CN203550917U - Mobile three-dimensional laser scanning device based on four shaft aircraft - Google Patents
Mobile three-dimensional laser scanning device based on four shaft aircraft Download PDFInfo
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- CN203550917U CN203550917U CN201320749075.0U CN201320749075U CN203550917U CN 203550917 U CN203550917 U CN 203550917U CN 201320749075 U CN201320749075 U CN 201320749075U CN 203550917 U CN203550917 U CN 203550917U
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Abstract
The utility model relates to a mobile three-dimensional laser scanning device based on a four shaft aircraft. The mobile three-dimensional laser scanning device based on the four shaft aircraft comprises the four shaft aircraft, a camera, a laser emitter and a laser receiver. The camera, the laser transmitter and the laser receiver are connected with a main control board of the four shaft aircraft. A micro motor is connected between the main control board and the four shaft aircraft. The scanning modes of the mobile three-dimensional laser scanning device are divided into a wireless mode and a wired mode. The mobile three-dimensional laser scanning device provided by the utility model has the advantages that the four shaft aircraft which has the advantages of small size, light weight and convenient carrying and use is used, and the unmanned aircraft is capable of carrying a certain payload.
Description
Technical field
The utility model relates to a kind of spatial digitizer, especially relates to the spatial digitizer of scanning circumstance.
Background technology
At present spatial digitizer industry development is very fast, and spatial digitizer is shape (geometrical construction) and the appearance data (as character such as color, surface albedos) for detect and analyzes object in the demonstration world or environment.The data of collecting are often used to carry out three-dimensional reconstruction calculating, create the digital model of actual object in virtual world.These models have purposes quite widely, as all visible its application of industrial design, Defect Detection, reverse-engineering, robot guiding, landforms measurement, medical information, biological information, criminal identification, digital historical relic classical collection, motion picture production, game creation material etc.Monotechnics is not dependent in the making of spatial digitizer, and various reconstruction technique has its relative merits, and cost and price also have dividing of height.
Three-dimensional laser scanning technique claims again outdoor scene reproduction technology, utilize the principle of laser ranging, record the information such as three-dimensional coordinate, reflectivity and texture of a large amount of intensive point in testee surface, can rebuild out fast the various figure event data such as the three-dimensional model of measured target and line, face, body.
The know-why of 3 D laser scanning, can obtain the profile collective data of object by Quick Measuring, and be built for existing three dimensional practicality (sample or model) in the situation that there is no technical documentation, and editor revises the New Model for Digitized Parametric Surfaces that generates output general format.
Three-dimensional laser scanner, in work, generally can select to add that some bracing frames carry out sub-scanning, and is connected to and on computer, is transmitted three-dimensional data information by data line.
Current spatial digitizer is all shown or loaded three-dimensional data model by computing machine, and add a series of utility appliance such as scanner and bracing frame, equipment is heavy, is difficult for carrying and disposes, and sweep limit is fixed.If need the object of scanning large scale (yardstick), the application of handheld three-dimensional laser scanner must rely on a large amount of artificial hand-helds, the length that expends time in, and stitching error is large, and operator's level is had to certain restriction.Sometimes in order to reach best scanning effect, need multiple scanning, labor intensive cost.According to the difference of scanned object, need to change the scanner of different scanning mode, as the three-dimensional laser scanner of phase type is used for indoor scanning (factory, automobile), pulsed three-dimensional laser scanner is substantially unrestricted, but the spatial digitizer of pulsed need to be by bracing frame in work, and precision is also relatively low.General spatial digitizer is in order to reach better scanning effect, in when scanning, must obtain manually hand-held or to the object being scanned, add the base of a rotation, also can only be for small-sized object, for large-scale object, for example building, massif etc. all can not carry out scanning work.
Utility model content
In order to solve the problems of the technologies described above, the utility model provides a kind of device of the movable three-dimensional laser scanner based on four-axle aircraft.
The technical solution of the utility model is, movable three-dimensional laser scanner based on four-axle aircraft, include four-axle aircraft, camera, generating laser, laser pickoff, described camera, described generating laser and described laser pickoff are connected on the master control borad of four-axle aircraft, between described master control borad and described four-axle aircraft, are connected with micromotor.
The scan mode of described movable three-dimensional laser scanner is divided into wireless and wired.
The beneficial effects of the utility model are to utilize that four-axle aircraft size is less, weight is light, be applicable to carrying and equally with the unmanned vehicle using can carry certain mission payload, and the feature such as flight function that possesses independent navigation is carried camera and the generating laser of spatial digitizer.Because four-axle aircraft can be carried out the task of high-altitude flight, the operation such as also can hover, the demand while meeting scanner scanning object completely.
Accompanying drawing explanation
Fig. 1: four axle three-dimensional laser scanner structural drawing.
Fig. 2: the fundamental diagram of four axle three-dimensional laser scanners.
Embodiment
Below in conjunction with accompanying drawing, the utility model is illustrated.
As shown in Figure 1, a kind of movable three-dimensional laser scanner based on four-axle aircraft, includes four-axle aircraft 1, camera 6, generating laser 5, laser pickoff 7.
The control of four-axle aircraft 1 has the circuit board of border circular areas to control, and scans three kinds of required devices and all can be connected on the master control borad of four-axle aircraft 1 by winding displacement.This kind of scanner can be according to the difference of scanning object, utilize micromotor 4 to adjust scan camera shooting head, the camera of the scanning such as the skyscraper object that scanner is vertical or massif can be towards scanning object perpendicular to four-axle aircraft, when scanning ground etc. is parallel to the object of aircraft, the camera of scanning can be parallel to the object of aircraft and scanning.
The method of operating of the utility model when scanning object, utilizes the software operation four-axle aircraft motor of computing machine to fly near of scanned object, then opens scanner, of scanning object itself.Path that in addition can the good four-axle aircraft of advance planning before scanning object, then can allow four-axle aircraft according to the path of planning, remove scanning object automatically, the data of scanning can be saved in the storer of four-axle aircraft self, also can carry out the real-time reception scan-data of scanning work by the real-time operate aircraft of software.
The mode of scanning is divided into wireless and wired, and at scanning height, low and in-plant object is the wired mode of employing, the data that transmission that like this can be real-time scans, and the speed of transmission is also than comparatively fast.
Far away or the higher object of aspect ratio of scanning distance adopts wireless mode, utilizes the wifi module 3 of four-axle aircraft that the data of scanning are beamed back to monitoring end.
As shown in Figure 2, carrying out in scanning operation, the computer software control four axles fixing starting point of flying, then starts floating state, waits for the scan command of long distance monitoring end.While receiving the order of scanning, the generating laser of four-axle aircraft can be launched one group of laser and get on the object being scanned, then laser pickoff receives the laser from object reflection, through processing procedure, draw the data of scanning, the data transfer mode of scanning is divided into real-time Transmission, or the storer based on four-axle aircraft, first data are saved, after the end of scan, import again in computer.
Claims (2)
1. the movable three-dimensional laser scanner based on four-axle aircraft, it is characterized in that, include four-axle aircraft, camera, generating laser, laser pickoff, described camera, described generating laser and described laser pickoff are connected on the master control borad of four-axle aircraft, between described master control borad and described four-axle aircraft, are connected with micromotor.
2. movable three-dimensional laser scanner according to claim 1, is characterized in that, the scan mode of described movable three-dimensional laser scanner is divided into wireless and wired.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320749075.0U CN203550917U (en) | 2013-11-25 | 2013-11-25 | Mobile three-dimensional laser scanning device based on four shaft aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320749075.0U CN203550917U (en) | 2013-11-25 | 2013-11-25 | Mobile three-dimensional laser scanning device based on four shaft aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203550917U true CN203550917U (en) | 2014-04-16 |
Family
ID=50469017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320749075.0U Expired - Fee Related CN203550917U (en) | 2013-11-25 | 2013-11-25 | Mobile three-dimensional laser scanning device based on four shaft aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203550917U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107358796A (en) * | 2016-05-10 | 2017-11-17 | 武汉万集信息技术有限公司 | A kind of vehicle checking method based on unmanned plane |
| CN107478271A (en) * | 2017-08-10 | 2017-12-15 | 哈尔滨工业大学 | It is a kind of to take care of the data acquisition device that facility fits the evaluation of old property in the daytime for the elderly |
| WO2018035861A1 (en) * | 2016-08-26 | 2018-03-01 | SZ DJI Technology Co., Ltd. | Optical structure for extending laser radar scanning range of uavs and other objects, and associated systems and methods |
-
2013
- 2013-11-25 CN CN201320749075.0U patent/CN203550917U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107358796A (en) * | 2016-05-10 | 2017-11-17 | 武汉万集信息技术有限公司 | A kind of vehicle checking method based on unmanned plane |
| WO2018035861A1 (en) * | 2016-08-26 | 2018-03-01 | SZ DJI Technology Co., Ltd. | Optical structure for extending laser radar scanning range of uavs and other objects, and associated systems and methods |
| CN107478271A (en) * | 2017-08-10 | 2017-12-15 | 哈尔滨工业大学 | It is a kind of to take care of the data acquisition device that facility fits the evaluation of old property in the daytime for the elderly |
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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: 20140416 Termination date: 20151125 |