CN105758332A - Three-dimensional laser scanning equipment - Google Patents
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Abstract
A three-dimensional laser scanning device comprises a base, a horizontal rotary platform, a support and a vertical shaft, wherein a horizontal main transverse shaft capable of rotating around the self axial lead is arranged on the support, the axial lead of the main transverse shaft is intersected with the axial lead of the vertical shaft to form a main intersection point, a first main measuring device is fixed on the main transverse shaft, a connecting rod is fixed on the first main measuring device, a shaft bracket is arranged on the connecting rod, an auxiliary shaft capable of rotating around the self axial lead is arranged on the shaft bracket, a first auxiliary observing device is fixed on the auxiliary shaft, and the first main measuring line and the first auxiliary observing line are positioned on the same plane; the invention can be directly used for scanning, does not need to carry out complicated and time-consuming calibration in advance, reduces the influence of factors such as external temperature on equipment, can completely meet the requirement of distance measurement precision, and is convenient to operate.
Description
Technical field
The present invention relates to 3 D laser scanning equipment.
Background technology
Laser scanning, is a kind of technology rebuilding target panoramic view data and model from complicated entity or outdoor scene.Laser scanner is used successfully to multiple field, such as commercial measurement, topographic survey, historical relic's protection, City Modeling, parallel detection, reverse-engineering and virtual reality etc..
Ranging information has important function in laser scanning.According to range measurement principle, it is possible to be divided into trigonometry, impulse method, phase method.Trigonometry is that beam of laser is irradiated on object, and part diffuse-reflectance laser is through prism imaging on photoelectric detection equipment.Trigonometry has a lot of positional parameter requirement in application, very loaded down with trivial details and time-consuming on measurement device is demarcated, if a certain parameter cannot accurately obtain in system during actual measurement, will make measurement data generation error.When measurement device has small variations, in system, each parameter all must be demarcated again.See that perhaps the intelligence Sun Changku that admires writes, " 3D reverse-engineering " (China Measuring Press 2002 April the 1st edition) p16.
He Baoxi edits, and the Yellow River water conservancy publishing house publishes its " total station survey technology " chapter 2 second section in August, 2005, describes the range measurement principle of current total powerstation, mainly impulse method, ranging phase method, is required for the complicated electronic system of correspondence.Impulse method is found range, and the pulse that directly mensuration diastimeter sends comes and goes the time of tested distance.According to Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publishes it " total powerstation errors of principles " p8 in March, 2004, even if the clock frequency for timing has atomic little error, also results in very big measurement error.Such as clock frequency is 100MHz, even if there being ± the frequency error of 1Hz, range error is also up to ± 1.5m.So impulse method certainty of measurement is low, it is mainly used in long-range low measure of precision.Ranging phase method, its principle is that the phase place change produced by measuring continuous print modulation signal to come and go on testing distance carrys out the indirect determination propagation time, thus trying to achieve propagation distance.Ranging phase method, relate to control and the computing of complexity, such as survey chi conversion and control, light path converting control, dim light automatically controls, survey phase rhythm (sequencing contro), phase place distance transform, coarse-fine chi distance Linking operation etc. (see Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publishes it " total powerstation errors of principles " p15 in March, 2004).The electronic system measured is complicated more than impulse method.Thus can cause a lot of problem.Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publishes it " the total powerstation errors of principles " p42 the 3rd chapter in March, 2004 and has analyzed, same frequency photoelectricity in such as circuit harasses the circular error that signal causes, the error that inner quartz crystal oscillator temperature influence causes.Li Guangyun, Li Zongchun edit, and Mapping Press publishes it " industrial measuring system principle and application " p134 in January, 2011, also mentions actual range frequency and the inconsistent range error problem caused of design frequency.
Having a problem that range accuracy is most important, no matter pulse ranging or phase ranging, its range accuracy both depends on the accurate measurement to the light velocity in air.And in actual measurement process, the light velocity is subject to the situation impacts such as atmospheric temperature, humidity, air pressure, it is necessary to measure these meteorologic parameters in advance, and carry out the atmospheric correction being correlated with.Editing according to Li Zeqiu, publishing house of Wuhan University of Technology publishes it " total station survey technology " p22 in July, 2012, the atmospheric correction of total powerstation also with this total powerstation used by the find range wavelength of light wave relevant.
