CN104142138B - scanner auxiliary device - Google Patents
scanner auxiliary device Download PDFInfo
- Publication number
- CN104142138B CN104142138B CN201410336531.8A CN201410336531A CN104142138B CN 104142138 B CN104142138 B CN 104142138B CN 201410336531 A CN201410336531 A CN 201410336531A CN 104142138 B CN104142138 B CN 104142138B
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- Prior art keywords
- wheel
- scanner
- wheel carrier
- auxiliary device
- rotating shaft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Facsimiles In General (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of scanner auxiliary device, described scanner auxiliary device includes anti-incline device, stopping means and wheel unit, scanner is placed in and described anti-inclines on device, and the described anti-device that inclines is placed on described stopping means, and described stopping means is connected with described wheel unit.The present invention has taken into account precision and efficiency, it is achieved that the lifting of the productivity.First, being different from vehicular and machine-carried type scanning system, use the mode of operation of the scanner of scanner auxiliary device itself not change, therefore its scanning accuracy still maintains the high-precision advantage of ground type scanning system；Secondly, the operating process at station is changed owing to have employed not shut down, the operation that in the scanning of the most traditional ground type scanning system, holding time is more can be avoided by, compare the operating process of traditional ground type scanning system, time-consuming 50%, on the premise of scanning accuracy holding is constant, improves the work efficiency of scanning, alleviate the labor intensity of workman.
Description
Technical field
The present invention relates to a kind of three-dimensional laser scanner auxiliary device, especially a kind of ground type three-dimensional laser is swept
Retouch the special delivery of instrument and stopping means.
Background technology
Three-dimensional laser scanning technique is otherwise known as outdoor scene reproduction technology, is that survey field is after GPS technology
Technological revolution.It is different from traditional single-point measurement method, has high efficiency, high-precision uniqueness excellent
Gesture.The three-dimensional laser scanning system using three-dimensional laser scanning technique can provide the three-dimensional of scanning body surface
Cloud data, therefore may be used for obtaining the digital terrain model of high-accuracy high-resolution.
Classify by vehicle and scanning accuracy, the three-dimensional laser scanning system of present stage can be divided into ground type,
Vehicular and machine-carried type three class.
Wherein, ground type scanning system is to be fixed on scanner on spider to be scanned, this scanning side
The Result Precision of formula is higher, typically up to more than 1mm.The operating process of traditional ground type scanning system is:
Select website, set up instrument, start flattens, scan, shut down, dismantle instrument, case, change website, as
This circulation.In above-mentioned flow process, " shut down, dismantle instrument, case, change website, again set up instrument,
Start leveling " time of being spent often beyond " effective scanning " of time of being spent and manpower and manpower.
As a example by the most relatively advanced Switzerland's Lycra C10 pulsed scanner, carry out because of " changing station "
" shut down, dismantle instrument, case, change website, again set up instrument, start leveling " operating time
Generally 15 20 minutes, and the time required for actual " scanning " is general only at about 8 10 minutes.
" non-productive work " accounts for more than the 65% of amount of work, and work efficiency is relatively low, simultaneously because scanner deadweight is relatively big,
Being dismounted for multiple times equipment too increases the labor intensity of workman.The most under many circumstances, such as on a large scale
When region is scanned, utilize traditional ground type scanning system often inconvenient and the consuming time.
Vehicular scanning system can overcome an above-mentioned difficult problem, and reason is that scanner is laid by vehicular scanning system
At the roof of normal domestic use automobile, scanner can be scanned in vehicle operation, the efficiency of scanning
It is greatly improved.But its operation principle and data processing method are totally different from ground type scanning system, or can
To say being two diverse scanning systems.The shortcoming of this vehicular scanning system is that scanning accuracy is low,
Full accuracy also only has 5cm at present.With vehicular scanning system similarly machine-carried type scanning system, it is suitable for
In larger range of scanning, scanning speed the most faster, but scanning precision the lowest, often below 0.5m.
