Combined three-dimensional high-speed scanning device

Abstract

The invention provides a combined three-dimensional high-speed scanning device applied to the field of three-dimensional scanning, which comprises a base mechanism, the base mechanism comprises a pair of fixed petals, a fixed assembly is mounted at the upper ends of the fixed petals, an adjusting mechanism is mounted on the fixed assembly, and the adjusting mechanism comprises a sliding ring. The inner side wall of the sliding ring is connected with a suspension mechanism through a plurality of electric telescopic rods, the suspension mechanism comprises a bottom ring connected with the electric telescopic rods, the upper end of the bottom ring is connected with a gear ring through a fixing rod, scanning mechanisms are symmetrically arranged on the gear ring, a horizontal monitor is arranged on the bottom ring, and the horizontal monitor is electrically connected to the electric telescopic rods through a control module. The levelness of the suspension mechanism is monitored in real time through the levelness monitor, data are sent to the control module for analysis, and the levelness of the suspension mechanism is adjusted in cooperation with the electric telescopic rod, so that the scanning mechanism on the suspension mechanism is always kept in a stable horizontal state.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning, and in particular to a combined three-dimensional high-speed scanning device. Background Art

[0002] Combined 3D scanning devices usually combine multiple scanning technologies such as structured light scanning, laser scanning, and binocular vision. Each technology has its own unique advantages and applicable scenarios. By combining them, the 3D information of objects can be obtained more comprehensively and accurately. For example, structured light scanning can quickly obtain the texture and shape information of the object surface, laser scanning is more accurate in measuring the distance and contour of the object, and binocular vision can calculate the depth information of the object by simulating the visual difference of the human eye through two cameras.

[0003] In order to increase the scanning speed, a certain degree of accuracy is often sacrificed. For example, some fast scanning modes may lead to a decrease in the density of data points, thus affecting the details and accuracy of the model. On the contrary, if you want to obtain high-precision data, it takes a long scanning time, which reduces work efficiency. However, there is currently a track-type scanning device that uses a three-dimensional scanning device to move quickly and stably around an object on a track to achieve high-speed and high-precision capture of the surface data of the object. However, this requires high stability of the track. The device cannot work properly on uneven ground, and the use environment is relatively narrow. At the same time, vibrations from the external environment and jitters generated by the machine itself will also affect the scanning accuracy and drawing accuracy.

[0004] To this end, we proposed a combined three-dimensional high-speed scanning device to solve the above problems. Summary of the invention

[0005] The purpose of the present application is to reduce the influence of uneven ground on the image captured by the scanning device. Compared with the prior art, a combined three-dimensional high-speed scanning device is provided, including a base mechanism, the base mechanism includes a pair of fixed petals, a fixed component is installed on the upper end of the fixed petals, an adjustment mechanism is installed on the fixed component, the adjustment mechanism includes a sliding ring, the inner side wall of the sliding ring is connected to a suspension mechanism through a plurality of electric telescopic rods, the suspension mechanism includes a bottom ring connected to the electric telescopic rod, the upper end of the bottom ring is connected to a gear ring through a fixed rod, a scanning mechanism is symmetrically arranged on the gear ring, and a level monitor is arranged on the bottom ring, the level monitor is electrically connected to the electric telescopic rod through a control module, and the adjustment mechanism is provided on the uneven ground. When the device is used on the ground to scan a fixed structure, the base mechanism can be placed on the periphery of the structure to be scanned, and then the fixed component is installed, and the adjustment mechanism is installed on the fixed component. This assembly method can minimize the space occupied by the scanning device, improve the convenience of transportation, and enable the device to be transported to complex environments, thereby improving the practicality of the device. At the same time, the horizontality of the suspension mechanism is monitored in real time through a level monitor and the data is sent to a control module for analysis. The horizontality of the suspension mechanism is adjusted in conjunction with the electric telescopic rod, so that the scanning mechanism on the suspension mechanism always maintains a stable horizontal state.