Summary of the invention
It is an object of the invention to propose a kind of measure accurate, easy to operate 3 D laser scanning equipment.
For reaching above-mentioned purpose, the present invention takes one of technical scheme as follows: the present invention has pedestal, horizontal rotation platform, support and vertical pivot, support is fixed on horizontal rotation platform, vertical pivot is fixing with pedestal to be connected, horizontal rotation platform is on pedestal and rotates around the axial line of vertical pivot, main transverse axis that is that support is provided with level and that can rotate around Pivot Point Center line；The axial line of main transverse axis intersects with the axial line of vertical pivot, forms main intersection point；Being fixed with a main observation device on main transverse axis, a main observation device is the telescope of an in-built CCD digital camera, and its collimation axis is called a subjective survey line；A number subjective survey line is by main intersection point and the axial line being perpendicular to main transverse axis；Arranging connecting rod on a main observation device, the axial line of connecting rod is through main intersection point and is perpendicular to a subjective survey line；Being provided with pedestal on connecting rod, pedestal is provided with the countershaft that can rotate around Pivot Point Center line；The axial line of countershaft and a subjective survey line become spatial vertical, and intersect vertically with the axial line of connecting rod, form auxiliary intersection point；Being fixed with a secondary observation device on countershaft, a secondary observation device is a laser instrument, and its optical axis is called a secondary survey line；A number secondary survey line is by auxiliary intersection point and the axial line being perpendicular to countershaft；A number subjective survey line and a secondary survey line are in same plane；Between vertical pivot and horizontal rotation platform, horizontal limb is installed, main dial is installed between main transverse axis and support corresponding site, secondary scale is installed between countershaft and pedestal corresponding site；The rotation of above-mentioned horizontal rotation platform, main transverse axis and countershaft is electronic.
For reaching above-mentioned purpose, the present invention takes the two as follows of technical scheme: the present invention has pedestal, horizontal rotation platform, support and vertical pivot, support is fixed on horizontal rotation platform, vertical pivot is fixing with pedestal to be connected, horizontal rotation platform is on pedestal and rotates around the axial line of vertical pivot, main transverse axis that is that support is provided with level and that can rotate around Pivot Point Center line；The axial line of main transverse axis intersects with the axial line of vertical pivot, forms main intersection point；Being fixed with No. two main observation devices on main transverse axis, No. two main observation devices are a laser instrument, and its optical axis is called No. two subjective surveys line；No. two subjective surveys line are by main intersection point and the axial line being perpendicular to main transverse axis；Arranging connecting rod on No. two main observation devices, the axial line of connecting rod is through main intersection point and is perpendicular to No. two subjective surveys line；Being provided with pedestal on connecting rod, pedestal is provided with the countershaft that can rotate around Pivot Point Center line；The axial line of countershaft and No. two subjective surveys line become spatial vertical, and intersect vertically with the axial line of connecting rod, form auxiliary intersection point；Being fixed with No. two secondary observation devices on countershaft, No. two secondary observation devices are the telescope of an in-built CCD digital camera, and its collimation axis is called No. two secondary survey line；No. two secondary survey line are by auxiliary intersection point and the axial line being perpendicular to countershaft；No. two subjective surveys line and No. two secondary survey line are in same plane；Between vertical pivot and horizontal rotation platform, horizontal limb is installed, main dial is installed between main transverse axis and support corresponding site, secondary scale is installed between countershaft and pedestal corresponding site；The rotation of above-mentioned horizontal rotation platform, main transverse axis and countershaft is electronic.
