Three-dimensional laser scanner positioning device

Abstract

The utility model relates to the technical field of three-dimensional laser scanning application, in particular to a three-dimensional laser scanner positioning device which comprises a tripod, a fixing block is fixed at the top of the tripod, a connecting hole is formed in the middle of the fixing block in a penetrating mode, and a connecting shaft is vertically arranged in the connecting hole in a penetrating mode. The disc is arranged at the top end of the connecting shaft, the disc and the connecting shaft are coaxially arranged, and the disc is used for fixing a scanner; the connecting piece is rotationally connected to the bottom end of the connecting shaft and used for connecting the prism, and the connecting piece and the disc are located in the same vertical plane. The utility model has the advantages that the disc used for connecting the scanner and the connecting piece used for connecting the prism are on the same vertical line, the position of the prism does not need to be calibrated during measurement, and the position of the scanner can be obtained only by adding a constant in the Z direction of the measured prism coordinate; meanwhile, the prism is installed below the scanner, namely, the prism is separated from the scanner, and the situation that the prism falls off in the scanning process is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of three-dimensional laser scanning application, in particular to a three-dimensional laser scanner positioning device. Background Art

[0002] The stand-type 3D laser scanner needs to be set up multiple times to complete the scanning task. The point cloud obtained by each station scan is in an independent coordinate system centered on the scanner. In order to obtain the required complete point cloud data, the multi-station cloud needs to be registered. As the number of stations increases, the registration error between point clouds will also increase.

[0003] At present, the main solution is to improve the accuracy of point cloud registration by measuring the global coordinates of the frame-mounted 3D laser scanner. There are two ways to measure the global coordinates of the scanner, namely RTK and total station. RTK is suitable for open areas on the surface, while the total station can complete the measurement in underground space. At present, the total station completes the coordinate measurement by measuring the coordinates of the two prisms installed above the frame-mounted 3D laser scanner, and then performing complex spatial calculations to obtain the center coordinates of the scanner.

[0004] The existing total station structure has the following problems: 1. Two prisms are connected on both sides of the top of the three-dimensional laser scanner. To obtain the center coordinates of the scanner, the prism position calibration requirements are high. A slight deviation from the obtained center coordinates of the scanner will result in inaccurate data; 2. Because the scanner cannot be damaged, the prisms are currently connected to both sides of the top of the scanner through additional connecting structures. The center of gravity is relatively high, and the scanner is in a rotating state during the scanning process. During the rotation of the scanner, the prism connection is easily unstable and falls off and is damaged. Utility Model Content

[0005] The purpose of the utility model is to overcome the problems existing in the above-mentioned prior art and to provide a three-dimensional laser scanner positioning device, which prevents the prism from falling and being damaged by separating the prism from the scanner. At the same time, the prism and the scanner are in the same vertical plane, which is convenient for calculating the center coordinates of the scanner.

[0006] The technical solution of the utility model is:

[0007] A three-dimensional laser scanner positioning device comprises: a tripod, a fixing block is fixed on the top of the tripod, a connecting hole is opened through the middle of the fixing block, and further comprises:

[0008] A connecting shaft is vertically inserted into the connecting hole, one end of the connecting shaft is located above the connecting hole, and the other end of the connecting shaft is located below the connecting hole;

[0009] A disc is arranged at the top end of the connecting shaft, the disc is coaxially arranged with the connecting shaft, and the disc is used to fix the scanner;

[0010] A connecting piece is rotatably connected to the bottom end of the connecting shaft, the connecting piece is used to connect the prism, and the connecting piece and the disk are located in the same vertical plane.

[0011] Preferably, the ratio of the distance from the top of the connecting shaft to the connecting hole to the distance from the bottom of the connecting shaft to the connecting hole is 1:(1.8-2.5).

[0012] Preferably, the ratio of the distance from the top of the connecting shaft to the connecting hole to the distance from the bottom of the connecting shaft to the connecting hole is 1:2.

