CN105783767B - Simple three-dimensional laser scanning equipment - Google Patents
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Abstract
A simple three-dimensional laser scanning device comprises a base, a horizontal rotary platform, a support and a vertical shaft, wherein the support is provided with a main transverse shaft and an auxiliary transverse shaft which are parallel to each other and can rotate respectively, the axis of the main transverse shaft is intersected with the axis of the vertical shaft, the axis of the auxiliary transverse shaft is intersected with the axis of the vertical shaft, a first main measuring device is fixed on the main transverse shaft, a first auxiliary observing device is fixed on the auxiliary transverse shaft, and a first auxiliary observing line and a first main measuring line are positioned on the same plane; the rotation of the horizontal rotary platform, the main transverse shaft and the auxiliary transverse shaft is electric. The invention can be directly used for scanning, does not need to carry out complicated and time-consuming calibration in advance, greatly 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 for rebuilding target panoramic view data and model from complicated entity or outdoor scene.Laser
Scanner is used successfully to multiple fields, such as commercial measurement, topographic survey, historical relic's protection, City Modeling, parallel detection, reverse work
Journey and virtual reality etc..
Ranging information plays an important roll in laser scanning.According to range measurement principle, can be divided into trigonometry, impulse method,
Phase method.Trigonometry is that beam of laser is irradiated on object, part diffusing reflection laser by prism on photoelectric detection equipment at
Picture.Trigonometry above has many positional parameter requirements in application, very cumbersome and time-consuming in measuring apparatus calibration, if when actual measurement
A certain parameter can not be obtained accurately in system, and measurement data will be made to generate error.When measuring apparatus has small variations, system
In each parameter must all re-scale.See that the intelligence Sun Changku that admires writes perhaps,《3D reverse-engineerings》（China Measuring Press 2002
April the 1st edition in year）p16.
He Baoxi is edited, and the Yellow River water conservancy publishing house in August, 2005 publishes it《Total station survey technology》Chapter 2, the second section,
The range measurement principle of current total powerstation, mainly impulse method, ranging phase method are described, the Department of Electronics of corresponding complexity is required for
System.Impulse method ranging directly measures the time that the pulse that rangefinder is sent out is tested distance back and forth.It is military according to Ye Xiaoming, Ling Mozhu
Chinese university press publishes it in March, 2004《The total powerstation errors of principles》P8, even if the clock frequency for timing have it is atomic small
Error, also result in prodigious measurement error.For example clock frequency is 100MHz, even if having the frequency error of ± 1Hz, ranging
Error is also up to ± 1.5m.So impulse method measurement accuracy is low, it is mainly used for long-range low precision measure.Ranging phase method,
Principle be by measuring the phase change that continuous modulated signal generates back and forth on testing distance come the indirect determination propagation time,
To acquire propagation distance.Ranging phase method is related to complicated control and operation, such as measurement ruler conversion and control, light path converting
Control, dim light automatically control, and survey phase rhythm（Timing control）, the conversion of phase distance, coarse-fine ruler is apart from Linking operation etc.（See leaf
Know bright, Ling Mozhu, publishing house of Wuhan University publishes it in March, 2004《The total powerstation errors of principles》p15）.The electronic system of measurement
More than impulse method complexity.Thus it can lead to many problems.Ye Xiaoming, Ling Mozhu, publishing house of Wuhan University publish it in March, 2004
《The total powerstation errors of principles》The 3rd chapters of p42 are analyzed, for example the same frequency photoelectricity in circuit is harassed the period caused by signal and missed
Difference, inner quartz crystal oscillator are affected by temperature caused error.Li Guangyun, Li Zongchun are edited, Mapping Press 2011 1
Moon publication《Industrial measuring system principle and application》P134, caused by also referring to that practical range frequency and design frequency are inconsistent
Range error problem.
There are one problem is most important to range accuracy, no matter pulse ranging or phase ranging, range accuracy all takes
Certainly in the accurate measurement to the light velocity in air.And in practical measurement process, the light velocity is by feelings such as atmospheric temperature, humidity, air pressures
Condition influences, and needs to measure these meteorologic parameters in advance, and carry out relevant atmospheric correction.It is edited according to Li Zeqiu, Wuhan science and engineering
University press publishes it in July, 2012《Total station survey technology》P22, the atmospheric correction of total powerstation also with used in the total powerstation
The wavelength of ranging light wave is related.
