A self-rotating structural surface three-dimensional scanning device

Abstract

The present invention relates to a self-rotating structure surface three-dimensional scanning device, including a support frame, a walking assembly, a functional box body, a hollow disc, an adjustable connecting rod, and a plurality of imaging units. The inner edge of the hollow disc is provided with a circle of transmission teeth, which mesh with motor gears. The outer edge of the hollow disc is provided with a plurality of sliding clamping parts, which are slidably clamped on the outer edge of the functional box body and can rotate relative to the functional box body under the transmission drive of the motor gear; the plurality of imaging units are respectively distributed on the adjustable connecting rod at different angles and postures, and the rotation of the hollow disc enables the plurality of imaging units to collect multiple viewing angle images of specific points, which are used to establish an overall 3D point cloud model within the scanning range. Compared with the prior art, the present invention realizes a precise rotation adjustment procedure through an annular meshing transmission structure, so that the plurality of imaging units collect multiple viewing angle images of specific points, and finally establish an overall 3D point cloud model within the scanning range.

Description

Technical Field

[0001] The invention relates to a structure surface three-dimensional scanning device, in particular to a self-rotating structure surface three-dimensional scanning device. Background Art

[0002] The scale of infrastructure construction in my country is very large, but as the use time of infrastructure continues to increase, its structural defects are also getting worse. If the defects cannot be discovered in time and appropriate measures are not taken to suppress their further development, it will pose a great threat to the safety of infrastructure. Therefore, the management and maintenance of infrastructure is of great significance, especially for large infrastructure structures such as roads, bridges, and dams.

[0003] One of the core tasks of management and maintenance of large infrastructure structures is to detect defects and assess the technical status of different structural components. In reality, the detection plane often has different degrees of depression or protrusion and certain ups and downs. In order to obtain a comprehensive picture of the apparent defects, it is necessary to perform a three-dimensional scan of the detection plane. There are many two-dimensional scanning devices, but devices that can perform three-dimensional scanning on the detection plane are still very scarce.

[0004] CN108876929A discloses a three-dimensional scanning clothing simulation device, which can perform 360° scanning. The present invention is realized by the following technical scheme: a three-dimensional scanning clothing simulation device, comprising a base plate, a rotating table, a handrail, a three-dimensional human body scanner and a computer, a rotating table is provided in the middle of the upper part of the base plate, handrails are symmetrically fixedly connected on both sides of the upper part of the rotating table, four three-dimensional human body scanners are provided on the base plate, and the four three-dimensional human body scanners are arranged in a circular array on the base plate. This technical scheme can only realize the scanning of objects at the center stage position, and cannot be applied to large infrastructure structure scenes. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a self-rotating structural surface three-dimensional scanning device, which realizes a precise rotation adjustment program through an annular meshing transmission structure, so that multiple imaging units can collect multiple perspective images of specific points, and finally establish an overall 3D point cloud model within the scanning range.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] The purpose of the present invention is to protect a self-rotating structure surface three-dimensional scanning device, including a support frame, a walking assembly, a functional box body, a hollow disc, an adjustable connecting rod, and a plurality of imaging units, wherein specifically:

[0008] a supporting frame on which a base plate is disposed;

[0009] A walking assembly, arranged on the supporting frame;

[0010] The function box body is a cylindrical structure, the function box body is arranged on the substrate, the first servo motor is arranged in the function box body, and the motor gear is arranged outside the function box body, and the motor gear is connected to the output end of the first servo motor;

[0011] A hollow disc, the inner edge of which is provided with a circle of transmission teeth, the transmission teeth meshing with the motor gear, the outer edge of the hollow disc is provided with a plurality of sliding clamping parts, the sliding clamping parts are slidably clamped on the outer edge of the functional box body, and can rotate relative to the functional box body under the transmission drive of the motor gear;

[0012] An adjustable connecting rod connected to the hollow disc;

[0013] Multiple imaging units are distributed on the adjustable connecting rod at different angles and postures. Through the rotation of the hollow disk, the multiple imaging units collect multiple viewing angle images of specific points to establish an overall 3D point cloud model within the scanning range.