[0013] Preferably, the length of the connecting shaft is 120mm-200mm.

[0014] Preferably, the length of the connecting shaft is 150 mm.

[0015] Preferably, the connecting member comprises:

[0016] A first rod, vertically arranged at the bottom end of the connecting shaft, wherein the first rod is coaxially arranged with the connecting shaft;

[0017] A second rod, rotatably connected to an end of the first rod away from the connecting axis, the second rod being coaxially arranged with the first rod;

[0018] The mounting groove has a U-shaped cross section and is arranged at an end of the second rod away from the first rod. The mounting groove is used for clamping and fixing the prism.

[0019] Preferably, the mounting groove has two plates arranged opposite to each other, and rotating shafts are respectively provided on opposite sides of the two plates. The two rotating shafts are respectively rotatably connected to the two plates, and the ends of the two rotating shafts away from the two plates are used for fixing to the prism.

[0020] Preferably, a connecting structure is provided at one end of the disk away from the connecting axis, and the connecting structure is used to connect to a scanner, and the connecting structure is located in the middle of the disk.

[0021] Preferably, the connection structure includes a groove and a screw, the groove is opened in the middle of the disk, the cross-section of the groove is circular, a screw is arranged at the center of the groove, the screw is arranged coaxially with the disk, and the screw is used to fix the scanner.

[0022] Compared with the prior art, the three-dimensional laser scanner positioning device provided by the utility model has the following beneficial effects:

[0023] The disk used to connect the scanner and the connecting piece used to connect the prism in this device are on the same vertical line. There is no need to calibrate the position of the prism during measurement. It is only necessary to add a constant in the Z direction of the measured prism coordinates to obtain the position of the scanner. At the same time, this device installs the prism below the scanner, that is, separates the prism from the scanner and does not directly connect them. This can avoid the prism from falling off during the scanning process and make the overall structure more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the utility model;

[0025] Figure 2 It is a structural schematic diagram of the connecting piece of the utility model;

[0026] Figure 3 It is a schematic diagram of the local structure of the connecting shaft of the utility model;

[0027] Figure 4 It is a structural schematic diagram of the tripod of the utility model. DETAILED DESCRIPTION

[0028] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0029] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0030] The utility model provides a three-dimensional laser scanner positioning device, Figures 1 to 4 The utility model is described with reference to the structural schematic diagram, but it should be understood that the protection scope of the utility model is not limited by the specific implementation methods.

