CN214843049U - Omnibearing three-dimensional scanning device - Google Patents
Omnibearing three-dimensional scanning device Download PDFInfo
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- CN214843049U CN214843049U CN202120441509.5U CN202120441509U CN214843049U CN 214843049 U CN214843049 U CN 214843049U CN 202120441509 U CN202120441509 U CN 202120441509U CN 214843049 U CN214843049 U CN 214843049U
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Abstract
The utility model discloses an all-round three-dimensional scanning device belongs to machine vision technical field. This all-round three-dimensional scanning device includes the base, still includes: the first guide rail mechanism is horizontally arranged on the base; the second guide rail mechanism is vertically arranged on the base and is in sliding connection with the first guide rail mechanism; the rotating platform is positioned on the base and is opposite to the second guide rail mechanism; the stereoscopic vision module is connected with the second guide rail mechanism in a sliding mode; the three-dimensional vision module synchronously acquires three-dimensional information of the object to be scanned. The utility model discloses an all-round three-dimensional scanning device simple structure, it is convenient to use, has realized high accuracy, the all-round three-dimensional scanning of efficient object, but wide application in the monitoring of crops outward appearance.
Description
Technical Field
The utility model relates to a machine vision technical field especially relates to an all-round three-dimensional scanning device.
Background
With the continuous progress of science and technology, artificial intelligence technology has been advanced into various industries as the leading technology of the current technology, and has been applied to the field of modern agriculture from the 20 th century and the 70 th era. In many aspects of agricultural production, most of the work is done by judging the appearance of crops, such as the growth state of crops, pest monitoring, weed discrimination and the like, and the work is usually observed by the naked eyes of people, which causes two problems: 1. farmers cannot guarantee that the judgment made by experience is completely correct; 2. since no professional can go to the site for diagnosis in time, the disease condition of the crops can be delayed or aggravated. The artificial intelligence technology can provide strong technical support in crop detection, and the machine vision technology is used for simulating the visual function of human beings and acquiring information from the image of an objective object, processing and analyzing the information.
At present, no complete, convenient and high-precision acquisition system for phenotype and three-dimensional data of complex farmland scale crops exists, the commonly used laser radar technology can acquire three-dimensional data in a large scale range, and the system is suitable for data acquisition in the field of forestry and cannot reflect local characteristics of crops; in addition, the unmanned aerial vehicle shoots field image data and then is processed into a model through an algorithm, so that only canopy point cloud data of crops can be obtained, and depth information and the like are lacked.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an all-round three-dimensional scanning device to realize high accuracy, efficient object three-dimensional scanning.
In order to achieve the above object, an embodiment of the present invention provides an all-round three-dimensional scanning device, including the base, still include:
the first guide rail mechanism is horizontally arranged on the base;
the second guide rail mechanism is vertically arranged on the base and is in sliding connection with the first guide rail mechanism;
the rotating platform is positioned on the base and is opposite to the second guide rail mechanism;
the stereoscopic vision module is connected with the second guide rail mechanism in a sliding mode;
the scanning device comprises a rotating platform, a stereoscopic vision module and a scanning module, wherein an object to be scanned is placed on the rotating platform, the rotating platform is driven to move so as to drive the object to be scanned to rotate, and the stereoscopic vision module synchronously acquires three-dimensional information of the object to be scanned.
In some embodiments, the stereoscopic vision module includes one or more line laser binocular stereoscopic cameras, and the line laser binocular stereoscopic cameras include a line laser, a first camera and a second camera which are oppositely disposed, the line laser is used for emitting a laser line onto the object to be scanned, and the first camera and the second camera are used for shooting an image of the laser line on the object to be scanned.
In some embodiments, the stereoscopic vision module includes a first line laser binocular stereoscopic camera and a second line laser binocular stereoscopic camera disposed opposite one another.
In some embodiments, the second rail mechanism comprises:
the first vertical guide rail is in sliding connection with the first guide rail mechanism through a first sliding block;
the second vertical guide rail is in sliding connection with the first vertical guide rail through a second sliding block;
the first line laser binocular stereo camera is arranged on the second sliding block, and the second line laser binocular stereo camera is connected with the second vertical guide rail in a sliding mode.
In some embodiments, the second line laser binocular stereo camera is slidably connected with the second vertical guide rail through a rotating member, and a photographing angle of the second line laser binocular stereo camera can be adjusted through the rotating member.