In addition to the difference of equipment itself, ground type scanning system and the main distinction of vehicle-mounted and airborne scanning system
Being the difference of navigator fix, the former uses laser positioning, and rear both often use GPS and inertia system
Lead, this be also after both scanning accuracy why less than the former one of the main reasons.Therefore, how hundred are collected
The chief of family, improves scan efficiency on the premise of ensureing precision and becomes the problem that engineering circles is in the urgent need to address.
Summary of the invention
It is an object of the invention to provide a kind of special delivery of ground type three-dimensional laser scanner and stopping means.
This device eliminates in the stationary scanner work process of tradition ground to be needed the shutdown carried out because changing station, tears open
Unload, again set up and the operation such as start again, scanning accuracy keep constant on the premise of, improve scanning
Work efficiency, alleviates the labor intensity of workman.
In order to achieve the above object, the invention provides a kind of scanner auxiliary equipment, including:
Anti-incline device, stopping means and wheel unit, scanner is positioned at and described anti-inclines on device, described anti-inclines
Device is placed on described stopping means, and described stopping means is connected with described wheel unit.
Further, described stopping means includes base, and the described anti-device that inclines is placed on described base, described
Base is connected with described wheel.
Further, the described anti-device that inclines includes universal hinge, support, connecting rod and counterweight, and scanner is placed in
In described universal hinge, described universal hinge is placed on described support, and described is placed on described base, described
Universal hinge is connected with described counterweight by described connecting rod, and described counterweight is placed on described base.
Further, described support is spider.
Further, described stopping means also includes latch and the pin hole corresponding with described latch, described
Latch is arranged at all sides of described counterweight, and described pin hole is positioned on described base.
Further, described wheel unit includes that at least one takes turns subgroup, and any one described subgroup of taking turns all includes
First wheel, the second wheel and wheel carrier, described first wheel and the second wheel be all rotationally connected with described wheel carrier,
Described wheel carrier is connected with described base.
Further, described first wheel rotates even with described wheel carrier by being arranged in first rotating shaft in its axle center
Connecing, described second wheel is rotationally connected with described wheel carrier by being arranged in second rotating shaft in its axle center.
Further, described scanner auxiliary device also includes earthquake isolating equipment, and described first rotating shaft is by described
Earthquake isolating equipment is connected with described second rotating shaft.
Further, described earthquake isolating equipment includes spring, the first U-shaped bar, damper rod and the second U-shaped bar,
The opening of described first U-shaped bar is connected with described first wheel by described first rotating shaft, a described U
Type bar has the first baffle plate away from the other end of opening, and the opening of described second U-shaped bar is by described the
Two rotating shafts are connected with described second wheel, and described second U-shaped bar has second gear away from the other end of opening
Plate, described damper rod is arranged between described first baffle plate and second baffle, and its two ends are respectively with described
First baffle plate and second baffle connect, and described spring housing is on described damper rod, and the two ends of described spring are respectively
It is connected with described first baffle plate and second baffle.
Further, described wheel carrier is reverse V-shaped wheel carrier, and the opening of described reverse V-shaped wheel carrier passes through institute respectively
State the first rotating shaft and the second rotating shaft to be connected with described first wheel and the second wheel turns, described reverse V-shaped wheel carrier
The other end away from opening is connected with described base.
Further, described reverse V-shaped wheel carrier includes the first wheel carrier and the second wheel carrier, the one of described first wheel carrier
One end of end and the second wheel carrier connects, and the other end of described first wheel carrier and the second wheel carrier is respectively by described the
One rotating shaft and the second rotating shaft are connected with described first wheel and the second wheel turns, described first wheel carrier and second
The connection end of wheel carrier is connected with described base.
Further, described scanner auxiliary device also includes that preventer, described preventer are fixed on institute
State on base.
Further, described preventer is protection network.