Invention content
It is an object of the invention to propose a kind of simple type 3 D laser scanning equipment that measurement is accurate, easy to operate.
In order to achieve the above objectives, the present invention takes one of technical solution as follows：The present invention has pedestal, horizontal rotation flat
Platform, holder and vertical pivot, holder are fixed on horizontal rotation platform, and vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in base
Axial line on seat and around vertical pivot rotates, and holder is equipped with the level being mutually parallel and each energy and is carried out around Pivot Point Center line
The main horizontal axis of rotation and secondary horizontal axis；The axial line of main horizontal axis intersects with the axial line of vertical pivot, forms main intersection point；The axle center of secondary horizontal axis
Line intersects with the axial line of vertical pivot, forms auxiliary intersection point；The main observation device of No.1, the main observation device of No.1 are fixed on main horizontal axis
For the telescope of an in-built CCD digital camera, collimation axis is known as No.1 subjectivity survey line；No.1 subjectivity survey line by main intersection point and
Perpendicular to the axial line of main horizontal axis；No.1 pair observation device is fixed on secondary horizontal axis, No.1 pair observation device is a laser,
Its optical axis is known as the No.1 pair line of observation；The No.1 pair line of observation is by auxiliary intersection point and perpendicular to the axial line of secondary horizontal axis；No.1 is subjective
Survey line and the No.1 pair line of observation are in same vertical guide；Horizontal limb, main horizontal axis are installed between vertical pivot and horizontal rotation platform
Main dial is installed between holder corresponding site, secondary scale is installed between secondary horizontal axis and holder corresponding site；Above-mentioned horizontal rotation
The rotation of platform, main horizontal axis and secondary horizontal axis is electronic；In use, No.1 subjectivity survey line is adjusted to initial main vertical angle, it is horizontal
Revolving platform turns to initial sweep position, and No.1 pair observation device is driven, until in in-built CCD digital camera in No.1 master
It observes that No.1 pair observation device is irradiated to the illuminated laser spot on scanned object on the line of observation, completes first point of measurement, and
Afterwards, horizontal rotation platform rotates some angle automatically, repeats the above process, and completes second point and measures, until completing layer scanning；
It repeats the above process, carries out next layer of scanning, until completing whole layer scannings.
In order to achieve the above objectives, the present invention takes the two as follows of technical solution：The present invention has pedestal, horizontal rotation flat
Platform, holder and vertical pivot, holder are fixed on horizontal rotation platform, and vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in base
Axial line on seat and around vertical pivot rotates, and holder is equipped with the level being mutually parallel and each energy and is carried out around Pivot Point Center line
The main horizontal axis of rotation and secondary horizontal axis；The axial line of main horizontal axis intersects with the axial line of vertical pivot, forms main intersection point；The axle center of secondary horizontal axis
Line intersects with the axial line of vertical pivot, forms auxiliary intersection point；No. two main observation devices, No. two main observation devices are fixed on main horizontal axis
For a laser, optical axis is known as No. two subjective surveys line；No. two subjective surveys line are by main intersection point and perpendicular to the axle center of main horizontal axis
Line；No. two secondary observation devices are fixed on secondary horizontal axis, No. two secondary observation devices are the telescope of an in-built CCD digital camera,
Its collimation axis is known as No. two secondary lines of observation；No. two secondary lines of observation are by auxiliary intersection point and perpendicular to the axial line of secondary horizontal axis；No. two masters
The line of observation and No. two secondary lines of observation are in same vertical guide；Horizontal limb, main cross are installed between vertical pivot and horizontal rotation platform
Main dial is installed between axis and holder corresponding site, secondary scale is installed between secondary horizontal axis and holder corresponding site；Above-mentioned horizontal time
The rotation for turning platform, main horizontal axis and secondary horizontal axis is electronic；In use, No. two subjective surveys line are adjusted to initial main vertical angle, it is main
Scale provides initial main vertical angle α；Horizontal rotation platform turns to initial sweep position, and horizontal limb provides initial angle；Two
Number secondary observation device is driven, until observing No. two secondary observation devices on No. two subjective surveys line in in-built CCD digital camera
The illuminated laser spot being irradiated on scanned object completes first point of measurement；Then, horizontal rotation platform rotates some angle automatically
Degree, repeats the above process, and completes second point and measures, until completing layer scanning；It repeats the above process, next layer of progress is swept
It retouches, until completing whole layer scannings.