For reaching above-mentioned purpose, the present invention takes the three as follows of technical scheme: the present invention has pedestal, horizontal rotation platform, support and vertical pivot, support is fixed on horizontal rotation platform, vertical pivot is fixing with pedestal to be connected, horizontal rotation platform is on pedestal and rotates around the axial line of vertical pivot, main transverse axis that is that support is provided with level and that can rotate around Pivot Point Center line；The axial line of main transverse axis intersects with the axial line of vertical pivot, forms main intersection point；Being fixed with No. three main observation devices on main transverse axis, No. three main observation devices are a laser instrument, and its optical axis is called No. three subjective surveys line；No. three subjective surveys line are by main intersection point and the axial line being perpendicular to main transverse axis；Arranging connecting rod on No. three main observation devices, the axial line of connecting rod is through main intersection point and is perpendicular to No. three subjective surveys line；Being provided with pedestal on connecting rod, pedestal is provided with the countershaft that can rotate around Pivot Point Center line；The axial line of countershaft and No. three subjective surveys line become spatial vertical, and intersect vertically with the axial line of connecting rod, form auxiliary intersection point；Being fixed with No. three secondary observation devices on countershaft, No. three secondary observation devices are a laser instrument, and its optical axis is called No. three secondary survey line；No. three secondary survey line are by auxiliary intersection point and the axial line being perpendicular to countershaft；No. three subjective surveys line and No. three secondary survey line are in same plane；Support is provided with CCD digital camera；Between vertical pivot and horizontal rotation platform, horizontal limb is installed, main dial is installed between main transverse axis and support corresponding site, secondary scale is installed between countershaft and pedestal corresponding site；Above-mentioned horizontal rotation platform, main transverse axis and countershaft rotation is electronic.
The present invention has following good effect: trigonometry relatively, the present invention is used directly for scanning, it is not necessary to carry out loaded down with trivial details time-consuming demarcation in advance；Relative pulse method and phase method, the impact of equipment is greatly reduced by the factors such as electronic equipment of the present invention is greatly simplified, ambient temperature；The present invention can meet range accuracy requirement completely；And present invention range finding is unrelated with the light velocity, therefore before using, it is not necessary to carry out temperature, air pressure etc. and measure, it is not necessary to atmospheric correction, provide convenient for operation.
Accompanying drawing explanation
Fig. 1 is the front schematic view of embodiment 1.
Fig. 2 is the side schematic view of embodiment 1.
Fig. 3 is the angular surveying 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 angular surveying 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 angular surveying schematic diagram of embodiment 3.
Detailed description of the invention
Embodiment 1
See Fig. 1 to Fig. 3, embodiment 1 has pedestal 1, horizontal rotation platform 2, support 4 and vertical pivot 9, support 4 is fixed on horizontal rotation platform 2, vertical pivot 9 is fixing with pedestal 1 to be connected, horizontal rotation platform 2 is on pedestal 1 and rotates around the axial line 9a of vertical pivot 9, main transverse axis 5 that is that support 4 is provided with level and that can rotate around Pivot Point Center line；The axial line 5a of main transverse axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；Being fixed with a main observation device 6-1, a main observation device 6-1 on main transverse axis 5 is the telescope of an in-built CCD digital camera, and its collimation axis is called a subjective survey line 6-1a；A number subjective survey line 6-1a is by main intersection point and the axial line 5a being perpendicular to main transverse axis 5；Arranging connecting rod 13 on a main observation device 6-1, the axial line 13a of connecting rod 13 is through main intersection point and is perpendicular to a subjective survey line 6-1a；Being provided with pedestal 10 on connecting rod 13, pedestal 10 is provided with the countershaft 8 that can rotate around Pivot Point Center line；The subjective survey line 6-1a of axial line 8a and No. of countershaft 8 becomes spatial vertical, and intersects vertically with the axial line 13a of connecting rod 13, forms auxiliary intersection point；Being fixed with a secondary observation device 7-1 on countershaft 8, a secondary observation device 7-1 is a laser instrument, and its optical axis is called a secondary survey line 7-1a；A number secondary survey line 7-1a is by auxiliary intersection point and the axial line 8a being perpendicular to countershaft 8；An a number subjective survey line 6-1a and secondary survey line 7-1a is in same plane；Horizontal limb 3 is installed between vertical pivot 9 and horizontal rotation platform 2, main dial 11 is installed between main transverse axis 5 and support 4 corresponding site, secondary scale 12 is installed between countershaft 8 and pedestal 10 corresponding site；The rotation of above-mentioned horizontal rotation platform 2, main transverse axis 5 and countershaft 8 is respectively driven by motor.Motor or servomotor or ultrasound electric machine.
