | 南京天睿朗自动化科技有限公司 | Scanner for scanning three-dimensional profile of internal surface of tubular object |
| CN104260673A (en) * | 2014-10-21 | 2015-01-07 | 北京四维远见信息技术有限公司 | Vehicle-mounted measuring system |
| CN104501780A (en) * | 2015-01-09 | 2015-04-08 | 中国测绘科学研究院 | Vehicle-mounted data acquisition system based on digital camera and laser scanner |
| CN104819718B (en) * | 2015-04-09 | 2017-12-05 | 上海大学 | 3D photoelectric sensing alignment systems |
| CN104819718A (en) * | 2015-04-09 | 2015-08-05 | 上海大学 | 3D photoelectric sensing localization system |
| CN106123798A (en) * | 2016-03-31 | 2016-11-16 | 北京北科天绘科技有限公司 | A kind of digital photography laser scanning device |
| CN106123798B (en) * | 2016-03-31 | 2019-01-08 | 北京北科天绘科技有限公司 | A kind of digital photography laser scanning device |
| CN107608876A (en) * | 2017-08-04 | 2018-01-19 | 上海交通大学 | For 3-D scanning and the rotating platform control system of visual identity evaluation and test |
| CN107608876B (en) * | 2017-08-04 | 2021-05-11 | 上海交通大学 | Rotary table control system for three-dimensional scanning and visual identification evaluation |
| CN107505629A (en) * | 2017-08-16 | 2017-12-22 | 北京拓维思科技有限公司 | Airborne lidar instrument apparatus |
| TWI651687B (en) * | 2017-11-24 | 2019-02-21 | 財團法人工業技術研究院 | Three-dimensional model construction method and system thereof |
| CN109840944A (en) * | 2017-11-24 | 2019-06-04 | 财团法人工业技术研究院 | 3 D model construction method and its system |
| US10621791B2 (en) | 2017-11-24 | 2020-04-14 | Industrial Technology Research Institute | Three-dimensional modeling method and system thereof |
| CN108810424A (en) * | 2018-06-27 | 2018-11-13 | 淄博丙合商贸有限公司 | A kind of full-automatic mobile phone photograph ring object methods of exhibiting |
| CN109692002A (en) * | 2019-02-25 | 2019-04-30 | 湖南大学 | A kind of handheld three-dimensional laser scanner based on background quickly scans manpower method |
| CN109692002B (en) * | 2019-02-25 | 2023-09-22 | 湖南大学 | Hand-held three-dimensional laser scanner hand-hand rapid scanning method based on background |
| CN110411361A (en) * | 2019-05-15 | 2019-11-05 | 首都师范大学 | A kind of mobile tunnel laser detection data processing method |
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