In some embodiments, the second line laser binocular stereo camera is disposed on a mounting plate, and the mounting plate is slidably connected with the second vertical guide rail through a third slider.
In some embodiments, the mounting plate includes an inclined portion and a vertical portion, a preset angle is formed between the inclined portion and the vertical portion, and the second line laser binocular stereo camera is disposed on the inclined portion.
In some embodiments, the included angle between the inclined portion and the vertical portion is an obtuse angle.
In some embodiments, the device further comprises a first drag chain and a second drag chain for routing, wherein the first drag chain is arranged at the side part of the first guide rail mechanism, and the second drag chain is arranged at the side part of the second guide rail mechanism.
In some embodiments, the rotary platform includes a circular turntable disposed on the roller bearing, a roller bearing, an encoder, a driving motor, and a controller, the output shaft of the driving motor is connected to the roller bearing, the encoder is disposed on the output shaft of the driving motor, and the controller is connected to the driving motor and the encoder.
The utility model has the advantages that:
the utility model discloses all-round three-dimensional scanning device includes the base, set up the first guide rail mechanism on the base, second guide rail mechanism, rotary platform and set up the stereovision module on second guide rail mechanism, the stereovision module slides for second guide rail mechanism with the vertical height of adjustment stereovision module, second guide rail mechanism slides for first guide rail mechanism with the interval of adjustment stereovision module with waiting to scan the object, it rotates to wait to scan the object through rotary platform drive, realize the all-round real-time scanning of object, acquire the whole three-dimensional stereo information of waiting to scan the object, can obtain the height of waiting to scan the object according to three-dimensional stereo information, the degree of depth and establish three-dimensional model. The utility model discloses all-round three-dimensional scanning device simple structure, it is convenient to use, has realized high accuracy, the all-round three-dimensional scanning of efficient object, but wide application in the monitoring of crops outward appearance.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention.
Fig. 1 is a schematic structural view of some embodiments of an omnidirectional three-dimensional scanning apparatus according to the present invention;
fig. 2 is a schematic structural view of some embodiments of a line laser binocular stereo camera of the omni-directional three-dimensional scanning device of the present invention;
fig. 3 is a partial schematic view of some embodiments of an omnidirectional three-dimensional scanning apparatus of the present invention;
fig. 4 is a schematic structural diagram of some embodiments of the rotating platform of the omni-directional three-dimensional scanning device according to the present invention.
Description of reference numerals:
100-an omnidirectional three-dimensional scanning device; 200-an object to be scanned;
1-a base; 11-leveling legs;
2-a first guide rail mechanism;
3-a second guide rail mechanism; 31-a first vertical guide; 32-a second vertical guide rail; 33-a first slider; 34-a second slide; 35-a mounting plate; 351-an inclined portion; 352-vertical section; 36-a third slider;
4-a rotating platform; 41-circular turntable; 42-roller bearings; 43-an encoder; 44-a drive motor; 45-a controller;
5-stereoscopic vision module; 51-line laser binocular stereo camera; 51 a-first line laser binocular stereo camera; 51 b-second line laser binocular stereo camera; 511-line lasers; 512-a first camera; 513-a second camera;
6-a first tow chain;
7-second drag chain.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention will be combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
Furthermore, it should be noted that the terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature. In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, an embodiment of the present invention provides an all-round three-dimensional scanning device 100, including a base 1, further including: the first guide rail mechanism 2 is horizontally arranged on the base 1; the second guide rail mechanism 3 is vertically arranged on the base 1 and is in sliding connection with the first guide rail mechanism 2; the rotating platform 4 is positioned on the base 1 and is opposite to the second guide rail mechanism 3; the stereoscopic vision module 5 is connected with the second guide rail mechanism 3 in a sliding way; the object 200 to be scanned is placed on the rotating platform 4, the rotating platform 4 is driven to move so as to drive the object 200 to be scanned to rotate, and the stereoscopic vision module 5 synchronously obtains three-dimensional information of the object 200 to be scanned.
It should be noted that, in the present embodiment, the first rail mechanism and the second rail mechanism may be a single or a mechanism with a plurality of rail assemblies, and each rail may include two parallel rail tracks.
It should be noted that, in this embodiment, the stereoscopic vision module may be a visible light binocular stereoscopic vision module or a line laser binocular stereoscopic vision module, which is not specifically limited herein.