Horizontal limb 3 is for measuring the angle of revolution of horizontal rotation platform 2.Main dial 11 is used for the size of angle and the vertical angle α measuring between a subjective survey line 6-1a and the axial line 9a of vertical pivot 9.Secondary scale 12 is used for the size of angle and the pivot angle β measuring between a secondary survey line 7-1a and the axial line 13a of connecting rod 13.
Under the effect of horizontal rotation platform 2, an a main observation device 6-1 and secondary observation device 7-1 can turn round simultaneously.The rotation of main transverse axis 5 can drive a main observation device 6-1 to do pitching, a number main observation device 6-1 drives a secondary observation device 7-1 to do pitching by connecting rod 13, the rotation of countershaft 8 makes No. two secondary observation device 7-2 rotate, an a number subjective survey line 6-1a and secondary survey line 7-1a is in conplane, a number secondary survey line 7-1a is at above-mentioned rotation with in surface, so an a subjective survey line 6-1a and secondary survey line 7-1a can intersect at a bit.
The present embodiment also has power pack, data processing section, communication interface and display screen, keyboard etc..
At scanned certain point external, the present embodiment is placed on spider, leveling.A number subjective survey line 6-1a adjusts initial perpendicular angle, and main dial 11 provides initial perpendicular angle α.Horizontal rotation platform 2 turns to initial sweep position.Horizontal limb 3 provides initial angle.A number secondary observation device 7-1 is driven, until observing the secondary observation device 7-1 illuminated laser spot being irradiated on scanned object on a subjective survey line 6-1a at in-built CCD digital camera, secondary scale 12 provides pivot angle β value, completes first measurement.Then, horizontal rotation platform 2 rotates certain angle automatically, repeats said process, completes second point and measures.By that analogy, until completing this layer of scanning.Afterwards, a main observation device 6-1 adjusts vertical angle automatically, repeats said process, carries out the scanning of next layer, until completing the scanning of whole layer.
Value according to pivot angle β value, and the value of the distance h between known main intersection point and auxiliary intersection point, obtain each scanning element and main intersection point distance S value finally by data processing section.
Embodiment 2
See Fig. 4 to Fig. 6, embodiment 2 has pedestal 1, horizontal rotation platform 2, support 4 and vertical pivot 9, support 4 is fixed on horizontal rotation platform 2, vertical pivot 9 is fixing with pedestal 1 to be connected, horizontal rotation platform 2 is on pedestal 1 and rotates around the axial line 9a of vertical pivot 9, main transverse axis 5 that is that support 4 is provided with level and that can rotate around Pivot Point Center line；The axial line 5a of main transverse axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；Being fixed with No. two main observation device 6-2 on main transverse axis 5, No. two main observation device 6-2 are a laser instrument, and its optical axis is called No. two subjective survey line 6-2a；No. two subjective survey line 6-2a are by main intersection point and the axial line 5a being perpendicular to main transverse axis 5；Arranging connecting rod 13 on No. two main observation device 6-2, the axial line 13a of connecting rod 13 is through main intersection point and is perpendicular to No. two subjective survey line 6-2a；Being provided with pedestal 10 on connecting rod 13, pedestal 10 is provided with the countershaft 8 that can rotate around Pivot Point Center line；The subjective survey line 6-2a of axial line 8a and No. two of countershaft 8 becomes spatial vertical, and intersects vertically with the axial line 13a of connecting rod 13, forms auxiliary intersection point；Being fixed with No. two secondary observation device 7-2, No. two secondary observation device 7-2 on countershaft 8 is the telescope of an in-built CCD digital camera, and its collimation axis is called No. two secondary survey line 7-2a；No. two secondary survey line 7-2a are by auxiliary intersection point and the axial line 8a being perpendicular to countershaft 8；No. two subjective survey line 6-2a and No. two secondary survey line 7-2a are in same plane；Horizontal limb 3 is installed between vertical pivot 9 and horizontal rotation platform 2, main dial 11 is installed between main transverse axis 5 and support 4 corresponding site, secondary scale 12 is installed between countershaft 8 and pedestal 10 corresponding site；The rotation of above-mentioned horizontal rotation platform 2, main transverse axis 5 and countershaft 8 is respectively driven by motor.Motor or servomotor or ultrasound electric machine.
Horizontal limb 3 is for measuring the angle of revolution of horizontal rotation platform 2.Main dial 11 is for measuring angle and the size of the vertical angle α between No. two subjective survey line 6-2a and the axial line 9a of vertical pivot 9.Secondary scale 12 is used for the size of angle and the pivot angle β measuring between No. two secondary survey line 7-2a and the axial line 13a of connecting rod 13.
Under the effect of horizontal rotation platform 2, No. two main observation device 6-2 and No. two secondary observation device 7-2 can turn round simultaneously.The rotation of main transverse axis 5 can drive No. two main observation device 6-2 to do pitching, No. two main observation device 6-2 drive No. two secondary observation device 7-2 to do pitching by connecting rod 13, the rotation of countershaft 8 makes No. two secondary observation device 7-2 rotate, No. two subjective survey line 6-2a and No. two secondary survey line 7-2a are in conplane, No. two secondary survey line 7-2a are at above-mentioned rotation with in surface, so No. two subjective survey line 6-2a and No. two secondary survey line 7-2a can intersect at a bit.
The present embodiment also has power pack, data processing section, communication interface and display screen, keyboard etc..
At scanned certain point external, the present embodiment is placed on spider, leveling.No. two subjective survey line 6-2a adjust initial perpendicular angle, and main dial 11 provides initial perpendicular angle α.Horizontal rotation platform 2 turns to initial sweep position.Horizontal limb 3 provides initial angle.No. two secondary observation device 7-2 are driven, until in-built CCD digital camera observes No. two main observation device 6-2 illuminated laser spot being irradiated on scanned object on No. two secondary survey line 7-2a, secondary scale 12 provides pivot angle β value, completes first measurement.Then, horizontal rotation platform 2 rotates certain angle automatically, repeats said process, completes second point and measures.By that analogy, until completing this layer of scanning.Afterwards, No. two main observation device 6-2 adjust vertical angle automatically, repeat said process, carry out the scanning of next layer, until completing the scanning of whole layer.
Value according to pivot angle β value, and the value of the distance h between known main intersection point and auxiliary intersection point, obtain each scanning element and main intersection point distance S value finally by data processing section.
Embodiment 3
See Fig. 7 to Fig. 9, embodiment 3 has pedestal 1, horizontal rotation platform 2, support 4 and vertical pivot 9, support 4 is fixed on horizontal rotation platform 2, vertical pivot 9 is fixing with pedestal 1 to be connected, horizontal rotation platform 2 is on pedestal 1 and rotates around the axial line 9a of vertical pivot 9, main transverse axis 5 that is that support 4 is provided with level and that can rotate around Pivot Point Center line；The axial line 5a of main transverse axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；Being fixed with No. three main observation device 6-3 on main transverse axis 5, No. three main observation device 6-3 are a laser instrument, and its optical axis is called No. three subjective survey line 6-3a；No. three subjective survey line 6-3a are by main intersection point and the axial line 5a being perpendicular to main transverse axis 5；Arranging connecting rod 13 on No. three main observation device 6-3, the axial line 13a of connecting rod 13 is through main intersection point and is perpendicular to No. three subjective survey line 6-3a；Being provided with pedestal 10 on connecting rod 13, pedestal 10 is provided with the countershaft 8 that can rotate around Pivot Point Center line；The subjective survey line 6-3a of axial line 8a and No. three of countershaft 8 becomes spatial vertical, and intersects vertically with the axial line 13a of connecting rod 13, forms auxiliary intersection point；Being fixed with No. three secondary observation device 7-3 on countershaft 8, No. three secondary observation device 7-3 are a laser instrument, and its optical axis is called No. three secondary survey line 7-3a；No. three secondary survey line 7-3a are by auxiliary intersection point and the axial line 8a being perpendicular to countershaft 8；No. three subjective survey line 6-3a and No. three secondary survey line 7-3a are in same plane；Support 4 is provided with CCD digital camera 14；Horizontal limb 3 is installed between vertical pivot 9 and horizontal rotation platform 2, main dial 11 is installed between main transverse axis 5 and support 4 corresponding site, secondary scale 12 is installed between countershaft 8 and pedestal 10 corresponding site；The rotation of above-mentioned horizontal rotation platform 2, main transverse axis 5 and countershaft 8 is respectively driven by motor.Motor or servomotor or ultrasound electric machine.