[0014] Furthermore, the adjustable connecting rod comprises a combination of a plurality of horizontal rods and vertical rods connected in sequence.

[0015] Furthermore, the crossbar and the vertical bar are hinged or connected via a sleeve, and fasteners are matched at the connection to adjust as needed.

[0016] Furthermore, the imaging units are all arranged on the crossbar at the end.

[0017] Furthermore, the sliding clamping parts are evenly distributed on the outer edge of the hollow disc, and 3 to 12 sliding clamping parts are provided.

[0018] Furthermore, the sliding clamp is a double-layer rolling bearing.

[0019] Furthermore, the inner ring of the double-layer rolling bearing is connected to the outer edge of the hollow disc through a connecting shaft;

[0020] The outer ring of the double-layer rolling bearing is pressed against the side wall surface of the functional box body;

[0021] Multiple double-layer rolling bearings are pressed together to form a circular sliding limit structure with multiple points.

[0022] Furthermore, the lamp groups are evenly distributed on the hollow disc.

[0023] Furthermore, the walking assembly includes a plurality of support rods connected to the support frame, and the ends of the support rods are provided with a traveling wheel set, and the traveling wheel set includes at least two steering wheels and two driving wheels;

[0024] The steering wheel is matched and connected with a steering gear, and the driving wheel is matched and connected with a second servo motor.

[0025] Furthermore, a control module is also provided in the functional box body, and the control module includes a microprocessor, a RAM and a ROM, and the microprocessor is electrically connected to the steering gear, the second servo motor, the first servo motor, and the imaging unit;

[0026] The functional box body is also provided with a GPS module, an obstacle avoidance module, and a wireless signal transceiver module, and the GPS module, the obstacle avoidance module, and the wireless signal transceiver module are electrically connected to the control module;

[0027] The wireless signal transceiver module is connected to the host computer by wireless communication.

[0028] Compared with the prior art, the present invention has the following technical advantages:

[0029] 1) The self-rotating structural surface three-dimensional scanning device in this technical solution can realize standardized three-dimensional scanning of large-scale structural surfaces. Through the first servo motor and the meshing transmission structure, a precise rotation adjustment program is implemented, so that multiple imaging units can collect multiple perspective images of specific points, and finally establish an overall 3D point cloud model within the scanning range, thereby greatly improving the efficiency of the host computer in automatically identifying and counting the scanning results, and can quickly and accurately output the apparent disease status of the infrastructure structure.

[0030] 2) The adjustable connecting rod of the present technical solution can match various scanning requirements in a specific form. The horizontal rod and the vertical rod can be connected by the sleeve and fasteners at the end or by the hinge and fasteners. The adjustment process is convenient and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of the self-rotating structure surface three-dimensional scanning device in this technical solution.

[0032] In the figure: 1-traveling wheel group; 2-support frame; 3-functional box body; 4-sliding clamp; 5-light group; 6-hollow disc; 7-tube sleeve; 8-imaging unit; 9-motor gear; 10-support rod. DETAILED DESCRIPTION

[0033] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] The purpose of the present invention is to protect a self-rotating structure surface three-dimensional scanning device, including a support frame 2, a walking assembly, a functional box body 3, a hollow disc 6, an adjustable connecting rod, and a plurality of imaging units. Figure 1 .

[0035] A base plate is disposed on the support frame 2 , and in specific implementation, the support frame 2 may be a circular structure.

[0036] The walking assembly is arranged on the support frame 2, and the walking assembly includes a plurality of support rods 10 connected to the support frame 2, and a traveling wheel set 1 is arranged at the end of the support rod 10, and the traveling wheel set includes at least two steering wheels and two driving wheels. The support rod 10 can be telescopically adjusted in length according to the on-site detection environment.

[0037] The function box body 3 is a cylindrical structure, and the function box body 3 is arranged on the substrate. A first servo motor is arranged in the function box body 3, and a motor gear 9 is arranged outside the function box body 3, and the motor gear 9 is connected to the output end of the first servo motor.

