CN203310384U - Three-dimensional point cloud scan model fitting device based on laser vision - Google Patents
Three-dimensional point cloud scan model fitting device based on laser vision Download PDFInfo
- Publication number
- CN203310384U CN203310384U CN2013201368045U CN201320136804U CN203310384U CN 203310384 U CN203310384 U CN 203310384U CN 2013201368045 U CN2013201368045 U CN 2013201368045U CN 201320136804 U CN201320136804 U CN 201320136804U CN 203310384 U CN203310384 U CN 203310384U
- Authority
- CN
- China
- Prior art keywords
- camera
- laser
- point cloud
- dimensional point
- laser instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utility model discloses a three-dimensional point cloud scan model fitting device based on laser vision. The device includes a camera, a laser, a single-chip microcomputer control panel, a servo motor and a controller. The camera is connected with the controller. The camera, the laser and the servo motor are connected in order. The servo motor and the laser are connected respectively with the single-chip microcomputer control panel. The single-chip microcomputer control panel is connected with the controller. A production of a focal distance f of the camera with a distance s between the camera and the laser is no smaller than 700mm. The device realizes three-dimensional point cloud scan and at the same time is low in manufacture cost.
Description
Technical field
The utility model relates to the laser vision imaging field, and it is specifically related to a kind of scan model of three-dimensional point cloud based on laser vision match device.
Background technology
The existing indoor environment scanning application ultrasonic radars that use, consider that sonic transmissions speed is slow more, and the sort signal acquisition time is long, and acquired information is the one-dimension information of Radar Plane angle coordinate system, and the information content is not abundant.Based on the use of laser visual scanning, made up the defect of ultrasound wave solution.But for parts, detect, geographical information collection, road conditions scanning, existing there-dimensional laser scanning device cost is high, and some piece test accuracy requirements simultaneously are not high, and using the system of high like this cost like this is exactly a kind of waste to resource.
The utility model content
The purpose of this utility model is to solve the problem that prior art exists, and a kind of scan model of three-dimensional point cloud based on laser vision match device is provided, cheap when realizing three-dimensional point cloud scanning.
In order to reach above-mentioned technical purpose, the utility model is by the following technical solutions: the utility model provides a kind of scan model of three-dimensional point cloud based on laser vision match device, comprise camera, laser instrument, singlechip control panel, servomotor and controller, described camera is connected with controller, described camera, laser instrument are connected successively with servomotor, described servomotor, laser instrument are connected with described singlechip control panel respectively, and described singlechip control panel is connected with described controller; The focal distance f of described camera is not less than 700mm with the product of the distance s of camera and laser instrument.
As such scheme preferably, also comprise optical filter, described optical filter is installed on described cam lens.
As such scheme preferably, the wavelength of described optical filter is complementary with the wavelength that described laser instrument is launched.
As such scheme preferably, described camera is USB VGA camera.
As such scheme preferably, described laser instrument is the infrared word laser line generator of 200mW.
The technical program advantage compared with prior art is: the mode that adopts laser vision to measure obtains the single line lattice information, adopt the mode of single shaft laser vision scanning to obtain parts, portrait or indoor information three-dimensional point cloud chart picture, according to fitting algorithm, obtain some cloud surface three dimension digital-to-analogue, a kind of cheap scanister that obtains three-dimensional information is provided.
The accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structured flowchart of the utility model embodiment.
Embodiment
Below in conjunction with accompanying drawing of the present utility model, the technical solution of the utility model is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making under the creative work prerequisite the every other embodiment obtained, and all belong to the scope of the utility model protection.
As shown in Figure 1, the utility model provides a kind of scan model of three-dimensional point cloud based on laser vision match device, comprise camera, laser instrument, singlechip control panel, servomotor and controller, described camera is connected with controller, described camera, laser instrument are connected successively with servomotor, described servomotor, laser instrument are connected with described singlechip control panel respectively, and described singlechip control panel is connected with described controller; The product of the distance s of the focal distance f of described camera and camera and laser instrument is not less than 700.The utility model also comprises optical filter, and described optical filter is installed on described cam lens.Described camera adopts USB VGA camera.Described laser instrument has adopted the infrared word laser line generator of 200mW, and this kind laser instrument has relatively high power, can from picture, be filled into the interference of surround lighting by shortening the video camera exposure rate, also can scan larger distance simultaneously.For the servomotor for scanning, because the frame per second of camera is 30fps.Sweep velocity does not need very fast, and the present embodiment has been used common servomotor.Its advantage is can directly control to navigate to special angle, and precision is the angle orientation of 0.3 degree.In the present embodiment, install through outer optical filter to camera, the naked eyes visible light can be filtered, the infrared light that only allows laser instrument to send enters camera.Thereby effectively filter the interference that the environment light belt comes.For infrared fileter, best selection is to use the optical filter be complementary with the laser instrument emission wavelength, and what use such as the present embodiment is the laser instrument of 808nm, selects the narrow band pass filter of 808nm, does like this and can farthest reduce interference.Can avoid daylight in reality, incandescent lamp, telepilot to send infrared spectrum disturbs.The focal length of the camera of the USBVGA camera used in the present embodiment is in the 4.5mm left and right, and therefore, s generally selects the 160mm left and right.That is to say, the device arrangement of components the time, the spacing of camera and laser instrument 160mm or more than.