[0006] Furthermore, a reserved hole is provided at the upper end of the fixed flap, and the installation assembly includes a servo motor arranged inside the reserved hole, a limiting shaft is provided at the output end of the servo motor, a threaded rod is inserted into the upper end of the limiting shaft, a limiting strip is provided on the outer wall of the limiting shaft, and a limiting groove matched with the limiting shaft is provided at the bottom of the threaded rod. The threaded rod is fixed by using the limiting shaft to facilitate disassembly and installation.

[0007] Furthermore, a threaded hole corresponding to the position of the threaded rod is opened on the sliding ring, the electric telescopic rod is connected to the inner wall of the sliding ring through a hinge, and the extended end of the electric telescopic rod is also connected to the bottom ring through a hinge.

[0008] Furthermore, a reinforcement ring is fixedly connected to the upper end of the gear ring. The reinforcement ring is made of copper and can improve the overall strength of the gear ring.

[0009] Furthermore, the scanning mechanism includes a top plate, with mounting holes on both ends of the top plate, a mounting column fixedly connected to the lower end of the top plate, and a structured light scanner slidably connected to the side wall of the mounting column. When the sliding ring cannot slide downward, the mounting column can be slid up and down to adjust the specific position of the structured light scanner, so as to facilitate image capture of the bottom of the object to be scanned.

[0010] Furthermore, the scanning mechanism also includes a side fixing assembly arranged at the left and right ends of the top plate, the side fixing assembly includes a side plate fixedly connected to the top plate, the upper end side wall of the side plate is provided with an upper plate, and the lower end side wall of the side plate is fixedly connected with lower plates one and two.

[0011] Furthermore, a limiting roller is rotatably connected between the lower plate 1 and the upper plate, a groove is provided in the middle of the limiting roller, and the groove is matched with the gear ring.

[0012] Furthermore, a limit gear is rotatably connected between the lower plate 2 and the upper plate, the limit gear is meshingly connected to the gear ring, a rotating shaft is arranged in the middle of the limit gear, which passes through the lower plate 2 and extends to the bottom thereof, a transmission gear 1 is fixedly connected to the end of the rotating shaft, a stepper motor is fixedly installed at the lower end of the lower plate 2, a transmission gear 2 meshingly connected to the transmission gear 1 is installed at the output end of the stepper motor, an end head engaging with the mounting hole is arranged at the upper end of the upper plate, and the stepper motor is cooperated with the transmission gear 1 and the transmission gear 2 to rotate the limit gear, so that the scanning mechanism rotates along the gear ring.

[0013] Furthermore, laser scanners are installed on the two side walls of the lower plate, and a buffer layer is arranged between the two side walls of the lower plate and the laser scanner. The buffer layer is made of porous silicone material. The buffer layer can effectively reduce the impact of vibration on the laser scanner.

[0014] Furthermore, limiting holes and plug-in rods are respectively provided at the ends of the fixed petals that are close to each other. The plug-in rods are adapted to the sizes of the limiting holes. A plurality of horizontal tubes are provided at the upper ends of the fixed petals. By utilizing the cooperation between the plug-in rods and the limiting holes, the two fixed petals can be assembled into a complete base, which effectively improves the stability and portability of the base. The horizontal tubes can roughly judge the flatness of the ground.

[0015] Compared with the prior art, the advantages of this application are:

[0016] When the device is used to scan a fixed structure on an uneven ground, the base mechanism can be placed on the periphery of the structure to be scanned, and then the fixed component can be installed, and the adjustment mechanism can be installed on the fixed component. This assembly method can reduce the space occupied by the scanning device as much as possible, improve the convenience of transportation, and enable the device to be transported to complex environments, thereby improving the practicality of the device. At the same time, the horizontality of the suspension mechanism is monitored in real time through a horizontal monitor and the data is sent to a control module for analysis. The horizontality of the suspension mechanism is adjusted in conjunction with an electric telescopic rod, so that the scanning mechanism on the suspension mechanism always maintains a stable horizontal state. At the same time, the use of a suspended structure can lower the center of gravity of the device.

[0017] The threaded rod is fixed by the limit shaft to facilitate disassembly and installation, and the threaded rod is controlled to rotate synchronously by the servo motor to drive the sliding ring to move up and down, so that the scanning mechanism can perform an all-round scan on the object to be scanned.