[0038] A circle of transmission teeth is provided on the inner edge of the hollow disc 6, and the transmission teeth are meshed with the motor gear 9. A plurality of sliding clamping parts 4 are provided on the outer edge of the hollow disc 6. The sliding clamping parts 4 are slidably clamped on the outer edge of the functional box body 3 and can rotate relative to the functional box body 3 under the transmission drive of the motor gear 9.

[0039] Multiple imaging units are distributed on the adjustable connecting rod at different angles and postures, and the multiple imaging units collect multiple viewing angle images of specific points through the rotation of the hollow disc 6, so as to establish an overall 3D point cloud model within the scanning range. In specific implementation, the imaging unit is composed of multiple industrial cameras, and each camera has a different orientation angle.

[0040] The adjustable connecting rod is connected to the hollow disc 6, and the adjustable connecting rod includes a combination of multiple horizontal rods and vertical rods connected in sequence. The horizontal rod and the vertical rod are hinged or connected vertically through sleeves, and fasteners are matched at the connection to adjust according to needs. The imaging units are all arranged on the horizontal rod at the end. The adjustable connecting rod can match various scanning requirements in a specific form. The horizontal rod and the vertical rod can be connected by the sleeves and fasteners at the ends or by the cooperation of hinges and fasteners. The adjustment process is convenient and fast.

[0041] In a specific implementation, the sliding clamps 4 are evenly distributed on the outer edge of the hollow disc 6, and there are 3 to 12 sliding clamps 4. The sliding clamps 4 are double-layer rolling bearings. The inner ring of the double-layer rolling bearing is connected to the outer edge of the hollow disc 6 through a connecting shaft. The outer ring of the double-layer rolling bearing is pressed against the side wall surface of the functional box body 3, and multiple double-layer rolling bearings are pressed simultaneously to form a multi-point circular sliding limit structure.

[0042] The lamp groups 5 are evenly distributed on the hollow disc 6 to achieve environmental lighting and supplementary lighting.

[0043] The steering wheel is matched and connected with a steering gear, and the driving wheel is matched and connected with a second servo motor.

[0044] The function box body 3 is also provided with a control module, the control module includes a microprocessor, RAM and ROM, the microprocessor is electrically connected to the steering gear, the second servo motor, the first servo motor, and the imaging unit, and the function box body 3 is also provided with a GPS module, an obstacle avoidance module, and a wireless signal transceiver module, the GPS module, the obstacle avoidance module, and the wireless signal transceiver module are electrically connected to the control module, and the wireless signal transceiver module is wirelessly connected to the host computer. The microprocessor can be a processor type of ARM architecture, x86 architecture or a simpler architecture, as long as it can meet the logical processing and calculation process in this technical solution. The ROM pre-stores an obstacle avoidance algorithm, a path planning algorithm, an image splicing algorithm, and each servo motor / steering gear control program, and the microprocessor implements direct instructions to the servo motor and the steering gear, and through the first servo motor and the meshing transmission structure, an accurate rotation adjustment program is implemented, so that multiple imaging units collect multiple perspective images of specific points, and finally establish an overall 3D point cloud model within the scanning range, thereby greatly improving the efficiency of the host computer to automatically identify and count the scanning results, and can quickly and accurately output the apparent disease situation of the infrastructure structure.

[0045] The working details of the self-rotating structure surface three-dimensional scanning device in this technical solution are as follows:

[0046] 1. Determine the height of the wheel support rod 10 according to the testing environment and adjust the pipe sleeve 7 to a suitable position.

[0047] 2. Start the device, calibrate the imaging unit on the crossbar, and adjust it to the appropriate focal length position according to the actual detection scene.

[0048] 3. Set the shooting parameters (such as resolution, exposure time, shutter speed, shooting interval), driving working parameters (such as driving speed, etc.) and motor rotation parameters (to control the rotation of the hollow disk) on the host computer.

[0049] 4. When setting the drive working parameters, it is necessary to ensure that the device is still within the camera field of view at the last pause time after traveling a certain distance, that is, to ensure that the photos collected twice have a certain (15%-30%) overlapping area.