[0031] Example 1

[0032] like Figure 1 As shown, the utility model provides a three-dimensional laser scanner positioning device, including a tripod 1, such as Figure 4As shown, the specific structure of the tripod 1 includes three telescopic rods 12 and fixed blocks 13 arranged at the top of the three telescopic rods, and the telescopic rods 12 are hinged to the fixed blocks 13. A connecting hole 11 is opened through the middle of the fixed block 13. The fixed block 13 and the connecting hole 11 form a circular ring with an inner diameter of 30 mm, an outer diameter of 50 mm, and a height of 35 mm. Three protrusions are arranged on the side wall of the fixed block 13. The three protrusions have the same shape and an angle of 120° between the three protrusions. The three telescopic rods 12 are arranged at these three protrusions and are hinged to the protrusions. The opening angle of the three telescopic rods can be adjusted. Degrees, there are trapezoidal grooves at the bottom ends of the three protrusions, and the trapezoidal hypotenuse forms an angle of 15° with the horizontal plane. The advantage of this structure is that the outward expansion angle of the three telescopic rods 12 is determined, which is more stable. Its structure is similar to the tripod structure of the selfie stand. The fixing block 13 is made of carbon fiber material, and the inner diameter of the connecting hole 11 is 30mm. A level bubble 14 is provided on the top of the fixing block 13, and its shape is cylindrical, with a height of 6.4mm and a bottom circle radius of 7.4mm. It includes liquid and a bubble inside, and its function is to level the tripod. It also includes: a connecting shaft 2, a disk 3, and a connecting piece 4.The connecting shaft 2 is vertically penetrated in the connecting hole 11, one end of the connecting shaft 2 is located above the connecting hole 11, and the other end of the connecting shaft 2 is located below the connecting hole 11. An adjustment component can be provided on the connecting shaft 2 to adjust the position of the connecting shaft 2 penetrated in the connecting hole 11 (that is, to adjust the length of the upper and lower ends of the connecting shaft 2 at the position of the connecting hole 11). The specific structure of the adjustment component can refer to the structure of the selfie bracket, or an internal thread can be provided circumferentially of the connecting hole 11, so that the connecting shaft 2 is provided circumferentially with a threaded section, and the connecting shaft 2 is threadedly connected to the connecting hole 11, and the position of the connecting shaft 2 penetrated in the connecting hole 11 is adjusted by rotating the connecting shaft 2. This can facilitate the adjustment of the position of the prism connected to the bottom end of the connecting shaft 2 to prevent the prism from being blocked and affecting the measurement. At the same time, after adjusting the position of the connecting shaft 2, the connecting shaft 2 can also be fixed in the connecting hole 11. By adjusting the height of the tripod 1, the prism can also be prevented from being blocked. In this embodiment, the connecting shaft 2 is connected to the connecting hole 11 in a fixed shape, and the connecting shaft 2 is made of carbon fiber material. The diameter is 15mm, the center of the connecting shaft 2 and the center of the scanner connecting platform are on the same vertical line, which mainly ensures the rigidity and symmetry of the connecting shaft. The advantage of this structure is that it ensures that the overall structure is on the same vertical line; the disk 3 is arranged at the top of the connecting shaft 2, and the disk 3 is coaxially arranged with the connecting shaft 2. The disk 3 is used to fix the scanner. The disk 3 is equivalent to a scanner connecting platform. The disk 3 is made of polypropylene (PP) material, with a thickness of 10mm and a radius of 33mm; the connecting piece 4 is rotatably connected to the bottom end of the connecting shaft 2, and the connecting piece 4 is used to connect the prism. The connecting piece 4 and the disk 3 are located in the same vertical plane, that is, the disk 3 used to connect the scanner and the connecting piece 4 used to connect the prism of the device are on the same vertical line. When measuring, there is no need to calibrate the position of the prism. Only a constant needs to be added to the Z direction of the measured prism coordinates to obtain the position of the scanner. At the same time, the device installs the prism below the scanner, that is, the prism is separated from the scanner and is not directly connected, which can avoid the prism falling during the scanning process.

[0033] Furthermore, the ratio of the distance from the top of the connecting shaft 2 to the connecting hole 11 to the distance from the bottom of the connecting shaft 2 to the connecting hole 11 is 1:(1.8-2.5). That is, with the connecting shaft 2 at the connecting hole 11 as the center point, the ratio of the distance from the center point to the top of the connecting shaft 2 (scanner) to the distance from the center point to the bottom of the connecting shaft 2 (prism) is 1:(1.8-2.5), that is, the lower end of the connecting shaft 2 is slightly longer, which can prevent the prism from being blocked and affecting the measurement of the scanner position.

[0034] According to the above, further, the ratio of the distance from the top of the connecting shaft 2 to the connecting hole 11 to the distance from the bottom of the connecting shaft 2 to the connecting hole 11 is 1:2, and 1:2 is the optimal length ratio. If it is greater than this ratio, the lower end of the connecting shaft 2 is too short, which may cause the prism to be blocked; if it is less than this ratio, the lower end of the connecting shaft 2 is too long, which affects the measurement of the scanner position.

[0035] Furthermore, the length of the connecting shaft 2 is 120 mm to 200 mm. In practical applications, the length of the connecting shaft 2 cannot be too short or too long, which will affect the scanning of the scanner and the measurement of the scanner position. Therefore, in this embodiment, the length of the connecting shaft 2 is within the range of 120 mm to 200 mm.