[0018] The stepper motor cooperates with the transmission gear 1 and the transmission gear 2 to rotate the limit gear, so that the scanning mechanism rotates along the gear ring. The stepper motor can effectively control the rotation angle and speed, so that the scanning mechanism moves stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of this application;

[0020] Figure 2 This is an exploded view of the main structure of this application;

[0021] Figure 3 This is a schematic diagram of the structure of the combination of the adjustment mechanism and the suspension mechanism of the present application;

[0022] Figure 4 An exploded view of the scanning mechanism of this application;

[0023] Figure 5 This is a schematic diagram of the state of the subject of this application working on an inclined ground.

[0024] Description of the numbers in the figure:

[0025] 1 base mechanism, 11 fixed flap, 111 reserved hole, 112 limit hole, 113 plug-in rod, 12 servo motor, 121 limit shaft, 13 threaded rod, 2 adjustment mechanism, 21 sliding ring, 211 threaded hole, 22 electric telescopic rod, 3 suspension mechanism, 31 bottom ring, 32 gear ring, 33 reinforcement ring, 34 fixed rod, 4 scanning mechanism, 41 top plate, 411 mounting hole, 412 mounting column, 42 side fixing assembly, 421 side plate, 422 upper plate, 423 lower plate one, 424 lower plate two, 43 limit roller, 44 limit gear, 45 stepping motor, 46 laser scanner, 47 structured light scanner. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of the adapter model component. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Embodiment 1:

[0030] The present invention provides a combined three-dimensional high-speed scanning device, see Figure 1-2 , including a base mechanism 1, the base mechanism 1 includes a pair of fixed petals 11, a fixed component is installed on the upper end of the fixed petals 11, an adjustment mechanism 2 is installed on the fixed component, the adjustment mechanism 2 includes a sliding ring 21, the inner wall of the sliding ring 21 is connected to a suspension mechanism 3 through a plurality of electric telescopic rods 22, the suspension mechanism 3 includes a bottom ring 31 connected to the electric telescopic rod 22, the upper end of the bottom ring 31 is connected to a gear ring 32 through a fixed rod 34, a scanning mechanism 4 is symmetrically arranged on the gear ring 32, and a level monitor is arranged on the bottom ring 31, and the level monitor is electrically connected to the electric telescopic rod 22 through a control module.

[0031] For details, please refer to Figure 1 and Figure 5 When the device is used to scan a fixed structure on an uneven ground, the base mechanism 1 can be placed on the periphery of the structure to be scanned, and then the fixed component is installed, and the adjustment mechanism 2 is installed on the fixed component. This assembly and combination method can reduce the space occupied by the scanning device as much as possible, improve the convenience of transportation, and enable the device to be transported to a complex environment, thereby improving the practicality of the device. At the same time, the horizontality of the suspension mechanism 3 is monitored in real time by a horizontal monitor and the data is sent to a control module for analysis. The horizontality of the suspension mechanism 3 is adjusted in conjunction with the electric telescopic rod 22, so that the scanning mechanism 4 on the suspension mechanism 3 always maintains a stable horizontal state. At the same time, the use of a suspension structure can lower the center of gravity of the device and improve the stability of the device. The symmetrically arranged scanning mechanism 4 can improve the scanning accuracy and speed while reasonably distributing the weight, effectively avoiding the problem of unstable center of gravity caused by placing the scanning mechanism 4 on one side, especially on an unstable ground. The single-sided scanning mechanism 4 is prone to cause the center of gravity to change continuously during rotation, causing the overall device to tilt, thereby resulting in poor scanned image quality.

[0032] See also Figure 3A reserved hole 111 is provided at the upper end of the fixed petal 11, and the installation component includes a servo motor 12 arranged inside the reserved hole 111. A limit shaft 121 is provided at the output end of the servo motor 12, a threaded rod 13 is inserted at the upper end of the limit shaft 121, a limit strip is provided on the outer wall of the limit shaft 121, and a limit groove matched with the limit shaft 121 is provided at the bottom of the threaded rod 13. The threaded rod 13 is fixed by the limit shaft 121 for easy disassembly and installation. The servo motor 12 is used to synchronously rotate to control the rotation of the threaded rod 13 to drive the sliding ring 21 to move up and down, so that the scanning mechanism 4 can perform an all-round scanning of the object to be scanned.