The utility model discloses all-round three-dimensional scanning device includes the base, set up the first guide rail mechanism on the base, second guide rail mechanism, rotary platform and set up the stereovision module on second guide rail mechanism, the stereovision module slides for second guide rail mechanism with the vertical height of adjustment stereovision module, second guide rail mechanism slides for first guide rail mechanism with the interval of adjustment stereovision module with waiting to scan the object, it rotates to wait to scan the object through rotary platform drive, realize the all-round real-time scanning of object, acquire the whole three-dimensional stereo information of waiting to scan the object, can obtain the height of waiting to scan the object according to three-dimensional stereo information, the degree of depth and establish three-dimensional model. The utility model discloses all-round three-dimensional scanning device simple structure, it is convenient to use, has realized high accuracy, the all-round three-dimensional scanning of efficient object, but wide application in the monitoring of crops outward appearance.
In some embodiments, referring to fig. 1 and fig. 2, the stereoscopic vision module 5 of the omnidirectional three-dimensional scanning device 100 of the present invention includes one or more line laser binocular stereo cameras 51, the line laser binocular stereo cameras 51 include a line laser 511, a first camera 512 and a second camera 513 which are arranged oppositely, the line laser 511 is used for emitting a laser line onto the object 200 to be scanned, and the first camera 512 and the second camera 513 are used for shooting an image of the laser line on the object 200 to be scanned. In the embodiment, the image of the laser line on the object to be scanned is acquired through the camera of the line laser binocular stereo camera, the three-dimensional stereo information of the object to be scanned is obtained after processing, the height and the depth of the object to be scanned can be obtained according to the three-dimensional stereo information, and a three-dimensional model is established, so that high-precision and high-efficiency three-dimensional scanning of the object is realized.
It should be noted that, in this embodiment, the line laser binocular stereo camera is integrated with an intelligent vision processor, and is embedded with various intelligent algorithms, so that three-dimensional stereo information and scanning results can be directly output.
It should be noted that the number of the line laser binocular stereo cameras in the stereo vision module in this embodiment may be 1, 2, 3 or more, and is determined according to the height and volume of the object to be scanned, which is not specifically limited herein.
It should be noted that the laser line emitted by the line laser in this embodiment may be blue light, green light, or red light. Preferably, the line laser light emitted by the line laser is blue light with a wavelength in the range of 440nm-490nm, for example: the wavelength is 440nm, 450nm, 460nm, 470nm, 480nm, or 490nm, and is not particularly limited herein. In addition, the line laser generator can be a line laser, and can also be other types of lasers according to actual needs.
Optionally, in this embodiment, the line laser 511 is located on a perpendicular bisector of a central connecting line between the first camera 512 and the second camera 513.
In some embodiments, referring to fig. 1, the stereoscopic vision module 5 of the omnidirectional three-dimensional scanning device 100 of the present invention includes a first line laser binocular stereo camera 51a and a second line laser binocular stereo camera 51b, which are disposed oppositely. In this embodiment, the stereo vision module includes two line laser binocular stereo cameras, and obtains three-dimensional stereo information of an object to be scanned from different heights, so as to meet the scanning requirements of objects with larger height and size.
In some embodiments, referring to fig. 1, the second guiding mechanism 3 of the omni-directional three-dimensional scanning device 100 of the present invention comprises: a first vertical rail 31 slidably connected to the first rail mechanism 2 via a first slider 33; a second vertical guide rail 32 slidably connected to the first vertical guide rail 31 via a second slider 34; the first line laser binocular stereo camera 51a is arranged on the second sliding block 34, and the second line laser binocular stereo camera 51b is connected with the second vertical guide rail 32 in a sliding manner.
In this embodiment, the second guide rail mechanism includes first vertical guide rail and second vertical guide rail, second vertical guide rail and first vertical guide rail sliding connection, first line laser binocular stereo camera sets up on the second slider, second line laser binocular stereo camera and second vertical guide rail sliding connection, first line laser binocular stereo camera and second line laser binocular stereo camera can slide for first vertical guide rail under the drive of second slider like this, with the vertical height of integral adjustment stereo vision module, second line laser binocular stereo camera can slide for second vertical guide rail in order to adjust the distance between first line laser binocular stereo camera and the second line laser binocular stereo camera, with the scanning requirement that satisfies different height and volume object, in order to ensure the all-round scanning effect of the object that waits to scan.
In some embodiments, the second line laser binocular stereo camera 51b of the omnidirectional three-dimensional scanning device 100 of the present invention is slidably connected to the second vertical guide rail 32 through the rotating member, and the shooting angle of the second line laser binocular stereo camera 51b can be adjusted through the rotating member. In the embodiment, the shooting angle of the second line laser binocular stereo camera can be adjusted at will through the rotating piece, so that the scanning requirements of different types of objects are met, and the omnibearing scanning effect of the object to be scanned is ensured. It should be noted that, in this embodiment, the rotating member may be a rotating shaft structure, and may also be another rotating structure, which is not limited in this embodiment.
In some embodiments, referring to fig. 3, the second line laser binocular stereo camera 51b of the omni-directional three-dimensional scanning device 100 of the present invention is disposed on the mounting plate 35, and the mounting plate 35 is slidably connected to the second vertical rail 32 through the third slider 36.
In some embodiments, referring to fig. 3, the mounting plate 35 of the omnidirectional three-dimensional scanning device 100 of the present invention comprises an inclined portion 351 and a vertical portion 352, a predetermined angle is formed between the inclined portion 351 and the vertical portion 352, and the second line laser binocular stereo camera 51b is disposed on the inclined portion 351. The second line laser binocular stereo camera is arranged on the mounting plate with the inclined part, so that the second line laser binocular stereo camera has a specific shooting angle, and the all-dimensional scanning effect of an object to be scanned is ensured. It should be noted that the preset angle in the present embodiment is determined according to actual needs, and may be an acute angle or an obtuse angle.
Alternatively, referring to fig. 3, in the omni-directional three-dimensional scanning device 100 according to the embodiment of the present invention, the included angle θ between the inclined portion 351 and the vertical portion 352 is an obtuse angle. It should be noted that the included angle θ in this embodiment may be 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 °, or 170 °, and may also be other angle values, which are determined according to actual requirements and are not illustrated in this embodiment.
It should be noted that the first line laser binocular stereo camera 51a in the present embodiment may be disposed on the second slider 34 through a planar mounting plate, or may be disposed on the second slider 34 through a rotary member, a mounting plate having an inclined portion, and the like.
In some embodiments, referring to fig. 1, the omni-directional three-dimensional scanning device 100 of the present invention further includes a first drag chain 6 and a second drag chain 7 for routing wires, wherein the first drag chain 6 is disposed on a side portion of the first guiding rail mechanism 2, and the second drag chain 7 is disposed on a side portion of the second guiding rail mechanism 3. The power lines, the communication lines and the like of the rotary platform and the stereoscopic vision module are more in the embodiment, various lines are hidden by arranging the rotary platform and the stereoscopic vision module in the drag chain, and the whole device is more tidy and attractive.
Optionally, as shown in fig. 1, the omni-directional three-dimensional scanning device 100 according to the embodiment of the present invention further includes a leveling leg 11 disposed at the bottom of the base 1 to adjust the parallelism of the base.
In some embodiments, referring to fig. 4, the rotating platform 4 of the omni-directional three-dimensional scanning device 100 of the present invention includes a circular turntable 41, a roller bearing 42, an encoder 43, a driving motor 44 and a controller 45, the circular turntable 41 is disposed on the roller bearing 42, an output shaft of the driving motor 44 is connected to the roller bearing 42, the encoder 43 is disposed on an output shaft of the driving motor 44, and the controller 45 is connected to the driving motor 44 and the encoder 43. In the embodiment, after the rotary platform is electrified, the rotary platform starts to rotate at a constant speed of 1 r/min-2 r/min by default after 1 s.
Optionally, the utility model discloses rotary platform 4 still includes shaft coupling and speed reducer among the all-round three-dimensional scanning device 100 of the embodiment, and driving motor 44 is connected with roller bearing 42 through speed reducer and shaft coupling.
Optionally, the rotating platform 4 in the omnidirectional three-dimensional scanning device 100 according to the embodiment of the present invention further includes a power switch, an emergency stop switch and a communication interface, which are connected to the controller.
Although the embodiments of the present invention have been described above, the description is only for the convenience of understanding the present invention, and the present invention is not limited thereto. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an all-round three-dimensional scanning device, includes base (1), its characterized in that still includes:
the first guide rail mechanism (2) is horizontally arranged on the base (1);
the second guide rail mechanism (3) is vertically arranged on the base (1) and is in sliding connection with the first guide rail mechanism (2);
the rotating platform (4) is positioned on the base (1) and is opposite to the second guide rail mechanism (3);
the stereoscopic vision module (5) is connected with the second guide rail mechanism (3) in a sliding mode;
the scanning device comprises a rotating platform (4), a to-be-scanned object (200) and a stereoscopic vision module (5), wherein the to-be-scanned object (200) is placed on the rotating platform (4), the rotating platform (4) is driven to move so as to drive the to-be-scanned object (200) to rotate, and the stereoscopic vision module (5) synchronously acquires three-dimensional information of the to-be-scanned object (200).