Horizontal limb 3 is for measuring the angle of revolution of horizontal rotation platform 2.Main dial 11 is used for the size of angle and the vertical angle α measuring between No. three subjective survey line 6-3a and the axial line 9a of vertical pivot 9.Secondary scale 12 is used for the size of angle and the pivot angle β measuring between No. three secondary survey line 7-3a and the axial line 13a of connecting rod 13.
Under the effect of horizontal rotation platform 2, No. three main observation device 6-3 and No. three secondary observation device 7-3 can turn round simultaneously.The rotation of main transverse axis 5 can drive No. three main observation device 6-3 to do pitching, No. three main observation device 6-3 drive No. three secondary observation device 7-3 to do pitching by connecting rod 13, the rotation of countershaft 8 makes No. three secondary observation device 7-3 rotate, No. three subjective survey line 6-3a and No. three secondary survey line 7-3a are in conplane, No. three secondary survey line 7-3a are at above-mentioned rotation with in surface, so No. three subjective survey line 6-3a and No. three secondary survey line 7-3a can intersect at a bit.
The present embodiment also has power pack, data processing section, communication interface and display screen, keyboard etc..
At scanned certain point external, the present embodiment is placed on spider, leveling.No. three subjective survey line 6-3a adjust initial perpendicular angle.Horizontal rotation platform 2 turns to initial sweep position.Horizontal limb 3 provides initial angle.No. three secondary observation device 7-3 are driven, until CCD digital camera 14 only observes a laser spots, illustrate that No. three subjective survey line 6-3a and No. three secondary survey line 7-3a intersections are to a bit, and secondary scale 12 provides pivot angle β value, completes first measurement.Then, horizontal rotation platform 2 rotates certain angle automatically, repeats said process, completes second point and measures.By that analogy, until completing this layer of scanning.Afterwards, No. three secondary observation device 6-3 adjust vertical angle automatically, repeat said process, carry out the scanning of next layer, until completing the scanning of whole layer.
Value according to pivot angle β value, and the value of the distance h between known main intersection point and auxiliary intersection point, obtain each scanning element and main intersection point distance S value finally by data processing section.
Above-described embodiment is mentioned in-built CCD digital camera telescope, it is seen that He Baoxi edits, and the Yellow River water conservancy publishing house publishes its " total station survey technology " chapter 2 in August, 2005.Separately see that Mei Wensheng, Yang Hongzhu, publishing house of Wuhan University publish its " robot measurement exploitation and application " the 2nd chapter in November, 2011.
Claims (3)
1. a 3 D laser scanning equipment, it is characterized in that: there is pedestal (1), horizontal rotation platform (2), support (4) and vertical pivot (9), support (4) is fixed on horizontal rotation platform (2), vertical pivot (9) is fixing with pedestal (1) to be connected, horizontal rotation platform (2) is in upper and around vertical pivot (9) the axial line (9a) of pedestal (1) and rotates, main transverse axis (5) that is that support (4) is provided with level and that can rotate around Pivot Point Center line；The axial line (5a) of main transverse axis (5) intersects with the axial line (9a) of vertical pivot (9), forms main intersection point；Being fixed with a main observation device (6-1) on main transverse axis (5), a main observation device is the telescope of an in-built CCD digital camera, and its collimation axis is called a subjective survey line (6-1a)；A number subjective survey line (6-1a) is by main intersection point and the axial line (5a) being perpendicular to main transverse axis (5)；Arranging connecting rod (13) on a main observation device (6-1), the axial line (13a) of connecting rod (13) is through main intersection point and is perpendicular to a subjective survey line (6-1a)；Being provided with pedestal (10) on connecting rod (13), pedestal (10) is provided with the countershaft (8) that can rotate around Pivot Point Center line；The axial line (8a) of countershaft (8) becomes spatial vertical with a subjective survey line (6-1a), and intersects vertically with the axial line (13a) of connecting rod (13), forms auxiliary intersection point；Being fixed with a secondary observation device (7-1) on countershaft (8), a secondary observation device is a laser instrument, and its optical axis is called a secondary survey line (7-1a)；A number secondary survey line (7-1a) is by auxiliary intersection point and the axial line (8a) being perpendicular to countershaft (8)；A number subjective survey line (6-1a) and a secondary survey line (7-1a) are in same plane；Horizontal limb (3) is installed between vertical pivot (9) and horizontal rotation platform (2), main dial (11) is installed between main transverse axis (5) and support (4) corresponding site, secondary scale (12) is installed between countershaft (8) and pedestal (10) corresponding site；The rotation of above-mentioned horizontal rotation platform (2), main transverse axis (5) and countershaft (8) is electronic.