[0036] Furthermore, the length of the connecting shaft 2 is 150 mm, and the actual length of the connecting shaft 2 is optimally 150 mm.

[0037] Example 2

[0038] As a further improvement on Example 1, Figure 2 As shown, further, the connecting member 4 includes: a first rod 41, a second rod 42, and a mounting groove 43. The first rod 41 is vertically arranged at the bottom end of the connecting shaft 2, and a mounting screw is arranged at the bottom end of the connecting shaft 2. The first rod 41 is connected by the mounting screw, and the first rod 41 is coaxially arranged with the connecting shaft 2; the second rod 42 is rotatably connected to the end of the first rod 41 away from the connecting shaft 2, and the second rod 42 can rotate 360 ​​degrees relative to the first rod 41. The structure of the rotatable connection can be that a bearing is arranged between the first rod 41 and the second rod 42. In this embodiment, the second rod 42 is an annular column, which is sleeved on the first rod 41 and connected to the first rod 41. Rotational connection, the outer diameter of the second rod 42 is 10mm, the inner diameter is 8.2mm, and the height is 4mm. The radius of the first rod 41 is 4.1mm and the height is 15.8mm. The second rod 42 is coaxially arranged with the first rod 41. The cross section of the mounting groove 43 is U-shaped. The mounting groove 43 is arranged at the end of the second rod 42 away from the first rod 41. The mounting groove 43 is used to clamp and fix the prism. The prism is clamped in the U-shaped inner side of the mounting groove 43. The second rod 42 is fixed on the central axis of the mounting groove 43. The width of the mounting groove 43 is 5mm. The structure of the connecting member 4 of the device makes the prism, the first rod 41, the second rod 42, and the connecting shaft 2 on the same central axis, so as to avoid the deviation of the prism from the scanner and facilitate the calculation of the position coordinates of the scanner. Among them, the second rod 42 is rotatably connected to the first rod 41 to facilitate the adjustment of the angle of the prism and more flexibly adapt to the measurement work. Among them, the prism has a cylindrical shape, the outer shell is plastic, and there is a reflective prism inside. The inner diameter of the outer shell is 16mm, the outer diameter is 18.2mm, the rear side is closed, and the front side is open. The bottom radius of the reflecting prism is 7.5 mm and the height is 11 mm.

[0039] Furthermore, the mounting groove 43 has two plates 431 arranged opposite to each other, and the two plates 431 have rotating shafts on opposite sides thereof, and the two rotating shafts are rotatably connected to the two plates 431, that is, the rotating shafts can rotate relative to the plates 431, and the ends of the two rotating shafts away from the two plates 431 are used to fix the prism. The two rotating shafts can realize the connection between the prism and the mounting groove 43 on the one hand, and on the other hand, the two rotating shafts can rotate on the two plates 431, thereby driving the prism to rotate and adjust the position, and further more flexibly adapting to the measurement work.

[0040] Among them, other structures of this embodiment are consistent with those of embodiment 1, and are just optimizations made to embodiment 1.

[0041] Example 3

[0042] As a further improvement on Example 1, a connecting structure is provided at one end of the disk 3 away from the connecting shaft 2, and the connecting structure is used to connect to the scanner. The connecting structure is located in the middle of the disk 3 to facilitate making the scanner and the prism coaxial in the same vertical plane.

[0043] like Figure 3 As shown, further, the connection structure includes a groove 31 and a screw. The groove 31 is opened in the middle of the disk 3. The cross section of the groove 31 is circular. The thickness of the groove 31 is 5mm and the radius is 10mm. The groove 31 is convenient for clamping the scanner. A screw is arranged at the center of the groove 31. The screw is arranged coaxially with the disk 3. The screw is used to fix the scanner. The advantage of this structure is that it can be adapted to any stand-type scanner and has a wide range of uses. The groove 31 is opened at the center of the disk 3 and the screw is also located at the center of the groove 31, so that the scanner is also fixed at the center.