[0033] See also Figure 2-3 The sliding ring 21 is provided with a threaded hole 211 corresponding to the position of the threaded rod 13. The electric telescopic rod 22 is connected to the inner wall of the sliding ring 21 through a hinge, and the extended end of the electric telescopic rod 22 is also connected to the bottom ring 31 through a hinge.

[0034] See also Figure 3 A reinforcing ring 33 is fixedly connected to the upper end of the gear ring 32. The reinforcing ring 33 is made of copper. The reinforcing ring 33 can improve the overall strength of the gear ring 32. The soft texture of copper can effectively alleviate impact and dissipate heat.

[0035] Embodiment 2:

[0036] The present invention provides a combined three-dimensional high-speed scanning device, see Figure 4 The scanning mechanism 4 includes a top plate 41, and mounting holes 411 are provided at both ends of the top plate 41. A mounting column 412 is fixedly connected to the lower end of the top plate 41, and a structured light scanner 47 is slidably connected to the side wall of the mounting column 412. When the sliding ring 21 cannot slide downward, the mounting column 412 can be slid up and down to adjust the specific position of the structured light scanner 47, so as to facilitate image capture of the bottom of the object to be scanned.

[0037] The scanning mechanism 4 also includes side fixing components 42 arranged at the left and right ends of the top plate 41, and the side fixing components 42 include side plates 421 fixedly connected to the top plate 41, the upper side wall of the side plate 421 is provided with an upper plate 422, and the lower side wall of the side plate 421 is fixedly connected with a lower plate 1 423 and a lower plate 2 424.

[0038] A limiting roller 43 is rotatably connected between the lower plate 423 and the upper plate 422 . A groove is provided in the middle of the limiting roller 43 , and the groove is matched with the gear ring 32 .

[0039] A limit gear 44 is rotatably connected between the lower plate 424 and the upper plate 422. The limit gear 44 is meshed with the gear ring 32. A rotating shaft is set in the middle of the limit gear 44, which passes through the lower plate 424 and extends to the bottom thereof. A transmission gear 1 is fixedly connected to the end of the rotating shaft. A stepper motor 45 is fixedly installed at the lower end of the lower plate 424. A transmission gear 2 meshed with the transmission gear 1 is installed at the output end of the stepper motor 45. An end that engages with the mounting hole 411 is set at the upper end of the upper plate 422. The limit gear 44 is rotated by cooperating with the transmission gear 1 and the transmission gear 2, so that the scanning mechanism 4 rotates along the gear ring 32. The stepper motor 45 can effectively control the rotation angle and speed, so that the scanning mechanism 4 can move stably.

[0040] A laser scanner 46 is installed on the side wall of the second lower plate 424 , and a buffer layer is provided between the side wall of the second lower plate 424 and the laser scanner 46 . The buffer layer is made of porous silica gel material. The buffer layer can effectively reduce the impact of vibration on the laser scanner 46 .

[0041] The ends of the fixed petals 11 that are close to each other are respectively provided with limiting holes 112 and plug-in rods 113, and the plug-in rods 113 are adapted to the sizes of the limiting holes 112. A plurality of horizontal tubes are provided at the upper ends of the fixed petals 11. By utilizing the cooperation between the plug-in rods 113 and the limiting holes 112, the two fixed petals 11 can be assembled into a complete base, which effectively improves the stability and portability of the base. The horizontal tubes can roughly judge the flatness of the ground. When the flatness of the ground is lower than the maximum adaptability range of the device, the surface needs to be simply trimmed to reach the level of placing the device.

[0042] The above is only the best implementation method adopted by this application in combination with current actual needs, but the protection scope of this application is not limited to this.