The invention provides a kind of scanner auxiliary device, compared with prior art, this scanner auxiliary device
Precision and efficiency are taken into account, it is achieved that the lifting of the productivity.First, vehicular and machine-carried type scanning it are different from
System, uses the mode of operation of the scanner of scanner auxiliary device itself not change, therefore its scanning
Precision still maintains the high-precision advantage of ground type scanning system；Change secondly as have employed not shut down
The operating process stood, the shutdown related in the scanning of the most traditional ground type scanning system, dismounting instrument,
Vanning and the operation again setting up the holding times such as instrument more can be avoided by, and compare traditional ground type and sweep
Retouch the operating process of system, time-consuming 50%, scanning accuracy keep constant on the premise of, improve and sweep
The work efficiency retouched, alleviates the labor intensity of workman.
Accompanying drawing explanation
The structural representation of the scanner auxiliary device that Fig. 1 provides for the embodiment of the present invention；
The structural representation of the earthquake isolating equipment that Fig. 2 provides for the embodiment of the present invention；
The structural representation of the anti-device that inclines that Fig. 3 provides for the embodiment of the present invention；
The structural representation of the stopping means that Fig. 4 provides for the embodiment of the present invention；
The structural representation of the preventer that Fig. 5 provides for the embodiment of the present invention.
Wherein, 1: scanner, 2: universal hinge, 3: spider, 4: connecting rod；5: counterweight, 6: insert
Pin, 7: pin hole, 8: base, 9: the first wheel carriers, 10: the second wheel carriers, 11: the first wheels, 12:
Second wheel, 13: the first U-shaped bars, 14: the second U-shaped bars, 15: the first baffle plates, 16: second baffle,
17: spring, 18: damper rod, 19: protection network.
Detailed description of the invention
Below in conjunction with schematic diagram, the detailed description of the invention of the present invention is described in more detail.According to following
Description and claims, advantages and features of the invention will be apparent from.It should be noted that, accompanying drawing all uses
The form that simplifies very much and all use non-ratio accurately, only in order to convenient, aid in illustrating the present invention lucidly
The purpose of embodiment.
As it is shown in figure 1, described scanner auxiliary device include the anti-device that inclines, stopping means, earthquake isolating equipment,
Wheel unit and preventer, scanner 1 is positioned at and described anti-inclines on device, and the described anti-device that inclines is placed in described
On stopping means, described stopping means is connected with described wheel unit.
As shown in Figure 4, described stopping means includes base 8, latch 6 and insert corresponding with described latch 6
Pin-and-hole 7, when equipment has been pulled to specified sites, latch 6 inserts pin hole 7 and locks scanner 1
Fixed.Described latch 6 is arranged at all sides of described counterweight 5, and the quantity of described latch 6 is four, described
Pin hole 7 is positioned on described base 8, and the quantity of described pin hole 7 is 4.
As it is shown on figure 3, the described anti-device that inclines is placed on described base 8, for occurring significantly when equipment entirety
When degree tilts, it is ensured that scanner 1 is still in level.The described anti-device that inclines include universal hinge 2, support,
Connecting rod 4 and counterweight 5, scanner 1 is placed in described universal hinge 2, and described support is preferably spider 3,
Described universal hinge 2 is placed on spider 3, and described spider 3 is placed on described base 8, described universal hinge 2
Being connected with counterweight 5 by connecting rod 4, described counterweight 5 is placed on described base 8, described counterweight 5
It is preferably rectangular structure.
The operation principle of the described anti-device that inclines is: scanner 1 is connected with bottom counterweight 5 by connecting rod 4, even
Bar 4 is erected in a universal hinge 2, and decorating position is exactly scanner 1 in the position of centre of gravity of counterweight 5,
When equipment entirety run-off the straight, scanner 1 has the trend following equipment entirety run-off the straight, but is attached thereto
Counterweight 5 but can pull it back equilbrium position at any time, and due to the existence of universal hinge 2, above-mentioned inclination
And the angle retracted can be arbitrary.