[0044] Among them, other structures of this embodiment are consistent with those of embodiment 1, and are just optimizations made to embodiment 1.

[0045] The advantage of the utility model is that the disk used to connect the scanner and the connecting piece used to connect the prism are on the same vertical line. There is no need to calibrate the position of the prism during measurement. It is only necessary to add a constant in the Z direction of the measured prism coordinates to obtain the position of the scanner. At the same time, the device installs the prism below the scanner, that is, the prism is separated from the scanner and is not directly connected, which can avoid the prism from falling off during the scanning process and make the overall structure more stable.

[0046] The above disclosures are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A three-dimensional laser scanner positioning device, comprising: A tripod (1) is provided with a fixing block (13) fixed on the top thereof, a connecting hole (11) is provided through the middle of the fixing block (13), and the tripod is characterized in that it further comprises: A connecting shaft (2) is vertically inserted into the connecting hole (11), one end of the connecting shaft (2) is located above the connecting hole (11), and the other end of the connecting shaft (2) is located below the connecting hole (11); A disc (3) is arranged at the top end of the connecting shaft (2), the disc (3) is coaxially arranged with the connecting shaft (2), and the disc (3) is used to fix the scanner; A connecting member (4) is rotatably connected to the bottom end of the connecting shaft (2); the connecting member (4) is used to connect a prism; and the connecting member (4) and the disk (3) are located in the same vertical plane.

2. A three-dimensional laser scanner positioning device according to claim 1, characterized in that: The ratio of the distance from the top of the connecting shaft (2) to the connecting hole (11) to the distance from the bottom of the connecting shaft (2) to the connecting hole (11) is 1:(1.8-2.5).

3. A three-dimensional laser scanner positioning device according to claim 2, characterized in that: The ratio of the distance from the top of the connecting shaft (2) to the connecting hole (11) to the distance from the bottom of the connecting shaft (2) to the connecting hole (11) is 1:

2.

4. A three-dimensional laser scanner positioning device according to claim 2, characterized in that: The length of the connecting shaft (2) is 120 mm-200 mm.

5. A three-dimensional laser scanner positioning device according to claim 4, characterized in that: The length of the connecting shaft (2) is 150 mm.

6. A three-dimensional laser scanner positioning device according to claim 1, characterized in that: The connecting member (4) comprises: A first rod (41) is vertically arranged at the bottom end of the connecting shaft (2), and the first rod (41) is coaxially arranged with the connecting shaft (2); a second rod (42) rotatably connected to an end of the first rod (41) away from the connecting shaft (2), the second rod (42) being coaxially arranged with the first rod (41); The mounting groove (43) has a U-shaped cross section. The mounting groove (43) is arranged at an end of the second rod (42) away from the first rod (41). The mounting groove (43) is used for clamping and fixing the prism.

7. A three-dimensional laser scanner positioning device according to claim 6, characterized in that: The mounting groove (43) has two plates (431) arranged opposite to each other, and rotating shafts are respectively provided on opposite sides of the two plates (431). The two rotating shafts are respectively rotatably connected to the two plates (431), and the ends of the two rotating shafts facing away from the two plates (431) are used to be fixed to the prism.

8. The three-dimensional laser scanner positioning device according to claim 1, characterized in that: A connecting structure is provided at one end of the disk (3) away from the connecting shaft (2), the connecting structure being used for connecting to a scanner, and the connecting structure being located in the middle of the disk (3).

9. A three-dimensional laser scanner positioning device according to claim 8, characterized in that: The connection structure comprises a groove (31) and a screw. The groove (31) is opened in the middle of the disc (3). The cross section of the groove (31) is circular. A screw is arranged at the center of the groove (31). The screw is arranged coaxially with the disc (3) and is used to fix the scanner.

Images