2. The omni-directional three-dimensional scanning device according to claim 1, wherein the stereoscopic vision module (5) comprises one or more line laser binocular stereo cameras (51), the line laser binocular stereo cameras (51) comprise a line laser (511), a first camera (512) and a second camera (513) which are oppositely arranged, the line laser (511) is used for emitting laser lines onto the object to be scanned (200), and the first camera (512) and the second camera (513) are used for shooting images of the laser lines on the object to be scanned (200).
3. The omni-directional three-dimensional scanning device according to claim 2, wherein the stereoscopic vision module (5) comprises a first line laser binocular stereo camera (51a) and a second line laser binocular stereo camera (51b) which are oppositely disposed up and down.
4. The omni-directional three-dimensional scanning device according to claim 3, wherein the second rail mechanism (3) comprises:
the first vertical guide rail (31) is connected with the first guide rail mechanism (2) in a sliding mode through a first sliding block (33);
a second vertical guide rail (32) which is connected with the first vertical guide rail (31) in a sliding way through a second sliding block (34);
the first line laser binocular stereo camera (51a) is arranged on the second sliding block (34), and the second line laser binocular stereo camera (51b) is connected with the second vertical guide rail (32) in a sliding mode.
5. The omni-directional three-dimensional scanning device according to claim 4, wherein the second line laser binocular stereo camera (51b) is slidably connected with the second vertical guide rail (32) through a rotating member, and a photographing angle of the second line laser binocular stereo camera (51b) is adjustable through the rotating member.
6. The omni-directional three-dimensional scanning device according to claim 4, wherein the second line laser binocular stereo camera (51b) is disposed on a mounting plate (35), and the mounting plate (35) is slidably connected with the second vertical guide rail (32) through a third slider (36).
7. The omni-directional three-dimensional scanning device according to claim 6, wherein the mounting plate (35) includes an inclined portion (351) and a vertical portion (352), the inclined portion (351) and the vertical portion (352) having a preset angle therebetween, the second line laser binocular stereo camera (51b) being disposed on the inclined portion (351).
8. The omni-directional three-dimensional scanning device according to claim 7, wherein the inclined portion (351) and the vertical portion (352) form an obtuse angle therebetween.
9. The omni-directional three-dimensional scanning device according to any one of claims 1 to 8, further comprising a first drag chain (6) and a second drag chain (7) for routing, wherein the first drag chain (6) is disposed at a side of the first track mechanism (2), and the second drag chain (7) is disposed at a side of the second track mechanism (3).
10. The omni-directional three-dimensional scanning device according to any one of claims 1 to 8, wherein the rotating platform (4) comprises a circular turntable (41), a roller bearing (42), an encoder (43), a driving motor (44), and a controller (45), the circular turntable (41) is disposed on the roller bearing (42), an output shaft of the driving motor (44) is connected to the roller bearing (42), the encoder (43) is disposed on an output shaft of the driving motor (44), and the controller (45) is connected to the driving motor (44) and the encoder (43).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120441509.5U CN214843049U (en) | 2021-03-01 | 2021-03-01 | Omnibearing three-dimensional scanning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120441509.5U CN214843049U (en) | 2021-03-01 | 2021-03-01 | Omnibearing three-dimensional scanning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114543700A (en) * | 2022-01-27 | 2022-05-27 | 哈尔滨工程大学 | Augmented reality visualization three-dimensional scanning measuring robot with variable large range |
| CN115914858A (en) * | 2023-03-10 | 2023-04-04 | 中为聚旦数字科技(苏州)有限公司 | Visual identification system capable of carrying out cloud communication and use method thereof |
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2021
- 2021-03-01 CN CN202120441509.5U patent/CN214843049U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114543700A (en) * | 2022-01-27 | 2022-05-27 | 哈尔滨工程大学 | Augmented reality visualization three-dimensional scanning measuring robot with variable large range |
| CN115914858A (en) * | 2023-03-10 | 2023-04-04 | 中为聚旦数字科技(苏州)有限公司 | Visual identification system capable of carrying out cloud communication and use method thereof |
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