Claims

1. A combined three-dimensional high-speed scanning device, comprising a base mechanism (1), characterized in that: The base mechanism (1) comprises a pair of fixed petals (11), a fixed component is installed on the upper end of the fixed petals (11), an adjustment mechanism (2) is installed on the fixed component, the adjustment mechanism (2) comprises a sliding ring (21), the inner wall of the sliding ring (21) is connected to a suspension mechanism (3) via a plurality of electric telescopic rods (22), the suspension mechanism (3) comprises a bottom ring (31) connected to the electric telescopic rod (22), the upper end of the bottom ring (31) is connected to a gear ring (32) via a fixed rod (34), a scanning mechanism (4) is symmetrically arranged on the gear ring (32), and a level monitor is arranged on the bottom ring (31), and the level monitor is electrically connected to the electric telescopic rod (22) via a control module.

2. A combined three-dimensional high-speed scanning device according to claim 1, characterized in that: A reserved hole (111) is provided at the upper end of the fixed flap (11), and the mounting assembly comprises a servo motor (12) arranged inside the reserved hole (111). A limit shaft (121) is provided at the output end of the servo motor (12), and a threaded rod (13) is inserted at the upper end of the limit shaft (121).

3. The combined three-dimensional high-speed scanning device according to claim 1, characterized in that: The sliding ring (21) is provided with a threaded hole (211) corresponding to the position of the threaded rod (13); the electric telescopic rod (22) is connected to the inner wall of the sliding ring (21) via a hinge; and the extended end of the electric telescopic rod (22) is also connected to the bottom ring (31) via a hinge.

4. The combined three-dimensional high-speed scanning device according to claim 1, characterized in that: A reinforcement ring (33) is fixedly connected to the upper end of the gear ring (32), and the reinforcement ring (33) is made of copper.

5. The combined three-dimensional high-speed scanning device according to claim 1, characterized in that: The scanning mechanism (4) comprises a top plate (41), the left and right ends of the top plate (41) are both provided with mounting holes (411), the lower end of the top plate (41) is fixedly connected to a mounting column (412), and the side wall of the mounting column (412) is slidably connected to a structured light scanner (47).

6. The combined three-dimensional high-speed scanning device according to claim 1, characterized in that: The scanning mechanism (4) further comprises side fixing components (42) arranged at the left and right ends of the top plate (41), the side fixing components (42) comprising a side plate (421) fixedly connected to the top plate (41), an upper plate (422) being arranged on the upper side wall of the side plate (421), and a lower plate 1 (423) and a lower plate 2 (424) being fixedly connected to the lower side wall of the side plate (421).

7. The combined three-dimensional high-speed scanning device according to claim 6, characterized in that: A limiting roller (43) is rotatably connected between the lower plate (423) and the upper plate (422), and a groove is provided in the middle of the limiting roller (43), and the groove is adapted to the gear ring (32).

8. The combined three-dimensional high-speed scanning device according to claim 6, characterized in that: A limit gear (44) is rotatably connected between the lower plate (424) and the upper plate (422), and the limit gear (44) is meshedly connected to the gear ring (32). A rotating shaft is arranged in the middle of the limit gear (44) and passes through the lower plate (424) and extends to the bottom thereof. A transmission gear (1) is fixedly connected to the end of the rotating shaft. A stepper motor (45) is fixedly installed at the lower end of the lower plate (424). A transmission gear (2) meshedly connected to the transmission gear (1) is installed at the output end of the stepper motor (45). An end head engaged with the mounting hole (411) is arranged at the upper end of the upper plate (422).

9. The combined three-dimensional high-speed scanning device according to claim 6, characterized in that: The side wall of the second lower plate (424) is installed with a laser scanner (46), and a buffer layer is arranged between the side wall of the second lower plate (424) and the laser scanner (46), and the buffer layer is made of porous silica gel material.

10. The combined three-dimensional high-speed scanning device according to claim 1, characterized in that: The ends of the fixed petals (11) close to each other are respectively provided with limiting holes (112) and plug-in rods (113), the plug-in rods (113) are adapted to the sizes of the limiting holes (112), and the upper ends of the fixed petals (11) are provided with a plurality of horizontal tubes.

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