[0050] 5. The setting of the rotation parameters of the first servo motor should ensure that the device is still within the camera field of view at the last pause time after a single rotation of a certain arc, that is, to ensure that the photos collected twice have a certain (20-40%) overlapping area.

[0051] 6. The device starts to move according to the set parameters and the second servo starts to move, pauses after moving for a period of time or distance, and after pausing, the first servo motor above starts to drive the hollow disc 6 below to rotate, thereby causing the imaging unit 8 on the end crossbar to make a circular motion around the center of the circle. The hollow disc 6 pauses every time it rotates a certain angle, and the imaging unit collects images. After the image collection is completed, the device moves again, pauses after running for a period of time or distance, and the hollow disc rotates to collect images, and the cycle repeats until the scanning is completed.

[0052] 7. After the device collects the image, it is automatically uploaded to the host computer or cloud database. The host computer can view the image collected by the device in real time.

[0053] 8. After multiple rounds of rotational scanning, multiple perspective images of the same point can be extracted, and then the overall 3D point cloud model within the scanning range can be established.

[0054] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A self-rotating structure surface three-dimensional scanning device, characterized in that: include: A supporting frame (2) on which a base plate is provided; A walking assembly, arranged on the supporting frame (2); The function box body (3) is a cylindrical structure. The function box body (3) is arranged on the substrate. A first servo motor is arranged in the function box body (3). A motor gear (9) is arranged outside the function box body (3). The motor gear (9) is connected to the output end of the first servo motor. A hollow disc (6) is provided with a circle of transmission teeth on its inner edge, the transmission teeth meshing with the motor gear (9), a plurality of sliding clamping parts (4) are provided on the outer edge of the hollow disc (6), the sliding clamping parts (4) are slidably clamped on the outer edge of the functional box body (3), and can rotate relative to the functional box body (3) under the transmission drive of the motor gear (9); An adjustable connecting rod connected to the hollow disc (6); A plurality of imaging units are distributed on the adjustable connecting rod at different angles and postures, and the plurality of imaging units collect multiple viewing angle images of specific points through the rotation of the hollow disk (6), so as to establish an overall 3D point cloud model within the scanning range; The adjustable connecting rod comprises a combination of a plurality of horizontal rods and vertical rods connected in sequence; The horizontal rod and the vertical rod are hinged or connected by a sleeve, and fasteners are matched at the connection to adjust as needed; The imaging units are all arranged on the crossbar at the end; The sliding clamping parts (4) are evenly distributed on the outer edge of the hollow disc (6), and the number of the sliding clamping parts (4) is 3 to 12; The sliding clamping member (4) is a double-layer rolling bearing; The inner ring of the double-layer rolling bearing is connected to the outer edge of the hollow disc (6) via a connecting shaft; The outer ring of the double-layer rolling bearing is pressed against the side wall surface of the functional box body (3); Multiple double-layer rolling bearings are pressed together to form a circular sliding limit structure with multiple points.

2. The self-rotating structure surface three-dimensional scanning device according to claim 1, characterized in that: The lamp groups (5) are evenly distributed on the hollow disc (6).

3. The self-rotating structure surface three-dimensional scanning device according to claim 1, characterized in that: The walking assembly comprises a plurality of support rods (10) connected to the support frame (2), and the ends of the support rods (10) are provided with a traveling wheel set (1), wherein the traveling wheel set comprises at least two steering wheels and two driving wheels; The steering wheel is matched and connected with a steering gear, and the driving wheel is matched and connected with a second servo motor.

4. The self-rotating structure surface three-dimensional scanning device according to claim 3, characterized in that: The functional box body (3) is also provided with a control module, the control module comprising a microprocessor, a RAM and a ROM, the microprocessor being electrically connected to the steering gear, the second servo motor, the first servo motor and the imaging unit; The functional box body (3) is also provided with a GPS module, an obstacle avoidance module, and a wireless signal transceiver module, and the GPS module, the obstacle avoidance module, and the wireless signal transceiver module are electrically connected to the control module; The wireless signal transceiver module is connected to the host computer by wireless communication.

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