As in figure 2 it is shown, described wheel unit includes that at least one takes turns subgroup, any one described subgroup of taking turns all is wrapped
Including first wheel the 11, second wheel 12 and wheel carrier, described first wheel 11 and the second wheel 12 are all with described
Wheel carrier is rotationally connected, and described wheel carrier is connected with described base 8, and described first wheel 11 is by being arranged in its axle
First rotating shaft of the heart is rotationally connected with described wheel carrier, and described second wheel 12 is by being arranged in the second of its axle center
Rotating shaft is rotationally connected with described wheel carrier, and described first rotating shaft and the second rotating shaft mark the most in fig. 2, described
First rotating shaft and the second rotating shaft are connected by earthquake isolating equipment, and described earthquake isolating equipment includes that spring 17, first is U-shaped
Bar 13, damper rod 18 and the second U-shaped bar 14, the opening of described first U-shaped bar 13 is by described the
One rotating shaft is connected with described first wheel 11, and described first U-shaped bar 13 has away from the other end of opening
First baffle plate 15, the opening of described second U-shaped bar 14 is by described second rotating shaft and described second wheel
12 connect, and described second U-shaped bar 14 has second baffle 16, described damping away from the other end of opening
Bar 18 is arranged between described first baffle plate 15 and second baffle 16, and its two ends are respectively with described first
Baffle plate 15 and second baffle 16 connect, and described spring 17 is enclosed within described damper rod 18, described spring 17
Two ends be connected with the first baffle plate 15 and second baffle 16 respectively, described wheel carrier is reverse V-shaped wheel carrier, described
The opening of reverse V-shaped wheel carrier is respectively by described first rotating shaft and the second rotating shaft and described first wheel 11 and the
Two wheels 12 connect, and described reverse V-shaped wheel carrier is connected with described base 8 away from the other end of opening, described
Reverse V-shaped wheel carrier includes the first wheel carrier 9 and the second wheel carrier 10, one end of described first wheel carrier 9 and the second wheel carrier
One end of 10 connects, and the other end of described first wheel carrier 9 and the second wheel carrier 10 is respectively by described first rotating shaft
It is rotationally connected with described first wheel 11 and the second wheel 12 with the second rotating shaft, described first wheel carrier 9 and
The connection end of two wheel carriers 10 is connected with described base 8, and when road surface has rugged, the first wheel carrier 9 and second is taken turns
Frame 10 can according to ground tendency generation opening and closing campaign, this motion by the first wheel 11 and the second wheel 12 it
Between spring 17 buffered, entered by the damper rod 18 between the first wheel 11 and the second wheel 12 simultaneously
Row power consumption, thus reduce the vibration caused owing to ground is rugged and rough.
Additionally, described base 8 is rectangular base or cup dolly, in embodiments of the present invention, preferably square
Shape base, the described quantity taking turns subgroup is 4, and described 4 wheel groups are separately fixed at the four of rectangular base
On angle.
As it is shown in figure 5, described preventer is protection network 20, described protection network 20 is fixed on described base 8
On, protection network 20 both can play and make scanner 1 from the effect outside periphery object collision, can make again
Handrail for this equipment of push-and-pull.
When a station end of scan, when needing to shift website, the latch 6 being first turned in stopping means, make to resist and incline
Device is in freely-movable state；Secondly, in the case of not closing scanner 1, freely carry out this device,
It is transferred into next website.During carrying out, anti-incline device and earthquake isolating equipment independently plays a role,
Make the vertical of scanner be in safety range to inclination angle and acceleration of vibration, i.e. acceleration of vibration is less than
0.15m/s2, vertically it is not more than 15 degree to inclination angle.When arriving next website, lock stopping means, will
Latch 6 inserts pin hole 7, and now scanner 1 is fixed.Then, start level device to be scanned.