In order to achieve the above objectives, the present invention takes the three as follows of technical solution：The present invention has pedestal, horizontal rotation flat
Platform, holder and vertical pivot, holder are fixed on horizontal rotation platform, and vertical pivot is fixedly connected with pedestal, and horizontal rotation platform is in base
Axial line on seat and around vertical pivot rotates, and holder is equipped with the level being mutually parallel and each energy and is carried out around Pivot Point Center line
The main horizontal axis of rotation and secondary horizontal axis；The axial line of main horizontal axis intersects with the axial line of vertical pivot, forms main intersection point；The axle center of secondary horizontal axis
Line intersects with the axial line of vertical pivot, forms auxiliary intersection point；No. three main observation devices, No. three main observation devices are fixed on main horizontal axis
For a laser, optical axis is known as No. three subjective surveys line；No. three subjective surveys line are by main intersection point and perpendicular to the axle center of main horizontal axis
Line；No. three secondary observation devices are fixed on secondary horizontal axis, No. three secondary observation devices are a laser, and optical axis is known as No. three secondary sights
Survey line；No. three secondary lines of observation are by auxiliary intersection point and perpendicular to the axial line of secondary horizontal axis；No. three subjective surveys line and No. three secondary lines of observation
In same vertical guide；It is equipped with CCD digital cameras on holder, horizontal limb is installed between vertical pivot and horizontal rotation platform,
Main dial is installed between main horizontal axis and holder corresponding site, secondary scale is installed between secondary horizontal axis and holder corresponding site；Above-mentioned water
The rotation of flat revolving platform, main horizontal axis and secondary horizontal axis is electronic；In use, No. three subjective surveys line are adjusted to initially main vertical
Angle, horizontal rotation platform turn to initial sweep position, and No. three secondary observation devices are driven, until only being seen in CCD digital cameras
An illuminated laser spot is measured, first point of measurement is completed, then, horizontal rotation platform rotates some angle automatically, repeats above-mentioned
Process is completed second point and is measured, until completing layer scanning；No. three main main vertical angles of observation device adjust automatically repeat above-mentioned
Process carries out next layer of scanning, until completing whole layer scannings.
The present invention has following good effect：Opposite trigonometry, the present invention are used directly for scanning, without carrying out in advance
Cumbersome time-consuming calibration；Relative pulse method and phase method, electronic equipment of the present invention greatly simplify, and the factors such as ambient temperature are to equipment
Influence greatly reduce；The present invention can meet range accuracy requirement completely；And ranging of the present invention is unrelated with the light velocity, therefore use
Before, without into measurements such as trip temperature, air pressures, being not necessarily to atmospheric correction, provided conveniently for operation.
Description of the drawings
Fig. 1 is the front schematic view of embodiment 1.
Fig. 2 is the side schematic view of embodiment 1.
Fig. 3 is the angle measurement schematic diagram of embodiment 1.
Fig. 4 is the front schematic view of embodiment 2.
Fig. 5 is the side schematic view of embodiment 2.
Fig. 6 is the angle measurement schematic diagram of embodiment 2.
Fig. 7 is the front schematic view of embodiment 3.
Fig. 8 is the side schematic view of embodiment 3.
Fig. 9 is the angle measurement schematic diagram of embodiment 3.