2. a 3 D laser scanning equipment, it is characterized in that: there is pedestal (1), horizontal rotation platform (2), support (4) and vertical pivot (9), support (4) is fixed on horizontal rotation platform (2), vertical pivot (9) is fixing with pedestal (1) to be connected, horizontal rotation platform (2) is in upper and around vertical pivot (9) the axial line (9a) of pedestal (1) and rotates, main transverse axis (5) that is that support (4) is provided with level and that can rotate around Pivot Point Center line；The axial line (5a) of main transverse axis (5) intersects with the axial line (9a) of vertical pivot (9), forms main intersection point；Being fixed with No. two main observation devices (6-2) on main transverse axis (5), No. two main observation devices are a laser instrument, and its optical axis is called No. two subjective surveys line (6-2a)；No. two subjective surveys line (6-2a) are by main intersection point and the axial line (5a) being perpendicular to main transverse axis (5)；Arranging connecting rod (13) on No. two main observation devices (6-2), the axial line (13a) of connecting rod (13) is through main intersection point and is perpendicular to No. two subjective surveys line (6-2a)；Being provided with pedestal (10) on connecting rod (13), pedestal (10) is provided with the countershaft (8) that can rotate around Pivot Point Center line；The axial line (8a) of countershaft (8) becomes spatial vertical with No. two subjective surveys line (6-2a), and intersects vertically with the axial line (13a) of connecting rod (13), forms auxiliary intersection point；Being fixed with No. two secondary observation devices (7-2) on countershaft (8), No. two secondary observation devices are the telescope of an in-built CCD digital camera, and its collimation axis is called No. two secondary survey line (7-2a)；No. two secondary survey line (7-2a) are by auxiliary intersection point and the axial line (8a) being perpendicular to countershaft (8)；No. two subjective surveys line (6-2a) and No. two secondary survey line (7-2a) are in same plane；Horizontal limb (3) is installed between vertical pivot (9) and horizontal rotation platform (2), main dial (11) is installed between main transverse axis (5) and support (4) corresponding site, secondary scale (12) is installed between countershaft (8) and pedestal (10) corresponding site；The rotation of above-mentioned horizontal rotation platform (2), main transverse axis (5) and countershaft (8) is electronic.