To sum up, the invention discloses and a set of there is certain shock-absorbing, limit function and possess relatively high structural strength
Scanner auxiliary device.First, it can make scanner 1 shift in the case of not shutting down, specifically
Ground, is to ensure in transfer process the impact suffered by scanner 1, vibrations by shock insulation, the device such as spacing
With inclination all in the range of permissible value, thus ensure that instrument is injury-free；Secondly, protected by anti-collision structure
Scanner 1 not casing, exposed in the case of nevertheless suffer from preferably protecting；Finally, it is transported at instrument
After destination, further through stopping means, complete equipment is locked, prevent sliding, the situation such as topple from occurring,
Different ground surface environment can be adapted to, quickly put into scanning work.
The invention provides a kind of scanner auxiliary device, compared with prior art, this scanner auxiliary device
Precision and efficiency are taken into account, it is achieved that the lifting of the productivity.First, vehicular and machine-carried type scanning it are different from
System, uses the mode of operation of the scanner of scanner auxiliary device itself not change, therefore its scanning
Precision still maintains the high-precision advantage of ground type scanning system；Change secondly as have employed not shut down
The operating process stood, the shutdown related in the scanning of the most traditional ground type scanning system, dismounting instrument,
Vanning and the operation again setting up the holding times such as instrument more can be avoided by, and compare traditional ground type and sweep
Retouch the operating process of system, time-consuming 50%, scanning accuracy keep constant on the premise of, improve and sweep
The work efficiency retouched, alleviates the labor intensity of workman.
Above are only the preferred embodiments of the present invention, the present invention is not played any restriction effect.Appoint
What person of ordinary skill in the field, in the range of without departing from technical scheme, to the present invention
The technical scheme disclosed and technology contents make the variation such as any type of equivalent or amendment, all belong to without departing from
The content of technical scheme, within still falling within protection scope of the present invention.
Claims (11)
1. a scanner auxiliary device, it is characterised in that described scanner auxiliary device include the anti-device that inclines,
Stopping means and wheel unit, scanner is placed in and described anti-inclines on device, and the described anti-device that inclines is placed in described limit
On the device of position, described stopping means is connected with described wheel unit, and described stopping means includes base, described
The anti-device that inclines is placed on described base, and described base is connected with described wheel, and the described anti-device that inclines includes universal
Hinge, support, connecting rod and counterweight, scanner is placed in described universal hinge, and described universal hinge is placed in described
On frame, described is placed on described base, and described universal hinge is connected with described counterweight by described connecting rod,
Described counterweight is placed on described base.
2. scanner auxiliary device as claimed in claim 1, it is characterised in that described support is spider.
3. scanner auxiliary device as claimed in claim 1, it is characterised in that described stopping means also wraps
Including latch and the pin hole corresponding with described latch, described latch is arranged at all sides of described counterweight, institute
State pin hole to be positioned on described base.
4. scanner auxiliary device as claimed in claim 1, it is characterised in that described wheel unit includes
At least one takes turns subgroup, and any one described subgroup of taking turns all includes the first wheel, the second wheel and wheel carrier, described
First wheel and the second wheel are all rotationally connected with described wheel carrier, and described wheel carrier is connected with described base.
5. scanner auxiliary device as claimed in claim 4, it is characterised in that described first wheel passes through
The first rotating shaft being arranged in its axle center is rotationally connected with described wheel carrier, and described second wheel is by being arranged in its axle
Second rotating shaft of the heart is rotationally connected with described wheel carrier.
6. scanner auxiliary device as claimed in claim 5, it is characterised in that described scanner auxiliary dress
Putting and also include earthquake isolating equipment, described first rotating shaft is connected with described second rotating shaft by described earthquake isolating equipment.