The principle of work of a kind of scan model of three-dimensional point cloud based on laser vision match device that the utility model provides is: controller sends instruction to singlechip control panel, singlechip control panel is controlled laser instrument and is sent laser, control order camera pickup image now, singlechip control panel is controlled the slow uniform rotation of servomotor simultaneously, often turn over a stepping angle, stepping angle herein is designed to 0.3 degree, image information of camera collection, through controller, process and obtain the single line data that comprise indoor body range information, when servomotor circles certainly, controller obtains 360/0.3=1200 group single line data in the week, these data are combined, just generated the indoor object distance information in 360 degree scopes centered by laser instrument, can be by these Information generation 3-D views in three-dimensional software.
When reality is used, also to consider the angle beta of laser instrument.What adopt due to the present embodiment is the laser instrument of lower cost solution, and also there is angle in the laser beam therefore sent.The beta angle can repeatedly be revised after Installation and Debugging complete, guarantee in picture, still can see laser trace, then be fixed at a distance.
After the image that acquisition camera is obtained, also to process image, controller carries out the image processing and the step played up is: 1, obtain the camera raw frames, 2, by the camera correction parameter, eliminate the picture distortion, 3, extract and identify the position of laser facula, 4, by the position of laser facula, substitution, apart from solution formula, is calculated the corresponding point actual distance.
A kind of scan model of three-dimensional point cloud based on laser vision match device provided by the invention has good performance: the Models of Absolute Distance Measurement Based precision, in 1m-/+deviation of 10mm and actual value, the deviation of the maximum 80mm in 5m place and actual value; Scanning angle, the 0-360 degree; Minimum step, 0.3 degree; Scanning resolution, 480points per; Sweep velocity, 30samples per sec (180 degree, 1 degree stepping takes 6 seconds), this apparatus cost is cheap simultaneously.
The above; it is only embodiment of the present utility model; but protection domain of the present utility model is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; can expect easily changing or replacing, within all should being encompassed in protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of described claim.
Claims (5)
1. the scan model of the three-dimensional point cloud based on laser vision match device, it is characterized in that, comprise camera, laser instrument, singlechip control panel, servomotor and controller, described camera is connected with controller, described camera, laser instrument are connected successively with servomotor, described servomotor, laser instrument are connected with described singlechip control panel respectively, and described singlechip control panel is connected with described controller; The focal distance f of described camera is not less than 700mm with the product of the distance s of camera and laser instrument.
2. the scan model of the three-dimensional point cloud based on laser vision match device according to claim 1, is characterized in that, also comprise optical filter, described optical filter is installed on described cam lens.
3. the scan model of the three-dimensional point cloud based on laser vision match device according to claim 2, is characterized in that, the wavelength of the wavelength of described optical filter and the emission of described laser instrument is complementary.
4. the scan model of the three-dimensional point cloud based on laser vision match device according to claim 2, is characterized in that, described camera is USB VGA camera.