Specific implementation mode
Embodiment 1
See that there is pedestal 1, horizontal rotation platform 2, holder 4 and vertical pivot 9, holder 4 to be fixed on water by Fig. 1 to Fig. 3, embodiment 1
On flat revolving platform 2, vertical pivot 9 is fixedly connected with pedestal 1, and horizontal rotation platform 2 is in the axle center on pedestal 1 and around vertical pivot 9
Line 9a rotations, holder 4 are equipped with the main horizontal axis 5 and pair that the level being mutually parallel and each energy is rotated around Pivot Point Center line
Horizontal axis 8；The axial line 5a of main horizontal axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；The axial line 8a of secondary horizontal axis 8 with it is perpendicular
The axial line 9a intersections of axis 9, form auxiliary intersection point；The main observation device 6-1 of No.1 is fixed on main horizontal axis 5, No.1 subjectivity surveys dress
The telescope that 6-1 is an in-built CCD digital camera is set, collimation axis is known as No.1 subjectivity survey line 6-1a；No.1 subjectivity survey line 6-
1a is by main intersection point and perpendicular to the axial line 5a of main horizontal axis 5；No.1 pair observation device 7-1, No.1 are fixed on secondary horizontal axis 8
Secondary observation device 7-1 is a laser, and optical axis is known as No.1 pair line of observation 7-1a；No.1 pair line of observation 7-1a passes through auxiliary intersection point
And perpendicular to the axial line 8a of secondary horizontal axis 8；No.1 subjectivity survey line 6-1a and No.1 pair line of observation 7-1a are in same vertical guide；It is perpendicular
Horizontal limb 3 is installed between axis 9 and horizontal rotation platform 2, main dial 11 is installed between 4 corresponding site of main horizontal axis 5 and holder,
Secondary scale 12 is installed between 4 corresponding site of secondary horizontal axis 8 and holder；The rotation of above-mentioned horizontal rotation platform 2, main horizontal axis 5 and secondary horizontal axis 8
Turn to be driven by each motor respectively, motor servo motor or ultrasound electric machine.
Horizontal limb 3 is used to measure the angle of revolution of horizontal rotation platform 2.Main dial 11 is for measuring subjective survey line 6-
The size of angle, that is, main vertical angle α between 1a and vertical axis 9a.Secondary scale 12 for measure secondary line of observation 7-1a with it is vertical
Angle folded axis 9a is the size of secondary vertical angle β.
The rotation of main horizontal axis 5 drives the main observation device 6-1 of No.1 to make pitching, and the rotation of secondary horizontal axis 8 drives No.1 pair observation device
7-1 makees pitching.The main observation device 6-1 of No.1 and No.1 pair observation device 7-1 can with the revolution of horizontal rotation platform 2 synchronous water
Flat revolution.When No.1 main observation device 6-1 and No.1 pair observation device 7-1 are in pitching, subjective survey line 6-1a and the secondary line of observation
7-1a can intersect at target point.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In certain scanned external point, the present embodiment is placed on tripod, is flattened.No.1 subjectivity survey line 6-1a is adjusted to
Initial main vertical angle, main dial 11 provide initial main vertical angle α.Horizontal rotation platform 2 turns to initial sweep position.Levelness
Disk 3 provides initial angle.No.1 pair observation device 7-1 is driven, until in in-built CCD digital camera in No.1 subjectivity survey line 6-
Observe that No.1 pair observation device 7-1 is irradiated to the illuminated laser spot on scanned object on 1a, secondary scale 12 provides secondary vertical
Angle beta value completes first point of measurement.Then, horizontal rotation platform 2 rotates some angle automatically, repeats the above process, and completes second
Point measures.And so on, until completing layer scanning.Later, the main main vertical angle of observation device 6-1 adjust automaticallies of No.1 repeats
The above process carries out next layer of scanning, until completing whole layer scannings.
It is to determine due to the distance between main intersection point and auxiliary intersection point h, the secondary vertical angle β provided according to secondary vertical circle 12
Value, finally by data processing section obtain the distance between each scanning element and main intersection point S values.
Embodiment 2
See that there is pedestal 1, horizontal rotation platform 2, holder 4 and vertical pivot 9, holder 4 to be fixed on water for fig. 4 to fig. 6, embodiment 2
On flat revolving platform 2, vertical pivot 9 is fixedly connected with pedestal 1, and horizontal rotation platform 2 is in the axle center on pedestal 1 and around vertical pivot 9
Line 9a rotations, holder 4 are equipped with the main horizontal axis 5 and pair that the level being mutually parallel and each energy is rotated around Pivot Point Center line
Horizontal axis 8；The axial line 5a of main horizontal axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；The axial line 8a of secondary horizontal axis 8 with it is perpendicular
The axial line 9a intersections of axis 9, form auxiliary intersection point；No. two main observation device 6-2 are fixed on main horizontal axis 5, No. two subjective survey fill
It is a laser to set 6-2, and optical axis is known as No. two subjective survey line 6-2a；No. two subjectivity survey line 6-2a by main intersection point and perpendicular to
The axial line 5a of main horizontal axis 5；No. two secondary observation device 7-2 are fixed on secondary horizontal axis 8, No. two secondary observation device 7-2 are in one
The telescope of CCD digital cameras is set, collimation axis is known as No. two secondary line of observation 7-2a；No. two pair line of observation 7-2a pass through auxiliary intersection point
And perpendicular to the axial line 8a of secondary horizontal axis 8；No. two subjectivity survey line 6-2a and No. two pair line of observation 7-2a are in same vertical guide；It is perpendicular
Horizontal limb 3 is installed between axis 9 and horizontal rotation platform 2, main dial 11 is installed between 4 corresponding site of main horizontal axis 5 and holder,
Secondary scale 12 is installed between 4 corresponding site of secondary horizontal axis 8 and holder；The rotation of above-mentioned horizontal rotation platform 2, main horizontal axis 5 and secondary horizontal axis 8
Turn to be driven by each motor respectively, motor servo motor or ultrasound electric machine.