3. a 3 D laser scanning equipment, it is characterized in that: there is pedestal (1), horizontal rotation platform (2), support (4) and vertical pivot (9), support (4) is fixed on horizontal rotation platform (2), vertical pivot (9) is fixing with pedestal (1) to be connected, horizontal rotation platform (2) is in upper and around vertical pivot (9) the axial line (9a) of pedestal (1) and rotates, main transverse axis (5) that is that support (4) is provided with level and that can rotate around Pivot Point Center line；The axial line (5a) of main transverse axis (5) intersects with the axial line (9a) of vertical pivot (9), forms main intersection point；Being fixed with No. three main observation devices (6-3) on main transverse axis (5), No. three main observation devices are a laser instrument, and its optical axis is called No. three subjective surveys line (6-3a)；No. three subjective surveys line (6-3a) are by main intersection point and the axial line (5a) being perpendicular to main transverse axis (5)；Arranging connecting rod (13) on No. three main observation devices (6-3), the axial line (13a) of connecting rod (13) is through main intersection point and is perpendicular to No. three subjective surveys line (6-3a)；Being provided with pedestal (10) on connecting rod (13), pedestal (10) is provided with the countershaft (8) that can rotate around Pivot Point Center line；The axial line (8a) of countershaft (8) becomes spatial vertical with No. three subjective surveys line (6-3a), and intersects vertically with the axial line (13a) of connecting rod (13), forms auxiliary intersection point；Being fixed with No. three secondary observation devices (7-3) on countershaft (8), No. three secondary observation devices are a laser instrument, and its optical axis is called No. three secondary survey line (7-3a)；No. three secondary survey line (7-3a) are by auxiliary intersection point and the axial line (8a) being perpendicular to countershaft (8)；No. three subjective surveys line (6-3a) and No. three secondary survey line (7-3a) are in same plane；Support (4) is provided with CCD digital camera (14)；Horizontal limb (3) is installed between vertical pivot (9) and horizontal rotation platform (2), main dial (11) is installed between main transverse axis (5) and support (4) corresponding site, secondary scale (12) is installed between countershaft (8) and pedestal (10) corresponding site；Above-mentioned horizontal rotation platform (2), the rotation of main transverse axis (5) and the rotation of countershaft (8) are electronic.
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| CN201059970Y (en) * | 2007-06-26 | 2008-05-14 | 武汉大学 | Laser triangular distance measuring apparatus |
| WO2008153127A1 (en) * | 2007-06-15 | 2008-12-18 | Kabushiki Kaisha Toshiba | Instrument for examining/measuring object to be measured |
| CN202057325U (en) * | 2011-04-28 | 2011-11-30 | 长春工业大学 | Distance meter with two test lenses |
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| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN204142253U (en) * | 2014-07-11 | 2015-02-04 | 刘雁春 | Duplex measurement instrument |
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2015
- 2015-08-24 CN CN201510527753.2A patent/CN105758332B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5619684Y2 (en) * | 1976-05-08 | 1981-05-11 | ||
| WO2008153127A1 (en) * | 2007-06-15 | 2008-12-18 | Kabushiki Kaisha Toshiba | Instrument for examining/measuring object to be measured |
| CN201059970Y (en) * | 2007-06-26 | 2008-05-14 | 武汉大学 | Laser triangular distance measuring apparatus |
| CN202057325U (en) * | 2011-04-28 | 2011-11-30 | 长春工业大学 | Distance meter with two test lenses |
| CN104075688A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Distance measurement method of binocular stereoscopic gazing monitoring system |
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN204142253U (en) * | 2014-07-11 | 2015-02-04 | 刘雁春 | Duplex measurement instrument |
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Address after: No. 1801 Zhong Wu Avenue, Changzhou, Jiangsu Province, Jiangsu Patentee after: JIANGSU University OF TECHNOLOGY Address before: 213001 1801 Zhong Wu Avenue, Zhong Lou District, Changzhou, Jiangsu Patentee before: Jiangsu University of Technology |
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Effective date of registration: 20181229 Address after: 213164 First Floor, Building C, Tianhong Science and Technology Building, Changzhou Science and Education City, 801 Changwuzhong Road, Wujin District, Changzhou City, Jiangsu Province Patentee after: Jiangsu Branch Co., Ltd. of Mechanical Science Research Institute Address before: No. 1801 Zhong Wu Avenue, Changzhou, Jiangsu Province, Jiangsu Patentee before: Jiangsu University of Technology |
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Address after: 213164 First Floor, Building C, Tianhong Science and Technology Building, Changzhou Science and Education City, 801 Changwuzhong Road, Wujin District, Changzhou City, Jiangsu Province Patentee after: China National Machinery Institute Group Jiangsu Branch Co.,Ltd. Address before: 213164 First Floor, Building C, Tianhong Science and Technology Building, Changzhou Science and Education City, 801 Changwuzhong Road, Wujin District, Changzhou City, Jiangsu Province Patentee before: Jiangsu Branch Co., Ltd. of Mechanical Science Research Institute |