7. scanner auxiliary device as claimed in claim 6, it is characterised in that described earthquake isolating equipment includes
Spring, the first U-shaped bar, damper rod and the second U-shaped bar, the opening of described first U-shaped bar is by described
First rotating shaft is connected with described first wheel, and described first U-shaped bar has first away from the other end of opening
Baffle plate, the opening of described second U-shaped bar is connected with described second wheel by described second rotating shaft, described
Second U-shaped bar has second baffle away from the other end of opening, and described damper rod is arranged at described first gear
Between plate and second baffle, and its two ends are connected with described first baffle plate and second baffle respectively, described bullet
Spring is enclosed within described damper rod, and the two ends of described spring are connected with described first baffle plate and second baffle respectively.
8. scanner auxiliary device as claimed in claim 5, it is characterised in that described wheel carrier is reverse V-shaped
Wheel carrier, the opening of described reverse V-shaped wheel carrier is respectively by described first rotating shaft and the second rotating shaft and described first
Wheel and the second wheel turns connect, and described reverse V-shaped wheel carrier connects with described base away from the other end of opening
Connect.
9. scanner auxiliary device as claimed in claim 8, it is characterised in that described reverse V-shaped wheel carrier bag
Including the first wheel carrier and the second wheel carrier, one end of one end of described first wheel carrier and the second wheel carrier connects, and described the
The other end of one wheel carrier and the second wheel carrier is respectively by described first rotating shaft and the second rotating shaft and described first wheel
Connecting with the second wheel turns, the connection end of described first wheel carrier and the second wheel carrier is connected with described base.
10. scanner auxiliary device as claimed in claim 1, it is characterised in that described scanner assists
Device also includes that preventer, described preventer are fixed on described base.
11. scanner auxiliary device as claimed in claim 10, it is characterised in that described preventer is
Protection network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410336531.8A CN104142138B (en) | 2014-07-15 | 2014-07-15 | scanner auxiliary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410336531.8A CN104142138B (en) | 2014-07-15 | 2014-07-15 | scanner auxiliary device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104142138A CN104142138A (en) | 2014-11-12 |
| CN104142138B true CN104142138B (en) | 2016-08-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410336531.8A Active CN104142138B (en) | 2014-07-15 | 2014-07-15 | scanner auxiliary device |
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| CN (1) | CN104142138B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107462212A (en) * | 2017-08-22 | 2017-12-12 | 华北理工大学 | A kind of the earth horizontal displacement meter |
| CN109682355B (en) * | 2019-01-23 | 2021-04-13 | 彭劲松 | Mapping device for construction cost |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1703300A1 (en) * | 2005-03-17 | 2006-09-20 | Leica Geosystems AG | Method and system for determining position and orientation of an object |
| IL172995A (en) * | 2006-01-05 | 2011-07-31 | Gadi Royz | Method and apparatus for making a virtual movie for use in exploring a site |
| US8345926B2 (en) * | 2008-08-22 | 2013-01-01 | Caterpillar Trimble Control Technologies Llc | Three dimensional scanning arrangement including dynamic updating |
| US8169596B2 (en) * | 2009-08-17 | 2012-05-01 | Seegrid Corporation | System and method using a multi-plane curtain |
| CN203216515U (en) * | 2013-04-19 | 2013-09-25 | 广州市城市规划勘测设计研究院 | Four-wheel support rack vehicle capable of enabling ground three-dimensional laser scanner to operate in tilting manner |
| CN103307999B (en) * | 2013-06-14 | 2016-01-13 | 河海大学 | A kind of 3 D laser scanning control cage and field operation thereof scan and point cloud registration method |
| CN204007596U (en) * | 2014-07-15 | 2014-12-10 | 华东建筑设计研究院有限公司 | Scanner servicing unit |
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Effective date of registration: 20211111 Address after: 200040 Building 1, No. 421 Haifang Road, Jing'an District, Shanghai Patentee after: Shanghai modern architectural planning and Design Institute Co., Ltd Address before: 200041 No. 258, Shimen 2nd Road, Jing'an District, Shanghai Patentee before: East China Architectural Design and Research Institute Co., Ltd |
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