Horizontal limb 3 provides the horizontal rotation angle of horizontal rotation platform 2.Main dial 11 for measure subjective survey line 6-2a with
The size of angle, that is, main vertical angle α between vertical axis 9a.Secondary scale 12 is for measuring secondary line of observation 7-2a and vertical axis
Angle folded 9a is the size of secondary vertical angle β.
The rotation of main horizontal axis 5 drives No. two main observation device 6-2 to make pitching, and the rotation of secondary horizontal axis 8 drives No. two secondary observation devices
7-2 makees pitching.No. two main observation device 6-2 and No. two pair observation device 7-2 can synchronize water with the revolution of horizontal rotation platform 2
Flat revolution.When No. two main observation device 6-2 and No. two pair observation device 7-2 are in pitching, subjective survey line 6-2a and the secondary line of observation
7-2a can intersect at target point.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In certain scanned external point, the present embodiment is placed on tripod, is flattened.No. two subjectivity survey line 6-2a are adjusted to
Initial main vertical angle, main dial 11 provide initial main vertical angle α.Horizontal rotation platform 2 turns to initial sweep position.Levelness
Disk 3 provides initial angle.No. two pair observation device 7-2 are driven, until in in-built CCD digital camera in No. two secondary line of observation 7-
Observe that No. two main observation device 6-2 are irradiated to the illuminated laser spot on scanned object on 2a, secondary scale 12 provides secondary vertical
Angle beta value completes first point of measurement.Then, horizontal rotation platform 2 rotates some angle automatically, repeats the above process, and completes second
Point measures.And so on, until completing layer scanning.Later, No. two main main vertical angles of observation device 6-2 adjust automaticallies repeat
The above process carries out next layer of scanning, until completing whole layer scannings.
It is to determine due to the distance between main intersection point and auxiliary intersection point h, the secondary vertical angle β provided according to secondary vertical circle 12
Value, finally by data processing section obtain the distance between each scanning element and main intersection point S values.
Embodiment 3
See that there is pedestal 1, horizontal rotation platform 2, holder 4 and vertical pivot 9, holder 4 to be fixed on water by Fig. 7 to Fig. 9, embodiment 3
On flat revolving platform 2, vertical pivot 9 is fixedly connected with pedestal 1, and horizontal rotation platform 2 is in the axle center on pedestal 1 and around vertical pivot 9
Line 9a rotations, holder 4 are equipped with the main horizontal axis 5 and pair that the level being mutually parallel and each energy is rotated around Pivot Point Center line
Horizontal axis 8；The axial line 5a of main horizontal axis 5 intersects with the axial line 9a of vertical pivot 9, forms main intersection point；The axial line 8a of secondary horizontal axis 8 with it is perpendicular
The axial line 9a intersections of axis 9, form auxiliary intersection point；No. three main observation device 6-3 are fixed on main horizontal axis 5, No. three subjective survey fill
It is a laser to set 6-3, and optical axis is known as No. three subjective survey line 6-3a；No. three subjectivity survey line 6-3a by main intersection point and perpendicular to
The axial line 5a of main horizontal axis 5；No. three secondary observation device 7-3 are fixed on secondary horizontal axis 8, No. three secondary observation device 7-3 are one sharp
Light device, optical axis are known as No. three secondary line of observation 7-3a；No. three pair line of observation 7-3a are by auxiliary intersection point and perpendicular to the axis of secondary horizontal axis 8
Heart line 8a；No. three subjectivity survey line 6-3a and No. three pair line of observation 7-3a are in same vertical guide；CCD numbers are equipped on holder 4
Camera 14；Horizontal limb 3 is installed between vertical pivot 9 and horizontal rotation platform 2, is installed between 4 corresponding site of main horizontal axis 5 and holder
Main dial 11 installs secondary scale 12 between 4 corresponding site of secondary horizontal axis 8 and holder；Above-mentioned horizontal rotation platform 2, main horizontal axis 5 and pair
The rotation of horizontal axis 8 is driven by each motor respectively, motor servo motor or ultrasound electric machine.
Horizontal limb 3 provides the horizontal rotation angle of horizontal rotation platform 2.Main dial 11 for measure subjective survey line 6-3a with
The size of angle, that is, main vertical angle α between vertical axis 9a.Secondary scale 12 is for measuring secondary line of observation 7-3a and vertical axis
Angle folded 9a is the size of secondary vertical angle β.
The rotation of main horizontal axis 5 drives No. three main observation device 6-3 to make pitching, and the rotation of secondary horizontal axis 8 drives No. three secondary observation devices
7-3 makees pitching.No. three main observation device 6-3 and No. three pair observation device 7-3 can synchronize water with the revolution of horizontal rotation platform 2
Flat revolution.When No. three main observation device 6-3 and No. three pair observation device 7-3 are in pitching, subjective survey line 6-3a and the secondary line of observation
7-3a can intersect at target point.
The present embodiment also has power unit, data processing section, communication interface and display screen, keyboard etc..
In certain scanned external point, the present embodiment is placed on tripod, is flattened.No. three subjectivity survey line 6-3a are adjusted to
Initial main vertical angle, main dial 11 provide initial main vertical angle α.Horizontal rotation platform 2 turns to initial sweep position.Levelness
Disk 3 provides initial angle.No. three pair observation device 7-3 are driven, until only observing that a laser shines in CCD digital cameras 14
Exit point illustrates No. three subjectivity survey line 6-3a and No. three secondary line of observation 7-3a intersections to a bit, and secondary scale 12 provides secondary vertical angle β
Value completes first point of measurement.Then, horizontal rotation platform 2 rotates some angle automatically, repeats the above process, and completes second point
It measures.And so on, until completing layer scanning.Later, No. three main main vertical angles of observation device 6-3 adjust automaticallies, in repetition
Process is stated, next layer of scanning is carried out, until completing whole layer scannings.
It is to determine due to the distance between main intersection point and auxiliary intersection point h, the secondary vertical angle β provided according to secondary vertical circle 12
Value, finally by data processing section obtain the distance between each scanning element and main intersection point S values.
In-built CCD digital camera telescope is mentioned in above-described embodiment, it is seen that He Baoxi is edited, the Yellow River water conservancy publishing house
In August, 2005 publishes it《Total station survey technology》Chapter 2.See also plum text victory, Yang Hongzhu, publishing house of Wuhan University 2011
November publishes it《Robot measurement is developed and application》2nd chapter.
Claims (3)
1. a kind of simple type 3 D laser scanning equipment, it is characterised in that：With pedestal（1）, horizontal rotation platform（2）, holder
（4）And vertical pivot（9）, holder（4）It is fixed on horizontal rotation platform（2）On, vertical pivot（9）With pedestal（1）It is fixedly connected, horizontal rotation
Platform（2）In pedestal（1）Above and surround vertical pivot（9）Axial line（9a）Rotation, holder（4）It is equipped with the level being mutually parallel
And each main horizontal axis that can be rotated around Pivot Point Center line（5）With secondary horizontal axis（8）；Main horizontal axis（5）Axial line（5a）With
Vertical pivot（9）Axial line（9a）Intersection, forms main intersection point；Secondary horizontal axis（8）Axial line（8a）With vertical pivot（9）Axial line（9a）
Intersection forms auxiliary intersection point；In main horizontal axis（5）On be fixed with the main observation device of No.1（6-1）, the main observation device of No.1 is built in one
The telescope of CCD digital cameras, collimation axis are known as No.1 subjectivity survey line（6-1a）；No.1 subjectivity survey line（6-1a）Pass through main friendship
It puts and perpendicular to main horizontal axis（5）Axial line（5a）；In secondary horizontal axis（8）On be fixed with No.1 pair observation device（7-1）, No.1 pair
Observation device is a laser, and optical axis is known as the No.1 pair line of observation（7-1a）；The No.1 pair line of observation（7-1a）Pass through auxiliary intersection point
And perpendicular to secondary horizontal axis（8）Axial line（8a）；No.1 subjectivity survey line（6-1a）With the No.1 pair line of observation（7-1a）In same
Vertical guide；Vertical pivot（9）With horizontal rotation platform（2）Between horizontal limb is installed（3）, main horizontal axis（5）And holder（4）Corresponding portion
Main dial is installed between position（11）, secondary horizontal axis（8）And holder（4）Secondary scale is installed between corresponding site（12）；Above-mentioned horizontal time
Turn platform（2）, main horizontal axis（5）With secondary horizontal axis（8）Rotation be electronic；In use, No.1 subjectivity survey line（6-1a）Adjustment
To initial main vertical angle, horizontal rotation platform（2）Turn to initial sweep position, No.1 pair observation device（7-1）It is driven, directly
Extremely in in-built CCD digital camera in No.1 subjectivity survey line（6-1a）On observe No.1 pair observation device（7-1）It is irradiated to and is swept
The illuminated laser spot on object is retouched, first point of measurement, then, horizontal rotation platform are completed（2）Automatically some angle is rotated, is repeated
The above process is completed second point and is measured, until completing layer scanning；It repeats the above process, carries out next layer of scanning, until complete
It is scanned at whole layers.
2. a kind of simple type 3 D laser scanning equipment, it is characterised in that：With pedestal（1）, horizontal rotation platform（2）, holder
（4）And vertical pivot（9）, holder（4）It is fixed on horizontal rotation platform（2）On, vertical pivot（9）With pedestal（1）It is fixedly connected, horizontal rotation
Platform（2）In pedestal（1）Above and surround vertical pivot（9）Axial line（9a）Rotation, holder（4）It is equipped with the level being mutually parallel
And each main horizontal axis that can be rotated around Pivot Point Center line（5）With secondary horizontal axis（8）；Main horizontal axis（5）Axial line（5a）With
Vertical pivot（9）Axial line（9a）Intersection, forms main intersection point；Secondary horizontal axis（8）Axial line（8a）With vertical pivot（9）Axial line（9a）
Intersection forms auxiliary intersection point；In main horizontal axis（5）On be fixed with No. two main observation devices（6-2）, No. two main observation devices are a laser
Device, optical axis are known as No. two subjective surveys line（6-2a）；No. two subjective surveys line（6-2a）By main intersection point and perpendicular to main horizontal axis（5）
Axial line（5a）；In secondary horizontal axis（8）On be fixed with No. two secondary observation devices（7-2）, No. two secondary observation devices are an in-built CCD
The telescope of digital camera, collimation axis are known as No. two secondary lines of observation（7-2a）；No. two secondary lines of observation（7-2a）Pass through auxiliary intersection point
And perpendicular to secondary horizontal axis（8）Axial line（8a）；No. two subjective surveys line（6-2a）With No. two secondary lines of observation（7-2a）In same
Vertical guide；Vertical pivot（9）With horizontal rotation platform（2）Between horizontal limb is installed（3）, main horizontal axis（5）And holder（4）Corresponding portion
Main dial is installed between position（11）, secondary horizontal axis（8）And holder（4）Secondary scale is installed between corresponding site（12）；Above-mentioned horizontal time
Turn platform（2）, main horizontal axis（5）With secondary horizontal axis（8）Rotation be electronic；In use, No. two subjective surveys line（6-2a）It is adjusted to
Initial main vertical angle, horizontal rotation platform（2）Turn to initial sweep position, No. two secondary observation devices（7-2）It is driven, until
In in-built CCD digital camera in No. two subjective surveys line（6-2a）On observe No. two secondary observation devices（7-2）It is irradiated to scanned
Illuminated laser spot on object completes first point of measurement, then, horizontal rotation platform（2）Automatically some angle is rotated, in repetition
Process is stated, second point is completed and measures, until completing layer scanning；It repeats the above process, carries out next layer of scanning, until completing
Whole layer scannings.
3. a kind of simple type 3 D laser scanning equipment, it is characterised in that：With pedestal（1）, horizontal rotation platform（2）, holder
（4）And vertical pivot（9）, holder（4）It is fixed on horizontal rotation platform（2）On, vertical pivot（9）With pedestal（1）It is fixedly connected, horizontal rotation
Platform（2）In pedestal（1）Above and surround vertical pivot（9）Axial line（9a）Rotation, holder（4）It is equipped with the level being mutually parallel
And each main horizontal axis that can be rotated around Pivot Point Center line（5）With secondary horizontal axis（8）；Main horizontal axis（5）Axial line（5a）With
Vertical pivot（9）Axial line（9a）Intersection, forms main intersection point；Secondary horizontal axis（8）Axial line（8a）With vertical pivot（9）Axial line（9a）
Intersection forms auxiliary intersection point；In main horizontal axis（5）On be fixed with No. three main observation devices（6-3）, No. three main observation devices are a laser
Device, optical axis are known as No. three subjective surveys line（6-3a）；No. three subjective surveys line（6-3a）By main intersection point and perpendicular to main horizontal axis（5）
Axial line（5a）；In secondary horizontal axis（8）On be fixed with No. three secondary observation devices（7-3）, No. three secondary observation devices are a laser,
Its optical axis is known as No. three secondary lines of observation（7-3a）；No. three secondary lines of observation（7-3a）By auxiliary intersection point and perpendicular to secondary horizontal axis（8）'s
Axial line（8a）；No. three subjective surveys line（6-3a）With No. three secondary lines of observation（7-3a）In same vertical guide；In holder（4）On set
There are CCD digital cameras（14）, vertical pivot（9）With horizontal rotation platform（2）Between horizontal limb is installed（3）, main horizontal axis（5）And branch
Frame（4）Main dial is installed between corresponding site（11）, secondary horizontal axis（8）And holder（4）Secondary scale is installed between corresponding site（12）；
Above-mentioned horizontal rotation platform（2）, main horizontal axis（5）With secondary horizontal axis（8）Rotation be electronic；In use, No. three subjective surveys line（6-
3a）It is adjusted to initial main vertical angle, horizontal rotation platform（2）Turn to initial sweep position, No. three secondary observation devices（7-3）Quilt
Driving, until in CCD digital cameras（14）It only observes an illuminated laser spot, completes first point of measurement, then, horizontal rotation
Platform（2）Automatically some angle is rotated, is repeated the above process, second point is completed and measures, until completing layer scanning；No. three subjectivities
Survey device（6-3）The main vertical angle of adjust automatically, repeats the above process, and carries out next layer of scanning, until completing whole layer scannings.
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| CN201510523828.XA CN105783767B (en) | 2015-08-24 | 2015-08-24 | Simple three-dimensional laser scanning equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510523828.XA CN105783767B (en) | 2015-08-24 | 2015-08-24 | Simple three-dimensional laser scanning equipment |
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| CN105783767A CN105783767A (en) | 2016-07-20 |
| CN105783767B true CN105783767B (en) | 2018-10-09 |
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| CN107860335B (en) * | 2017-11-10 | 2020-07-14 | 北京博清科技有限公司 | Three-dimensional laser scanner applied to actual measurement in building industry |
Citations (5)
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|---|---|---|---|---|
| CN2489303Y (en) * | 2001-07-18 | 2002-05-01 | 叶恩华 | Trigonometric function rangefinder |
| CN2619238Y (en) * | 2003-05-21 | 2004-06-02 | 逄锦伦 | High precision distance detector |
| 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 |
| CN204142253U (en) * | 2014-07-11 | 2015-02-04 | 刘雁春 | Duplex measurement instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8943701B2 (en) * | 2010-06-28 | 2015-02-03 | Trimble Navigation Limited | Automated layout and point transfer system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2489303Y (en) * | 2001-07-18 | 2002-05-01 | 叶恩华 | Trigonometric function rangefinder |
| CN2619238Y (en) * | 2003-05-21 | 2004-06-02 | 逄锦伦 | High precision distance detector |
| 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 |
| CN204142253U (en) * | 2014-07-11 | 2015-02-04 | 刘雁春 | Duplex measurement instrument |
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