5. the scan model of the three-dimensional point cloud based on laser vision match device according to claim 2, is characterized in that, described laser instrument is the infrared word laser line generator of 200mW.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201368045U CN203310384U (en) | 2013-03-25 | 2013-03-25 | Three-dimensional point cloud scan model fitting device based on laser vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013201368045U CN203310384U (en) | 2013-03-25 | 2013-03-25 | Three-dimensional point cloud scan model fitting device based on laser vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203310384U true CN203310384U (en) | 2013-11-27 |
Family
ID=49616587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013201368045U Expired - Fee Related CN203310384U (en) | 2013-03-25 | 2013-03-25 | Three-dimensional point cloud scan model fitting device based on laser vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203310384U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104021588A (en) * | 2014-06-18 | 2014-09-03 | 公安部第三研究所 | System and method for recovering three-dimensional true vehicle model in real time |
| CN105953742A (en) * | 2016-04-30 | 2016-09-21 | 广东工业大学 | 3D laser scanner based on unknown environment detection |
| CN105971583A (en) * | 2016-06-27 | 2016-09-28 | 中国矿业大学(北京) | Equipment and method for acquiring holographic model of drilled hole |
| CN107505627A (en) * | 2017-08-08 | 2017-12-22 | 电子科技大学 | A kind of 3D laser infrared radar imagings system |
| CN109579765A (en) * | 2017-09-29 | 2019-04-05 | 上海时元互联网科技有限公司 | Three-dimensional point cloud data matching method and system based on servo motor and controller |
| CN110440763A (en) * | 2019-08-15 | 2019-11-12 | 华南机械制造有限公司 | A kind of aerial survey device |
| CN113147033A (en) * | 2021-04-16 | 2021-07-23 | 东南大学 | Infrared three-dimensional object scanning modeling system and scanning method thereof |
-
2013
- 2013-03-25 CN CN2013201368045U patent/CN203310384U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104021588A (en) * | 2014-06-18 | 2014-09-03 | 公安部第三研究所 | System and method for recovering three-dimensional true vehicle model in real time |
| CN104021588B (en) * | 2014-06-18 | 2017-04-26 | 公安部第三研究所 | System and method for recovering three-dimensional true vehicle model in real time |
| CN105953742A (en) * | 2016-04-30 | 2016-09-21 | 广东工业大学 | 3D laser scanner based on unknown environment detection |
| CN105971583A (en) * | 2016-06-27 | 2016-09-28 | 中国矿业大学(北京) | Equipment and method for acquiring holographic model of drilled hole |
| CN105971583B (en) * | 2016-06-27 | 2023-12-15 | 中国矿业大学(北京) | Device and method for acquiring drilling holographic model |
| CN107505627A (en) * | 2017-08-08 | 2017-12-22 | 电子科技大学 | A kind of 3D laser infrared radar imagings system |
| CN109579765A (en) * | 2017-09-29 | 2019-04-05 | 上海时元互联网科技有限公司 | Three-dimensional point cloud data matching method and system based on servo motor and controller |
| CN110440763A (en) * | 2019-08-15 | 2019-11-12 | 华南机械制造有限公司 | A kind of aerial survey device |
| CN110440763B (en) * | 2019-08-15 | 2024-04-02 | 华南机械制造有限公司 | Aerial survey device |
| CN113147033A (en) * | 2021-04-16 | 2021-07-23 | 东南大学 | Infrared three-dimensional object scanning modeling system and scanning method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203310384U (en) | Three-dimensional point cloud scan model fitting device based on laser vision | |
| CN109632103B (en) | High-altitude building temperature distribution and surface crack remote monitoring system and monitoring method | |
| CN203688800U (en) | Scanning laser radar and laser radar system | |
| CN103900421B (en) | For the system and method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration | |
| CN102692216A (en) | Real-time optical fiber winding defect detection method based on machine vision technology | |
| CN102903406B (en) | Nuclear power plant reactor pressure vessel video checking system | |
| CN111022826A (en) | Three-dimensional acquisition equipment for inner wall of pipeline | |
| CN104822019A (en) | Method for calculating camera field angle | |
| CN104914114A (en) | Glass tube bubble foreign matter visual inspection device | |
| CN204859351U (en) | It is automatic with burnt device based on video target following | |
| CN106908802B (en) | Laser beam space positioning device and method based on image processing | |
| CN202304767U (en) | Three-dimensional outline measurement device based on multiple sensors | |
| CN202938985U (en) | Strip-shaped light source illuminance distribution detecting device based on linear array CCD camera | |
| CN103084927B (en) | A kind of on-line measurement system and On-line Measuring Method thereof | |
| CN104878679A (en) | Vehicle-mounted rut real-time detection system and detection method | |
| CN204578635U (en) | A kind of infrared camera and focal plane registration apparatus thereof | |
| CN204302657U (en) | A kind of device utilizing single camera to realize binocular vision three-dimensional imaging | |
| CN110022467A (en) | A kind of photoelectric tracking monitoring system of integrated four kinds of light sources | |
| CN106603914B (en) | Unmanned aerial vehicle focusing system based on optical-mechanical-electrical integration and focusing method | |
| CN111023967B (en) | Three-dimensional acquisition equipment for inner wall of pipeline | |
| CN203872262U (en) | Laser rotary type polarization information acquisition apparatus | |
| CN102818526B (en) | Pipeline detecting device | |
| CN106197307A (en) | A kind of structural light three-dimensional scanning and measuring apparatus and method | |
| CN104515480A (en) | Guide rail straightness detection device | |
| CN203981979U (en) | A kind of infrared target source analogue means |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20160325 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |