CN205066710U - Self -balancing 3D laser scanner - Google Patents
Self -balancing 3D laser scanner Download PDFInfo
- Publication number
- CN205066710U CN205066710U CN201520355566.6U CN201520355566U CN205066710U CN 205066710 U CN205066710 U CN 205066710U CN 201520355566 U CN201520355566 U CN 201520355566U CN 205066710 U CN205066710 U CN 205066710U
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- steering wheel
- mechanical arm
- laminate
- laser scanner
- arm
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Abstract
The utility model discloses a self -balancing 3D laser scanner for solve the current little technical problem of 3D laser scanner adjustment range. Technical scheme is including mount and stabilizer cloud platform. Stabilizer cloud platform comprises first arm, first steering wheel, second arm, base, second steering wheel, third steering wheel and regulating plate. Camera and laser instrument are installed on the mount, and the mount links to each other with the steering wheel of first steering wheel. First arm is used for fixed first steering wheel, and the screw connection for the steering wheel of plywood and third steering wheel is connected to first arm, and first steering wheel can make the mount that links to each other with it at horizontal direction steady rotation, the second is the tight third steering wheel of bolted connection clamp for the arm, the regulating plate is connected with second steering wheel arm, and second steering wheel lower extreme is pressed from both sides tightly by the plinth course inter -plate with the base, and the base is used for fixed 3D laser scanner. Because the synergism of three steering wheel for 3D laser scanner is can 360 at the uniform velocity rotatory, realizes the scanning of big breadth.
Description
Technical field
The utility model relates to a kind of 3D laser scanner, particularly relates to a kind of self-equilibrating 3D laser scanner.
Background technology
3D laser scanner is used for detecting and analyzes shape and the appearance data of object or environment in real world.The data collected often are used to carry out three-dimensional reconstruction calculating, create the digital model of actual object in virtual world.In recent years, the develop rapidly of 3D laser scanner technique, industry has occurred that diversified 3D laser scanner is to meet the need of market.
With reference to Fig. 6, Fig. 7, document " Authorization Notice No. is the Chinese utility model patent of CN201420067803 " discloses a kind of three-dimensional laser scanner, this scanner structure is: the inner chamber of shell mechanism 1 is provided with agent structure 2, the upper end of shell mechanism 1 is provided with the camera support structure 3 be connected with agent structure 2, camera support structure installs camera, and the lower end of shell mechanism 1 is provided with the lower motor supporting construction 4 be connected with agent structure 2.Lower motor supporting construction 4 comprises supporting outer 39, supporting outer 39 upper surface is provided with annular groove 40, annular groove 40 madial wall is bolted lower grating axle 41, lower grating axle 41 is bolted lower grating encoder 42 above, and lower grating axle 41 is connected with the second dust cover 43 with the outside of lower grating encoder 42.The outside of lower grating encoder 42 and the motor stator 44 of servomotor are socketed, rotor 45 is provided with outside motor stator 44, rotor 45 is fixed on the inner chamber of motor rotor casing 46, the upper end of motor rotor casing 46 and the lower end of main body 5 are threaded connection, the 3rd bearing 47 is provided with between motor rotor casing 46 and supporting outer 39, 3rd bearing 47 is crossed roller bearing, 3rd bearing 47 upper, be separately installed with bearing below and compress shell 48 and bearing compression inner casing 49, bearing compresses shell 48 and is secured by bolts on supporting outer 39, bearing compresses inner casing 49 and is secured by bolts on motor rotor casing 46.The inner chamber upper end of motor rotor casing 46 connects read head cushion block 50, read head cushion block 50 connects the second read head 51.The lower end of supporting construction 39 connects laser alignment pedestal 52.Three-dimensional laser scanner adopts to be threaded by the laser alignment pedestal 52 in lower motor supporting construction 4 and is fixed on A-frame, and adjustment laser alignment pedestal 52 level adjusting structure makes three-dimensional laser scanner basic horizontal.
Disclosed in document, 3D laser scanner adjustment amplitude is little, cannot realize the self-equilibrating under complicated landform, complex structure, very flexible.
Summary of the invention
In order to overcome the little deficiency of existing 3D laser scanner adjustment amplitude, the utility model provides a kind of self-equilibrating 3D laser scanner.Described 3D laser scanner comprises fixed mount and stabilizator The Cloud Terrace.Stabilizator The Cloud Terrace is made up of the first mechanical arm, the first steering wheel, the second mechanical arm, base, the second steering wheel, the 3rd steering wheel and adjustable plate.Camera and laser instrument are installed on fixed mount respectively, and fixed mount screw is connected with the steering wheel of the first steering wheel.First mechanical arm is formed by connecting by relative two panels first mechanical arm laminate bolt, to fix the first steering wheel, first mechanical arm connects laminate and is connected with screw with the steering wheel of the 3rd steering wheel, and the first steering wheel can make the fixed mount uniform rotation be in the horizontal direction attached thereto; Second mechanical arm connects clamping the 3rd steering wheel by two panels second mechanical arm laminate bolt; Adjustable plate screw is connected with the second steering wheel steering wheel arm, and the second steering wheel lower end contacts with base, is clamped by bolt between base laminate, and base is used for fixing 3D laser scanner.Due to the synergy of three steering wheels, make 3D laser scanner can 360 ° at the uniform velocity rotate, realize large format scanning.
The utility model solves the technical scheme that its technical matters adopts: a kind of self-equilibrating 3D laser scanner, is characterized in comprising fixed mount 1 and stabilizator The Cloud Terrace.Stabilizator The Cloud Terrace is made up of the first mechanical arm 2, first steering wheel 3, second mechanical arm 4, base 5, second steering wheel 6, the 3rd steering wheel 7 and adjustable plate 8.Camera 9 and laser instrument 10 are installed on fixed mount 1 respectively, and described camera 9 is in same level line with described laser instrument 10 center, and laser instrument 10 is installed with the horizontal axis slanted angle θ of fixed mount 1, and fixed mount 1 screw is connected with the steering wheel of the first steering wheel 3.First mechanical arm 2 is surrounded the first steering wheel 3 formed by two panels first mechanical arm laminate 13, a slice first mechanical arm connection laminate 12, wherein glued joint between adjacent laminate, relative two panels first mechanical arm laminate 13 connects with bolt, to fix the first steering wheel 3, first mechanical arm connects laminate 12 and is connected with screw with the steering wheel of the 3rd steering wheel 7, first steering wheel 3 can make fixed mount 1 uniform rotation be in the horizontal direction attached thereto, and realizes the scanning of 3D laser scanner in whole spatial dimension; Second mechanical arm 4 surrounds the 3rd steering wheel 7 by two panels second mechanical arm laminate 14, and the second relative mechanical arm laminate 14 bolt connects clamping the 3rd steering wheel 7; Adjustable plate 8 screw is connected with the second steering wheel steering wheel arm 15, and upper end and the two panels second mechanical arm laminate 14 of adjustable plate 8 glued joint; Second steering wheel 6 lower end contacts with base 5, and clamped by bolt between base laminate, base 5 is for fixing 3D laser scanner.
The beneficial effects of the utility model are: the utility model 3D laser scanner comprises fixed mount and stabilizator The Cloud Terrace.Stabilizator The Cloud Terrace is made up of the first mechanical arm, the first steering wheel, the second mechanical arm, base, the second steering wheel, the 3rd steering wheel and adjustable plate.Camera and laser instrument are installed on fixed mount respectively, and fixed mount screw is connected with the steering wheel of the first steering wheel.First mechanical arm is formed by connecting by relative two panels first mechanical arm laminate bolt, to fix the first steering wheel, first mechanical arm connects laminate and is connected with screw with the steering wheel of the 3rd steering wheel, and the first steering wheel can make the fixed mount uniform rotation be in the horizontal direction attached thereto; Second mechanical arm connects clamping the 3rd steering wheel by two panels second mechanical arm laminate bolt; Adjustable plate screw is connected with the second steering wheel steering wheel arm, and the second steering wheel lower end contacts with base, is clamped by bolt between base laminate, and base is used for fixing 3D laser scanner.Due to the synergy of three steering wheels, make 3D laser scanner can 360 ° at the uniform velocity rotate, realize large format scanning.
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
Accompanying drawing explanation
Fig. 1 is the overall construction drawing of the utility model self-equilibrating 3D laser scanner.
Fig. 2 is the three-dimensional structure figure of stabilizator The Cloud Terrace in Fig. 1.
Fig. 3 is the A-A cut-open view of fixed mount in Fig. 1.
Fig. 4 is the part drawing that in Fig. 2, the first mechanical arm connects laminate.
Fig. 5 is the part drawing of adjustable plate in Fig. 2.
Fig. 6 is the front view of background technology three-dimensional laser scanner.
Fig. 7 is that background technology three-dimensional laser scanner lower motor supporting construction master is depending on partly cuing open figure.
In figure, 1-fixed mount, 2-first mechanical arm, 3-first steering wheel, 4-second mechanical arm, 5-base, 6-second steering wheel, 7-the 3rd steering wheel, 8-adjustable plate, 9-camera, 10-laser instrument, 12-first mechanical arm connects laminate, 13-first mechanical arm laminate, 14-second mechanical arm laminate, 15-second steering wheel steering wheel arm.
Embodiment
Following examples are with reference to Fig. 1 ~ 5.
The utility model self-equilibrating 3D laser scanner comprises fixed mount 1 and stabilizator The Cloud Terrace.Stabilizator The Cloud Terrace is made up of the first mechanical arm 2, first steering wheel 3, second mechanical arm 4, base 5, second steering wheel 6, the 3rd steering wheel 7 and adjustable plate.Camera 9 and laser instrument 10 are installed on fixed mount 1, and wherein camera 9 and laser instrument 10 center are in same level line, and at a distance of S, laser instrument 10 tilts to install, and be θ with horizontal axis angle, fixed mount 1 screw is connected with the steering wheel of the first steering wheel 3.First mechanical arm 2 is surrounded the first steering wheel 3 formed by two panels first mechanical arm laminate 13, a slice first mechanical arm connection laminate 12, wherein glued joint between adjacent laminate, relative two panels laminate first mechanical arm laminate 13 connects with bolt, to fix the first steering wheel 3, first mechanical arm connects laminate 12 and is connected with screw with the steering wheel of the 3rd steering wheel 7, first steering wheel 3 can make fixed mount 1 uniform rotation be in the horizontal direction attached thereto, thus realizes the scanning of scanner in whole spatial dimension; Second mechanical arm surrounds the 3rd steering wheel 7 by two panels second mechanical arm laminate 14 and forms, and the second relative mechanical arm laminate 14 bolt connects clamping the 3rd steering wheel 7; Adjustable plate 8 screw is connected with the second steering wheel steering wheel arm 15, and upper end and two panels second mechanical arm laminate 14 glued joint, and wherein glueing joint position can regulate according to stabilizator cradle head device mass distribution, with adjusting gear centre of gravity place, makes it more steady; Second steering wheel 6 lower end contacts with base 5, clamped by bolt between base laminate, base 5 is also for being fixed on mobile robot or other objects by this scanner, this scheme material is wooden, build primarily of 3mm laminate, connected by screw, simple, also easily through the angle controlling steering wheel rotation, fixed mount level is realized.
Whole system uses single-chip microcomputer as main logic control module.The sensor of Information Monitoring adopts 2 axle gyroscope+3 axle analog acceleration sensor assemblies, acceleration on sensor output X, Y, Z tri-directions and the angular velocity voltage of three axles, adopt classical Kalman filtering algorithm, obtain the angular pose information of The Cloud Terrace.By the coefficient to the proportional rationally arranged in PID and integration item, change the pulsewidth of pwm signal, carry out servos control, realize self-equilibrating and control.First steering wheel 3 is responsible for scan round, is changed the method for pulsewidth, arrive desirable control effects, by button triggered interrupts, start the change that the first steering wheel 3 starts scanner uni direction of scanning, sweep amplitude respectively by stepping.
Claims (1)
1. a self-equilibrating 3D laser scanner, is characterized in that: comprise fixed mount (1) and stabilizator The Cloud Terrace, stabilizator The Cloud Terrace is made up of the first mechanical arm (2), the first steering wheel (3), the second mechanical arm (4), base (5), the second steering wheel (6), the 3rd steering wheel (7) and adjustable plate (8), camera (9) and laser instrument (10) are installed on fixed mount (1) respectively, described camera (9) and described laser instrument (10) center are in same level line, laser instrument (10) is installed with the horizontal axis slanted angle θ of fixed mount (1), and fixed mount (1) screw is connected with the steering wheel of the first steering wheel (3), first mechanical arm (2) is by two panels first mechanical arm laminate (13), a slice first mechanical arm connects laminate (12) and surrounds the first steering wheel (3) formation, wherein glued joint between adjacent laminate, relative two panels first mechanical arm laminate (13) connects with bolt, to fix the first steering wheel (3), first mechanical arm connects laminate (12) and is connected with screw with the steering wheel of the 3rd steering wheel (7), first steering wheel (3) can make fixed mount (1) uniform rotation be in the horizontal direction attached thereto, realize the scanning of 3D laser scanner in whole spatial dimension, second mechanical arm (4) surrounds the 3rd steering wheel (7) by two panels second mechanical arm laminate (14), and the second relative mechanical arm laminate (14) bolt connects clamping the 3rd steering wheel (7), adjustable plate (8) screw is connected with the second steering wheel steering wheel arm (15), and upper end and two panels second mechanical arm laminate (14) of adjustable plate (8) glued joint, second steering wheel (6) lower end contacts with base (5), and clamped by bolt between base laminate, base (5) is for fixing 3D laser scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520355566.6U CN205066710U (en) | 2015-05-28 | 2015-05-28 | Self -balancing 3D laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520355566.6U CN205066710U (en) | 2015-05-28 | 2015-05-28 | Self -balancing 3D laser scanner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205066710U true CN205066710U (en) | 2016-03-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520355566.6U Expired - Fee Related CN205066710U (en) | 2015-05-28 | 2015-05-28 | Self -balancing 3D laser scanner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205066710U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
| CN107014307A (en) * | 2017-04-17 | 2017-08-04 | 深圳广田机器人有限公司 | The acquisition methods of three-dimensional laser scanner and three-dimensional information |
| CN110455185A (en) * | 2019-08-13 | 2019-11-15 | 武汉纺织大学 | A kind of coal yard fixed point self-balancing measurement trolley |
-
2015
- 2015-05-28 CN CN201520355566.6U patent/CN205066710U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN106826921A (en) * | 2017-02-21 | 2017-06-13 | 上海建桥学院 | Multiple degrees of freedom steering wheel is combined the unit and its assembly method and application |
| CN107014307A (en) * | 2017-04-17 | 2017-08-04 | 深圳广田机器人有限公司 | The acquisition methods of three-dimensional laser scanner and three-dimensional information |
| CN110455185A (en) * | 2019-08-13 | 2019-11-15 | 武汉纺织大学 | A kind of coal yard fixed point self-balancing measurement trolley |
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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: 20160302 Termination date: 20190528 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |